CN113914880A - Inclination angle correctable tunnel punching method based on laser ranging and punching robot - Google Patents
Inclination angle correctable tunnel punching method based on laser ranging and punching robot Download PDFInfo
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- 238000004080 punching Methods 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000005553 drilling Methods 0.000 claims abstract description 193
- 238000012937 correction Methods 0.000 claims abstract description 53
- 238000009434 installation Methods 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims description 16
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- 238000010276 construction Methods 0.000 abstract description 9
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- 238000012986 modification Methods 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 2
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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
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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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
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Abstract
The application relates to the technical field of tunnel construction, and provides a method and a robot for punching a tunnel with a correctable inclination angle based on laser ranging. The method comprises the following steps: the distance from the punching robot to the cross section where the punching point is located is obtained through a laser range finder arranged on the punching robot; the number of the laser range finders is 3, and the 3 laser range finders are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot; calculating a primary correction inclination angle of the deviation of the drill bit of the drilling robot and the section of the drilling point according to the distance from the drilling robot to the section of the drilling point measured by the 3 laser range finders; and adjusting the posture of an execution end fixedly connected with the tail end of the mechanical arm of the punching robot according to the primary correction inclination angle so that a drill bit on the execution end is over against the section of the punching point. Therefore, the inclination angle of the execution end is corrected, and automatic control of the drilling robot during drilling is achieved.
Description
Technical Field
The application relates to the technical field of tunnel construction, in particular to a method and a robot for punching a tunnel with a correctable inclination angle based on laser ranging.
Background
In the construction of subway tunnels, drilling is needed for the installation of cables, pipelines and the like on the side wall of the tunnel. At present, the tunnel drilling is mostly carried out by a manual operation method, namely, workers support an electric drill on a ladder car to drill holes, the drilling mode is low in efficiency, high in cost, high in risk and high in labor intensity, a large amount of dust is splashed during construction, and the damage to the health of constructors is large. In addition, in the conventional manual drilling mode, before drilling, tools such as an angle ruler and the like are generally adopted to measure the camber angle of the drill bit of the electric drill or an operator controls the camber angle of the drill bit by experience. Due to the fact that the special measuring equipment for the non-drilling inclination angle of the angle ruler is difficult to match with the electric drill when the inclination angle is measured, the method for controlling the inclination angle by the angle ruler is inconvenient in the actual operation process, is rarely adopted when the tunnel is excavated and drilled, the inclination angle of the drilled hole is controlled by operators according to experience, and the problem that the inclination angle of the drilled hole of the tunnel is unqualified inevitably results in difficulty in subsequent installation and construction of cables and pipelines.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The application aims to provide a tunnel punching method and a tunnel punching robot capable of correcting an inclination angle based on laser ranging, so as to solve or relieve the problems in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a method for punching a tunnel with a correctable inclination angle based on laser ranging, which comprises the following steps: the method comprises the steps that the distance from a punching robot to a section where a punching point is located is obtained through a laser range finder arranged on the punching robot; the number of the laser range finders is 3, and the 3 laser range finders are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot; calculating a primary correction inclination angle of the deviation of the drill bit of the drilling robot and the section of the drilling point according to the distances from the drilling robot to the section of the drilling point measured by the 3 laser range finders; and adjusting the posture of an execution end fixedly connected with the tail end of a mechanical arm of the punching robot according to the primary correction inclination angle so that the drill bit on the execution end is over against the section of the punching point.
Preferably, the distance between the drilling robot and the cross section where the drilling point is located is obtained by a laser range finder arranged on the drilling robot, and specifically: and adjusting the distances from the 3 laser range finders to the drill bit to be the same, and respectively obtaining the distances from the 3 laser range finders to the cross section where the punching point is located.
Preferably, the 3 laser range finders are respectively a first laser range finder, a second laser range finder and a third laser range finder; the distances from the drilling robot to the cross section where the drilling point is located, measured by the first laser range finder, the second laser range finder and the third laser range finder, are respectively a first distance, a second distance and a third distance; correspondingly, according to the distance from the drilling robot to the cross section of the drilling point measured by the 3 laser range finders, calculating a primary correction inclination angle of the deviation between the drill bit of the drilling robot and the cross section of the drilling point, specifically: calculating the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the first distance, the second distance and the third distance, and taking the rotation angle as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point; the X axis coincides with the extending direction of the first laser range finder to the second laser range finder, and the Y axis is parallel to the extending direction of the second laser range finder to the third laser range finder and passes through the first laser range finder.
