CN104729501A - Rotating-sector-laser-based position and pose measurement method of cantilever excavator - Google Patents
Rotating-sector-laser-based position and pose measurement method of cantilever excavator Download PDFInfo
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- CN104729501A CN104729501A CN201510121265.1A CN201510121265A CN104729501A CN 104729501 A CN104729501 A CN 104729501A CN 201510121265 A CN201510121265 A CN 201510121265A CN 104729501 A CN104729501 A CN 104729501A
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- 238000000691 measurement method Methods 0.000 title abstract 2
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 15
- 239000003245 coal Substances 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 10
- 235000013350 formula milk Nutrition 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a position and post measurement method of a cantilever excavator at an excavating workface of a coal mine. The method comprises the following steps that a space point three-dimensional coordinate measuring system for measuring angles based on rotating sector laser is fully utilized, namely, the sector laser transmission end of the system is mounted on a cantilever excavator body, while the sector laser receiving end (including three non-collinear sector laser receivers) is fixedly mounted at the back of a coal road excavated by the cantilever excavator; the coordinate values of a sector laser receiver relative to a space geodetic coordinate system can be measured by other measurement modes; the coordinate values of the sector laser receiver relative to the transmission end are measured through the sector emission transmission end and then are converted for calculating to obtain the three-dimensional coordinate values of three fixed points (non-collinear) on the cantilever excavator, relative to the space geodetic coordinate system; if the three-dimensional coordinate values of three fixed points (non-collinear) on a space rigid body, relative to the space geodetic coordinate system are known, the position and pose data of the space rigid body can be calculated.
Description
Technical field
The invention belongs to engineering mechanical device pose measurement technical field, particularly a kind of position to colliery boom-type roadheader and attitude are measured, and then accurately point to boom-type roadheader tunneling direction.
Background technology
Traditional boom-type roadheader pose measuring method is artificial visual method, and the reference unique in coal road of boom-type roadheader comes from a laser orientation instrument.1 some laser orientation instrument (instruction tunnel design direction) is laid at boom-type roadheader rear, it forms a hot spot at the anterior excavated section of coal road, boom-type roadheader driver with the position of hot spot on visual inspection excavated section, must notice whether tunnel trend is correct constantly in operation.The method precision is low, and complicated operation expends time in, poor reliability, and the experience entirely with operation driver ensures laneway molding quality.
Along with the development of technology, there is a large amount of modernization pose measurement modes, as automatic total instruments pose measurement system and inertial navigation pose measurement system.For automatic total instruments pose measurement system, robot from motion tracking target, can carry out real-time continuous detection to impact point in the traveling process of underground.But total powerstation uses laser beam to position certain point in space as measuring media, can only realize point-to-point measurement, resist and block ability, driving face in coal mine equipment is assorted many, and coal road moves towards uneven, intervisibility situation is poor, therefore uses its laser beam of words of total powerstation to be easy to be blocked.For inertial navigation system, positioning error can increase in time, is not suitable for long distance and measures for a long time, need regular rectification.And driving face in coal mine is generally positioned at tens to hundreds of rice, underground, the location technologies such as GPS cannot be used to correct inertial navigation system.Therefore most modern pose measurement mode is not suitable for boom-type roadheader pose measurement.
Summary of the invention
The object of the invention is to propose a kind of boom-type roadheader pose measurement is carried out in utilization method based on the spatial point 3 D Coordinate Measuring System of fan laser angle measurement, can realize measuring the position of boom-type roadheader and attitude, substantially increase the measurement precision to boom-type roadheader pose, for boom-type roadheader controls to provide precise information, to improve laneway molding quality.
Technical scheme of the present invention: utilize the spatial point 3 D Coordinate Measuring System based on fan laser angle measurement to carry out boom-type roadheader pose measurement, comprise following steps:
(1) fan laser transmitting terminal is installed on boom-type roadheader, itself and boom-type roadheader are connected.Fan laser receiving end is installed in type tunnel, i.e. the fan laser receiver of 3 not conllinear.
