CN110513120A - A kind of cutting head of roadheader adaptive location system and method - Google Patents
A kind of cutting head of roadheader adaptive location system and method Download PDFInfo
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- CN110513120A CN110513120A CN201910761257.1A CN201910761257A CN110513120A CN 110513120 A CN110513120 A CN 110513120A CN 201910761257 A CN201910761257 A CN 201910761257A CN 110513120 A CN110513120 A CN 110513120A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 30
- 238000013135 deep learning Methods 0.000 claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 13
- 238000012986 modification Methods 0.000 claims abstract description 12
- 230000004048 modification Effects 0.000 claims abstract description 12
- 238000011161 development Methods 0.000 claims abstract description 7
- 230000009514 concussion Effects 0.000 claims abstract description 4
- 230000005347 demagnetization Effects 0.000 claims abstract description 4
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- 238000010801 machine learning Methods 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 claims description 2
- 238000005457 optimization Methods 0.000 claims description 2
- 239000002893 slag Substances 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The cutting head of roadheader adaptive location system and method based on optics and Magnetic oriented that the invention discloses a kind of.Magnetic oriented part in the present invention is first by the cutterhead with fixed permanent magnet in traversal working space, three-dimensional space position is recorded by optical alignment module in real time, by the magnetic induction intensity of magnetic field sensor record corresponding position, to obtain training data, initial magnetic field location model is then constructed by deep learning algorithm.During the work of Magnetic oriented model, optics aided positioning system works on, the acquisition to cutterhead location information is kept when cutting head of roadheader is not buried, and training is updated to Magnetic oriented model by the collected high precision position information of optics aided positioning system, it updates in training process, data provided by optics auxiliary positioning result have time weighting, and the data closer apart from current time learning rate in model modification training is bigger.By continuous renewal to Magnetic oriented model training, it is made to adapt to environmental change automatically, influence of the GEOMAGNETIC CHANGE to Magnetic oriented precision after avoiding magnetic source from moving at a distance because of concussion demagnetization and development machine.
Description
Technical field
The present invention relates to a kind of tunneling machine cutting head positioning system and methods.Specifically, the present invention relates to one kind to be based on
Based on the Magnetic oriented of deep learning, using optical alignment as assisted calibration, the development machine that can adapt to environment change automatically is cut
Cut head positioning system and method.
Background technique
It is a kind of for carrying out positioning to cutting head of roadheader using Magnetic oriented method under low visibility environment dusty
Feasible method.But there is also its limitations for Magnetic oriented method.
Aiming at the problem that precision of cutting head of roadheader Magnetic oriented system is with using the time to reduce, i.e., with driving captain
Time move on a large scale caused by earth magnetism condition change, and positioned at tunneling machine cutting back of head magnetic source because long-time shake
Magnetic oriented accuracy decline problem caused by magnetism weakens, we introduce optical alignment and carry out assisted calibration to it, and to magnetic
Field location model is dynamically refined, and is realized the auto-calibration adjustment of tunneling machine cutting head positioning system, is allowed to
The automatic environment that adapts to changes, and precision is held in position in dynamic environment, substantially increases the steady of tunneling machine cutting head positioning system
It is qualitative.
