CN110686597A - Three-dimensional positioning system of slant chute tube - Google Patents
Three-dimensional positioning system of slant chute tube Download PDFInfo
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/40—Correcting position, velocity or attitude
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Abstract
The invention provides a three-dimensional positioning system of an oblique chute, which comprises a monitoring module, an input module, a server and an execution module, wherein the monitoring module is used for acquiring the real-time three-dimensional positioning of the chute and sending the positioning to the server; the input module inputs theoretical position data of the chute tube to the server; the server compares the real-time three-dimensional positioning data with the theoretical position data, and dynamically displays the current data information needing to be adjusted, wherein the data information comprises the pitching angle and the telescopic distance of the chute, the moving distance and the direction of the trolley, and the rotating angle and the direction of the rotary table; according to data information displayed on a display screen of the server, the execution module is manually controlled to act, so that the three-dimensional position of the chute tube is continuously changed; the monitoring module sends the constantly changing three-dimensional data to the server in real time, and the server changes the data information until the execution module stops acting after the real-time three-dimensional positioning of the chute tube is consistent with the theoretical position data. The three-dimensional positioning system of the inclined chute tube has the advantage of convenience in use.
Description
Technical Field
The invention relates to the field of control systems, in particular to a three-dimensional positioning system for an inclined chute tube.
Background
The foundation at the lower part of the bridge generally adopts a high pile cap structure and a steel pipe pile form, and the influence of corresponding scouring depth is considered at the beginning of design, so that a scouring warning value is set, and scouring protection is carried out after the scouring warning value is exceeded. In order to reduce the engineering investment, the elevation of the top surface of the scouring protection layer is not necessarily consistent with the actual elevation of the mud surface in the original design, and the protected mud surface is higher than the limit mud surface with the reserved scouring depth in the original design and does not generate further large scouring, so that the pier can be in a safe state even if a small amount of scouring exists.
The anti-scour protection is generally carried out by adopting a mode of throwing and filling broken stones and concrete mixture into a river bed, and the common network stone throwing method construction process has poor throwing and filling precision under the deep water condition, large fluctuation of a formed section and easy local accumulation. And the falling process of the rock lumps is easy to drift and lose under the action of water flow, and the loss amount is large.
In order to accurately throw and fill bagged broken stones and bagged concrete mixture between pier pile positions, the utility model patent with the patent number of 201822007348.X discloses an oblique chute stone throwing ship, which comprises a ship body, a rail trolley and a chute arranged on the rail trolley, wherein the rail trolley is arranged on the edge of the ship body, and the rail trolley is provided with a feed hopper leading to the chute; the sliding barrel is connected with the small rail car through a rotating mechanism, and the rotating mechanism adjusts the vertical amplitude and the left and right angles of the sliding barrel.
Since the inclined chute barrel stone throwing ship of the patent needs to accurately calculate the plane position and the elevation of the foremost end of the chute barrel, a positioning monitoring system is urgently needed.
Disclosure of Invention
The three-dimensional motion of the oblique chute is realized by the following structures: the telescopic oblique sliding barrel is arranged on the rotary table and can do pitching motion; the rotary table is arranged on the trolley, and the rotary table and the oblique sliding barrel can do horizontal rotary motion around the axis of the rotary table; the trolley is arranged on the ship body paved with the guide rail, the trolley, the rotary table and the oblique sliding barrel can move back and forth along the guide rail, and the three-dimensional movement of the sliding barrel is realized through the back and forth movement of the trolley, the rotary movement of the rotary table and the pitching movement of the oblique sliding barrel.
The invention provides a three-dimensional positioning system of an oblique chute, wherein an input module inputs theoretical coordinates of the chute, a monitoring module collects three-dimensional data of the chute and a ship body and sends the three-dimensional data to a server, the server calculates real-time coordinates of the chute and guides an operator to operate an execution module to move the chute to the theoretical coordinates.
In order to solve the technical problems, the invention adopts the following technical scheme:
a three-dimensional positioning system of an oblique chute comprises a monitoring module, an input module, a server and an execution module, wherein the monitoring module acquires real-time three-dimensional positioning of the chute and sends the real-time three-dimensional positioning to the server; the input module inputs theoretical position data of the chute tube to the server;
the server compares the real-time three-dimensional positioning data with the theoretical position data, and dynamically displays the current data information needing to be adjusted, wherein the data information comprises the pitching angle and the telescopic distance of the chute, the moving distance and the direction of the trolley, and the rotating angle and the direction of the rotary table;
according to data information displayed on a display screen of the server, the execution module is manually controlled to act, so that the three-dimensional position of the chute tube is continuously changed;
the monitoring module sends the constantly changing three-dimensional data to the server in real time, and the server changes the data information until the execution module stops acting after the real-time three-dimensional positioning of the chute tube is consistent with the theoretical position data.
As a further development of the invention, the monitoring module is used for positioning a chute, and comprises:
the laser range finder is arranged on the ship body and used for measuring the forward and backward movement distance of the trolley, and the laser range finder sends the forward and backward movement distance to the server;
the first wire drawing instrument is arranged on a rotary table of the trolley and used for measuring angle data of the horizontal rotation of the trolley, and the first wire drawing instrument sends the angle data to the server;
the first bidirectional inclinometer is arranged on the chute barrel and used for measuring the pitching angle of the chute barrel, and the first bidirectional inclinometer sends the pitching angle to the server;
the second wire drawing instrument is arranged on the sliding barrel and used for measuring the telescopic amount of the sliding barrel, and the second wire drawing instrument sends the telescopic amount to the server;
the server receives real-time data collected by the laser range finder, the first wire drawing instrument, the first bidirectional inclinometer and the second wire drawing instrument.