Preferably, the calculating, as the primary corrected inclination angle of the cross-sectional deviation of the drill from the drilling point, an angle of rotation of the drill of the drilling robot about X and Y axes perpendicular to each other in a normal plane thereof based on the first distance, the second distance, and the third distance includes: calculating a first vector and a second vector according to the first distance, the second distance and the third distance and the distances among the first laser range finder, the second laser range finder and the third laser range finder, wherein the first vector is a vector from the irradiation point of the first laser range finder on the section of the punching point to the irradiation point of the second laser range finder on the section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder on the section of the punching point to the irradiation point of the third laser range finder on the section of the punching point; calculating a normal vector of the cross section of the punching point according to the first vector and the second vector; and calculating the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the normal vector of the cross section of the drilling point on the basis of the three-perpendicular-line theorem, and taking the rotation angle as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point.
Preferably, after the adjusting the posture of the execution end fixedly connected to the end of the mechanical arm of the drilling robot according to the primary corrected inclination angle so that the drill bit on the execution end is aligned with the cross section of the drilling point, the method further includes: and in response to the punching robot moving to a working position corresponding to the coordinates of the punching point, determining whether the drill bit is offset from the punching point according to the distance from the laser range finder at the working position to the cross section where the punching point is located.
Preferably, the determining whether the drill bit is offset from the punching point according to the distance from the laser range finder to the cross-section of the punching point at the working position in response to the punching robot moving to the working position corresponding to the coordinates of the punching point comprises: responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distances from the 3 laser range finders at the working position to the cross section where the punching point is located; and determining that the drill bit is deviated from the punching point in response to the mutual errors of the distances from the 3 laser distance meters to the cross section of the punching point at the working position being larger than a preset error threshold value.
Preferably, after determining that the drill bit is offset from the drilling point in response to the mutual error between the distances from the 3 laser distance meters to the cross section of the drilling point at the working position being greater than a preset error threshold, the method further comprises: and calculating a secondary correction inclination angle of the deviation of the drill bit and the punching point according to the distance from the 3 laser range finders at the working position to the section of the punching point, and adjusting the posture of the execution end according to the secondary correction inclination angle so that the drill bit is over against the punching point.
The embodiment of the application still provides a tunnel boring machine people that inclination can be corrected based on laser rangefinder, includes: the laser range finders are used for measuring the distance from the drilling robot to the cross section where a drilling point is located, wherein the number of the laser range finders is 3, and the 3 laser range finders are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot; the industrial personal computer is in communication connection with the 3 laser range finders, receives and calculates a primary correction inclination angle of the deviation of the drill bit of the drilling robot and the section of the drilling point according to the distance between the drilling robot and the section of the drilling point measured by the 3 laser range finders; the tail end of the adjusting mechanical arm is fixedly connected with an execution end of the punching robot, the adjusting mechanical arm is in communication connection with the industrial personal computer, and the posture of the execution end is adjusted according to the primary correction inclination angle sent by the industrial personal computer, so that the drill bit on the execution end is right opposite to the punching point.
Preferably, the 3 laser range finders are respectively a first laser range finder, a second laser range finder and a third laser range finder; the distances from the drilling robot to the cross section where the drilling point is located, measured by the first laser range finder, the second laser range finder and the third laser range finder, are respectively a first distance, a second distance and a third distance; correspondingly, the industrial personal computer calculates the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the first distance, the second distance and the third distance, and the rotation angle is used as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point; the X axis coincides with the extending direction of the first laser range finder to the second laser range finder, and the Y axis is parallel to the extending direction of the second laser range finder to the third laser range finder and passes through the first laser range finder.
Preferably, the industrial personal computer is deployed with: a first calculation unit configured to calculate a first vector and a second vector from the first distance, the second distance, and a third distance, and distances between the first laser range finder, the second laser range finder, and the third laser range finder, wherein the first vector is a vector from an irradiation point of the first laser range finder on a cross section of the punching point to an irradiation point of the second laser range finder on a cross section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder on the section of the punching point to the irradiation point of the third laser range finder on the section of the punching point; a second calculation unit configured to calculate a normal vector of a cross section of the punching point from the first vector and the second vector; and a correction calculation unit configured to calculate, based on a three-perpendicular-line theorem, angles of rotation of a drill of the drilling robot about X-and Y-axes perpendicular to each other in a normal plane thereof, as a primary correction inclination angle of a cross-sectional deviation of the drill from the drilling point, based on a normal vector of the cross-section of the drilling point.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