Summary of the invention
The invention discloses a kind of cutting head of roadheader adaptive location system and method, solves and using Magnetic oriented
Method carries out in position fixing process development machine, and positioning accuracy declines with positioning system with environment change and source strength decaying
Problem substantially increases the stability of tunneling machine cutting head positioning system.The fixed adaptive location system includes Magnetic oriented
Module, the magnetic source for being securable to cutterhead rear, optics auxiliary positioning module, the terminal processes containing adaptive location model
Device.Due to the passage of grand movement and time with development machine, earth magnetism condition can be changed correspondingly, because cutterhead vibration
It influences, also will receive influence positioned at the source strength of cutting back of head, establish on initially magnetic environment and source strength
The precision of Magnetic oriented model, which necessarily decreases, even to fail.Magnetic oriented part in this method is first by with fixation
The cutterhead of permanent magnet records three-dimensional space position by optics auxiliary positioning module in real time, is passed by magnetic field in traversal working space
Then the magnetic induction intensity of sensor record corresponding position constructs Magnetic oriented by machine learning algorithm to obtain training data
Model.Then Magnetic oriented model work during, optics aided positioning system works on, cutting head of roadheader not by
The acquisition to cutterhead location information is kept when burying, and passes through the collected high precision position information of optics aided positioning system
Training is updated to Magnetic oriented model, is updated in training process, when data provided by optics auxiliary positioning result have
Between weight, the data closer apart from current time model modification training in learning rate it is bigger.By to Magnetic oriented model
Constantly update training, so that it is adapted to environmental change automatically, avoid magnetic source because concussion demagnetization and development machine move at a distance after
Influence of the magnetic variation to Magnetic oriented precision.
Particular technique content provided by the invention is:
A kind of cutting head of roadheader adaptive location system, after positioning system includes Magnetic oriented module, is securable to cutterhead
The magnetic source of side, optics auxiliary positioning module, the terminal handler containing adaptive location model.The Magnetic oriented module is used for
Magnetic oriented is carried out to cutterhead；The magnetic source is used to the position data of cutterhead passing to Magnetic oriented module；The light
Learn high accuracy data needed for auxiliary positioning module is used to provide calibration adjustment；At the terminal containing adaptive location model
Reason device is used to handle acquisition position data, and according to environmental change adjust automatically Magnetic oriented model to keep it fixed
Position precision；The position data includes that the high precision position data that auxiliary positioning module obtains and Magnetic oriented module obtain
Magnetic field position data.
Preferably, the Magnetic oriented module includes at least two triaxial magnetic field sensors, is respectively placed in development machine machine
On body two sides or the sliding rail and bracket that are moved with body synch.
Preferably, the optics auxiliary positioning module include at least two optical cameras and matched data acquisition,
Transmitting device, at least two optical camera are located at cutterhead rear, and with after the fixation of fuselage relative positional relationship, are determining
It is not rechanged during position, the optical camera is not limited to visible light wave range, can be used according to specific environment far and near red
The camera of a variety of wave bands such as outer.
Preferably, magnetic source is fixed on cutterhead rear, moves together with cutterhead, influences the magnetic by the movement of magnetic source
The magnetic field strength that field sensor obtains.The magnetic source is permanent magnet or electromagnet.
Localization method disclosed by the invention are as follows: the Magnetic oriented method is using the machine learning algorithm in processor to sample
Originally location model is constructed after being trained, and Magnetic oriented is carried out to cutterhead using the location model；The machine learning is calculated
Method is deep learning algorithm, and the location model is deep learning location model, is obtained after being trained using sample data deep
Learning position model is spent, which is used to carry out Magnetic oriented to cutterhead, obtain by magnetic field sensor
The magnetic field strength date of magnetic source at corresponding different location, the deep learning location model are obtained using the magnetic field strength date
Obtain the spatial position of cutterhead.The optics assisted location method is based on image recognition and method of geometrical optics and carries out to cutterhead
Positioning, described image recognition methods can be based on the imaging features of cutterhead under visible light conditions, can also be based in work
The infrared imaging feature that the frictional heating of cutterhead generates；The automatic calibrating method is according to optics auxiliary positioning result to magnetic field
Model used in positioning is updated training, in the update training process, data provided by optics auxiliary positioning result
With time weighting, the data closer apart from current time learning rate in model modification is bigger.In the position fixing process of cutterhead
Middle Magnetic oriented is used for global all the period of time and provides cutterhead location information, optics aided positioning system only cutting head of roadheader not
Work when being blocked or be not buried in slag by fuselage provides high precision position data to adjust automatically and calibrates Magnetic oriented
Model, avoid magnetic source because concussion demagnetization and development machine move at a distance after influence of the GEOMAGNETIC CHANGE to Magnetic oriented precision.
