CN102878976A - Heading machine position and posture detecting system and heading machine - Google Patents
Heading machine position and posture detecting system and heading machine Download PDFInfo
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- CN102878976A CN102878976A CN2012103633952A CN201210363395A CN102878976A CN 102878976 A CN102878976 A CN 102878976A CN 2012103633952 A CN2012103633952 A CN 2012103633952A CN 201210363395 A CN201210363395 A CN 201210363395A CN 102878976 A CN102878976 A CN 102878976A
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Abstract
The invention provides a heading machine position and posture detecting system, which comprises a laser orientation unit, a laser curtain type target, a first acquiring unit, a second acquiring unit and a data acquiring module, wherein the laser orientation unit is arranged on the upper part of an underground roadway of a coal mine, and transmits a laser beam; the laser curtain type target is arranged on a heading machine and receives the laser beam transmitted by the laser orientation unit; the first acquiring unit acquires laser point images showed by the laser curtain type target; the second acquiring unit is arranged on a heading machine body, and the angle information of the second acquiring unit relative to a preset coordinate system is detected; and the data acquiring module receives detecting results from the first acquiring unit and the second acquiring unit, and position and posture parameters of the heading machine are determined according to the detecting results. According to the technical scheme, the position and posture parameters of the heading machine can be accurately detected, accuracy is high, a structural design is simple, and the stability of a system structure is high. The invention also provides a heading machine.
Description
Technical field
The present invention relates to engineering machinery field, in particular to heading machine pose detection system and development machine.
Background technology
Boom-type roadheader is a kind ofly can finish cut, loading, reprinting coal petrography, and can own walking, has the tunnelling equipment of the function such as spraying firing dust, is that most widely used tunnelling machinery is equipped in the downhole production of colliery.Along with the progress of science and technology, require roadway construction to safety, high-quality, efficient, unmanned future development, therefore, strengthening development machine is a large trend to the intelligent direction development.
Yet, at present the development machine operator under the coal mine mainly be laser beam take the laser orientation instrument emission as guiding direction, by manual operation control development machine forward travel track, randomness is larger.Because Working Environment of Underground Mine is extremely abominable, dust concentration is large, light is dark, has a strong impact on the sight line of operator, cause easily and owe to dig, cross and dig phenomenon, increased workload to the underground labour, reduced work efficiency, so for above-mentioned development machine work shortcoming, the research staff has constantly proposed the attitude detecting method of development machine, but its measuring accuracy is not high, poor accuracy, and complex structure, the trouble spot that can cause is many, the poor stability of whole system, actual poor operability.
Therefore, need a kind of heading machine pose detection technique, can accurately detect the pose parameter of development machine, and structural design is simple, system architecture stability is high.
Summary of the invention
Consider the above-mentioned background technology, a technical matters to be solved by this invention provides a kind of heading machine pose detection technique, can accurately detect the pose parameter of development machine, and structural design is simple, and system architecture stability is high.
According to an aspect of the present invention, a kind of heading machine pose detection system is provided, comprise: laser guide unit, laser curtain formula target, the first collecting unit, the second collecting unit and data acquisition module, wherein, described laser guide cellular installation above the tunnel under the coal mine, the Emission Lasers bundle; Described laser curtain formula target is installed on the development machine, receives the laser beam of described laser guide unit emission; Described the first collecting unit gathers laser spots image that described laser curtain formula target presents and the laser spots view data is sent to described data acquisition module; Described the second collecting unit is installed on the described development machine body, detects described the second collecting unit and is sent to described data acquisition module with respect to the angle information of preset coordinates system and with described angle information; Described data acquisition module receives the testing result from described the first collecting unit and described the second collecting unit, determines the pose parameter of described development machine according to described testing result.
The laser guide unit is the benchmark that development machine is determined direction of travel, sensing for fear of manual observation laser, can laser curtain formula target be installed at development machine, determine that laser is with respect to the position of development machine, thereby can determine that development machine is with respect to the position of laser beam, and gather self with respect to the angle information of preset coordinates system by the second collecting unit, thereby can determine that development machine is with respect to the angle letter of preset coordinates system, just can accurately determine the pose parameter of development machine by above-mentioned two information, and the component structure that relates to is simple, has further improved Systems balanth.