according to the technical scheme, the distance between the drilling robot and the cross section where the drilling point is located is measured through the 3 laser distance meters arranged on the drilling robot, and the 3 laser distance meters are arranged on the same mounting surface of the drilling robot in a triangular mode, so that whether a drill bit of the drilling robot is over against the cross section of the drilling point or not can be determined according to the 3 distances measured by the 3 laser distance meters; when the distances measured by the 3 laser distance measuring instruments are equal or are equal in chance, the drill bit of the drilling robot can be considered to be the section over against the drilling point, otherwise, the drill bit is indicated to have inclination deviation with the section of the drilling point, at the moment, a primary correction inclination angle of the drill bit of the drilling robot and the section deviation of the drilling point can be calculated according to the distances measured by the 3 laser distance measuring instruments, the executing posture of the fixed connection of the tail end of the mechanical arm of the drilling robot is adjusted according to the primary correction inclination angle, and the drill bit on the executing end is enabled to be over against the section of the drilling point. Therefore, whether the drill bit and the section of the punching point deviate or not can be judged more accurately, and when the drill bit deviates the section of the punching point, the deviation inclination angle of the drill bit and the section of the punching point can be accurately obtained, the inclination angle is corrected through the execution end fixedly connected to the mechanical arm, automatic control during drilling of the punching robot is realized, personnel are liberated from high-risk and high-harm work, the punching precision is effectively improved, the follow-up installation and construction of cables and pipelines are facilitated, and the construction difficulty is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a schematic flowchart of a tunnel boring method with a tilt angle being correctable based on laser ranging according to some embodiments of the present application;
FIG. 2 is a process diagram of a method for tilt angle-modifiable tunneling based on laser ranging according to some embodiments of the present application;
FIG. 3 is a schematic elevation view of an actuator provided in accordance with some embodiments of the present application;
FIG. 4 is a side view of the embodiment shown in FIG. 3;
FIG. 5 is a schematic diagram of a laser coordinate system provided in accordance with some embodiments of the present application;
FIG. 6 is a schematic flow chart of a revised tilt calculation according to some embodiments of the present application;
FIG. 7 is a schematic illustration of a drill bit provided in accordance with some embodiments of the present application first rotating about a Y-axis in a laser coordinate system;
FIG. 8 is a schematic illustration of a drill bit provided in accordance with some embodiments of the present application first rotating about an X' axis in a laser coordinate system;
FIG. 9 is a schematic flow chart of a quadratic dip correction provided according to some embodiments of the present application;
FIG. 10 is a system diagram of a laser ranging based inclination angle modifiable tunnel boring robot provided in accordance with some embodiments of the present application;
fig. 11 is a schematic structural diagram of a tunnel boring robot with a tilt angle being modifiable based on laser ranging according to some embodiments of the present application.
Description of reference numerals:
100. an industrial personal computer (200), an adjusting mechanical arm (300), a laser range finder (400), a 2D camera,
101. a first calculating unit 102, a second calculating unit 103, a correction calculating unit,
301. first laser rangefinder, 302, second laser rangefinder, 303-third laser rangefinder.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
Fig. 1 is a schematic flowchart of a tunnel boring method with a tilt angle being correctable based on laser ranging according to some embodiments of the present application; FIG. 2 is a process diagram of a method for tilt angle-modifiable tunneling based on laser ranging according to some embodiments of the present application; as shown in fig. 1, the tunnel boring method with a modifiable inclination angle based on laser ranging includes:
s101, acquiring the distance from the punching robot to the cross section where a punching point is located through a laser range finder 300 arranged on the punching robot; the number of the laser range finders 300 is 3, and the 3 laser range finders 300 are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot;
in the embodiment of the application, 3 laser distance measuring instruments 300 are arranged on the same mounting surface of the punching robot in a triangular shape, and through distance measurement, because 3 points determine a plane, the irradiation points of the 3 laser distance measuring instruments 300 on the cross section of the punching point can determine that the punching point is positioned on the plane instead of a line segment; then, the distance from the plane is measured by the 3 laser distance meters 300, and it is known whether the plane is inclined with respect to the installation surface of the 3 laser distance meters 300. If the distances measured by the 3 laser distance meters 300 to the plane are equal or almost equal, it is indicated that the plane is parallel or almost parallel to the plane where the 3 laser distance meters 300 are located, and since the drill is located between the three laser distance meters 300, it can be determined that the drill is not offset from the cross section (i.e., the cross section of the drilling point) determined by the irradiation point of the 3 laser distance meters 300 on the cross section of the drilling point.
In the embodiment of the present application, the distance from the drilling robot to the cross section of the drilling point obtained by the laser distance meter 300 disposed on the drilling robot is specifically: the distances from the 3 laser distance measuring instruments 300 to the drill bit are adjusted to be the same, and the distances from the 3 laser distance measuring instruments 300 to the cross section where the punching point is located are obtained respectively. Therefore, the distances from the drill to the 3 laser distance measuring instruments 300 are the same, so that the drill is positioned at the center of a circumscribed circle of a triangle formed by the 3 laser distance measuring instruments 300, and the accuracy of deviation judgment of the section (namely the section of the punching point) determined by the irradiation point of the drill and the 3 laser distance measuring instruments 300 on the section of the punching point is further improved.