Preferably, the automatic calibrating method includes following steps:
Step 1, optics aided positioning system obtain cutterhead location information；
Step 2, magnetic field sensor acquire magnetic field data；
Step 3, judges whether optical positioning system is in normal operating conditions.If so, executing step 4；If not, executing
Step 10；
Optical alignment result is stored in historical data, data sequence number i by step 4；
Magnetic field data is stored in historical data, data sequence number i by step 5；
Step 6, i=i+1；
Step 7 updates historical data time weighting, and the serial number i the big, and then weight is bigger；
Step 8 adjusts learning rate of the different time data when updating training pattern according to time weighting；
Step 9, usage history data update training Magnetic oriented model；
Step 10 brings the magnetic field data that magnetic field sensor obtains into Magnetic oriented model；
Step 11 exports Magnetic oriented result.
Detailed description of the invention
Fig. 1 simulation model schematic diagram；
Fig. 2 magnetic field signal and corresponding positioning coordinate schematic diagram；
Fig. 3 introduces changes of magnetic field schematic diagram；
Fig. 4 adaptive location algorithm flow chart；
The general magnetic field Fig. 5 location model is to initial data locating effect figure；
Locating effect figure of the general magnetic field Fig. 6 location model to the data for introducing changes of magnetic field；
Locating effect figure of Fig. 7 adaptive model to the data for introducing changes of magnetic field.
Specific embodiment
With reference to the accompanying drawing, by case study on implementation, the present invention will be described in further detail, but does not limit in any way
The scope of the present invention processed.
Use emulation data in the present invention in case study on implementation show the locating effect of adaptive location model.
As shown in Figure 1, magnetic source is internal diameter 55cm, the 500 circle circular electromagnets of outer diameter 60cm, work electricity in simulation model
Stream is 1A.At 500cm above plane where sensor.The center of plane where magnetic field sensor is located at sensor.
The present invention provides a kind of based on the infrared and Magnetic oriented compound positioning system of cutting head of roadheader, positioning system packet
Including makes in infrared locating module, Magnetic oriented module and terminal handler specific embodiment containing adaptive location model
The locating effect of adaptive location model is specifically shown with emulation data.
It is the concrete composition of tunneling machine cutting head positioning system of the invention above.It is described in detail below and of the invention determines
Position method.
Magnetic oriented needs training location model in advance, passes through the cutterhead with fixed permanent magnet first in the present embodiment
In traversal working space, three-dimensional space position is constantly recorded by infrared locating module, by magnetic field sensor record corresponding position
Magnetic induction intensity, to obtain training data.In simulation model, magnetic source physical location and magnetic field sensor correspond to collected magnetic
We can directly acquire use for field, and the data emulated are as shown in Figure 2.The coordinate information wherein emulated is for replacing
The location information of optics auxiliary positioning, the Magnetic Field emulated are used to replace magnetic field sensor in actual location collected
Magnetic Field.We simulate the change of earth magnetism by introducing a magnetic field knots modification with tab order change, to show certainly
It is as shown in Figure 3 to adapt to the magnetic field knots modification that the locating effect of location model and general models under the conditions of GEOMAGNETIC CHANGE introduces.In
In adaptive location model, in addition to initial training, we train location model in real time, are changed with guaranteeing to introduce magnetic field
Positioning accuracy afterwards.
Above-mentioned adaptive location algorithm flow chart is as shown in Fig. 4.The optimization algorithm the following steps are included:
Step 1, optics aided positioning system obtain cutterhead location information；
Step 2, magnetic field sensor acquire magnetic field data；
Step 3, judges whether optical positioning system is in normal operating conditions.If so, executing step 4；If not, executing
Step 10；
Optical alignment result is stored in historical data, data sequence number i by step 4；
Magnetic field data is stored in historical data, data sequence number i by step 5；
Step 6, i=i+1；
Step 7 updates historical data time weighting, and the serial number i the big, and then weight is bigger；
Step 8 adjusts learning rate of the different time data when updating training pattern according to time weighting；
Step 9, usage history data update training Magnetic oriented model；
Step 10 brings the magnetic field data that magnetic field sensor obtains into Magnetic oriented model；
Step 11 exports Magnetic oriented result.