In technique scheme, preferably, described data acquisition module comprises: graphics processing unit and data processing unit, wherein, described graphics processing unit is connected to described the first collecting unit, calculate the horizontal deflection displacement and the displacement of vertical deflection of described development machine according to described laser spots view data, and the data of described horizontal deflection position and the displacement of vertical deflection are sent to described data processing unit; Described data processing unit is connected to described graphics processing unit and described the second collecting unit, obtain the pose parameter of described development machine according to the testing result of the processing result image of described graphics processing unit and described the second collecting unit, described pose parameter comprises that angle of deviation, the angle of pitch, roll angle, horizontal deflection displacement be partial to displacement with vertical.
Just can know the horizontal deflection position and vertical deflection position of development machine according to the laser spots image that gathers, and just can know angle of deviation, the angle of pitch, the roll angle equal angles information of development machine according to the testing result of the second collecting unit, just can accurately measure development machine with respect to position and the attitude of laser direction according to these parameters.
In above-mentioned arbitrary technical scheme, preferably, described data processing unit also is connected to the controller of described development machine, be used for judging that whether the angle of deviation of described development machine is greater than the angle warning value, greater than described angle warning value the time, the angular setting order is sent to described controller, to adjust the fuselage angle of described development machine.
After detecting the angle of deviation of development machine, and then judge whether this angle of deviation is in the angle warning value of setting, if greater than, the attitude that development machine is described has not met ideal pose, needs to adjust the fuselage angle of development machine, and therefore the control to development machine transmits control signal, control signal comprises angular range and the direction of adjustment, after development machine is received this control signal, send regulating command to topworks, thereby utilize the fuselage angle of the aperture adjustment development machine of development machine walking solenoid valve.
In above-mentioned arbitrary technical scheme, preferably, described data processing unit also is used for judging that whether described horizontal deflection displacement is greater than the horizontal shift warning value, greater than described horizontal shift warning value the time, calculate left crawler belt speed and the right-hand track chiain speed of described development machine and obtain left and right sides track speed differential, described left and right sides track speed differential is sent to described controller, to adjust left crawler belt speed and/or the right-hand track chiain speed of described development machine.
Same, can determine the degree of development machine deviation by horizontal shift, when the horizontal shift warning value of level greater than setting, the displacement that needs to adjust development machine is described, so that laser spots can be beaten the ideal position on laser target, by the travel speed of controller adjustment left and right sides crawler belt, development machine can past be moved to left in the process of advancing or past moving to right, thereby regulate the horizontal shift of development machine.
In above-mentioned arbitrary technical scheme, preferably, described data processing unit also is used for judging described horizontal deflection displacement less than or equal to described horizontal shift warning value and described angle of deviation during greater than described angle warning value, the angular setting instruction is sent to described controller, to adjust the fuselage angle of described development machine.
When judging, also need consider angle of deviation and horizontal shift, although horizontal shift is less than the horizontal shift warning value, if angle of deviation still greater than the angle warning value, then still need be adjusted the fuselage angle of development machine.
In above-mentioned arbitrary technical scheme, preferred, can also comprise display, be connected to described data acquisition module, show the pose parameter of described development machine.The handled easily personnel know current location and the attitude of development machine and operate accordingly, when causing danger, and the prompting that can also give the alarm of this display.
In above-mentioned arbitrary technical scheme, preferably, can also comprise: stationary installation, be arranged on the described development machine and aim at the axis of described development machine, wherein, described stationary installation comprises the first side and the second side, and described the first side and described the second side are all perpendicular to described axis, described laser curtain formula target is installed on described the first side, and described the first collecting unit is installed on described the second side and aimed at described laser target.
Corresponding components and parts are fixed on the fuselage of development machine by this stationary installation, and laser is beaten on laser target, adjust laser target with respect to the ideal position of laser, like this, just can accurately adjust by the positional information of laser spots the displacement of development machine, development machine is walked along laser direction.