Step S102, calculating a primary correction inclination angle of the cross section offset between a drill bit of the drilling robot and a drilling point according to the distance from the drilling robot to the cross section of the drilling point measured by the 3 laser range finders 300;
FIG. 3 is a schematic elevation view of an actuator provided in accordance with some embodiments of the present application; FIG. 4 is a side view of the embodiment shown in FIG. 3; FIG. 5 is a schematic diagram of a laser coordinate system provided in accordance with some embodiments of the present application; as shown in fig. 3, 4 and 5, the 3 laser rangefinders 300 are respectively a first laser rangefinder 301, a second laser rangefinder 302 and a third laser rangefinder 303; the first laser range finder 301 and the second laser range finder 302 are arranged along the length direction of the execution end, the second laser range finder 302 and the third laser range finder 303 are arranged along the width direction of the execution end, and the 3 laser range finders 300 are in a right-angled triangle shape. Here, a coordinate system xyz of laser is established with the position of the first laser range finder 301 as a center of a circle, wherein the direction from the first laser range finder 301 to the second laser range finder 302 is defined as an X-axis forward direction, the light direction of the laser is a Z-axis forward direction, and the direction from the second laser range finder 303 to the third laser range finder 303 is defined as a Y-axis forward direction; the irradiation points of the first laser range finder 301, the second laser range finder 302, the third laser range finder 303 and the plane where the punching point is located are a point A, a point B and a point C respectively; defining the distances to the cross section where the punching point is located, which are measured by the first laser range finder 301, the second laser range finder 302 and the third laser range finder 303, as a first distance (depth1), a second distance (depth2) and a third distance (depth3), respectively; the distance between the first laser rangefinder 301 and the second laser rangefinder 302 is defined as distance12, and the distance between the second laser rangefinder 302 and the third laser rangefinder 303 is defined as distance 23.
In some alternative embodiments, the illustrated primary correction tilt angle for the cross-sectional offset of the drill head of the drilling robot from the drilling point is calculated based on the distances of the drilling robot to the cross-section of the drilling point measured by the 3 laser rangefinders 300, specifically: calculating the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the first distance, the second distance and the third distance, and taking the rotation angle as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point; the X axis coincides with the extending direction of the first laser range finder 301 to the second laser range finder 302, and the Y axis is parallel to the extending direction of the second laser range finder 302 to the third laser range finder 303 and passes through the first laser range finder 301.
FIG. 6 is a schematic flow chart of a revised tilt calculation according to some embodiments of the present application; as shown in fig. 6, calculating an angle of rotation of the drill of the drilling robot about X and Y axes perpendicular to each other in a normal plane thereof as a primary corrected inclination angle of a cross-sectional deviation of the drill from a drilling point, based on the first distance, the second distance, and the third distance, includes:
step S601, calculating a first vector and a second vector according to a first distance, a second distance and a third distance and the distances among the first laser range finder 301, the second laser range finder 302 and the third laser range finder 303, wherein the first vector is a vector from an irradiation point of the first laser range finder 301 on the cross section of the punching point to an irradiation point of the second laser range finder 302 on the cross section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder 302 on the cross section of the punching point to the irradiation point of the third laser range finder 303 on the cross section of the punching point;
in the embodiment of the application, the coordinates of the laser and the irradiation point of the wall surface in the laser coordinate system are respectively a (0, depth1), B (distance12, 0, depth2), C (distance12, distance23, depth 3); the first vector from the point of irradiation of the first laser distance measuring device 301 to the point of irradiation of the second laser distance measuring device 302 on the cross section of the perforation point is
The second vector is
Comprises the following steps:
step S602, calculating a normal vector of the section of the punching point according to the first vector and the second vector;
in the embodiment of the application, the normal vector of the section where the punching point is located is
Normal vector
And a first vector
Second vector
Perpendicular, i.e.:
in the embodiment of the present application, z is set for simplifying the coordinate transformation1When 1, then:
step S603 is to calculate, based on the three-perpendicular-line theorem, angles of rotation of the drill of the drilling robot around X and Y axes perpendicular to each other in the normal plane thereof, as primary corrected inclination angles of the cross-sectional deviation between the drill and the drilling point, based on the normal vector of the cross-sectional plane of the drilling point.
In the embodiment of the application, the rotation sequence of the drilling robot in the established laser coordinate system is set to be ZYX, namely, the drill bit rotates around the Y axis first, the laser coordinate system rotates around the Y axis, the laser direction is changed to be Z ', and the X axis is changed to be X' due to the rotation of the moving axis; rotating around the X' axis, and changing the laser direction into Z "; the angle of rotation of the drill bit about the Y axis is ry and the angle of rotation of the drill bit about the X' axis is rx, as shown in fig. 7 and 8.
