CN115060161A - Intelligent positioning and attitude-determining device of heading machine and control method thereof - Google Patents
Intelligent positioning and attitude-determining device of heading machine and control method thereof Download PDFInfo
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Abstract
The application discloses entry driving machine intelligence location attitude determination device and control method thereof, the device includes: the device comprises a fixed protective shell, a rotating base, a rotating platform, a first rotating angle sensor, two fixed ear plates, a laser ranging transmitter, a rotating shaft, a second rotating angle sensor, a horizontal reference component and a signal receiving target, wherein the rotating platform rotates around a vertical shaft by a corresponding angle; the signal receiving target is arranged at the upper position of a roadway behind the heading machine and receives laser signals emitted by the laser ranging emitter. The device simple structure, data acquisition is convenient, can be more convenient and accurate measure the position and the gesture of entry driving machine.
Description
Technical Field
The application relates to the technical field of coal mining, in particular to an intelligent positioning and attitude determining device of a heading machine and a control method thereof.
Background
Coal mine intellectualization is a core technical support for realizing high-quality development in the coal industry, and the intellectualization of a tunneling working face is an important component for carrying out coal mine intellectualized construction. The intelligent tunneling requires that the tunneling machine can realize autonomous walking, intelligent self-adaptive cutting and the like, and the accurate attitude determination and positioning of the tunneling machine are the basis for realizing intelligent tunneling operations such as intelligent self-adaptive cutting and the like of the tunneling machine.
In the related technology, a heading machine manufacturing enterprise mainly determines the position and the posture of the heading machine by using a total station, a laser target, an Ultra Wide Band (UWB), an inertial navigation system and the like, but the method needs to be matched with various measuring devices, unifies and fuses the time axes of the acquired data, and has the problems of complex operation, high difficulty in data fusion and analysis, low positioning and posture determining precision, frequent calibration and adjustment and the like. For example, a method for determining the position and the posture of a heading machine body based on a three-laser target is adopted in the related technology, the method mainly determines the position and the posture of the heading machine by constructing a three-laser-spot target image and then establishing a machine body posture resolving model of the heading machine by adopting a machine vision method, but the method still has the problems of complex operation process, high data processing difficulty and the like due to poor underground light. The method belongs to the traditional method and has the problems of large resolving data quantity, complex operation, low positioning and attitude determination precision and the like. The method comprises the steps of calculating the space pose of the heading machine by measuring the relation between the central line and the coordinate of the laser pose target and the relative position of each measuring camera, and solving the space pose of the heading machine.
By combining the above analysis, the heading machine attitude determination and positioning device in the related art mainly adopts multiple devices to perform mutual calibration and calibration, and has the problems of complex operation, high difficulty in data fusion analysis, low accuracy in positioning and attitude determination, frequent calibration and adjustment, and the like, and needs to be improved urgently.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
Therefore, the first purpose of the application is to provide an intelligent positioning and attitude determining device for the heading machine. The positioning device can be singly adopted to determine the spatial position and the attitude of the heading machine, has simple structure, convenient data acquisition and high measurement precision, and better solves the problems of complex operation, large data calculation amount, low positioning and attitude determination precision and the like of the traditional positioning and attitude determination device.
The second purpose of the application is to provide a control method of the intelligent positioning and attitude determining device of the heading machine.
A third object of the present application is to propose a non-transitory computer-readable storage medium.
In order to achieve the above purpose, an embodiment of the first aspect of the present application provides an intelligent positioning and attitude determining device for a heading machine, including: a fixed protective shell, a rotating base, a rotating platform, a first rotating angle sensor, two fixed ear plates, a laser ranging emitter, a rotating shaft, a second rotating angle sensor, a horizontal reference component and a signal receiving target, wherein,
the rotating base is fixedly connected with the fixed protective shell;
the rotating platform is connected with the rotating base and is used for rotating around a vertical shaft of the rotating platform by a corresponding angle;
the first rotation angle sensor is arranged in the rotating platform and used for monitoring the rotation angle of the rotating platform;
the two fixed ear plates are respectively fixed on two sides of the upper surface of the rotating platform;
the laser ranging transmitter is connected with the fixed ear plate through the rotating shaft and rotates at a corresponding angle through the rotating shaft, and the laser ranging transmitter is used for transmitting laser signals to the signal receiving target;
the second rotation angle sensor is arranged in the rotating shaft and used for monitoring the rotation angle of the rotating shaft;
the horizontal reference component is fixedly arranged on the inner side surface of the fixed protective shell and used for calibrating the initial rotating positions of the rotating table and the rotating shaft;
the fixed protective shell, the rotating base, the rotating table, the first rotating angle sensor, the fixed ear plate, the laser ranging emitter, the rotating shaft, the second rotating angle sensor and the horizontal reference are connected to form a heading machine position and posture sensing device;
the signal receiving target is arranged at the upper position of a roadway behind the heading machine and used for receiving the laser signal emitted by the laser ranging emitter so as to position and fix the heading machine based on the related information of the laser signal.