(2) build a coordinate system by fan laser transmitting terminal, be called fuselage coordinates system (O-XYZ).Fan laser transmitting terminal is made up of high precision slide unit, high precision turntable, fan laser transmitter, original bench mark, if fan laser transmitter initial position turning axle is Z axis, high precision slide unit moving direction is X-axis.
(3) by laser pick-off end, namely the fan laser receiver of 3 not conllinear builds a coordinate system, is called tunnel coordinate system (O '-X ' Y ' Z ').
(4) when boom-type roadheader is in cut state, fan laser transmitter, under the effect of high precision slide unit and turntable, is launched three beams fan laser in two positions (initial position and shift position) and is crossed to a bit.Record the D coordinates value of 3 fan laser receivers at fuselage coordinates system (O-XYZ) successively, i.e. (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3).
(5) as shown in Figure 1, each conversion parameter of tunnel coordinate system (O '-X ' Y ' Z ') relative to fuselage coordinates system (O-XYZ) is calculated by the D coordinates value of 3 fan laser receivers.T
1for the direction vector of X ' axle under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z '), T
2, T
3be respectively the direction vector of Y ', Z ' axle, x
0for the coordinate of initial point under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z ').
Thus obtain translation matrix D
1with rotation matrix R
1.
(6) record the D coordinates value of 3 fan laser receivers relative to geodetic coordinates in space system with mine laser total powerstation, try to achieve the translation matrix D of tunnel coordinate system (O '-X ' Y ' Z ') and geodetic coordinates in space system equally according to the method described above
2with rotation matrix R
2, and the coordinate of tunnel coordinate origin under earth coordinates (a, b, c).
(7) fan laser transmitting terminal will be fixed 3 points, namely in fuselage coordinates system (O-XYZ), conllinear does not fix 3 point transformation in geodetic coordinates in space system, suppose that get three point coordinate are respectively (100,0,0), (0,100,0), (0,0,100), unit is mm.With (100,0,0), for example, transformation for mula is as follows:
(X,Y,Z,1)＝(100，0，0,1)·D
1·R
1·D
2·R
2
(X, Y, Z) is (100,0,0) coordinate figure in geodetic coordinates in space system in fuselage coordinates system, obtains (0,100,0) respectively, (0,0,100) carry out the coordinate figure after coordinate system transformation according to above-mentioned formula.
Because fan laser transmitting terminal and boom-type roadheader connect firmly, therefore fan laser transmitting terminal to be fixed at 3 be exactly boom-type roadheader is fixed 3 points.
(8) according on boom-type roadheader not conllinear fix 3 D coordinates value relative to geodetic coordinates in space system, the position of boom-type roadheader in geodetic coordinates in space system and attitude situation can be represented, realize the location to boom-type roadheader and attitude measurement thus, provide precise information for it tunnels further.
Beneficial effect of the present invention: the 3 D Coordinate Measuring System 1. based on the spatial point 3 D Coordinate Measuring System rotating fan laser angle measurement being a kind of full-automation, high reliability, high precision, low cost, boom-type roadheader is when coal roadway tunneling, the fan laser receiving end (3 fan laser receivers) of native system is fixed on and digs tunnel fixed point, fan laser transmitting terminal is arranged on boom-type roadheader, itself and boom-type roadheader are connected firmly, realizes the high precision to boom-type roadheader position and posture, high automation is measured; 2. can reach the positioning precision of 1cm and be better than the attitude detection precision of 0.1 °, meeting the pose measurement demand to boom-type roadheader completely, drastically increase coal road Forming Quality.
Accompanying drawing explanation
Fig. 1 is boom-type roadheader pose measurement process schematic in the embodiment of the present invention.