In the embodiment of the present application, the projection of Z "on the plane XOZ is Z ', and when the solution is solved according to the three-perpendicular theorem, X' has two solutions perpendicular to Z ', wherein one solution obtained by X' has an angle ry of rotation about the Y axis exceeding (-90 degrees, 90 degrees), i.e. the solution is invalid. That is, Z ' is perpendicular to X ', and after rotating around the X ' axis, Z "is perpendicular to X ', and then Z" is projected on the XOZ plane, according to the theorem of three perpendicular lines, X ' is perpendicular to Z "on the XOZ plane, Z ' and Z" are both projected on the XOZ plane, and the starting points are all O points, therefore, the projection of Z "on the XOZ plane is the same as the direction of Z ', that is:
however, X 'perpendicular to both Z' and Z ″ has two directions (opposite directions) starting from point O, where the direction of Z 'is opposite to the projection direction of Z ″ on the XOZ plane, and the included angle ry between Z' and Z is greater than 90 °, which is not suitable for practical use scenarios, and therefore the solution is left.
In the embodiment of the present application, an included angle between a projection of Z "on the plane XOZ as Z ' and a normal vector is an angle of rotation of the drill around the X ' axis as rx, an included angle between a projection of Z" on the plane XOZ as Z ' and the Z axis is an angle of rotation of the drill around the Y axis as ry, and there are:
and S103, adjusting the posture of an execution end fixedly connected with the tail end of the mechanical arm of the punching robot according to the primary correction inclination angle, so that a drill bit on the execution end is over against the section of the punching point.
In the embodiment of the application, after receiving the inclination correction information, the drilling robot rotates the execution end fixedly connected with the tail end of the mechanical arm around the X axis and the Y axis respectively and sequentially by rx and ry angles in the laser coordinate system, so that the drill bit can be aligned to the section of the drilling point.
In the embodiment of the present application, a 2D camera 400 is disposed above the drill at the executing end for taking a picture of the drilling area, wherein a lens of the 2D camera 400 is parallel to the drilling direction of the drill. When the drill bit is inclined from the cross section of the drilling point, the pictures of the drilling area obtained by the 2D camera 400 cannot effectively distinguish the drilling area from the non-drilling area (for example, there are shield plate grooves, side seams, screws, etc.). The posture of the execution end fixedly connected with the tail end of the mechanical arm of the punching robot is adjusted by correcting the inclination angle once, so that the lens of the 2D camera 400 can be used for photographing a punching area, and therefore the punching area and the non-punching area can be effectively distinguished through pictures.
In some optional embodiments, after adjusting the posture of the execution end fixedly connected with the tail end of the mechanical arm of the punching robot according to the primary correction inclination angle, so that the drill bit on the execution end is opposite to the section of the punching point, the method further comprises the following steps: and in response to the drilling robot moving to the working position corresponding to the coordinates of the drilling point, determining whether the drill bit is offset from the drilling point according to the distance from the laser range finder 300 at the working position to the cross section where the drilling point is located.
In the embodiment of the application, after the primary inclination correction, the 2D camera 400 photographs the punching area, and the picture photographed by the 2D camera 400 is subjected to feature extraction and recognition based on the pre-trained neural network model, so that the punching area and the non-punching area are effectively distinguished. Then, when the laser range finder 300 obtains the distance from the drilling robot to the cross section of the drilling point, since the drill is just opposite to the cross section of the drilling point, the distance measured by the laser range finder 300 is a linear distance, the distance that the drilling robot needs to move forward can be determined according to the linear distance, and the industrial personal computer 100 controls the drilling robot to move to the working position corresponding to the coordinate of the drilling point.
In the embodiment of the present application, after the drilling robot moves to the working position corresponding to the coordinates of the drilling point, the laser distance measuring device 300 measures the distance of the cross section of the drilling point at the working position, and determines whether the drill and the drilling point are deviated according to the distance measured again. If the distances measured again by the laser distance meter 300 are different, it is indicated that the cross section of the drill bit and the drilling point may be inclined and offset when the robot moves, and the inclination correction is required again for the cross section offset of the drill bit and the drilling point.
FIG. 9 is a schematic flow chart of a quadratic dip correction provided according to some embodiments of the present application; as shown in fig. 9, determining whether the drill bit is offset from the punching point according to a distance from the laser range finder 300 to a cross-section where the punching point is located at the working position in response to the punching robot moving to the working position corresponding to coordinates of the punching point includes:
step S901, responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distance from 3 laser range finders 300 at the working position to the cross section where the punching point is located;
in the embodiment of the present application, 3 distances are obtained by measuring 3 laser distance meters 300, which is the same as the correction of one inclination angle, so that the accuracy of determining whether the cross section where the drill bit and the drilling point are located deviates can be improved. The specific steps and processes can refer to step S101, and are not described in detail herein.