Positioning relative error that the common location model of adaptive location algorithm positions initial data is not used such as
Shown in Fig. 5, as shown in Figure 5, relative error is being not introduced into magnetic field knots modification less than 1.6%, i.e., common fixed when earth magnetism is static
Bit model precision is very high.
The common location model of unused adaptive location algorithm positions the data after introducing magnetic field knots modification
Position relative error as shown in fig. 6, it will be appreciated from fig. 6 that introduce magnetic field knots modification after, i.e., earth magnetism be dynamic when, as time goes by,
The positioning relative error of common location model is gradually increased, and after serial number is greater than 2000, x-axis positioning relative error is alreadyd exceed
100%, common location model failure.
The positioning phase that the data after introducing magnetic field knots modification are positioned using the location model of adaptive location algorithm
As shown with 7 to error, as shown in Figure 7, after introducing magnetic field knots modification, i.e., as time goes by, adaptive fixed when earth magnetism is dynamic
The positioning relative error of bit model remains at 2.5% and increases over time hereinafter, not showing positioning relative error
The phenomenon that, it was demonstrated that adaptive location model can be very good the environment that adaptively magnetic environment gradually changes, and keep higher positioning
Precision.
It should be noted that the purpose for publicizing and implementing example is to help to further understand the present invention, but the skill of this field
Art personnel, which are understood that, not to be departed from the present invention and spirit and scope of the appended claims, and various substitutions and modifications are all
It is possible.Therefore, the present invention should not be limited to embodiment disclosure of that, and the scope of protection of present invention is with claim
Subject to the range that book defines.
Claims (8)
1. a kind of cutting head of roadheader adaptive location system and method, it is characterised in that:
The adaptive location system includes Magnetic oriented module, the magnetic source for being securable to cutterhead rear, optics auxiliary positioning
Module, the terminal handler containing adaptive location model；The Magnetic oriented module is used to carry out Magnetic oriented to cutterhead；
The magnetic source is used to the position data of cutterhead passing to Magnetic oriented module；The optics auxiliary positioning module is for providing
High accuracy data needed for calibration adjustment；The terminal handler containing adaptive location model is used for acquisition position data
It is handled, and according to environmental change adjust automatically Magnetic oriented model to keep its positioning accuracy；The position data packet
The magnetic field position data that the high precision position data and Magnetic oriented module for including auxiliary positioning module acquisition obtain.
2. positioning system according to claim 1, which is characterized in that the Magnetic oriented module includes at least two 3 axis
Magnetic field sensor is respectively placed on machine body of boring machine two sides or the sliding rail and bracket that move with body synch.
3. positioning system according to claim 1, which is characterized in that the optics auxiliary positioning module includes at least two
Optical camera and the acquisition of matched data, transmitting device, at least two optical camera are located at cutterhead rear, and
After being fixed with fuselage relative positional relationship, do not rechanged in position fixing process, the optical camera is not limited to visible light wave
Section can use the camera of far and near a variety of wave bands such as infrared according to specific environment.
4. positioning system according to claim 3, which is characterized in that magnetic source is fixed on cutterhead rear, with cutterhead one
Movement is played, the magnetic field strength that the magnetic field sensor obtains is influenced by the movement of magnetic source；The magnetic source is permanent magnet or electromagnetism
Iron.