1: fan laser transmitter 2: high precision turntable;
3: high precision slide unit 4: fuselage coordinates system
5: tunnel coordinate system 6: fan laser receiver 1
7: fan laser receiver 28: fan laser receiver 3
9: geodetic coordinates in space system
Embodiment
As shown in Figure 1, utilize the spatial point 3 D Coordinate Measuring System based on fan laser angle measurement to carry out the method for boom-type roadheader pose measurement, pose measurement process comprises following steps:
(1) fan laser transmitting terminal is installed on boom-type roadheader, itself and boom-type roadheader are connected.Fan laser receiving end is installed in type tunnel, i.e. the fan laser receiver of 3 not conllinear.
(2) build a coordinate system by fan laser transmitting terminal, be called fuselage coordinates system (O-XYZ).Fan laser transmitting terminal is made up of high precision slide unit, high precision turntable, fan laser transmitter, original bench mark, if fan laser transmitter initial position turning axle is Z axis, high precision slide unit moving direction is X-axis.
(3) by laser pick-off end, namely the fan laser receiver of 3 not conllinear builds a coordinate system, is called tunnel coordinate system (O '-X ' Y ' Z ').
(4) when boom-type roadheader is in cut state, fan laser transmitter, under the effect of high precision slide unit and turntable, is launched three beams fan laser in two positions (initial position and shift position) and is crossed to a bit.Record the D coordinates value of 3 fan laser receivers at fuselage coordinates system (O-XYZ) successively, i.e. fan laser receiver 1:(x
1, y
1, z
1), fan laser receiver 2:(x
2, y
2, z
2), fan laser receiver 3:(x
3, y
3, z
3).
(5) as shown in Figure 1, each conversion parameter of tunnel coordinate system (O '-X ' Y ' Z ') relative to fuselage coordinates system (O-XYZ) is calculated by the D coordinates value of 3 fan laser receivers.T
1for the direction vector of X ' axle under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z '), T
2, T
3be respectively the direction vector of Y ', Z ' axle, x
0for the coordinate of initial point under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z ').
Because expression formula is too complicated, therefore replace partial expression with t, if:
Then each parameter expression of coordinate system transformation needs is as follows:
T
1＝T
2×T
3
T
2＝(x
3-x
1，y
3-y
1，z
3-z
1)
Translation matrix D
1:
Rotation matrix R
1:
(6) record the D coordinates value of 3 fan laser receivers relative to geodetic coordinates in space system with mine laser total powerstation, try to achieve the translation matrix D of tunnel coordinate system (O '-X ' Y ' Z ') and geodetic coordinates in space system equally according to the method described above
2with rotation matrix R
2, and the coordinate of tunnel coordinate origin under earth coordinates (a, b, c).
(7) fan laser transmitting terminal will be fixed 3 points, namely in fuselage coordinates system (O-XYZ), conllinear does not fix 3 point transformation in geodetic coordinates in space system, suppose that get three point coordinate are respectively (100,0,0), (0,100,0), (0,0,100), unit is mm.With (100,0,0), for example, transformation for mula is as follows:
(X,Y,Z,1)＝(100，0，0,1)·D
1·R
1·D
2·R
2
(X, Y, Z) is (100,0,0) coordinate figure in geodetic coordinates in space system in fuselage coordinates system, obtains (0,100,0) respectively, (0,0,100) carry out the coordinate figure after coordinate system transformation according to above-mentioned formula.
Because fan laser transmitting terminal and boom-type roadheader connect firmly, therefore fan laser transmitting terminal to be fixed at 3 be exactly boom-type roadheader is fixed 3 points.
(8) according on boom-type roadheader not conllinear fix 3 D coordinates value relative to geodetic coordinates in space system, the position of boom-type roadheader in geodetic coordinates in space system and attitude situation can be represented, realize the location to boom-type roadheader and attitude measurement thus, provide precise information for it tunnels further.
Claims (1)
1., for a boom-type roadheader pose measuring method for driving face in coal mine, it is characterized in that pose measurement process comprises following steps:
(1) fan laser transmitting terminal is installed on boom-type roadheader, itself and boom-type roadheader are connected.Fan laser receiving end is installed in type tunnel, i.e. the fan laser receiver of 3 not conllinear.