The laser range finder is arranged on the extension line of the guide rail, measures the movement variable quantity of the trolley, accurately measures the distance of a laser emission point in real time, and is convenient for a server to calculate the real-time position of the center of the trolley.
As a further improvement of the present invention, the monitoring module is further used for positioning a ship hull, and the monitoring module further comprises: the system comprises a first GPS module arranged on the left side of a ship body, a second GPS module arranged on the right side of the ship body and a second bidirectional inclinometer arranged on the ship body, wherein the axial direction of the second bidirectional inclinometer is aligned with the axial direction of a ship body coordinate system;
the first GPS module and the second GPS module respectively receive differential signals between a satellite and a ground reference station, the first GPS module and the second GPS module are both connected with a server, and the server receives the differential signals and converts the differential signals into the plane position and the elevation of the ship body;
the second bidirectional inclinometer is used for accurately acquiring the real-time attitude of the ship body, the second bidirectional inclinometer is connected with the server, and the server receives the acquired real-time attitude of the second bidirectional inclinometer and corrects the relative relation among the plane position of the ship body, the elevation of the ship body and the point on the chute by using the real-time attitude.
The axial direction of the second bidirectional inclinometer is aligned with the axial direction of the ship body coordinate system, so that the angle variation of the whole positioning system in the XY direction can be accurately measured.
As a further improvement of the present invention, the server is installed with a database, which is a PostgreSQL database, and the server stores all the data sent by the monitoring module in the PostgreSQL database.
As a further improvement of the invention, the server can adjust the information of the database, and the three-dimensional data of the center of the circle at the forefront end of the chute is obtained through the conversion of four coordinate systems;
the four coordinate systems are respectively: a local coordinate system, a WGS84 coordinate system, a real-time hull coordinate system, and a standard hull coordinate system.
As a further improvement of the invention, the database stores three-dimensional data of a bridge high pile cap and a steel pipe pile, and the three-dimensional data is expressed by adopting a local coordinate system;
the first GPS module and the second GPS module measure the plane position and the elevation of the ship body in real time, and three-dimensional coordinate information of the plane position and the elevation is expressed by a WGS84 coordinate system;
the data information of the laser range finder, the first guy wire instrument, the first bidirectional inclinometer, the second guy wire instrument and the second bidirectional inclinometer is expressed by a real-time ship body coordinate system and an engineering coordinate system, and the real-time ship body coordinate system is a coordinate system established on a ship body;
the server also converts the real-time hull coordinate system into a standard hull coordinate system according to the pitch, the yaw and the elevation of the hull.
As a further improvement of the invention, the conversion relationship between the WGS84 coordinate system and the local coordinate system is as follows:
wherein the conversion matrix is:
wherein (Δ X)D，ΔYD，ΔZD) For translation parameters, (ω X, ω Y, ω Z) are rotation parameters, and ρ is a scale parameter.
As a further improvement of the invention, the conversion relation between the real-time ship coordinate system and the standard ship coordinate system is as follows:
wherein:
and the included angle between the real-time ship coordinate system and the X axis of the standard ship coordinate system is n, and the ship is taken to be positive when pitching. The included angle between the Y axes of the two coordinate systems is m, and the right side of the ship body is taken as positive when the ship body inclines downwards; and n and m are acquired by real-time observation values of the biaxial inclinometer.
As a further improvement of the invention, the conversion relation between the standard ship body coordinate system and the engineering coordinate system is as follows:
wherein:
as a further improvement of the invention, the three-dimensional data of the center of the foremost end of the chute tube is obtained by the following steps:
step one, the first GPS module and the second GPS module are fixed relative to the ship body, and GPS (X)1，Y1，Z1)、GPS(X2， Y2，Z2) By adding a laser rangefinder DSObtaining real-time coordinates (X) of the axis of rotation of the trolley3，Y3，Z3)；
Step two, the rotation axis of the sliding barrel rotates around the rotation axis of the trolley, and the rotation axis real-time coordinate (X) of the trolley3， Y3，Z3) Adding the rotation angle alpha to obtain the center coordinate (X) of the rotation hinge point of the chute tube4，Y4，Z4)；
Wherein, the rotation angle alpha is equal to the change length L of the stayguy instrument1A radius of rotation R;
step three, directly obtaining the dip angle beta of the chute by the first bidirectional inclinometer and combining the center coordinate (X) of the rotating hinge point of the chute4， Y4，Z4) Calculating the center coordinate (X) of the upper part of the chute5，Y5，Z5)；
Step four, the center coordinates (X) of the upper circle of the chute5，Y5，Z5) Plus extended length L of chute2And an angle beta, finally obtaining the central coordinates (X) of the front end of the chute6，Y6，Z6)。
Wherein the ship body coordinate system is set to face the bow along the track outside the trolley, the Y axis is vertical to the X axis and faces the right, and the trolley coordinate system is set to be in an initial state by stopping the trolley at a limit position close to the bow; the coordinate system of the chute is set to be in an initial state that the chute is vertically downward and is lifted upwards to increase the angle.
The invention has the beneficial effects that:
1. the theoretical coordinate of the chute is input by the input module, the three-dimensional data of the chute and the ship body are collected by the monitoring module and sent to the server, the server calculates the real-time coordinate of the chute, and the server guides an operator to operate the execution module to move the chute to the theoretical coordinate.
2. The server also imports all pier data of the whole construction area, and the server also calculates the shortest distance between the chute tube and the piers in real time to perform collision early warning.
3. The invention can accurately calculate the plane position and elevation of the foremost end of the chute by the conversion of different coordinate systems.
Drawings
FIG. 1 is a schematic block diagram of a three-dimensional positioning system for a slant chute.
FIG. 2 is a composition and illustration of a monitoring module.