In above-mentioned arbitrary technical scheme, preferably, described data acquisition module also is used for not collecting described laser spots image or described laser spots image at described the first collecting unit and occurs when unusual, sends halt instruction to the controller of described development machine, and described development machine is halted.Because emergency case may cause laser spots to miss the target, suddenly disappear or off and on, when not having laser spots on detecting laser target, cease and desist order to the development machine transmission, development machine halts after receiving this order, prevent the development machine deviation and run into wall, and then occur dangerous.
In above-mentioned arbitrary technical scheme, preferred, described the first collecting unit comprises the CCD camera, and described the second collecting unit comprises boat appearance instrument.Utilize boat appearance instrument measuring accuracy high, simple in structure, the colliery subsurface environment is abominable, and it is contaminated to utilize the CCD camera to prevent.
According to a further aspect in the invention, also provide a kind of development machine, comprised the heading machine pose detection system described in above-mentioned arbitrary technical scheme.
Description of drawings
Fig. 1 shows the according to an embodiment of the invention synoptic diagram of heading machine pose detection system;
Fig. 2 shows the synoptic diagram that heading machine pose detection system according to an embodiment of the invention is installed on development machine;
Fig. 3 shows the according to an embodiment of the invention process flow diagram of heading machine pose detection;
Fig. 4 shows the process flow diagram of adjusting according to an embodiment of the invention heading machine pose;
Fig. 5 shows the synoptic diagram of the track of adjusting according to an embodiment of the invention development machine.
Embodiment
In order more clearly to understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments the present invention is further described in detail.
The present invention will be further described below in conjunction with drawings and Examples.Need to prove that in the situation of not conflicting, the application's embodiment and the feature among the embodiment can make up mutually.
A lot of details have been set forth in the following description so that fully understand the present invention; but; the present invention can also adopt other to be different from other modes described here and implement, and therefore, protection scope of the present invention is not subjected to the restriction of following public specific embodiment.
At first with reference to figure 1 and Fig. 2, Fig. 1 shows the according to an embodiment of the invention synoptic diagram of heading machine pose detection system, and Fig. 2 shows the synoptic diagram that heading machine pose detection system according to an embodiment of the invention is installed on development machine.
As shown in Figure 1 with shown in Figure 2, heading machine pose detection system according to an embodiment of the invention, comprise: laser guide unit 206, laser curtain formula target 102, the first collecting unit 104, the second collecting unit 106 and data acquisition module 204, wherein, the laser guide cellular installation above the tunnel under the coal mine, the Emission Lasers bundle; Laser curtain formula target 102 is installed on the development machine body, receives the laser beam of laser guide unit emission; The first collecting unit 104 gathers laser spots image that laser curtain formula targets present and the laser spots view data is sent to data acquisition module 204; The second collecting unit 106 is installed on the development machine, detects the second collecting unit 106 and is sent to data acquisition module 204 with respect to the angle information of preset coordinates system and with angle information; Data acquisition module 204 receptions are determined the pose parameter of development machine from the testing result of the first collecting unit 104 and the second collecting unit 106 according to testing result.
The laser guide unit is the benchmark that development machine is determined direction of travel, sensing for fear of manual observation laser, can laser curtain formula target be installed at development machine, determine that laser is with respect to the position of development machine, thereby can determine that development machine is with respect to the position of laser beam, and gather self with respect to the angle information of preset coordinates system by the second collecting unit, thereby can determine that development machine is with respect to the angle letter of preset coordinates system, just can accurately determine the pose parameter of development machine by above-mentioned two information, and the component structure that relates to is simple, has further improved Systems balanth.
Preferably, as shown in Figure 1, above-mentioned data acquisition module 204 comprises: graphics processing unit 108 and data processing unit 110, wherein, graphics processing unit 108 is connected to the first collecting unit 104, calculate the horizontal deflection displacement and the displacement of vertical deflection of development machine according to the laser spots view data, and the data of horizontal deflection position and the displacement of vertical deflection are sent to data processing unit 110; Data processing unit 110 is connected to graphics processing unit 108 and second and gathers single 106 yuan, obtain the pose parameter of development machine according to the testing result of the processing result image of graphics processing unit 108 and the second collecting unit 106, the pose parameter comprises that angle of deviation, the angle of pitch, roll angle, horizontal deflection displacement be partial to displacement with vertical.Graphics processing unit 108 can be for being applied in the picture processing chip on the image processing techniques at present, ARM9 chip for example, and processing speed is fast and real-time, can not cause because of delay development machine to be rebuffed.Data processing unit 110 comprises the C51 single-chip microcomputer, and this single chip computer architecture is simple, and is real-time.