And S902, determining that the drill bit is deviated from the punching point in response to the mutual error of the distances from the 3 laser range finders 300 to the cross section of the punching point at the working position being greater than a preset error threshold value.
In the embodiment of the application, the error calculation is performed according to the distances measured by the 3 laser range finders 300 at the working positions, and if the mutual error between the measured 3 distances is less than or equal to the preset error threshold, it indicates that the drill bit and the drilling point do not deviate; if the mutual error between the measured 3 distances is larger than the preset error threshold value, the deviation between the drill bit and the punching point is indicated.
In the embodiment of the present application, the distance measured by the 3 laser range finders 300 at the working position may be compared and calculated through a preset program in the industrial personal computer 100 or through a comparator, and a comparison result between a mutual error between the 3 distances and a preset error threshold value is obtained, so as to determine whether the drill bit and the drilling point are offset.
In an application scenario, after determining that the drill bit is offset from the drilling point in response to the mutual error between the distances from the 3 laser range finders 300 to the cross section of the drilling point at the working position being greater than a preset error threshold, the method further includes:
and step S903, calculating secondary inclination angle correction of deviation of the drill bit and the punching point according to the distance from the 3 laser range finders 300 at the working position to the section where the punching point is located, and adjusting the posture of the execution end according to the secondary correction inclination angle so that the drill bit is over against the punching point.
In the embodiment of the present application, the step and the process of adjusting the posture of the execution end according to the secondary correction inclination angle may refer to the step and the process of the primary correction in step S103, and are not described in detail here.
FIG. 10 is a system diagram of a laser ranging based inclination angle modifiable tunnel boring robot provided in accordance with some embodiments of the present application; FIG. 11 is a schematic diagram of a laser ranging based tilt angle modifiable tunnel boring robot according to some embodiments of the present application; as shown in fig. 10 and 11, the tunnel boring robot capable of correcting the inclination angle based on the laser ranging includes: laser range finder 300, industrial computer 100 and adjustment arm 200. The laser range finders 300 are used for measuring the distance from the drilling robot to the cross section of a drilling point, wherein the number of the laser range finders 300 is 3, and the 3 laser range finders 300 are arranged in a triangular manner around a drill bit of the drilling robot and are positioned on the same mounting surface of the drilling robot; the industrial personal computer 100 is in communication connection with the 3 laser range finders 300, receives and calculates a primary correction inclination angle of the cross section offset between a drill bit of the drilling robot and a drilling point according to the distance from the drilling robot to the cross section of the drilling point measured by the 3 laser range finders 300; the tail end of the adjusting mechanical arm 200 is fixedly connected with an execution end of the punching robot, the adjusting mechanical arm 200 is in communication connection with the industrial personal computer 100, and the posture of the execution end is adjusted according to a primary correction inclination angle sent by the industrial personal computer 100, so that a drill bit on the execution end is opposite to a punching point.
In some alternative embodiments, the industrial personal computer 100 calculates an angle of rotation of the drill of the drilling robot around X and Y axes perpendicular to each other in a normal plane thereof as a primary correction inclination angle of the cross-sectional deviation of the drill from the drilling point, based on the first distance, the second distance, and the third distance; the X axis coincides with the extending direction of the first laser range finder 301 to the second laser range finder 302, and the Y axis is parallel to the extending direction of the second laser range finder 302 to the third laser range finder 303 and passes through the first laser range finder 301.
In some optional embodiments, the industrial personal computer 100 is deployed with: a first calculation unit 101, a second calculation unit 102, and a correction calculation unit 103. The first calculation unit 101 is configured to calculate a first vector and a second vector from a first distance, a second distance, and a third distance, and distances between the first laser range finder 301, the second laser range finder 302, and the third laser range finder 303, wherein the first vector is a vector from an irradiation point of the first laser range finder 301 on a cross section of the punching point to an irradiation point of the second laser range finder 302 on a cross section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder 302 on the cross section of the punching point to the irradiation point of the third laser range finder 303 on the cross section of the punching point; the second calculation unit 102 is configured to calculate a normal vector of a cross section of the punching point based on the first vector and the second vector; the correction calculation unit 103 is configured to calculate, based on the three-perpendicular-line theorem, angles by which the drill of the drilling robot rotates about X and Y axes perpendicular to each other in the normal plane thereof, as primary correction inclination angles of the cross-sectional deviation of the drill from the drilling point, from the normal vector of the cross-sectional plane of the drilling point.