Figure 3 is a schematic diagram of the conversion of the real-time hull coordinate system to a standard hull coordinate system.
Fig. 4 is a schematic diagram of the trolley coordinate system transformation.
FIG. 5 is a schematic coordinate diagram of a steel pipe pile in a construction area;
figure 6 is a schematic view of the installation of the inner and outer sleeves.
In the drawings, 1, an inner sleeve; 2. an outer sleeve; a. a head end; b. a terminal end; 3. a guide pulley; 11. a second limiting component; 12. a first limit component; 22. a second rotation preventing pipe; 21. a first rotation-preventing pipe.
Detailed Description
The invention is used on the inclined chute stone throwing boat in the patent publication cited in the background technology. The three-dimensional motion of the oblique chute is realized by the following structures: the telescopic oblique sliding barrel is arranged on the rotary table and can do pitching motion; the rotary table is arranged on the trolley, and the rotary table and the oblique sliding barrel can do horizontal rotary motion around the axis of the rotary table; the trolley is arranged on the ship body paved with the guide rail, the trolley, the rotary table and the oblique sliding barrel can move back and forth along the guide rail, and the three-dimensional movement of the oblique sliding barrel is realized through the back and forth movement of the trolley, the rotary movement of the rotary table and the pitching movement of the oblique sliding barrel.
As shown in figure 1, the theoretical coordinates of the chute are input by the input module, the three-dimensional data of the chute and the ship body are collected by the monitoring module and sent to the server, the real-time coordinates of the chute are calculated by the server, and the server guides an operator to operate the execution module to move the chute to the theoretical coordinates.
The first implementation mode comprises the following steps:
this embodiment provides a three-dimensional positioning system of an oblique chute, as shown in fig. 1, including a monitoring module, an input module, a server and an execution module, wherein:
the monitoring module acquires real-time three-dimensional positioning of the chute tube and sends the positioning to the server; the input module inputs theoretical position data of the chute tube to the server;
the server compares the real-time three-dimensional positioning data with the theoretical position data, and dynamically displays the current data information needing to be adjusted, wherein the data information comprises the pitching angle and the telescopic distance of the chute, the moving distance and the direction of the trolley, and the rotating angle and the direction of the rotary table;
according to data information displayed on a display screen of the server, the execution module is manually controlled to act, so that the three-dimensional position of the chute tube is continuously changed;
the monitoring module sends the constantly changing three-dimensional data to the server in real time, and the server changes data information until the real-time three-dimensional positioning of the chute barrel is consistent with the theoretical position data, and then the execution module stops acting.
As shown in fig. 2, the monitoring module of the present embodiment is used for chute positioning, hull positioning and water depth measurement. The monitoring module includes: the system comprises a laser range finder, a first cable-pulling instrument, a first bidirectional inclinometer, a second cable-pulling instrument, a first GPS module, a second bidirectional inclinometer and a depth finder, wherein the laser range finder is installed on a ship body and used for measuring the forward and backward movement distance of the trolley, and the laser range finder sends the forward and backward movement distance to a server; the first wire drawing instrument is arranged on a rotary table of the trolley and used for measuring angle data of horizontal rotation of the trolley, and the first wire drawing instrument sends the angle data to the server; the first bidirectional inclinometer is arranged on the chute barrel and used for measuring the pitching angle of the chute barrel, and the first bidirectional inclinometer sends the pitching angle to the server; the second wire drawing instrument is arranged on the sliding barrel and used for measuring the telescopic amount of the sliding barrel, and the second wire drawing instrument sends the telescopic amount to the server; the server receives real-time data collected by the laser range finder, the first wire drawing instrument, the first bidirectional inclinometer and the second wire drawing instrument. The first GPS module and the second GPS module respectively receive differential signals between a satellite and a ground reference station, the first GPS module and the second GPS module are both connected with a server, and the server receives the differential signals and converts the differential signals into the plane position and the elevation of the ship body; the second bidirectional inclinometer is used for accurately acquiring the real-time attitude of the ship body, the second bidirectional inclinometer is connected with the server, and the server receives the acquired real-time attitude of the second bidirectional inclinometer and corrects the relative relation among the plane position of the ship body, the elevation of the ship body and the point on the chute by using the real-time attitude.
The installation position of the GPS module is only the installed GPS antenna. And the GPS host machine in the cab is connected through a special GPS cable. The GPS host is connected to the serial server. The GPS host is in wired connection with the control room computer, a GPS module is used for receiving differential signals of a satellite and a ground reference station, and the plane position and the elevation of the riprap boat are monitored, wherein the accuracy of the plane position reaches 2cm, and the accuracy of the elevation reaches 3 cm.
The second bidirectional inclinometer is arranged on the riprap boat and can accurately reflect the real-time posture of the riprap boat, and the positioning system uses the data to correct the relative relation of the characteristic points of the GPS hull, particularly the points on the chute. The axial direction of the second bi-directional inclinometer is aligned with the axial direction of the ship body coordinate system, so that the angle variation of the whole positioning system in the XY direction can be accurately measured.
Specifically, the server receives the differential signals and converts the differential signals into the plane position and the elevation of the ship body, and the process of obtaining the plane position and the elevation by the differential signals is as follows:
the first GPS module and the second GPS module adopt a carrier phase differential principle and an RTK technology for precise positioning, the server receives a differential signal through an Ultra High Frequency (UHF) data transmission radio station and performs differential calculation with the carrier phase of the local GPS to obtain a high-precision WGS84 coordinate, and then the plane position and the elevation are calculated through seven-parameter coordinate conversion and Gaussian projection.