Just can know the horizontal deflection position and vertical deflection position of development machine according to the laser spots image that gathers, and just can know angle of deviation, the angle of pitch, the roll angle equal angles information of development machine according to the testing result of the second collecting unit 106, just can accurately measure development machine with respect to position and the attitude of laser direction according to these parameters.
In above-mentioned arbitrary technical scheme, preferably, data processing unit 110 also is connected to the controller 112 of development machine, be used for judging that whether the angle of deviation of development machine is greater than the angle warning value, greater than the angle warning value time, the angular setting order is sent to controller 112, to adjust the fuselage angle of development machine.
After detecting the angle of deviation of development machine, and then judge whether this angle of deviation is in the angle warning value of setting, if greater than, the attitude that development machine is described has not met ideal pose, needs to adjust the fuselage angle of development machine, and therefore the control to development machine transmits control signal, control signal comprises angular range and the direction of adjustment, after development machine is received this control signal, send regulating command to topworks, thereby adjust the fuselage angle of development machine.
Preferably, whether data processing unit 110 also is used for the displacement of determined level deflection greater than the horizontal shift warning value, greater than the horizontal shift warning value time, calculate left crawler belt speed and the right-hand track chiain speed of development machine and obtain left and right sides track speed differential, left and right sides track speed differential is sent to controller 112, to adjust left crawler belt speed and/or the right-hand track chiain speed of development machine.
Same, can determine the degree of development machine deviation by horizontal shift, when the horizontal shift warning value of level greater than setting, the displacement that needs to adjust development machine is described, so that laser spots can be beaten the ideal position on laser target, by the travel speed of controller adjustment left and right wheels, development machine can past be moved to left in the process of advancing or past moving to right, thereby regulate the horizontal shift of development machine.
In above-mentioned arbitrary technical scheme, preferably, data processing unit 110 also is used for during greater than the angle warning value, the angular setting instruction being sent to controller, to adjust the fuselage angle of development machine less than or equal to horizontal shift warning value and angle of deviation judging the horizontal deflection displacement.
When judging, also need consider angle of deviation and horizontal shift, although horizontal shift is less than the horizontal shift warning value, if angle of deviation still greater than the angle warning value, then still need be adjusted the fuselage angle of development machine.
In above-mentioned arbitrary technical scheme, preferred, can also comprise the display (not shown), be connected to data acquisition module, show the pose parameter of development machine.The handled easily personnel know current location and the attitude of development machine and operate accordingly, when causing danger, and the prompting that can also give the alarm of this display.
As shown in Figure 2, this heading machine pose detection system can also comprise: stationary installation 202, be arranged on the development machine and aim at the axis of development machine, wherein, stationary installation 202 comprises the first side and the second side, the first side and the second side are all perpendicular to the axis, laser curtain formula target 102 is installed on the first side, data acquisition module 204 and the first collecting unit are installed on the second side and are aimed at the top that laser target 102, the second collecting units 106 are arranged on data acquisition module 204.
Corresponding components and parts are fixed on the fuselage of development machine by this stationary installation 202, and laser is beaten on laser target 102, adjust laser target 102 with respect to the ideal position of laser, like this, just can accurately adjust by the positional information of laser spots the displacement of development machine, development machine is walked along laser direction.
In above-mentioned arbitrary technical scheme, preferred, data acquisition module 204 also is used for not collecting laser spots image or laser spots image at the first collecting unit 104 and occurs when unusual, sends halt instructions to the controller 112 of development machine, and development machine is halted.Because emergency case may cause laser spots to miss the target, suddenly disappear or off and on, when on detecting laser target 102, not having laser spots, cease and desist order to the development machine transmission, development machine halts after receiving this order, prevent the development machine deviation and run into wall, and then occur dangerous.Until after target surface detects laser spots, again send work order to development machine.