In the embodiment of the application, the 3 laser distance meters 300 arranged on the punching robot are used for measuring the distance from the punching robot to the section where the punching point is located, and the 3 laser distance meters 300 are arranged on the same mounting surface of the punching robot in a triangular mode, so that whether the drill bit of the punching robot is over against the section of the punching point or not can be determined according to the 3 distances measured by the 3 laser distance meters 300; when the distances measured by the 3 laser distance meters 300 are equal or are equal in chance, the drill bit of the drilling robot can be considered to be the section facing the drilling point, otherwise, the drill bit is inclined from the section of the drilling point, at the moment, a primary correction inclination angle of the drill bit of the drilling robot and the section of the drilling point can be calculated according to the distances measured by the 3 laser distance meters 300, and the attitude of execution of fixed connection of the tail end of the mechanical arm of the drilling robot is adjusted according to the primary correction inclination angle, so that the drill bit on the execution end is opposite to the section of the drilling point.
The 2D camera 400 installed at the execution end can be over against the punching area by correcting the inclination angle for one time, and the punching area is photographed by the 2D camera 400, so that the punching area and the non-punching area are effectively distinguished; after correcting the inclination angle for the first time, controlling the drilling robot to move to a working position by using the distance to the section of the drilling point measured by the laser range finder 300, then judging whether the section of the drilling point deviates from the section of the drilling point again according to the distance to the section of the drilling point obtained by the laser range finder 300 at the working position, and if so, correcting the inclination angle for the second time for the posture of the execution end to enable the drilling point to be just opposite to the drilling point.
Therefore, whether the drill bit and the section of the punching point deviate or not can be judged more accurately, and when the drill bit deviates the section of the punching point, the deviation inclination angle of the drill bit and the punching point can be accurately obtained, the inclination angle is corrected twice through the execution end fixedly connected to the mechanical arm, the automatic control of the punching robot during drilling is realized, personnel are liberated from high-risk and high-harm work, the punching precision is effectively improved, the follow-up installation and construction of cables and pipelines are facilitated, and the construction difficulty is reduced.
In the embodiment of the application, in the drilling process, excessive coordinate information does not need to be acquired, and the correction angle of the drilling inclination angle can be calculated only by the depth information of three points corresponding to the three laser range finders 300, so that the calculation amount of equipment is greatly reduced, the drilling efficiency is improved, and the drilling operation can be completed by the drilling robot more quickly and orderly; moreover, the structure of the execution end is simpler and more reliable than that of an industrial 3D camera by adopting the laser range finder 300, the requirement on the stability of the equipment is met in a severe tunnel environment, and meanwhile, the cost is effectively reduced.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A tunnel boring method with a modifiable inclination angle based on laser ranging is characterized by comprising the following steps:
the method comprises the steps that the distance from a punching robot to a section where a punching point is located is obtained through a laser range finder arranged on the punching robot; the number of the laser range finders is 3, and the 3 laser range finders are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot;
calculating a primary correction inclination angle of the deviation of the drill bit of the drilling robot and the section of the drilling point according to the distances from the drilling robot to the section of the drilling point measured by the 3 laser range finders;
and adjusting the posture of an execution end fixedly connected with the tail end of a mechanical arm of the punching robot according to the primary correction inclination angle so that the drill bit on the execution end is over against the section of the punching point.
2. The method for boring the tunnel with the inclination angle capable of being corrected based on the laser ranging as claimed in claim 1, wherein the step of obtaining the distance from the boring robot to the cross section of the boring point by the laser ranging device arranged on the boring robot is specifically as follows: and adjusting the distances from the 3 laser range finders to the drill bit to be the same, and respectively obtaining the distances from the 3 laser range finders to the cross section where the punching point is located.
3. The method of claim 1, wherein the 3 laser rangefinders are a first laser rangefinder, a second laser rangefinder and a third laser rangefinder respectively; the distances from the drilling robot to the cross section where the drilling point is located, measured by the first laser range finder, the second laser range finder and the third laser range finder, are respectively a first distance, a second distance and a third distance;
in a corresponding manner, the first and second optical fibers are,
the method comprises the following steps of calculating a primary correction inclination angle of a drill bit of the drilling robot and the deviation of the cross section of the drilling point according to the distance between the drilling robot and the cross section of the drilling point, measured by the 3 laser range finders, and specifically comprises the following steps:
calculating the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the first distance, the second distance and the third distance, and taking the rotation angle as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point; the X axis coincides with the extending direction of the first laser range finder to the second laser range finder, and the Y axis is parallel to the extending direction of the second laser range finder to the third laser range finder and passes through the first laser range finder.
4. The method of claim 3, wherein the calculating an angle of rotation of the drill of the boring robot about X and Y axes perpendicular to each other in a normal plane thereof as the primary corrected inclination of the cross-sectional offset of the drill from the boring point according to the first, second and third distances comprises:
calculating a first vector and a second vector according to the first distance, the second distance and the third distance and the distances among the first laser range finder, the second laser range finder and the third laser range finder, wherein the first vector is a vector from the irradiation point of the first laser range finder on the section of the punching point to the irradiation point of the second laser range finder on the section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder on the section of the punching point to the irradiation point of the third laser range finder on the section of the punching point;
calculating a normal vector of the cross section of the punching point according to the first vector and the second vector;
and calculating the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the normal vector of the cross section of the drilling point on the basis of the three-perpendicular-line theorem, and taking the rotation angle as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point.
