CN105203099A - Single-station position and attitude measurement method for heading machine based on iGPS - Google Patents

Single-station position and attitude measurement method for heading machine based on iGPS Download PDF

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Publication number
CN105203099A
CN105203099A CN201510705894.9A CN201510705894A CN105203099A CN 105203099 A CN105203099 A CN 105203099A CN 201510705894 A CN201510705894 A CN 201510705894A CN 105203099 A CN105203099 A CN 105203099A
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machine
coordinates
global coordinate
airborne receiver
cell site
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Inventor
吴淼
陶云飞
贾文浩
符世琛
张敏骏
宗凯
杨健健
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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Priority to CN201510705894.9A priority Critical patent/CN105203099A/en
Publication of CN105203099A publication Critical patent/CN105203099A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

Abstract

The invention relates to a single-station position and attitude measurement method for a heading machine based on iGPS. A single-station multi-point time-sharing measurement platform is installed at an appropriate position of a tunnel roof behind a heading face; machine-mounted receivers and a task processor are fixedly mounted on the body of the fixed mounting; a solving computer is placed at a safe position like a position behind a tunnel; a transmitting station rotates around an O1 axis under the action of an automatic rotary apparatus so as to realize movement to different positions and transmitting of sector laser signals and synchronization pulse optical signals; each machine-mounted receiver separately receives the optical signals transmitted by the transmitting station from different positions, converts the optical signals into electric signals and transmits the electric signals to the task processor; and then the solving computer solves position coordinates of each machine-mounted receiver in an overall coordination system and calculates the attitude parameters of the body of the heading machine according to the known position coordinates of each machine-mounted receiver. The method realizes measurement of the position and attitude of the body of the heading machine through one single transmitting station and has the advantages of low cost, high precision and convenience in operation.