In addition, the intelligent positioning and attitude determining device of the heading machine provided by the embodiment of the application has the following additional technical characteristics:
optionally, in some embodiments, the heading machine position and posture sensing device is fixedly arranged at a rear middle position of the heading machine, and initial values of the first rotation angle sensor and the second rotation angle sensor are calibrated in advance.
Optionally, in some embodiments, distances from two side edges of a signal receiving target to two side wall surfaces of the roadway are equal, and the signal receiving target is specifically configured to sense a landing position of a laser signal emitted by the laser ranging transmitter.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a method for controlling an intelligent positioning and attitude determining device of a heading machine, where the intelligent positioning and attitude determining device of a heading machine is the intelligent positioning and attitude determining device of a heading machine of the first aspect, and the method includes:
installing a position and posture sensing device of the tunneling machine at the middle position of the rear part of the tunneling machine, and arranging a signal receiving target at the upper position of a roadway behind the tunneling machine;
establishing a space coordinate system for the signal receiving target, and calibrating initial values of the first rotation angle sensor and the second rotation angle sensor;
starting a laser ranging transmitter, acquiring an initial landing point A of a laser signal on the signal receiving target, controlling a rotary table to rotate by a corresponding angle, acquiring a first landing point B corresponding to the shortest distance measured by the laser ranging transmitter, and monitoring the rotation angle theta of the laser ranging transmitter from the initial landing point A to the first landing point B through a first rotation angle sensor;
fixing the rotating table, controlling the rotating shaft to rotate by 10-15 degrees along the direction of gradually increasing the distance value measured by the laser ranging transmitter, and acquiring the final landing point C of the laser signal on the signal receiving target after the rotating shaft rotates;
acquiring a first distance between a signal transmitting point S measured by the laser ranging transmitter and the initial drop point A, a second distance between the signal transmitting point S and the first drop point B and a third distance between the signal transmitting point S and the second drop point C respectively, and calculating a position coordinate of a vertical projection point T of the laser ranging transmitter on the signal receiving target and a fourth distance between the signal transmitting point S and the vertical projection point T based on a trigonometric function relation by combining coordinate values of the initial drop point A, the first drop point B and the second drop point C;
and determining the position coordinate of the heading machine under the space coordinate system according to the position coordinate of the vertical projection point T and the fourth distance, and taking the deflection angle in each plane of the space coordinate system as the attitude information of the heading machine.
In addition, the control method of the intelligent positioning and attitude determining device of the heading machine in the embodiment of the application also has the following additional technical characteristics:
optionally, in some embodiments, establishing a spatial coordinate system for the signal reception target includes: and establishing the space coordinate system by taking the middle point of the lower side edge line of the signal receiving target as an original point, the direction vertical to the horizontal ground of the roadway as a z-axis direction, the direction vertical to the side surface of the roadway as an x-axis direction and the direction of the central line of the roadway as a y-axis direction.
Optionally, in some embodiments, calibrating the initial values of the first rotation angle sensor and the second rotation angle sensor includes: placing the tunneling machine on a horizontal ground, so that the upper surface of a fixed protective shell is parallel to the horizontal ground, and the left side surface and the right side surface of the fixed protective shell are parallel to a vertical section of the tunneling machine in the length direction; controlling the rotating table and the rotating shaft to rotate by corresponding angles, so that the laser emitted by the laser ranging emitter is aligned with the horizontal reference; maintaining the state of the rotating platform, rotating the rotating shaft by 180 degrees, and calibrating the current angle value of the first rotating angle sensor 4 and the second rotating angle sensor to be the initial value.