The carrier phase differential method is that the carrier phase observed quantity, pseudo range observed quantity, reference station coordinate and other information measured by the reference station are transmitted to the mobile station server in real time through the radio station, the server processes the carrier phase observed values of the mobile station and the reference station and carries out differential processing to obtain a baseline vector (delta X, delta y, delta z) between the reference station and the mobile station, then the coordinate of the mobile station is obtained according to the control point coordinate of the base station, and the obtained mobile station is the WGS-84 coordinate (X)k、Yk、Zk)。
Because the observed values of the carrier phases on the base station and the mobile station contain the same or approximately the same satellite orbit error, satellite clock error, ionosphere delay error and troposphere delay error, the errors can be completely eliminated or greatly weakened through differential calculation, and finally, the centimeter-level measurement result can be obtained.
The carrier phase difference calculation consists of three parts:
in the formula
In order to initiate the whole-cycle ambiguity,
is the value of the change of the whole cycle from the starting time to the observation time,
the fractional part of the observed phase. The inter-satellite distance is the product of the carrier wavelength and the phase difference of the satellite stations, i.e.
If the known coordinates and satellite ephemeris are used at the reference station, the true distance between the satellites can be obtainedThe observed value of the pseudo range between the satellites can be expressed as
In the formula, δ MiFor multipath effects, ViIs GPS receiver noise. The pseudorange corrections can be found at the reference station:
the correction of the pseudo-range observed value of the mobile station by using the correction number comprises the following steps:
when the distance between the reference station and the mobile station is less than 30km, it can be considered that:
then:
in the formula:
Δδρ＝c·(δtk-δti)+(δMk-δMi)+(Vk-Vi)。
substituting the carrier phase pseudo-range observed value (2) into the formula
The order in the above formula:
Nj(t0)＝Nk j(t0)-Ni j(t0)
starting the difference of the whole cycle, if the satellite tracking is not locked during the observation process, Nj(t0) That is, a constant, let the carrier phase measure the difference:
(7) the formula can be expressed as:
or:
unknown number N in the formulaj(t0)、Xk、Yk、ZkAnd
middle removing
In addition, the rest are constants. However, the variation of the difference between the clock differences of two receivers, the difference of noise and the difference of multipath effect between two stations between adjacent epochs is less than the error allowed by cm-level dynamic positioning, and the variation can also be used in the solving process
Considered as a constant. Therefore, if the initial whole-week unknown number can be determined, the mobile station can be located by observing the same 4 satellites at the same time in the reference station and the mobile station. Therefore, the fast solution of the initial whole-cycle unknowns is the key of the dynamic positioning of the carrier phase difference. Because each observation satellite is added, a whole-week unknown number is correspondingly added, so that the initial whole-week unknown number can be solved only by prolonging the observation time and increasing the observation epoch number.
Mobile station coordinate (X) calculated by carrier phase differencek、Yk、Zk) The coordinates belonging to the WGS-84 coordinate system need to be converted into the construction coordinate system through 7-parameter conversion, and the calculation formula is as follows:
in the formula (X)1,Y1,Z1)、(X2,Y2,Z2) Respectively, the coordinates in WGS-84 coordinate system and construction coordinate system, Delta X0、ΔY0、ΔZ0Is 3 translation parameters, εX、εY、εZIs 3 rotation parameters, and m is a scale parameter.
The server receives the real-time attitude acquired by the second bidirectional inclinometer, and corrects the relative relationship among the plane position of the ship body, the elevation of the ship body and the point on the chute by using the real-time attitude, wherein the correction process comprises the following steps:
receiving real-time attitude data acquired by a second bidirectional inclinometer, correcting the relative relation among the plane position of the ship body, the elevation of the ship body and a point on a slide tube by using the real-time attitude, wherein for any point on the ship body or on the slide tube, the coordinates in a ship body coordinate system are (X, Y and Z), the direction inclination angles of an X axis and a Y axis acquired by the second bidirectional inclinometer are p and r, and the corrected coordinates obtained after inclination correction calculation are (X ', Y ', Z '), wherein the main calculation process and the formula are as follows:
setting:
Cp＝cos(p)；
Sp＝sin(p)；
Cr＝cos(r)；
Sr＝sin(r)；
Sa＝Sr/Cp；
Ca＝sqrt(1.0-Sa*Sa)；
then:
X’＝X*Ca-Z*Sa；
Y’＝-X*Sp*Sa+Y*Cp-Z*Sp*Ca；
Z’＝X*Cp*Sa+Y*Sp+Z*Cp*Ca。
specifically, the GPS host can perform high-precision positioning by applying the carrier-phase differential principle and the RTK technique. The GPS host and the control room computer are connected by wire, professional software is used for monitoring the plane position and the elevation of the riprap boat, the accuracy of the plane position reaches 2cm, and the accuracy of the elevation reaches 3 cm.
Specifically, the second bidirectional inclinometer is arranged on the riprap boat, the real-time posture of the riprap boat can be accurately reflected, the relative relation between the characteristic points on the boat body and the chute can be corrected, and the plane position and the elevation of the characteristic points can be monitored. The axial direction of the second bidirectional inclinometer and the axial direction of the ship body coordinate system should be aligned, so that the angle variation of the whole positioning system in the XY direction can be accurately measured.
The first bidirectional inclinometer is arranged on the upper surface of the chute barrel and represents the inclination of the chute barrel through inclination.
The laser range finder is arranged on the guide roller extension line and installed in a cabinet below a ship operation room operation platform to mainly measure the moving variation of the walking flat car, accurately measure the distance of a laser emission point in real time and calculate the real-time position of the center of the trolley.
