CN102322857A - Position and posture measuring system and method for mechanical equipment - Google Patents

Position and posture measuring system and method for mechanical equipment Download PDF

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Publication number
CN102322857A
CN102322857A CN201110135957A CN201110135957A CN102322857A CN 102322857 A CN102322857 A CN 102322857A CN 201110135957 A CN201110135957 A CN 201110135957A CN 201110135957 A CN201110135957 A CN 201110135957A CN 102322857 A CN102322857 A CN 102322857A
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China
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laser ranging
ranging module
motor
laser
module
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CN201110135957A
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Chinese (zh)
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CN102322857B (en
Inventor
李方敏
张家亮
刘新华
殷圣荣
钱坤
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武汉理工大学
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Abstract

The invention relates to a position and posture measuring system and method for mechanical equipment. The position and posture measuring system is characterized in that: four laser distance-measuring modules are arranged at the top of an alley at the back of the mechanical equipment to measure points of special positions on the mechanical equipment so as to obtain four different distances; position offset of the mechanical equipment relative to a predetermined track and angular offset of the mechanical equipment on a vertical surface are calculated based on the four distances; offset data is transmitted to a central processing system on the mechanical equipment through a wireless communication module; position and posture parameters of the mechanical equipment and positioning navigation data can be obtained in combination with a dip angle of the mechanical equipment relative to a horizontal plane, wherein the dip angle is measured by a triaxial acceleration sensor which is arranged on the mechanical equipment; and the central processing system is used for transmitting the positioning navigation data to a control box of the mechanical equipment. The position and posture measuring system has the advantages of high measuring speed, good real-time performance, high measurement accuracy and no accumulated error, and is suitable for the position and posture measurement as well as the positioning navigation of underground mechanical equipment.