Optionally, in some embodiments, the fourth distance between the signal emission point and the vertical projection point T is calculated by the following formula:
wherein l ST Is a fourth distance, l BT Is the distance between the first falling point B and the vertical projection point T, l SB Is a second distance,/ BC Is the distance between the first and second landing points B and C, l SC Is the third distance.
Optionally, in some embodiments, the position coordinates of the heading machine in the spatial coordinate system are determined by the following formula:
wherein x is T Is the value of the vertical projection point T on the x-axis, z T Is the value of the vertical projection point T on the z-axis.
Optionally, in some embodiments, regarding the deflection angle in each plane of the spatial coordinate system as the attitude information of the heading machine, the method includes:
determining a first included angle beta between a connecting line of the initial drop point A and the first drop point B and an x axis, and determining a second included angle gamma between a connecting line of the signal emission point S and the first drop point B and a connecting line of the signal emission point S and the vertical projection point T by the following formula:
and taking the rotation angle theta as a deflection angle in a plane of the x axis and the y axis, taking the first included angle beta as a deflection angle in a plane of the x axis and the z axis, and taking the second included angle gamma as a deflection angle in a plane of the y axis and the z axis.
In order to achieve the above object, a third embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling the intelligent heading machine positioning and attitude determining device according to any one of the second embodiments.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
the position and posture information of the heading machine can be monitored by installing the heading machine position and posture sensing device on the heading machine and installing the signal receiving target on the roadway, the situation that multiple measuring devices are arranged for cooperation detection is avoided, processing steps such as fusion analysis and the like on the collected multiple data are omitted, the data processing difficulty and the operation complexity are reduced, the intelligent positioning and posture fixing cost of the heading machine is saved, the intelligent positioning and posture fixing device has the remarkable advantages of simple structure, convenience in data acquisition, small data measurement, high measuring precision and the like, and the problems that the operation is complex, the data fusion analysis difficulty is large, the positioning and posture fixing precision is low, the correction adjustment is needed frequently and the like in the positioning and posture fixing scheme of the traditional heading machine are solved well.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an intelligent positioning and attitude determining device of a heading machine according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a specific intelligent positioning and attitude determining device of a heading machine according to an embodiment of the present application;
fig. 3 is a schematic diagram of a laser signal landing point of a laser ranging transmitter on a signal receiving target according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a control method of the intelligent positioning and attitude determining device of the heading machine according to the embodiment of the application.
Fig. 5 is a schematic diagram of specific measured and determined heading machine attitude information according to an embodiment of the present application;
fig. 6 is a schematic diagram of a triangular relationship of a vertical projection of a laser signal on a signal receiving target according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The intelligent positioning and attitude determining device of the heading machine and the control method thereof according to the embodiment of the application are described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an intelligent positioning and attitude determining device of a heading machine according to an embodiment of the present application, and as shown in fig. 1, the device includes: the device comprises a fixed protective shell 1, a rotating base 2, a rotating platform 3, a first rotating angle sensor 4, two fixed ear plates 5, a laser ranging emitter 6, a rotating shaft 7, a second rotating angle sensor 8, a horizontal reference component 9 and a signal receiving target 10. Wherein the second rotation angle sensor 8 and the horizontal reference member 9 are not shown in fig. 1. In order to more clearly describe the connection relationship and arrangement of the above components, the following detailed description is made with reference to fig. 1 and 2.
Wherein, rotating base 2 and 1 fixed protective housing fixed connection.
The rotary table 3 is connected to the rotary base 2 for rotation about a vertical axis of the rotary table 3 by a corresponding angle. The rotating platform 3 can rotate 360 degrees around the vertical axis of the rotating platform, and in the actual measurement process, the rotating platform 3 can rotate by a corresponding angle according to the measurement requirement.
The first rotation angle sensor 4 is provided in the turntable, and is configured to monitor a rotation angle of the turntable 3.
Two fixed otic placodes 5 are fixed in the both sides of revolving stage 3 upper surface respectively, and the parameter of two fixed otic placodes 5 can be unanimous, and can be about 6 symmetry settings of laser rangefinder transmitter.