The laser range finder of this embodiment is installed on the extension line of guide rail, measures the platform truck and removes the variation, and laser range finder accurately measures the laser emission point distance in real time, and the real-time position at the server calculation platform truck center of being convenient for. The axial direction of the second bi-directional inclinometer of the embodiment is aligned with the axial direction of the hull coordinate system, so that the angle variation of the whole positioning system in the XY direction can be accurately measured.
The second embodiment:
on the basis of the first disclosure scheme of the embodiment, a database is installed on the server of the embodiment, the database is a PostgreSQL database, and the server stores all data sent by the monitoring module in the PostgreSQL database. The server can adjust the information of the database and obtain the three-dimensional data of the center of the foremost end of the chute through the conversion of four coordinate systems; the four coordinate systems are respectively: a local coordinate system, a WGS84 coordinate system, a real-time hull coordinate system, and a standard hull coordinate system.
Three-dimensional data of a bridge high pile cap and a steel pipe pile are stored in a database, and the three-dimensional data are expressed by a local coordinate system; the first GPS module and the second GPS module measure the plane position and the elevation of the ship body in real time, and the three-dimensional coordinate information of the plane position and the elevation is expressed by a WGS84 coordinate system; the data information of the laser range finder, the first stayguymeter, the first bidirectional inclinometer, the second stayguymeter and the second bidirectional inclinometer is expressed by a real-time ship body coordinate system and an engineering coordinate system, and the real-time ship body coordinate system is a coordinate system established on a ship body; the server also converts the real-time hull coordinate system into a standard hull coordinate system according to the pitch, yaw and elevation of the hull.
The GPS coordinate system (i.e., WGS84 coordinate system) is a spatial three-dimensional rectangular coordinate system with an origin at the center of the earth. The point location in the WGS84 coordinate system generally adopts rectangular coordinates (X)G，YG，ZG) Or geodetic coordinates (B)G，LG，HG) Where B, L, H are the geodetic latitude, longitude, and geodetic elevation, respectively. The reference ellipsoid of WGS84 coordinate system has a long radius of 6378137 m and a flat rate of 1/298.257223563. In the present embodiment, the position of the GPS antenna measured in real time by the GPS is represented by coordinates of the WGS84 coordinate system.
The same definition as the WGS84 coordinate system, but the direction of the origin and coordinate axes is different from the WGS84 system. The point location in the local coordinate system generally adopts rectangular coordinates (X)D，YD，ZD) Or geodetic coordinates (B)D，LD，HD) Where B, L, H are the geodetic latitude, longitude, and geodetic elevation, respectively. The local coordinate system of the present embodiment generally adopts a 54-country coordinate system in China, i.e., a beijing 54 system. The Beijing 54 system and the WGS84 coordinate system have a fixed relation in a certain area, and the relation between the two systems can be established through strict mathematical formulas and can be converted mutually. The reference ellipsoid of Beijing 54 coordinate system has a long radius of 6378245 m and a flat rate of 1/298.3.
The engineering coordinate system generally adopts a two-dimensional plane rectangular coordinate system, and the point location coordinates in the engineering coordinate system are represented by (X)P， YP) And (4) showing. The origin of the engineering coordinate system can be set according to the requirements of the engineering. Most of the engineering coordinate systems in the embodiment are directly obtained by projecting geodetic coordinates of a local coordinate system, and in a few cases, if the engineering coordinate systems are independent coordinate systems, the transformation of plane coordinates is required. In general, a design department gives a fixed relation between an engineering coordinate system and a local coordinate system, and a mutual conversion relation between the engineering coordinate system and the local coordinate system can be established through a strict mathematical formula. The elevation system of the engineering coordinate system is specified by design and canThe elevation reference plane can be a local theoretical leveling plane or an independent elevation reference plane. If the elevation value is HP, the point position in the engineering coordinate system can adopt two-dimensional rectangular coordinate plus elevation (X)P， YP，HP) To indicate. But HP generally does not participate in coordinate transformation, but is directly scaled from observations.
The real-time ship coordinate system is a two-dimensional plane rectangular coordinate system established on a ship body, and point positions in the real-time ship coordinate system adopt two-dimensional rectangular coordinates (X)C，YC) And (4) showing. The X axis of a real-time ship body coordinate system is defined as the central axis or the left side of a ship board of a ship body, the direction of the X axis is from the stern to the bow, and ideally, the center point of a pile is located on the X axis; the origin of coordinates is an intersection point C0 of the X axis and the connecting line of the two GPS antennas on the plane of the coordinate system; the Y axis is parallel to the plane of the ship; and the real-time elevation of the ship body coordinate system plane is defined on the deck surface of the ship body. The real-time ship coordinate system is an 'instant' coordinate system established on a moving ship, and different from other coordinate systems, the position of the plane of the real-time ship coordinate system changes along with the change of the position of the ship. Factors determining the position and direction of the real-time hull coordinate system include the position of the hull, the torsion angle, the height of the hull, the longitudinal pitch and the transverse roll of the hull, and the like. All the variation factors can be obtained by observing values of two GPS instruments and a double-axis inclinometer which are installed on the ship. The real-time ship coordinate system is an intermediate coordinate system for expressing the mutual relation between relevant point positions fixedly connected with a ship body. The GPS antenna and the inclinometer are fixedly arranged on the ship body, the coordinates in a real-time ship body coordinate system can be measured in advance by adopting a common measurement means under a certain condition, the coordinate correction of point positions can be conveniently calculated according to the inclination, the swinging amount and the like of the ship body, and the points are expressed in a ship body coordinate system to participate in the subsequent coordinate conversion process.