Description

Motor device pose measurement system and measuring method
Technical field
The invention belongs to a kind of coal mining that is used for, the measuring system under the environment such as tunnelling, particularly a kind of motor device pose measurement system and measuring method.
Background technology
The location navigation of down-hole motor device is that the underworkings motor device is advanced, a key issue during operation.The location of present domestic down-hole motor device adopts laser orientation instrument to provide predetermined path of movement, relies on the make a strategic decision action data of motor device of the relative position relation of staff's visual inspection motor device and director direction indication during the underground equipment motion.When motor device departed from desired trajectory a little, human eye can not in time be found, simultaneously because subsurface environment is abominable; The workplace Dust Capacity is big, and a little less than the light, and staff's sight line is subject to other objects and blocks; Various reasons causes motor device to be difficult to move along desired trajectory, and exists than large deviation, and this will cause the motor device movement locus indefinite; The inefficiency of advancing, hand labor intensity is big etc.
For overcoming the above problems, realize motor device Long-distance Control and control automatically, must obtain the posture information of motor device.Publication number is CN201013380, and the utility model patent that name is called " full automatic tunneling machine " has proposed a kind of position of adopting the aerospace navigation orientator to measure development machine, but this patent is not measured the fuselage attitude of development machine; Publication number is CN101629807A; The patent of invention that name is called " machine body of boring machine pose parameter measurement system and method thereof " proposes to utilize fan-shaped laser beam at the linear hot spot of development machine figure; The laser target that dependence has light activated element produces current signal; Angle of deviation that draws development machine after treatment and deflection displacement, but this method is very difficult obtaining of fan-shaped laser beam, and the processing technology of fan-shaped laser beam also is difficult to assurance with precision.
Summary of the invention
Fuselage pose measurement problem when the objective of the invention is to solve motor device and advancing, and for motor device provides the data of advancing automatically along desired trajectory, and a kind of motor device pose measurement system and measuring method are provided.
To achieve these goals, the technical scheme that the present invention adopted is:
A kind of motor device pose measurement system comprises: the laser ranging module is installed frame, laser ranging module, central processing system; The ARM microcontroller, wireless communication module, planar laser reflecting surface; Taper laser-bounce face, 3-axis acceleration sensor is characterized in that:
The laser ranging module: be installed in the laser ranging module and install on the frame, the laser ranging module is used to measure off-line data and the move distance on the vertical plane of motor device;
ARM microcontroller: be installed in motor device and laser ranging module and install on the frame;
Wireless communication module: be installed in motor device and laser ranging module and install on the frame, be used for data transmission with the laser ranging module to central processing system;
Planar laser reflecting surface and taper laser-bounce face: be installed in the motor device afterbody;
The laser ranging module is installed frame: be installed in top, tunnel, motor device rear;
3-axis acceleration sensor: be installed on the motor device, utilize the measurement data of its Z-axis to assist and obtain the relative surface level of motor device inclination angle;
Central processing system: the data that are used to gather laser ranging module and the 3-axis acceleration module line number of going forward side by side is handled, and obtains motor device walking data, and is sent in the motor device control box through the CAN bus data of will walking.
It is 1m-200m that said laser ranging module is installed frame longitudinal maneuver equipment distance.
Said laser ranging module has four; Per two laser ranging modules are one group; It is the predetermined direction of motion of motor device that the laser of each laser ranging module penetrates direction, and wherein the first laser ranging module and the second laser ranging module are one group, and the first laser ranging module and the second laser ranging module are parallel to each other; And spacing is 0.5m; The 3rd laser ranging module and the 4th laser ranging module are one group, and the 3rd laser ranging module and the 4th laser ranging module are parallel to each other, and spacing is 0.5m.
Said planar laser reflecting surface is positioned at the position that laser that the first laser ranging module and the second laser ranging module send can project, and the reflecting surface color is a white or orange-yellow.
Said taper laser-bounce face is positioned at the position that laser that the 3rd laser ranging module J 3 and the 4th laser ranging module J 4 send can project, and the reflecting surface color is a white or orange-yellow.
The measuring method of said motor device pose measurement system is: use the first laser ranging module and the second laser ranging module Laser Measurement range finder module that the distance of frame parallel reflective faces to the motor device is installed, converse the horizontal deflection angle of motor device according to the spacing of the difference of two distances and the first laser ranging module and the second laser ranging module; Use the 3rd laser ranging module and the 4th laser ranging module Laser Measurement range finder module that the distance of frame to motor device upper conical reflecting surface is installed, according to the difference of two distances and the 3rd laser ranging module and the 4th laser ranging intermodule apart from the horizontal deflection displacement of calculating motor device.
The pose measurement of motor device of the present invention and Position Fixing Navigation System are compared with conventional art, and its advantage and good effect are:
(1) the present invention uses the laser ranging module, acceleration transducer, and parallel and taper laser-bounce face and ARM microcontroller are accomplished motor device pose measurement and movement navigation, can obtain the motor device angle and the offset distance of its desired trajectory relatively.The measuring accuracy of this measuring system can reach angle precision in 7 °, and and there is not the error accumulation process in the offset distance precision in 5cm.
(2) pose measurement system of motor device of the present invention can be realized motor device robotization control according to the walking data of the pose parameter acquiring motor device of motor device, further can realize multi-machine interaction.