As shown in fig. 2, the laser distance measuring transmitter 6 is connected with the two fixed ear plates 5 through the rotating shaft 7, and the rotation of the corresponding angle is performed through the rotating shaft, that is, the laser distance measuring transmitter 6 can rotate 360 degrees around the rotating shaft 7 under the driving of the rotating shaft. The laser ranging transmitter 6 is used to transmit a laser signal to the signal reception target 10.
As shown in fig. 2, a second rotation angle sensor 8 is provided in the rotating shaft 7 for monitoring the rotation angle of the rotating shaft 7.
The horizontal reference member 9 is fixedly provided on the inner side surface of the fixed protective casing 1, and is used for calibrating an initial rotation position, i.e., an initial angle, of the rotary table 3 and the rotary shaft 7.
Therefore, the fixed protective shell 1, the rotary base 2, the rotary table 3, the first rotation angle sensor 4, the fixed lug plate 5, the laser ranging emitter 6, the rotary shaft 7, the second rotation angle sensor 8 and the horizontal reference component 9 are connected in the above connection mode to form the heading machine pose sensing device.
The signal receiving target 10 is arranged at the upper position of a roadway behind the heading machine and used for receiving a laser signal emitted by the laser ranging emitter 6 so as to position and fix the heading machine based on the related information of the laser signal.
In one embodiment of the application, during actual measurement, the heading machine position and posture sensing device is fixedly arranged at the middle position of the rear part of the heading machine, and the initial values of the first rotation angle sensor 4 and the second rotation angle sensor 8 are calibrated in advance.
Specifically, the heading machine position and posture sensing device (i.e., the components 1 to 9 connected in the above-described connection manner) is fixed at the middle position of the rear of the heading machine, which is the middle position of the rear of the heading machine in the width direction of the heading machine, and after the heading machine position and posture sensing device is fixed at the middle position of the rear of the heading machine, the laser ranging transmitter 6 is convenient to transmit signals to the signal receiving target 10. Furthermore, the initial values of the first and second rotation angle sensors are calibrated in advance according to a relevant calibration method, and the first and second rotation angle sensors 4 and 8 are respectively adjusted according to the pre-calibrated initial values before measurement.
In an embodiment of the present application, distances from two side edges of the signal receiving target to two side wall surfaces of the roadway are equal, and the signal receiving target is specifically configured to sense a landing position of a laser signal emitted by the laser ranging transmitter.
Specifically, as shown in fig. 3, distances from two side edges of the signal receiving target 10 to two side wall surfaces of the roadway 30 are equal, and the surface of the signal receiving target 10 is paved with a photosensitive sensor, so that when a laser beam emitted by the machine-entering position and posture sensing device 20 strikes the surface of the signal receiving target 10, the position of a falling point of the laser beam, for example, the position information of the falling point a and the falling point B in fig. 3, can be sensed.
Furthermore, the intelligent positioning and attitude determining device for the heading machine can calculate according to the landing point information of different laser signals and the distance information of the laser signals, so that the heading machine is positioned and oriented.
To sum up, the entry driving machine intelligence location appearance device of this application implementation through install entry driving machine position appearance perception device on the entry driving machine to at the target of tunnel installation signal reception, alright with position and the gesture information to the entry driving machine monitor, avoided setting up multiple measuring equipment and carried out the cooperation and detect, the device simple structure, data acquisition is convenient and higher to the position of entry driving machine and the precision of gesture measurement.
In order to more clearly describe a specific implementation process of measuring the position and the posture of the heading machine through the intelligent positioning and posture-fixing device of the heading machine, a detailed description is given below by using the control method of the intelligent positioning and posture-fixing device of the heading machine provided in the embodiment of the application. The method is applied to the intelligent positioning and attitude determining device of the heading machine in the above embodiment, that is, the intelligent positioning and attitude determining device of the heading machine, which is the intelligent positioning and attitude determining device of the heading machine in the above embodiment, is aimed at by the control method of the intelligent positioning and attitude determining device of the heading machine, and the connection modes of the components and the parts included in the device are as described in the above embodiment, and are not described again here.
Fig. 4 is a flowchart of a control method of an intelligent positioning and attitude determining device of a heading machine according to an embodiment of the present application, and as shown in fig. 4, the method includes the following steps:
step S401: the position and posture sensing device of the heading machine is arranged in the middle of the rear part of the heading machine, and the signal receiving target is arranged at the upper part of a roadway behind the heading machine.