The standard hull coordinate system is a special case of the real-time hull coordinate system. Namely a real-time ship body coordinate system when the height of the central axis of the ship body is the same as the elevation of the designed pile top and the ship body is in a horizontal state. Thus, the standard hull coordinate system is also a two-dimensional planar rectangular coordinate system, a point location in the systemUsing two-dimensional rectangular coordinates (X)B，YB) And (4) showing. The coordinate axis directions between the standard ship body coordinate system and the real-time ship body coordinate system are the same, and the original point of the standard ship body coordinate system is positioned on the vertical line of the original point of the real-time ship body coordinate system. The relationship between the two coordinate systems depends on the pitch, yaw and elevation of the hull.
Since the design position of the pile, the real-time measurement result of the GPS, and the real-time measured position of the pile are expressed in different coordinate systems, it is necessary to establish a mutual conversion relationship between the coordinate systems.
The conversion relationship between coordinate systems is a set of mathematical formulas that reflect the conversion relationship between the coordinate components of the two coordinate systems. Most of the coordinate conversion relations can be represented by a conversion matrix.
(1) Conversion relationship of the GPS coordinate system into the local coordinate system:
the conversion from the GPS coordinate system to the local coordinate system, i.e. the conversion from the WGS84 system to the beijing 54 system, is abbreviated as TRGD conversion. The TRGD transformation can be performed according to the boolean formula:
wherein the conversion matrix is:
in the coordinate conversion relation of TRGD, there are 3 translation parameters (Δ X) in totalD，ΔYD，ΔZD) The three-dimensional TRGD system comprises 7 parameters including 3 rotation parameters (omega X, omega Y and omega Z) and 1 scale parameter rho, and the parameters are used as parameter bases for TRGD conversion of the system. In the present embodiment:
translation parameter Δ XD＝131.908，ΔYD＝204.809，ΔZD＝87.726，
Rotation parameters ω X-1.959986, ω Y-4.955782, ω Z-2.147541
The scale parameter p is-6.05 ppm.
(2) The real-time ship body coordinate system is converted into a conversion relation of a standard ship body coordinate system:
by definition, the relationship between these two coordinate systems depends on the pitch, yaw and elevation of the hull. The relationship between the two is shown in fig. 3. The included angle of the X axes of the two coordinate systems is n, and the ship body is taken to be positive when heeling. The included angle between the Y axes of the two coordinate systems is m, the right side of the ship body is positive when the ship body inclines downwards, and the side inclination angle in the figure 3 is negative. And n and m are acquired by real-time observation values of the biaxial inclinometer. One point PC (X) in real-time hull coordinate systemC，YC) PB (X) projected to the coordinate system of the standard hull in the vertical directionB，YB) The above. The coordinate transformation relationship in the two coordinate systems can be expressed as:
wherein:
(3) the conversion relation of the standard ship body coordinate system into the engineering coordinate system is as follows:
the standard ship body coordinate system and the engineering coordinate system are both plane rectangular coordinate systems, and (X) isB，YB) Conversion to (X)P，YP) The calculation formula of (2) is similar to the TRDP-C conversion formula:
wherein:
(4) and (3) coordinate conversion of a sliding barrel of the walking flat car:
the trolley needs to be converted through four coordinate systems to obtain the coordinates of the center of circle of the foremost end of the inclined chute, and the specific schematic diagram is shown in fig. 4. And (3) conversion process:
(1) two GPS receivers fixed relative to the ship profile, GPS (X)1，Y1，Z1)、(X2，Y2，Z2) By adding a laser rangefinder DSCan obtain the real-time coordinate (X) of the rotation axis of the walking flat car3，Y3，Z3)；
(2) The rotation axis of the sliding barrel rotates around the rotation axis of the walking flat car, and the rotation angle is as follows:
variable length L of drawing line instrument1Radius of rotation R
Real-time coordinate (X) of rotation axis of walking flat car3，Y3，Z3) The central coordinate (X) of the rotary hinge point of the chute tube is obtained by adding the rotation angle alpha4，Y4，Z4)；
(3) The center of the front end of the slide tube, the center of the upper part of the slide tube and the rotary hinge point are on the same plane, in the calculation process, the inclination angle of the slide tube directly obtains an angle beta from the inclinometer 2, and the center coordinate (X) of the rotary hinge point of the slide tube is combined4，Y4，Z4) Can calculate the coordinate (X) of the center of a circle of the upper part of the chute5，Y5，Z5)
(4) Upper part circle center coordinate (X)5，Y5，Z5) Plus the extended length of the chute is L2And an angle beta, finally obtaining the central coordinates (X) of the front end of the chute6，Y6，Z6)。
Wherein the hull coordinate system is set to be oriented along the trolley outer track toward the bow, and the Y-axis is perpendicular to the X-axis to the right. The coordinate system of the walking flat car is set to be in an initial state when the trolley stops at a limit position close to the bow of the ship. The coordinate system of the chute is set to be in an initial state that the chute is vertically downward and is lifted upwards to increase the angle.
The third embodiment is as follows:
the embodiment discloses a three-dimensional motion mode of an oblique chute. The oblique sliding barrel is hinged with the platform, an amplitude variation mechanism is arranged between the oblique sliding barrel and the platform, and the pitching action of the oblique sliding barrel is realized by the movement of the amplitude variation mechanism; the bottom end of the platform is connected with a rotating mechanism, and the rotating mechanism drives the platform to rotate 360 degrees around the axis of the platform, so that the axial rotating action of the inclined sliding barrel is realized; the rotating mechanism is arranged on the moving trolley, and the forward and backward movement of the chute is realized by utilizing the forward and backward movement of the moving trolley.
The oblique sliding barrel comprises a multi-section barrel body and a feeding hopper which are coaxial, the multi-section barrel body is sequentially sleeved, and the end part of the barrel body at the innermost side is connected with the feeding hopper. The coaxial multi-section cylinder bodies are sequentially sleeved, and the diameters of different sleeved cylinder bodies are gradually reduced from inside to outside; the two cylinders which are sleeved with each other form an outer sleeve 2 and an inner sleeve 1.