5. The method for boring a tunnel with an inclination angle capable of being corrected based on laser ranging as claimed in any one of claims 1 to 4, wherein after said adjusting the attitude of an execution end fixedly connected to the end of a robot arm of said boring robot according to said once corrected inclination angle so that said drill bit on said execution end is aligned with the cross section of said boring point, further comprising:
and in response to the punching robot moving to a working position corresponding to the coordinates of the punching point, determining whether the drill bit is offset from the punching point according to the distance from the laser range finder at the working position to the cross section where the punching point is located.
6. The laser ranging-based inclination angle modifiable tunnel boring method according to claim 5, wherein said determining whether the boring head is offset from the boring point according to the distance of the laser ranging instrument from the cross section of the boring point at the working position in response to the boring robot moving to the working position corresponding to the coordinates of the boring point comprises:
responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distances from the 3 laser range finders at the working position to the cross section where the punching point is located;
and determining that the drill bit is deviated from the punching point in response to the mutual errors of the distances from the 3 laser distance meters to the cross section of the punching point at the working position being larger than a preset error threshold value.
7. The method of claim 6, wherein after determining that the drill bit is offset from the boring point in response to a mutual error between the distances of the 3 laser rangefinders from the cross-section of the boring point at the working position being greater than a predetermined error threshold, further comprising:
and calculating a secondary correction inclination angle of the deviation of the drill bit and the punching point according to the distance from the 3 laser range finders at the working position to the section of the punching point, and adjusting the posture of the execution end according to the secondary correction inclination angle so that the drill bit is over against the punching point.
8. A tunnel boring robot with a modifiable inclination angle based on laser ranging, comprising:
the laser range finders are used for measuring the distance from the drilling robot to the cross section where a drilling point is located, wherein the number of the laser range finders is 3, and the 3 laser range finders are arranged in a triangular mode around a drill bit of the drilling robot and are located on the same installation surface of the drilling robot;
the industrial personal computer is in communication connection with the 3 laser range finders, receives and calculates a primary correction inclination angle of the deviation of the drill bit of the drilling robot and the section of the drilling point according to the distance between the drilling robot and the section of the drilling point measured by the 3 laser range finders;
the tail end of the adjusting mechanical arm is fixedly connected with an execution end of the punching robot, the adjusting mechanical arm is in communication connection with the industrial personal computer, and the posture of the execution end is adjusted according to the primary correction inclination angle sent by the industrial personal computer, so that the drill bit on the execution end is right opposite to the punching point.
9. The laser ranging-based inclination angle-correctable tunnel boring robot according to claim 5, wherein 3 of the laser rangefinders are a first laser rangefinder, a second laser rangefinder and a third laser rangefinder, respectively; the distances from the drilling robot to the cross section where the drilling point is located, measured by the first laser range finder, the second laser range finder and the third laser range finder, are respectively a first distance, a second distance and a third distance;
in a corresponding manner, the first and second optical fibers are,
the industrial personal computer calculates the rotation angle of the drill bit of the drilling robot around the X axis and the Y axis which are perpendicular to each other in the normal plane of the drilling robot according to the first distance, the second distance and the third distance, and the rotation angle is used as a primary correction inclination angle of the cross section deviation of the drill bit and the drilling point; the X axis coincides with the extending direction of the first laser range finder to the second laser range finder, and the Y axis is parallel to the extending direction of the second laser range finder to the third laser range finder and passes through the first laser range finder.
10. The laser ranging-based inclination angle-modifiable tunnel boring robot according to claim 6, wherein the industrial personal computer has deployed therein:
a first calculation unit configured to calculate a first vector and a second vector from the first distance, the second distance, and a third distance, and distances between the first laser range finder, the second laser range finder, and the third laser range finder, wherein the first vector is a vector from an irradiation point of the first laser range finder on a cross section of the punching point to an irradiation point of the second laser range finder on a cross section of the punching point; the second vector is a vector from the irradiation point of the second laser range finder on the section of the punching point to the irradiation point of the third laser range finder on the section of the punching point;
a second calculation unit configured to calculate a normal vector of a cross section of the punching point from the first vector and the second vector;
and a correction calculation unit configured to calculate, based on a three-perpendicular-line theorem, angles of rotation of a drill of the drilling robot about X-and Y-axes perpendicular to each other in a normal plane thereof, as a primary correction inclination angle of a cross-sectional deviation of the drill from the drilling point, based on a normal vector of the cross-section of the drilling point.
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