In above-mentioned arbitrary technical scheme, preferred, the first collecting unit 104 comprises the CCD camera, and the second collecting unit 106 comprises boat appearance instrument.Utilize boat appearance instrument measuring accuracy high, simple in structure, the colliery subsurface environment is abominable, and it is contaminated to utilize the CCD camera to prevent.
Of the present inventionly also provide a kind of development machine, comprised such as the heading machine pose detection system in above-mentioned arbitrary technical scheme.
Describe the process flow diagram that heading machine pose detects in detail below in conjunction with Fig. 3.
As shown in Figure 3, in step 302, judge whether to receive the ready instruction of development machine, if receive this instruction, then carry out data acquisition, if do not receive this instruction, then continue to wait for this instruction.
In step 304, on the one hand, judge whether to receive the image data of boat appearance instrument, if receive, then enter step 306, from image data, extract angle information.In step 308, calculate angle of deviation, the angle of pitch and the roll angle of development machine according to the angle information that extracts.In step 310, on the other hand, judge whether to receive the image data of camera, if receive, then enter step 312, from the image data of camera, extract the laser spots coordinate information.In step 314, calculate the horizontal deflection displacement of development machine and vertically deflection displacement according to the laser spots coordinate information.
In step 316, to utilize the left and right sides crawler belt speed of horizontal deflection displacement calculating development machine and derive actual direction of travel by control algolithm, control algolithm is specifically referring to Fig. 4.
The computing formula of left and right sides crawler belt speed is as follows:
V
L=V
set+k
c(S
c×S
c-k
h×S
c×S
h)；
V
R=V
Set-k
c(S
c* S
c-k
h* S
c* S
h), wherein, V
LRefer to the actual speed of travel of the left crawler belt of the robot that returns, V
RThe actual speed of travel of robot right-hand track chiain that finger returns, S
cRefer to the real-time horizontal shift that laser is measured, S
hReferred to the horizontal shift in the upper moment that laser is measured, k
cFor adjusting dynamics coefficient, k
hBe inertia rejection coefficient, V
SetThe speed that sets in advance.
In step 318, send angle information, displacement information and walking steering order by the CAN bus to development machine, to adjust the pose of development machine.
Describe the flow process of adjusting heading machine pose in detail below in conjunction with Fig. 4.
As shown in Figure 4, in step 402, initialization boat appearance instrument and camera.In step 404, angle of deviation and the horizontal deflection displacement of from the information that gathers, obtaining development machine.In step 406, judge that whether angle of deviation is greater than the angle warning value, if greater than, then enter angle emergency case tupe, the attitude detection system sends control command to the development machine controller, the development machine controller is carried out the pivot stud order after receiving this order, adjusts the fuselage angle, makes the angular deflection quantitative change little; If less than the angle warning value, then the attitude detection system sends to controller with the instruction that full speed aheads of left and right sides crawler belt, and development machine full speed aheads and enters step 408.
In step 408, whether the determined level displacement greater than the horizontal shift warning value, if greater than, then enter displacement emergency case tupe, the attitude detection system adjusts left and right sides track speed differential and sends the development machine controller to, and development machine is adjusted the deflection displacement in traveling process; If less than the horizontal shift warning value, then make development machine carry out the original place angular setting, after the angular setting, development machine full speed aheads and enters step 410.
It should be noted that, when the horizontal shift of development machine less than the horizontal shift warning value, but angle of deviation needs the original place to adjust the angle of development machine during still greater than the angle warning value, thereby guarantees that development machine walks along pre-determined route.
In step 410, utilize formula to calculate left and right sides crawler belt speed.In step 412, the instruction of will walking is sent to topworks.
As shown in Figure 5, track A-B-C-D is the running orbit of development machine after algorithm is carried out.When the A-B section, the right-hand track chiain speed of development machine 502 is greater than left crawler belt speed, and purpose is to allow development machine 502 do go to action, and along with the horizontal shift increase of (namely departing from the displacement of laser direction), turns to dynamics larger; When the B-C-D section, left crawler belt speed increases gradually, last development machine 502 is in right-hand track chiain speed less than the state of left crawler belt speed, purpose is when horizontal shift trends towards zero (being that development machine is got back on the pre-determined route), and the direction of motion of development machine 502 and laser direction angle are a controllable state (angle of direction of motion and laser direction angle are unsuitable excessive).Among the figure, the 504th, the tunnel, after adjusting, development machine 502 can be walked according to pre-determined route along the tunnel.