As shown in fig. 6, the tail end of the inner sleeve 1 is always exposed outside the outer sleeve 2, and the head end of the inner sleeve 1 is always positioned inside the outer sleeve 2; the inner wall of the outer sleeve 2 is provided with M guide pulleys 3, all the guide pulleys 3 are simultaneously contacted with the inner sleeve 1 to guide the inner sleeve 1 to extend or contract along a set straight line, and M is more than or equal to 2; a first limiting component 12 is arranged on the inner wall of the outer sleeve 2, and the first limiting component 12 is arranged close to the tail end of the outer sleeve 2; a second limiting component 11 is arranged on the inner wall of the inner sleeve 1, and the second limiting component 11 is arranged close to the head end of the inner sleeve 1; the first stop assembly 12 and the second stop assembly 11 contact to prevent further extension of the inner sleeve 1.
The first limiting component 12 is 2N limiting seats, N is more than or equal to 1, and the 2N limiting seats are uniformly distributed along the inner wall of the outer sleeve 2 in 360 degrees; the second limiting component 11 is also 2N limiting seats, N is more than or equal to 1, and the 2N limiting seats are uniformly distributed along the outer wall of the inner sleeve 1 in 360 degrees; all the limiting seats on the outer sleeve 2 correspond to all the limiting seats on the inner sleeve 1 one by one. Preferably, N is 2, the two stopper bases constituting the first stopper element 12 are disposed to face each other, and the two stopper bases constituting the second stopper element 11 are disposed to face each other. In the radial projection of the outer sleeve 2, the first limiting assembly 12 separates the M guide pulleys 3 into two groups. The multi-section barrel is retracted by a pulling assembly which is connected to the end of the barrel of minimum diameter.
And a rotation resisting mechanism is arranged between the inner sleeve 1 and the outer sleeve 2 and is arranged on the inner sleeve 1 and/or the outer sleeve 2. The rotation resisting mechanisms are two pairs and are oppositely arranged. Each pair of rotation preventing mechanisms is positioned between the guide pulley 3 and the limiting seat. The rotation preventing mechanism consists of a first rotation preventing pipe 21 and a second rotation preventing pipe 22, the first rotation preventing pipe 21 is arranged on the inner wall of the outer sleeve 2, and the second rotation preventing pipe 22 is arranged on the outer wall of the inner sleeve 1; the two first rotation preventing tubes 21 are arranged oppositely, and the two second rotation preventing tubes 22 are also arranged oppositely. The rotation blocking mechanism is arranged between the inner sleeve 1 and the outer sleeve 2, and the rotation blocking mechanism prevents the inner sleeve 1 from rotating when extending or contracting, so that the inner sleeve 1 cannot rotate when extending or contracting along the axial direction. The rotation blocking mechanism of the invention can also ensure the normal work of the guide pulley 3.
In the embodiment, the guide pulley 3 guides the inner sleeve 1 to extend or contract along the axial direction, and the first limiting assembly 12 and the second limiting assembly 11 are contacted to prevent the inner sleeve 1 from extending continuously, so that the extension and contraction process of the inner sleeve 1 is more stable. In the present embodiment, the rotation preventing mechanism is provided between the inner sleeve 1 and the outer sleeve 2, and the rotation preventing mechanism prevents the inner sleeve 1 from rotating when the inner sleeve 1 extends or contracts, thereby preventing the inner sleeve 1 from rotating when the inner sleeve 1 extends or contracts in the axial direction. The rotation blocking mechanism of the present embodiment can also ensure the normal operation of the guide pulley 3.
This embodiment selects two spacing seats to limit the maximum axial displacement of inner skleeve 1, can reduce the quantity of every spacing seat of group, provides more installation space for leading pulley 3 again. In the embodiment, the guide pulley 3 guides the inner sleeve 1 to extend or contract along the axial direction, and the first limiting assembly 12 and the second limiting assembly 11 are contacted to prevent the inner sleeve 1 from extending continuously, so that the extension and contraction process of the inner sleeve 1 is more stable.
In the embodiment, the chute tube structure comprises X sections of tube bodies, wherein X is more than or equal to 2, the diameter of the first section of tube body is the largest, the diameter of the X section of tube body is the smallest, the first section of tube body is sleeved with the second section of tube body, the second section of tube body is sleeved with the third section of tube body, and the like, the X-1 section of tube body is sleeved with the X section of tube body, so that the first section of tube body and the second section of tube body form an outer sleeve 2 and an inner sleeve 1, the second section of tube body and the third section of tube body form an outer sleeve 2 and an inner sleeve 1, the third section of tube body and the fourth section of tube body form an outer sleeve 2 and an inner sleeve 1, and the like, the X-1 section of tube body and the X section.
Claims (10)
1. The utility model provides a three-dimensional positioning system of an oblique swift current section of thick bamboo which characterized in that: the device comprises a monitoring module, an input module, a server and an execution module, wherein the monitoring module acquires real-time three-dimensional positioning of a chute tube and sends the positioning to the server; the input module inputs theoretical position data of the chute tube to the server;
the server compares the real-time three-dimensional positioning data with the theoretical position data, and dynamically displays the current data information needing to be adjusted, wherein the data information comprises the pitching angle and the telescopic distance of the chute, the moving distance and the direction of the trolley, and the rotating angle and the direction of the rotary table;
according to data information displayed on a display screen of the server, the execution module is manually controlled to act, so that the three-dimensional position of the chute tube is continuously changed;
the monitoring module sends the constantly changing three-dimensional data to the server in real time, and the server changes the data information until the execution module stops acting after the real-time three-dimensional positioning of the chute tube is consistent with the theoretical position data.