In this step, the specific setting mode of the heading machine pose sensing device and the signal receiving target may refer to the description in the above device embodiment, and details are not repeated here.
Step S402: and establishing a space coordinate system for the signal receiving target, and calibrating initial values of the first rotation angle sensor and the second rotation angle sensor.
In one embodiment of the present application, establishing a spatial coordinate system for a signal reception target includes: and establishing a space coordinate system by taking the middle point of the lower side edge line of the signal receiving target as an original point, the direction vertical to the horizontal ground of the roadway as a z-axis direction, the direction vertical to the side surface of the roadway as an x-axis direction and the direction of the central line of the roadway as a y-axis direction.
Specifically, as shown in fig. 3, a coordinate system is established with the midpoint of the lower edge line of the signal receiving target 10 as an origin O, the vertical direction as the z-axis direction, the direction perpendicular to the side surface of the roadway as the x-axis direction, and the center line direction of the horizontal ground of the roadway as the y-axis direction, and the established spatial coordinate system facilitates subsequent calibration of the spatial coordinate position and posture of the heading machine.
Furthermore, initial values of the first rotation angle sensor and the second rotation angle sensor are calibrated. In one embodiment of the present application, calibrating the initial value of the rotation angle sensor comprises the following steps:
firstly, when the heading machine is arranged on a horizontal ground and the heading machine position and posture sensing device is arranged at the middle position of the rear part of the heading machine, the upper surface of the fixed protective shell 1 is parallel to the horizontal ground and the left side surface and the right side surface of the fixed protective shell 1 are parallel to a vertical section of the heading machine in the length direction.
Then, the rotary table 3 and the rotary shaft 7 are controlled to rotate by respective angles so that the laser emitted from the laser ranging transmitter 6 is aligned with the horizontal reference member 9 after the rotation.
Finally, the turntable 3 is kept in a stationary state, the rotation shaft 7 is rotated by 180 °, and the angle values of the first rotation angle sensor 4 and the second rotation angle sensor 8 at the present time are respectively designated as initial values, i.e., initial position angles.
Step S403: the method comprises the steps of starting a laser ranging transmitter, obtaining an initial falling point A of a laser signal on a signal receiving target, controlling a rotating platform to rotate at a corresponding angle, obtaining a first falling point B corresponding to the shortest distance measured by the laser ranging transmitter, and monitoring the rotating angle theta of the laser ranging transmitter from the initial falling point A to the first falling point B through a first rotating angle sensor.
In the embodiment of the present application, the laser ranging transmitter 6 is turned on, and the position of the falling point of the laser beam on the signal receiving target 10 is a, and then the rotating table 3 is rotated by a certain angle, so that the distance value measured by the laser ranging transmitter 6 is the minimum, at this time, it is determined that the position of the falling point of the signal receiving target 10 is B, and the rotation angle value detected by the first rotation angle sensor 4 is collected as θ.
Specifically, as shown in fig. 3, when the measurement is started, the laser ranging transmitter 6 is turned on first, and at this time, the laser ranging transmitter 6 transmits a laser beam to the signal reception target 10, and the position of the landing point of the laser beam received by the signal reception target 10 is marked as a. Then, the rotating table 3 is horizontally rotated at a small angle, the direction in which the distance value measured by the laser distance measuring transmitter 6 is reduced is determined by comparison, and the rotating table is continuously rotated in the direction, so that the distance measured by the laser distance measuring transmitter 6 is the shortest, and at this time, the position mark B of the falling point of the laser beam received by the signal receiving target 10 is determined. The rotation angle of the laser ranging transmitter 6 from the point A to the point B is monitored by the first rotation angle sensor 4, and the rotation angle value is marked as theta.
It should be noted that, analysis is performed through a spatial coordinate relationship, a value θ is a deviation angle of the heading machine along the horizontal direction, and the heading machine is required to rotate by an angle θ along the horizontal direction subsequently.
Step S403: and the rotating table is fixed, the rotating shaft is controlled to rotate by 10 degrees to 15 degrees along the direction of gradually increasing the distance value measured by the laser ranging transmitter, and the final falling point C of the laser signal on the signal receiving target after the rotating shaft rotates is obtained.