The present invention is particularly useful for the Long-distance Control and automatic control of down-hole motor device, is beneficial to and realizes moving behind the control desk, and multi-machine interaction improves operation quality and operating speed, lays the foundation with robotization for final realization motor device is unmanned.
Description of drawings
Fig. 1 is a theory diagram of the present invention.
Fig. 2 is a motor device angle of pitch synoptic diagram of the present invention.
Fig. 3 is motor device angle of deviation of the present invention and deflection displacement diagram.
Fig. 4 is a motor device side drift angle synoptic diagram of the present invention.
Fig. 5 is a scheme of installation of the present invention.
Fig. 6 is an angle of deviation instrumentation plan of the present invention.
Fig. 7 is a deflection displacement measurement synoptic diagram of the present invention.
Among the figure: 1-central processing system, 2-3-axis acceleration sensor, 3-wireless module, 4-taper reflecting surface, 5-plane reflection face, 6-laser ranging module are installed frame, 7-laser ranging module, 8-ARM microcontroller, 9-frame rectifier, 10-laser orientation instrument.
Embodiment
The present invention below specifies technology implementation scheme of the present invention through installation method and the measuring method of describing measuring system on the basis of the above.The present invention only provides pose measurement system and the navigation positioning system and the measuring method thereof of motor device, and relevant software program is not provided.
Installation method of the present invention:
The a laser ranging module carrier of installing at the motor device rear as shown in Figure 1, adjustment Laser emission direction guarantees that it is identical with motor device motion desired trajectory;
B installs two groups on the laser ranging module carrier, two the every group laser ranging modules that are parallel to each other are installed an ARM microcontroller and a wireless communication module simultaneously.The ARM microcontroller is sent to central processing system with the data of four range finder modules through wireless communication module.Said laser ranging module does, said ARM microcontroller model is STM32F103C8, and the chip model that said wireless communication module uses is SI4432;
C installs laser-bounce face at the motor device tail end, and laser-bounce face is divided into a plane and a taper surface, guarantees during installation that one group shines on the plane in two groups of laser, and another group shines on the taper surface.Laser-bounce plane materiel matter is the hard iron and steel, alloy or plastics etc., and the humiture acute variation can not produce obvious deformation.The color that laser-bounce face look is a white, orange isoreflectance is high;
D installs a 3-axis acceleration module in the motor device centre.Said acceleration module comprises a 3-axis acceleration sensor and an ARM microcontroller.Said 3-axis acceleration sensor model is ADXL345, and said ARM microcontroller is STM32F103C8;
E installs a central processing system system in the motor device centre.Said central processing system comprises an arm processor, a wireless communication module, one 485 bus transceiver, a CAN bus transceiver.Said arm processor is STM32F103ZE, and the chip model that said wireless communication module uses is SI4432, and said 485 bus transceivers are SP3485, and said CAN transceiver is SJA1000.
Below in conjunction with accompanying drawing measuring method of the present invention and location navigation principle are described:
Describe for ease, do as giving a definition: like Fig. 2, definition motor device fore-and-aft direction axis and the angle of working direction axis, tunnel on surface level are angle of pitch α; Like Fig. 4, definition horizontal axis of motor device and the angle of working direction axis, tunnel on surface level are side drift angle β; Like Fig. 3, definition motor device fore-and-aft direction axis and the angle of working direction axis, tunnel on vertical plane are angle of deviation γ; Definition motor device fore-and-aft direction axis and the offset distance of working direction axis, tunnel on surface level are deflection displacement d.
As shown in Figure 6, parallel shining is installed on the parallel reflective faces of motor device afterbody the first laser ranging module with the second laser ranging module, and it is D that the laser ranging module obtains range data 1, D 2, both range differences are Δ S, the distance between two bundle laser is S 1, can calculate angle of deviation so is γ=arctan (Δ S/S 1);
As shown in Figure 7, parallel shining is installed on the taper reflecting surface of motor device afterbody the 3rd laser ranging module with the 4th laser ranging module, and the distance between two bundle laser is S 1, the taper surface vertical view is an isosceles triangle, its base angle is θ.It is D that the laser ranging module obtains ranging data 3, D 4, both sides differences is Δ d, through the installation site of adjustment taper reflecting surface, make motor device do not exist deflection displacement and deflection apart from the time Δ d=0, when Δ d ≠ 0, there is the deflection displacement in motor device, its computing method are d=Δ d/ (2*arctan θ).When there was angle of deviation in motor device, the data of obtaining needed to revise, and modification method does d = 2 Δ d Cos ( θ + γ ) Cos ( θ - γ ) - s 1 Sin ( 2 γ ) Sin ( 2 θ ) .
3-axis acceleration sensor can output transducer at three of the three dimensions acceleration on axially.If the component of acceleration of acceleration of gravity on longitudinal axis on the sensor surface level is g 1, the component of acceleration on lateral shaft on the sensor surface level is g 2, the component of acceleration on Z-axis is g 3, when motor device is static, calculate the size of local acceleration of gravity When sensor aclinal and motor device are static, g 1=g 2=0, g 3Be the gravity acceleration g size; When having the inclination angle, can be according to g 1And g 2Size is confirmed the angle of pitch and side drift angle, angle of pitch α=arctan (g 1/ g), β=arctan (g 2/ g); When motor device moves, need to revise the computing formula of the angle of pitch and roll angle.
Central processing system is used high-performance ARM microprocessor; Obtain angle of deviation, deflection displacement and the displacement of motor device through wireless communication module; Obtain the angle of pitch and the side drift angle of motor device through the CAN bus; Can draw the location parameter and the attitude parameter of motor device, through the CAN bus data of advancing of motor device are sent to the control box of motor device then.
The content of not doing detailed description in this instructions belongs to professional and technical personnel's known prior art in this area.