2. The three-dimensional positioning system for the slant chute tube of claim 1 wherein the monitoring module is used for positioning the chute tube, and the monitoring module comprises:
the laser range finder is arranged on the ship body and used for measuring the forward and backward movement distance of the trolley, and the laser range finder sends the forward and backward movement distance to the server;
the first wire drawing instrument is arranged on a rotary table of the trolley and used for measuring angle data of the horizontal rotation of the trolley, and the first wire drawing instrument sends the angle data to the server;
the first bidirectional inclinometer is arranged on the chute barrel and used for measuring the pitching angle of the chute barrel, and the first bidirectional inclinometer sends the pitching angle to the server;
the second wire drawing instrument is arranged on the sliding barrel and used for measuring the telescopic amount of the sliding barrel, and the second wire drawing instrument sends the telescopic amount to the server;
the server receives real-time data collected by the laser range finder, the first wire drawing instrument, the first bidirectional inclinometer and the second wire drawing instrument.
3. The three-dimensional positioning system for the slant chute tube of claim 2 wherein the monitoring module is further for positioning a hull, the monitoring module further comprising: the system comprises a first GPS module arranged on the left side of a ship body, a second GPS module arranged on the right side of the ship body and a second bidirectional inclinometer arranged on the ship body, wherein the axial direction of the second bidirectional inclinometer is aligned with the axial direction of a ship body coordinate system;
the first GPS module and the second GPS module respectively receive differential signals between a satellite and a ground reference station, the first GPS module and the second GPS module are both connected with a server, and the server receives the differential signals and converts the differential signals into the plane position and the elevation of the ship body;
the second bidirectional inclinometer is used for accurately acquiring the real-time attitude of the ship body, the second bidirectional inclinometer is connected with the server, and the server receives the acquired real-time attitude of the second bidirectional inclinometer and corrects the relative relation among the plane position of the ship body, the elevation of the ship body and the point on the chute by using the real-time attitude.
4. The slant chute three-dimensional positioning system according to claim 1, wherein the server is installed with a database, which is a PostgreSQL database, and stores all data sent by the monitoring module in the PostgreSQL database.
5. The three-dimensional positioning system for the slant chute tube as claimed in claim 1 or 4, wherein the server calls the information of the database, and three-dimensional data of the center of the circle at the forefront end of the chute tube is obtained through conversion of four coordinate systems;
the four coordinate systems are respectively: a local coordinate system, a WGS84 coordinate system, a real-time hull coordinate system, and a standard hull coordinate system.
6. The three-dimensional positioning system for the slant chute tube according to claim 5, wherein the database stores three-dimensional data of a bridge high pile cap and a steel pipe pile, and the three-dimensional data is expressed by a local coordinate system;
a first GPS module and a second GPS module of the monitoring module measure the plane position and the elevation of the ship body in real time, and the three-dimensional coordinate information of the plane position and the elevation is expressed by a WGS84 coordinate system;
data information of a laser range finder, a first cable pulling instrument, a first bidirectional inclinometer, a second cable pulling instrument and a second bidirectional inclinometer of the monitoring module is represented by a real-time ship body coordinate system and an engineering coordinate system, wherein the real-time ship body coordinate system is a coordinate system established on a ship body;
the server also converts the real-time hull coordinate system into a standard hull coordinate system according to the pitch, the yaw and the elevation of the hull.
7. The three-dimensional positioning system for the slant chute according to claim 6, wherein the WGS84 coordinate system and the local coordinate system have a transformation relationship of:
wherein the conversion matrix is:
wherein (Δ X)D，ΔYD，ΔZD) For translation parameters, (ω X, ω Y, ω Z) are rotation parameters, and ρ is a scale parameter.
8. The three-dimensional positioning system for the inclined chute tube as claimed in claim 6, wherein the conversion relationship between the real-time hull coordinate system and the standard hull coordinate system is as follows:
wherein:
the included angle of the real-time ship coordinate system and the X axis of the standard ship coordinate system is n, and the ship is taken to be positive when pitching; the included angle between the Y axes of the two coordinate systems is m, and the right side of the ship body is taken as positive when the ship body inclines downwards; and n and m are acquired by real-time observation values of the biaxial inclinometer.
9. The three-dimensional positioning system for the inclined chute tube as claimed in claim 6, wherein the conversion relationship between the standard hull coordinate system and the engineering coordinate system is as follows:
wherein:
10. the three-dimensional positioning system for the slant chute according to claim 5, wherein the three-dimensional data of the center of the circle at the foremost end of the chute is obtained by the following steps:
the method comprises the steps that firstly, a first GPS module and a second GPS module are fixed relative to a ship body, and GPS (X1, Y1, Z1) and GPS (X2, Y2 and Z2) are added with a laser range finder DS to obtain real-time coordinates (X3, Y3 and Z3) of the rotation axis of a trolley;
step two, the rotation axis of the chute rotates around the rotation axis of the trolley, and the rotation axis real-time coordinates (X3, Y3, Z3) of the trolley are added with the rotation angle alpha to obtain the center coordinates (X4, Y4, Z4) of the rotation hinge point of the chute;
wherein, the angle of rotation;
step three, directly obtaining the inclination angle beta of the slide tube by a first bidirectional inclinometer, and calculating the center coordinates (X5, Y5 and Z5) of the upper part of the slide tube by combining the center coordinates (X4, Y4 and Z4) of the rotating hinge point of the slide tube;
and step four, adding the coordinates (X5, Y5 and Z5) of the circle center of the upper part of the slide tube to the extended length L2 and the angle beta of the slide tube to finally obtain the coordinates (X6, Y6 and Z6) of the circle center of the front end of the slide tube.
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