(2) build a coordinate system by fan laser transmitting terminal, be called fuselage coordinates system (O-XYZ).Fan laser transmitting terminal is made up of high precision slide unit, high precision turntable, fan laser transmitter, original bench mark, if fan laser transmitter initial position turning axle is Z axis, high precision slide unit moving direction is X-axis.
(3) by laser pick-off end, namely the fan laser receiver of 3 not conllinear builds a coordinate system, is called tunnel coordinate system (O '-X ' Y ' Z ').
(4) when boom-type roadheader is in cut state, fan laser transmitter, under the effect of high precision slide unit and turntable, is launched three beams fan laser in two positions (initial position and shift position) and is crossed to a bit.Record the D coordinates value of 3 fan laser receivers at fuselage coordinates system (O-XYZ) successively, i.e. (x
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3).
(5) as shown in Figure 1, each conversion parameter of tunnel coordinate system (O '-X ' Y ' Z ') relative to fuselage coordinates system (O-XYZ) is calculated by the D coordinates value of 3 fan laser receivers.T
1for the direction vector of X ' axle under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z '), T
2, T
3be respectively the direction vector of Y ', Z ' axle, x
0for the coordinate of initial point under fuselage coordinates system (O-XYZ) of tunnel coordinate system (O '-X ' Y ' Z ').
Thus obtain translation matrix D
1with rotation matrix R
1.
(6) record the D coordinates value of 3 fan laser receivers relative to geodetic coordinates in space system with mine laser total powerstation, try to achieve the translation matrix D of tunnel coordinate system (O '-X ' Y ' Z ') and geodetic coordinates in space system equally according to the method described above
2with rotation matrix R
2, and the coordinate of tunnel coordinate origin under earth coordinates (a, b, c).
(7) fan laser transmitting terminal will be fixed 3 points, namely in fuselage coordinates system (O-XYZ), conllinear does not fix 3 point transformation in geodetic coordinates in space system, suppose that get three point coordinate are respectively (100,0,0), (0,100,0), (0,0,100), unit is mm.With (100,0,0), for example, transformation for mula is as follows:
(X,Y,Z,1)＝(100，0，0,1)·D
1·R
1·D
2·R
2
(X, Y, Z) is (100,0,0) coordinate figure in geodetic coordinates in space system in fuselage coordinates system, obtains (0,100,0) respectively, (0,0,100) carry out the coordinate figure after coordinate system transformation according to above-mentioned formula.
Because fan laser transmitting terminal and boom-type roadheader connect firmly, therefore fan laser transmitting terminal to be fixed at 3 be exactly boom-type roadheader is fixed 3 points.
(8) according on boom-type roadheader not conllinear fix 3 D coordinates value relative to geodetic coordinates in space system, the position of boom-type roadheader in geodetic coordinates in space system and attitude situation can be represented, realize the location to boom-type roadheader and attitude measurement thus, provide precise information for it tunnels further.