Claims (6)

1. a motor device pose measurement system comprises: laser ranging module installation frame, laser ranging module, central processing system; The ARM microcontroller, wireless communication module, planar laser reflecting surface; Taper laser-bounce face, 3-axis acceleration sensor is characterized in that:
The laser ranging module: be installed in the laser ranging module and install on the frame, the laser ranging module is used to measure off-line data and the move distance on the vertical plane of motor device;
ARM microcontroller: be installed in motor device and laser ranging module and install on the frame;
Wireless communication module: be installed in motor device and laser ranging module and install on the frame, be used for data transmission with the laser ranging module to central processing system;
Planar laser reflecting surface and taper laser-bounce face: be installed in the motor device afterbody;
The laser ranging module is installed frame: be installed in top, tunnel, motor device rear;
3-axis acceleration sensor: be installed on the motor device, utilize the measurement data of its Z-axis to assist and obtain the relative surface level of motor device inclination angle;
Central processing system: the data that are used to gather laser ranging module and the 3-axis acceleration module line number of going forward side by side is handled, and obtains motor device walking data, and is sent in the motor device control box through the CAN bus data of will walking.
2. motor device pose measurement system as claimed in claim 1 is characterized in that: the laser ranging module is installed frame longitudinal maneuver equipment distance and is 1m-200m.
3. motor device pose measurement system as claimed in claim 1; It is characterized in that: the laser ranging module has four, and per two laser ranging modules are one group, and it is the predetermined direction of motion of motor device that the laser of each laser ranging module penetrates direction; Wherein the first laser ranging module and the second laser ranging module are one group; The first laser ranging module and the second laser ranging module are parallel to each other, and spacing is 0.5m, and the 3rd laser ranging module and the 4th laser ranging module are one group; The 3rd laser ranging module and the 4th laser ranging module are parallel to each other, and spacing is 0.5m.
4. like claim 1 or 3 described motor device pose measurement systems; It is characterized in that: the planar laser reflecting surface is positioned at the position that laser that the first laser ranging module and the second laser ranging module send can project, and the reflecting surface color is a white or orange-yellow.
5. like claim 1 or 3 described motor device pose measurement systems; It is characterized in that: taper laser-bounce face is positioned at the position that laser that the 3rd laser ranging module and the 4th laser ranging module send can project, and the reflecting surface color is a white or orange-yellow.
6. motor device pose measurement system as claimed in claim 1; Its measuring method is: use the first laser ranging module and the second laser ranging module Laser Measurement range finder module that the distance of frame parallel reflective faces to the motor device is installed, converse the horizontal deflection angle of motor device according to the spacing of the difference of two distances and the first laser ranging module and the second laser ranging module; Use the 3rd laser ranging module and the 4th laser ranging module Laser Measurement range finder module that the distance of frame to motor device upper conical reflecting surface is installed, according to the difference of two distances and the 3rd laser ranging module and the 4th laser ranging intermodule apart from the horizontal deflection displacement of calculating motor device.
CN 201110135957 2011-05-24 2011-05-24 Position and posture measuring system and method for mechanical equipment CN102322857B (en)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102798359A (en) * 2012-08-30 2012-11-28 首钢京唐钢铁联合有限责任公司 Non-contact dip angle measuring device and method
CN102979578A (en) * 2012-11-19 2013-03-20 中国矿业大学(北京) Downhole multifunctional personnel location distress system
CN103234513A (en) * 2013-04-18 2013-08-07 武汉理工大学 Heading automatic-guiding system and guiding method based on camera lens and attitude and heading reference system
CN103292778A (en) * 2013-05-21 2013-09-11 中国科学院自动化研究所 Underground azimuth measurement device and method
CN103424112A (en) * 2013-07-29 2013-12-04 南京航空航天大学 Vision navigating method for movement carrier based on laser plane assistance
CN104776826A (en) * 2015-04-09 2015-07-15 江苏省东方世纪网络信息有限公司 Attitude measurement system and attitude measurement method
CN104792300A (en) * 2015-04-09 2015-07-22 江苏省东方世纪网络信息有限公司 Attitude measurement system and method for base station antennae
CN104807435A (en) * 2015-04-09 2015-07-29 江苏省东方世纪网络信息有限公司 Attitude measurement system and method for base station antenna
CN106646498A (en) * 2017-01-10 2017-05-10 重庆华渝重工机电有限公司 Method for measuring lateral shift of tunneling machine
CN108008401A (en) * 2017-11-27 2018-05-08 广州华洲信息科技有限公司 Portable laser rangefinder
CN109238154A (en) * 2018-09-27 2019-01-18 东华理工大学 A kind of Con casting ladle wall thickness measurement method based on laser scaling ranging
WO2020034789A1 (en) * 2018-08-14 2020-02-20 宁波舜宇光电信息有限公司 Optical lens, photographing module, and assembling methods therefor
CN111043968A (en) * 2019-12-24 2020-04-21 中国科学院武汉岩土力学研究所 Rock drill detection device and rock drilling device
TWI720579B (en) 2018-08-14 2021-03-01 中國商寧波舜宇光電信息有限公司 Optical lens, camera module and assembly method thereof