Specifically, as shown in fig. 3, the rotating table 3 is fixed, and the rotating shaft 7 is rotated by 10-15 ° in a direction that gradually increases the distance value measured by the laser ranging transmitter 6, and the specific rotating angle can be determined according to actual needs. After the rotation of the rotation shaft is finished, the landing position of the laser beam on the signal reception target 10 is determined to be C.
Step S404: and calculating the position coordinates of a vertical projection point T of the laser ranging transmitter on the signal receiving target and a fourth distance between the signal transmitting point and the vertical projection point T based on the trigonometric function relation by combining the coordinate values of the initial drop point A, the first drop point B and the second drop point C.
Specifically, the laser ranging transmitter 6 is approximately regarded as transmitting a laser signal from a signal transmitting point S, and the first distance l between the signal transmitting point S and the initial landing point a is measured by the ranging function of the laser ranging transmitter 6 itself SA A second distance l between the S point and the first falling point B SB And a third distance l between the S point and the second landing point C SC . And, the coordinate values of the initial falling point A, the first falling point B and the second falling point C are determined by the sensing function of the signal receiving target 10 to the falling point position of the laser beam, and the distance l between the first falling point B and the second falling point C on the signal receiving target 10 is calculated according to the distance formula between the two points in the plane BC Distance l between point A and point B on signal receiving target 10 AB 。
Furthermore, the edges connected by the points have a spatial position relationship, and according to the calculated distance values, the position coordinates of the vertical projection point T of the laser ranging transmitter 6 on the signal receiving target 10 and the fourth distance l between the signal transmitting point S and the vertical projection point T can be calculated through the trigonometric function relationship of the edges ST 。
In particular, due to SB The shortest distance between the laser ranging transmitter 6 and the signal receiving target 10 is obtained by the rotation of the rotation platform 3, and therefore, as shown in fig. 5, the connection line l between the vertical projection point T and the point B of the laser ranging transmitter 6 on the signal receiving target 10 BT Should be perpendicular to the line l connecting the falling point A and the falling point B AB 。
A trigonometric relationship as shown in fig. 6 can then be constructed to solve for the vertical projection point T of the laser ranging transmitter 6 on the signal reception target 10. As can be seen from fig. 6, the trigonometric function relationship between the edges is shown by the following formula:
in the formula I SB 、l SC And l BC All are known values, and then the distance l between the first falling point B and the vertical projection point T is calculated by the following formula BT And l is obtained by solving a fourth distance between the signal emission point S and the vertical projection point T ST ：
Wherein l ST Is a fourth distance, l BT Is the distance between the first location point B and the vertical projection point T, l SB Is a second distance, l BC Is the distance between the first and second landing points B and C, l SC Is the third distance.
Further, will l SA And l SB Is marked as theta, and the connecting line (i.e. l) of the initial falling point A and the first falling point B is determined AB ) A first angle beta with the x-axis, a line connecting the signal emitting point S and the first falling point B (i.e. |) SB ) Line connecting the signal emission point S and the vertical projection point T (i.e. /) ST ) A second angle γ therebetween, wherein γ can be calculated by the following equation:
and then according to the calculated l ST And l BT Equidistant, coordinate values of the vertical projection point T can be determined according to the position coordinates of each known point in the space coordinate system and the triangular relation.
Step S405: and determining the position coordinate of the heading machine under the space coordinate system according to the position coordinate of the vertical projection point T and the fourth distance, and taking the deflection angle in each plane of the space coordinate system as the attitude information of the heading machine.
In one embodiment of the present application, the position coordinates of the heading machine in the space coordinate system are determined by the following formula:
wherein x is T Is the value of the vertical projection point T on the x-axis, z T Is the value of the vertical projection point T on the z-axis, l ST Is the fourth distance.
Further, by taking the deflection angle in each plane of the space coordinate system as the attitude information of the heading machine, the determined attitude information of the heading machine is as follows: the deflection angle in the plane of the x-axis and the y-axis is theta, the deflection angle in the plane of the x-axis and the z-axis is beta, and the deflection angle in the plane of the y-axis and the z-axis is gamma.
Specifically, the coordinate value x of the heading machine on the x axis is x T Indicating that the heading machine deviates from the position of the center line of the roadway, wherein the deviated distance is the coordinate value of the x axis; the coordinate value of the heading machine on the y axis indicates the distance between the heading machine and the signal receiving target 10; and the coordinate value of the heading machine on the z axis indicates the position of the heading machine in the vertical direction, so that the current position information and the attitude information of the heading machine are measured.