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|---|---|---|---|
| CN201510121265.1A CN104729501A (en) | 2015-03-19 | 2015-03-19 | Rotating-sector-laser-based position and pose measurement method of cantilever excavator |
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|---|---|---|---|
| CN201510121265.1A CN104729501A (en) | 2015-03-19 | 2015-03-19 | Rotating-sector-laser-based position and pose measurement method of cantilever excavator |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105136134A (en) * | 2015-08-10 | 2015-12-09 | 兖州煤业股份有限公司 | Heading machine position and posture detection and adjustment method and system |
| CN105203087A (en) * | 2015-10-27 | 2015-12-30 | 中国矿业大学(北京) | IGPS-based rapid calibration method for transmitting station |
| CN105222709A (en) * | 2015-10-21 | 2016-01-06 | 中国矿业大学(北京) | A kind of based on iGPS mono-station multiple spot timesharing measuring method |
| CN105241444A (en) * | 2015-09-19 | 2016-01-13 | 中国煤炭科工集团太原研究院有限公司 | Automatic boom road-header space pose detection system and measurement method thereof |
| CN107238385A (en) * | 2017-05-31 | 2017-10-10 | 中国矿业大学 | A kind of absolute position and posture detection method of coal-winning machine |
| CN107741200A (en) * | 2017-11-15 | 2018-02-27 | 西安科技大学 | Two planar lasers for boom-type roadheader are to penetrating pose measurement system and method |
| WO2018214730A1 (en) * | 2017-05-25 | 2018-11-29 | 中国矿业大学 | Device and method for detecting absolute spatial orientation of roadheader |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN111156974A (en) * | 2020-01-08 | 2020-05-15 | 中国矿业大学(北京) | Heading machine pose measurement system based on laser target |
| CN111927557A (en) * | 2020-09-16 | 2020-11-13 | 北京龙软科技股份有限公司 | Automatic measuring method and network system for measuring robot of mine fully mechanized coal mining face |
| CN115704877A (en) * | 2021-08-11 | 2023-02-17 | 上海光视融合智能科技有限公司 | Method and system for positioning a device using a light beam |
-
2015
- 2015-03-19 CN CN201510121265.1A patent/CN104729501A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105136134A (en) * | 2015-08-10 | 2015-12-09 | 兖州煤业股份有限公司 | Heading machine position and posture detection and adjustment method and system |
| CN105241444B (en) * | 2015-09-19 | 2018-08-17 | 中国煤炭科工集团太原研究院有限公司 | A kind of boom-type roadheader spatial pose automatic checkout system and its measurement method |
| CN105241444A (en) * | 2015-09-19 | 2016-01-13 | 中国煤炭科工集团太原研究院有限公司 | Automatic boom road-header space pose detection system and measurement method thereof |
| CN105222709A (en) * | 2015-10-21 | 2016-01-06 | 中国矿业大学(北京) | A kind of based on iGPS mono-station multiple spot timesharing measuring method |
| CN105222709B (en) * | 2015-10-21 | 2018-02-09 | 中国矿业大学(北京) | One kind is based on the mono- station multiple spot timesharing measuring methods of iGPS |
| CN105203087A (en) * | 2015-10-27 | 2015-12-30 | 中国矿业大学(北京) | IGPS-based rapid calibration method for transmitting station |
| WO2018214730A1 (en) * | 2017-05-25 | 2018-11-29 | 中国矿业大学 | Device and method for detecting absolute spatial orientation of roadheader |
| CN107238385A (en) * | 2017-05-31 | 2017-10-10 | 中国矿业大学 | A kind of absolute position and posture detection method of coal-winning machine |
| WO2018219062A1 (en) * | 2017-05-31 | 2018-12-06 | 中国矿业大学 | Method for detecting absolute pose of mining machine |
| CN107238385B (en) * | 2017-05-31 | 2019-07-12 | 中国矿业大学 | A kind of absolute pose detection system of coalcutter and method |
| CN107741200A (en) * | 2017-11-15 | 2018-02-27 | 西安科技大学 | Two planar lasers for boom-type roadheader are to penetrating pose measurement system and method |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN111156974A (en) * | 2020-01-08 | 2020-05-15 | 中国矿业大学(北京) | Heading machine pose measurement system based on laser target |
| CN111927557A (en) * | 2020-09-16 | 2020-11-13 | 北京龙软科技股份有限公司 | Automatic measuring method and network system for measuring robot of mine fully mechanized coal mining face |
| CN111927557B (en) * | 2020-09-16 | 2021-01-12 | 北京龙软科技股份有限公司 | Automatic measuring method and network system for measuring robot of mine fully mechanized coal mining face |
| CN115704877A (en) * | 2021-08-11 | 2023-02-17 | 上海光视融合智能科技有限公司 | Method and system for positioning a device using a light beam |
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