5. a kind of cutting head of roadheader adaptive location method, using the described in any item positioning systems of claim 1-4 to pick
Positioned into machine cutterhead, it is characterised in that: the adaptive location method include Magnetic oriented and optics auxiliary positioning and
Automatic calibration；The Magnetic oriented method constructs positioning mould after being trained using the machine learning algorithm in processor to sample
Type carries out Magnetic oriented to cutterhead using the location model；The machine learning algorithm is deep learning algorithm, described fixed
Bit model is deep learning location model, and deep learning location model, the depth are obtained after being trained using sample data
It practises location model to be used to carry out Magnetic oriented to cutterhead, the magnetic of the magnetic source at corresponding different location is obtained by magnetic field sensor
Field intensity data, the deep learning location model obtain the spatial position of cutterhead using the magnetic field strength date；It is described
Optics assisted location method is based on image recognition and method of geometrical optics positions cutterhead, and described image recognition methods can
With the imaging features based on cutterhead under visible light conditions, can also be generated based on the frictional heating of the cutterhead in work red
Outer imaging features；The automatic calibrating method is updated model used in Magnetic oriented according to optics auxiliary positioning result
It trains, in the update training process, data provided by optics auxiliary positioning result have time weighting, apart from current time
Closer data learning rate in model modification is bigger；Magnetic oriented is mentioned for global all the period of time in the position fixing process of cutterhead
For cutterhead location information, optics aided positioning system is not only blocked by fuselage in cutting head of roadheader or is not buried in slag
Work when middle, provide high precision position data to adjust automatically calibrate Magnetic oriented model, avoid magnetic source because concussion demagnetization with
And development machine move at a distance after influence of the GEOMAGNETIC CHANGE to Magnetic oriented precision.
6. adaptive location method according to claim 5, it is characterised in that: the Magnetic oriented algorithm is deep learning
Algorithm obtains the high deep learning location model of positioning accuracy after being trained using the optimization algorithm of deep learning.
7. adaptive location method according to claim 5, it is characterised in that: the optics assisted location method is by image
The three-dimensional location of recognizer and method of geometrical optics is constituted.
8. adaptive location method according to claim 5, it is characterised in that: the automatic calibration process is auxiliary according to optics
It helps positioning to provide high precision position information and adjusts the Magnetic oriented model obtained by deep learning, the adjustment process is to magnetic
Field location model is trained again, the training process again real-time perfoming, institute under optics auxiliary positioning normal running conditions
It states in training process again, the high precision position information that the optics auxiliary positioning closer apart from current time provides has higher
Weight, the weight is to determine the learning rate size in training process again, and weight is higher, and learning rate is bigger.
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| CN201910761257.1A CN110513120B (en) | 2019-08-17 | 2019-08-17 | Self-adaptive positioning system and method for cutting head of heading machine |
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| CN201910761257.1A CN110513120B (en) | 2019-08-17 | 2019-08-17 | Self-adaptive positioning system and method for cutting head of heading machine |
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|---|---|---|---|---|
| US5208538A (en) * | 1989-06-30 | 1993-05-04 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus having a pair of magnetic field generating cables for measuring position of an underground excavator |
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| CN109555521A (en) * | 2019-01-29 | 2019-04-02 | 冀中能源峰峰集团有限公司 | A kind of cutting head of roadheader combined positioning method |
| CN109709497A (en) * | 2019-02-16 | 2019-05-03 | 冀中能源峰峰集团有限公司 | A kind of high-accuracy position system and method |
| CN109767477A (en) * | 2019-01-14 | 2019-05-17 | 冀中能源峰峰集团有限公司 | A kind of Precise Position System and method |
-
2019
- 2019-08-17 CN CN201910761257.1A patent/CN110513120B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208538A (en) * | 1989-06-30 | 1993-05-04 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus having a pair of magnetic field generating cables for measuring position of an underground excavator |
| CN107503753A (en) * | 2017-06-19 | 2017-12-22 | 煤科集团沈阳研究院有限公司 | A kind of method that push pipe formula colliery small section tunnel independently tunnels |
| CN109389161A (en) * | 2018-09-28 | 2019-02-26 | 广州大学 | Rubbish identification evolutionary learning method, apparatus, system and medium based on deep learning |
| CN109538208A (en) * | 2018-12-21 | 2019-03-29 | 冀中能源峰峰集团有限公司 | A kind of compound positioning system of cutting head of roadheader and method |
| CN109767477A (en) * | 2019-01-14 | 2019-05-17 | 冀中能源峰峰集团有限公司 | A kind of Precise Position System and method |
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