It should be noted that the calculated coordinate value is a position of the heading machine in an xyz space coordinate system established in the embodiment of the present application, and in order to improve the practicability and applicability of the positioning and attitude determination result, in an embodiment of the present application, the absolute position of the heading machine may also be determined by coordinate change according to a position of an origin O of coordinates of the xyz space coordinate system in a geodetic coordinate system. And the subsequent correction amount of the heading machine direction can be determined according to the measured attitude information of the heading machine.
In summary, the control method of the intelligent positioning and attitude determining device of the heading machine, which is implemented by the application, only controls one device of the intelligent positioning and attitude determining device of the heading machine, avoids setting multiple measuring devices for cooperation detection, omits processing steps of fusion analysis and the like of multiple collected data, reduces data processing difficulty and operation complexity, saves the cost of the intelligent positioning and attitude determining of the heading machine, reduces data measurement of positioning and attitude determining, and improves measurement accuracy.
In order to implement the foregoing embodiments, the present application further provides a non-transitory computer-readable storage medium storing a computer program, where the computer program is executed by a processor to implement the control method of the intelligent positioning and attitude determining device for a heading machine as provided in the foregoing embodiments of the present application.
It should be understood that various portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, in the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present application and that variations, modifications, substitutions and alterations in the above embodiments are possible to those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a entry driving machine intelligence location appearance device which characterized in that includes: a fixed protective shell, a rotating base, a rotating platform, a first rotating angle sensor, two fixed ear plates, a laser ranging emitter, a rotating shaft, a second rotating angle sensor, a horizontal reference component and a signal receiving target, wherein,
the rotating base is fixedly connected with the fixed protective shell;
the rotating platform is connected with the rotating base and is used for rotating around a vertical shaft of the rotating platform by a corresponding angle;
the first rotation angle sensor is arranged in the rotating platform and used for monitoring the rotation angle of the rotating platform;
the two fixed ear plates are respectively fixed on two sides of the upper surface of the rotating platform;
the laser ranging transmitter is connected with the fixed ear plate through the rotating shaft and rotates at a corresponding angle through the rotating shaft, and the laser ranging transmitter is used for transmitting laser signals to the signal receiving target;
the second rotation angle sensor is arranged in the rotating shaft and used for monitoring the rotation angle of the rotating shaft;
the horizontal reference component is fixedly arranged on the inner side surface of the fixed protective shell and used for calibrating the initial rotating positions of the rotating table and the rotating shaft;
the fixed protective shell, the rotating base, the rotating table, the first rotating angle sensor, the fixed ear plate, the laser ranging emitter, the rotating shaft, the second rotating angle sensor and the horizontal reference are connected to form a heading machine position and posture sensing device;
the signal receiving target is arranged at the upper position of a roadway behind the heading machine and used for receiving the laser signal emitted by the laser ranging emitter so as to position and fix the heading machine based on the related information of the laser signal.
2. The intelligent positioning and attitude determining device of the heading machine according to claim 1, wherein the heading machine attitude sensing device is fixedly arranged at the middle position of the rear part of the heading machine, and initial values of the first rotation angle sensor and the second rotation angle sensor are calibrated in advance.
3. The intelligent positioning and attitude determining device of the heading machine according to claim 1, wherein the distances from the two side edges of the signal receiving target to the two side wall surfaces of the roadway are equal, and the signal receiving target is specifically used for sensing the position of a landing point of a laser signal emitted by the laser ranging transmitter.