More than be described with reference to the accompanying drawings according to technical scheme of the present invention, can accurately detect the pose parameter of development machine, and structural design be simple, system architecture stability is high, secondly can be according to the track of the pose parameter adjustment development machine that obtains, so that development machine can be consistent with pre-determined route
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a heading machine pose detection system is characterized in that, comprising: laser guide unit, laser curtain formula target, the first collecting unit, the second collecting unit and data acquisition module, wherein,
Described laser guide cellular installation above the tunnel under the coal mine, the Emission Lasers bundle;
Described laser curtain formula target is installed on the development machine, receives the laser beam of described laser guide unit emission;
Described the first collecting unit gathers laser spots image that described laser target presents and the laser spots view data is sent to described data acquisition module;
Described the second collecting unit is installed on the described development machine body, detects described the second collecting unit and is sent to described data acquisition module with respect to the angle information of preset coordinates system and with described angle information;
Described data acquisition module receives the testing result from described the first collecting unit and described the second collecting unit, determines the pose parameter of described development machine according to described testing result.
2. heading machine pose detection system according to claim 1 is characterized in that, described data acquisition module comprises: graphics processing unit and data processing unit, wherein,
Described graphics processing unit is connected to described the first collecting unit, calculate the horizontal deflection displacement and the displacement of vertical deflection of described development machine according to described laser spots view data, and the data of described horizontal deflection position and the displacement of vertical deflection are sent to described data processing unit;
Described data processing unit is connected to described graphics processing unit and described the second collecting unit, obtain the pose parameter of described development machine according to the testing result of the processing result image of described graphics processing unit and described the second collecting unit, described pose parameter comprises that angle of deviation, the angle of pitch, roll angle, horizontal deflection displacement be partial to displacement with vertical.
3. heading machine pose detection system according to claim 2, it is characterized in that, described data processing unit also is connected to the controller of described development machine, be used for judging that whether the angle of deviation of described development machine is greater than the angle warning value, greater than described angle warning value the time, the angular setting order is sent to described development machine controller, utilizes development machine walking solenoid valve aperture to adjust the fuselage angle of described development machine.
4. heading machine pose detection system according to claim 3, it is characterized in that, described data processing unit also is used for judging that whether described horizontal deflection displacement is greater than the horizontal shift warning value, greater than described horizontal shift warning value the time, calculate left crawler belt speed and the right-hand track chiain speed of described development machine and obtain the velocity contrast of left and right sides crawler belt, the velocity contrast of described left and right sides crawler belt is sent to described controller, with crawler belt speed and/or the right-hand track chiain speed of adjusting described development machine.
5. heading machine pose detection system according to claim 4, it is characterized in that, described data processing unit also is used for judging described horizontal deflection displacement less than or equal to described horizontal shift warning value and described angle of deviation during greater than described angle warning value, the angular setting instruction is sent to described controller, to adjust the fuselage angle of described development machine.
6. heading machine pose detection system according to claim 2 is characterized in that, also comprises display, is connected to described data acquisition module, shows the pose parameter of described development machine.
7. heading machine pose detection system according to claim 1, it is characterized in that, also comprise: stationary installation, be arranged on the described development machine and aim at the axis of described development machine, wherein, described stationary installation comprises the first side and the second side, and described the first side and described the second side are all perpendicular to described axis, described laser curtain formula target is installed on described the first side, and described the first collecting unit is installed on described the second side and aimed at described laser curtain formula target.
8. each described heading machine pose detection system in 7 according to claim 1, it is characterized in that, described data acquisition module also is used for not collecting described laser spots image or described laser spots image at described the first collecting unit and occurs when unusual, controller to described development machine sends halt instruction, and described development machine is halted.
9. each described heading machine pose detection system in 7 according to claim 1 is characterized in that described the first collecting unit comprises the CCD camera, and described the second collecting unit comprises boat appearance instrument.
10. a development machine is characterized in that, comprises such as each described heading machine pose detection system in the claim 1 to 9.
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