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CN101266134B (en) * 2008-04-30 2010-06-02 山西焦煤集团有限责任公司 Cantilever driving frame head posture measuring systems and its method
CN101629807B (en) * 2009-08-20 2011-02-02 中国矿业大学(北京) Position and attitude parameter measurement system of machine body of boring machine and method thereof

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GB2341025A (en) * 1998-04-23 2000-03-01 Barry James Gorham Positioning measuring apparatus having a non-linear target array
JPH11324560A (en) * 1998-05-11 1999-11-26 Shimizu Corp System for measuring cross section of space in tunnel and tunneling method by use of this measuring system
JP2000283760A (en) * 1999-03-31 2000-10-13 Hazama Gumi Ltd Tracking recovering method in automatic tracking measuring system
JP2003262090A (en) * 2002-03-12 2003-09-19 Nippon Koki Kk Position measuring device for tunnel excavator
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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102798359B (en) * 2012-08-30 2016-01-20 首钢京唐钢铁联合有限责任公司 Contactless dip measuring device and method
CN102798359A (en) * 2012-08-30 2012-11-28 首钢京唐钢铁联合有限责任公司 Non-contact dip angle measuring device and method
CN102979578A (en) * 2012-11-19 2013-03-20 中国矿业大学(北京) Downhole multifunctional personnel location distress system
CN103234513A (en) * 2013-04-18 2013-08-07 武汉理工大学 Heading automatic-guiding system and guiding method based on camera lens and attitude and heading reference system
CN103234513B (en) * 2013-04-18 2015-01-21 武汉理工大学 Heading automatic-guiding system and guiding method based on camera lens and attitude and heading reference system
CN103292778A (en) * 2013-05-21 2013-09-11 中国科学院自动化研究所 Underground azimuth measurement device and method
CN103424112A (en) * 2013-07-29 2013-12-04 南京航空航天大学 Vision navigating method for movement carrier based on laser plane assistance
CN104807435A (en) * 2015-04-09 2015-07-29 江苏省东方世纪网络信息有限公司 Attitude measurement system and method for base station antenna
CN104776826A (en) * 2015-04-09 2015-07-15 江苏省东方世纪网络信息有限公司 Attitude measurement system and attitude measurement method
CN104792300A (en) * 2015-04-09 2015-07-22 江苏省东方世纪网络信息有限公司 Attitude measurement system and method for base station antennae
CN106646498B (en) * 2017-01-10 2019-01-01 重庆华渝重工机电有限公司 A kind of development machine lateral shift measurement method
CN106646498A (en) * 2017-01-10 2017-05-10 重庆华渝重工机电有限公司 Method for measuring lateral shift of tunneling machine
CN108008401A (en) * 2017-11-27 2018-05-08 广州华洲信息科技有限公司 Portable laser rangefinder
WO2020034789A1 (en) * 2018-08-14 2020-02-20 宁波舜宇光电信息有限公司 Optical lens, photographing module, and assembling methods therefor
CN110824653A (en) * 2018-08-14 2020-02-21 宁波舜宇光电信息有限公司 Optical lens, camera module and assembling method thereof
TWI720579B (en) 2018-08-14 2021-03-01 中國商寧波舜宇光電信息有限公司 Optical lens, camera module and assembly method thereof
CN109238154A (en) * 2018-09-27 2019-01-18 东华理工大学 A kind of Con casting ladle wall thickness measurement method based on laser scaling ranging
CN111043968A (en) * 2019-12-24 2020-04-21 中国科学院武汉岩土力学研究所 Rock drill detection device and rock drilling device

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