4. A control method of an intelligent positioning and attitude-determining device of a heading machine is characterized in that the intelligent positioning and attitude-determining device of the heading machine is the intelligent positioning and attitude-determining device of the heading machine as claimed in any one of claims 1 to 3, and the control method comprises the following steps:
arranging a position and posture sensing device of the tunneling machine at the middle position of the rear part of the tunneling machine, and arranging a signal receiving target at the upper position of a roadway behind the tunneling machine;
establishing a space coordinate system for the signal receiving target, and calibrating initial values of the first rotation angle sensor and the second rotation angle sensor;
starting a laser ranging transmitter, acquiring an initial falling point A of a laser signal on the signal receiving target, controlling a rotating table to rotate by a corresponding angle, acquiring a first falling point B corresponding to the shortest distance measured by the laser ranging transmitter, and monitoring the rotation angle theta of the laser ranging transmitter from the initial falling point A to the first falling point B through a first rotation angle sensor;
fixing the rotating table, controlling the rotating shaft to rotate by 10-15 degrees along the direction of gradually increasing the distance value measured by the laser ranging transmitter, and acquiring the final landing point C of the laser signal on the signal receiving target after the rotating shaft rotates;
acquiring a first distance between a signal transmitting point S measured by the laser ranging transmitter and the initial drop point A, a second distance between the signal transmitting point S and the first drop point B and a third distance between the signal transmitting point S and the second drop point C respectively, and calculating a position coordinate of a vertical projection point T of the laser ranging transmitter on the signal receiving target and a fourth distance between the signal transmitting point S and the vertical projection point T based on a trigonometric function relation by combining coordinate values of the initial drop point A, the first drop point B and the second drop point C;
and determining the position coordinate of the heading machine under the space coordinate system according to the position coordinate of the vertical projection point T and the fourth distance, and taking the deflection angle in each plane of the space coordinate system as the attitude information of the heading machine.
5. The method of claim 4, wherein establishing a spatial coordinate system for the signal reception target comprises: and establishing the space coordinate system by taking the middle point of the lower side edge line of the signal receiving target as an original point, the direction vertical to the horizontal ground of the roadway as a z-axis direction, the direction vertical to the side surface of the roadway as an x-axis direction and the direction of the central line of the roadway as a y-axis direction.
6. The method of claim 4, wherein calibrating the initial values of the first and second rotation angle sensors comprises:
placing the tunneling machine on a horizontal ground, so that the upper surface of a fixed protective shell is parallel to the horizontal ground, and the left side surface and the right side surface of the fixed protective shell are parallel to a vertical section of the tunneling machine in the length direction;
controlling the rotating table and the rotating shaft to rotate by corresponding angles, so that the laser emitted by the laser ranging emitter is aligned with the horizontal reference;
maintaining the state of the rotating table, rotating the rotating shaft by 180 degrees, and calibrating the current angle value of the first rotating angle sensor 4 and the second rotating angle sensor as the initial value.
7. The method of claim 4, wherein the fourth distance between the signal emission point and the vertical projection point T is calculated by the following formula:
wherein l ST Is a fourth distance, l BT Is the distance between the first falling point B and the vertical projection point T, l SB Is a second distance,/ BC Is the distance between the first and second landing points B and C, l SC Is the third distance.
8. The method of claim 7, wherein the position coordinates of the heading machine in the spatial coordinate system are determined by the following formula:
wherein x is T Is the value of the vertical projection point T on the x-axis, z T Is the value of the vertical projection point T on the z-axis.
9. The method according to claim 7, wherein the taking the skew angle in each plane of the spatial coordinate system as the attitude information of the heading machine comprises:
determining a first included angle beta between a connecting line of the initial drop point A and the first drop point B and an x axis, and determining a second included angle gamma between a connecting line of the signal emission point S and the first drop point B and a connecting line of the signal emission point S and the vertical projection point T by the following formula:
and taking the rotation angle theta as a deflection angle in a plane of the x axis and the y axis, taking the first included angle beta as a deflection angle in a plane of the x axis and the z axis, and taking the second included angle gamma as a deflection angle in a plane of the y axis and the z axis.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method of controlling a heading machine intelligent positioning and attitude determination device as claimed in any one of claims 4 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210611907.6A CN115060161A (en) | 2022-05-31 | 2022-05-31 | Intelligent positioning and attitude-determining device of heading machine and control method thereof |
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| CN202210611907.6A CN115060161A (en) | 2022-05-31 | 2022-05-31 | Intelligent positioning and attitude-determining device of heading machine and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117449863A (en) * | 2023-12-25 | 2024-01-26 | 常州市醇通机械科技有限公司 | Positioning and correcting device and method for heading machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117449863A (en) * | 2023-12-25 | 2024-01-26 | 常州市醇通机械科技有限公司 | Positioning and correcting device and method for heading machine |
| CN117449863B (en) * | 2023-12-25 | 2024-02-27 | 常州市醇通机械科技有限公司 | Positioning and correcting device and method for heading machine |
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