Description

Based on the development machine list erect-position gesture measuring method of iGPS
Technical field
The present invention relates to a kind of development machine of coal mine operation of development machine field, particularly relate to a kind of development machine list erect-position gesture measuring method based on iGPS.
Background technology
At present, in deep fractures digging laneway process, still adopt the equipment such as laser orientation instrument, rely on the method for artificial visually examine to control the trend in tunnel, but driving face bad environments very easily causes overbreak of opening or owes the generation of problems such as digging, and there is serious potential safety hazard.Therefore, need the mode adopting unmanned driving, to increase work efficiency and to ensure roadway quality, and mention important leverage before the unmanned driving of the autonomous measurement realizing heading machine pose.
IGPS is a kind of large scale geometry metrology, coordinate measuring technology in location and assembling of being mainly used in large-scale or ultra-large type equipment manufacture, have measurement space scope large, can measure-point amount many and measure simultaneously, the feature such as measuring accuracy is high, Measuring Time is short.This technology is applied in some subsurface equipment by domestic and international expert, adopt the self-travel type underground development machine people attitude measurement system of iGPS as a kind of, this system detects the operating attitude of shield type excavator (TDM) by multiple cell site, cooperatively interacting of receiving station.But the applied research of this technology on boom-type roadheader still belongs to blank.Meanwhile, iGPS at least needs Liang Ge cell site just can complete in measuring process, there is calibration process loaded down with trivial details, the problems such as cost is higher.
Summary of the invention
1. the invention discloses a kind of development machine list erect-position gesture measuring method based on iGPS, it is characterized in that, described method comprises the steps:
(1) multiple spot timesharing measuring table in iGPS mono-station is installed to rear, the tunnel top board suitable location apart from driving face certain distance, 3 airborne receivers are fixedly mounted on machine body of boring machine and installation site not conllinear, task processor fixed installation machine body of boring machine near airborne receiver installed position, resolves computing machine and is placed on the home places such as rear, tunnel or pulpit;
(2) tunnel coordinate system OXYZ and initial position co-ordinates system of cell site O is set up 0x 0y 0z 0, using tunnel coordinate system as global coordinate system, demarcate the initial position co-ordinates value (x of cell site in global coordinate system 0, y 0, z 0);
(3) cell site rotates around O axle thus moves to diverse location place under automatic rotating device effect, and all launch fan laser signal and synchronizing pulse light signal to measurement space at diverse location place, record by the scrambler in automatic rotating device the angle that mechanical arm turns in real time, the length in conjunction with mechanical arm can be regarded as out transmitting and stands in real-time location coordinates (x in global coordinate system i, y i, z i) and real-time location coordinates system O ix iy iz i;
(4) light signal that the cell site of diverse location place received sends by each airborne receiver reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the position coordinates implementation space location of each airborne receiver in global coordinate system by resolving computer solving;
(5), after the position coordinates of each airborne receiver in global coordinate system solves and draw, the attitude parameter of machine body of boring machine can just be calculated by combination of two.
2. the operation of installing multiple spot timesharing measuring table in iGPS mono-station described in is specially:
Multiple spot timesharing measuring table in iGPS mono-station is made up of automatic rotating device and cell site, rear, the tunnel top board suitable location apart from driving face certain distance is fixedly installed to, to ensure the normal rotational movement that enough spaces make automatic rotating device by the mount pad on automatic rotating device.
3. the operation that described in, 3 airborne receivers and task processor are all fixedly mounted on machine body of boring machine is specially:
(1) 3 airborne receiver is arranged on machine body of boring machine, the laser signal that receiving end sends towards rear, tunnel can receive cell site, and the installation site of each airborne receiver not conllinear;
(2) task processor peace turns on machine body of boring machine, and installation site is comparatively near apart from the installation site of each airborne receiver, is convenient to Signal transmissions.
4. setting up tunnel coordinate system OXYZ described in is cartesian coordinate system, is set up, and demarcate the initial position co-ordinates value (x of cell site in global coordinate system by equipment such as total powerstations at rear, tunnel place 0, y 0, z 0).
5. described in, calculate the real-time location coordinates system O of cell site ix iy iz iand real-time coordinates (x i, y i, z i) record by its initial position co-ordinates system and initial position co-ordinates and scrambler the angle that turns over and mechanical arm brachium calculates;
6. the light signal that the cell site of diverse location place received sends by each airborne receiver described in reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the operation of locating the position coordinates implementation space of each airborne receiver in global coordinate system be specially by resolving computer solving:
Suppose in measuring process, the real-time coordinates of cell site in global coordinate system is (x i, y i, z i), the to be measured coordinate of each airborne receiver in global coordinate system is (x pj, y pj, z pj), then the position relationship system of equations that airborne receiver and the cell site real-time coordinates in global coordinate system forms is:
P in formula j(x pj, y pj, z pj) be the jth position coordinates of airborne receiver in global coordinate system, O i(x i, y i, z i) be the real-time coordinates of cell site when i point in global coordinate system, n 1ij(t 1ij), n 2ij(t 2ij) the two bundle plane of scanning motion light signals that send of the cell site be respectively when i point respectively inswept jth airborne receiver time corresponding plane normal vector, be respectively rotation matrix and translation vector that real-time location coordinates system of cell site is converted to global coordinate system.
By resolving computing machine, position relation equation group being resolved, drawing the to be measured coordinate P of any one airborne receiver in global coordinate system j(x pj, y pj, z pj), the space orientation of machine body of boring machine can be realized.
7., after described in, the position coordinates of each airborne receiver in global coordinate system solves and draw, the operation that just can be calculated the attitude parameter of machine body of boring machine by combination of two is specially:
The attitude parameter of machine body of boring machine comprises course angle α, angle of pitch β, roll angle γ 3 parameters, and course angle α obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
Angle of pitch β obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
Roll angle γ obtains by the position coordinates of airborne receiver 1,2 in global coordinate system:
Above attitude parameter is obtained, and can realize the attitude measurement of machine body of boring machine.
The beneficial effect of technical scheme provided by the invention is:
A kind of development machine list erect-position gesture measuring method based on iGPS provided by the invention, this method is by iGPS mono-station multiple spot timesharing measuring table, 3 airborne receivers, task processor and resolve the equipment such as computing machine, single cell site at diverse location place to whole spatial emission laser signal and the position coordinates of cell site time known, the light signal that the cell site of diverse location place received sends by each airborne receiver reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the position coordinates implementation space location of each airborne receiver in global coordinate system by resolving computer solving, the attitude parameter of machine body of boring machine is calculated again by known airborne receiver position coordinates.The present invention can complete the pose measurement of machine body of boring machine by separate unit cell site, and cost is low, and precision is high and easy to operate.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of instructions, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present invention.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
Fig. 1 is based on the development machine list erect-position gesture measuring method schematic diagram of iGPS;
Fig. 2 measurement procedure figure.
In accompanying drawing, being listed as follows of each parts:
1: airborne receiver 1;
2: airborne receiver 2;
3: airborne receiver 3;
4: cell site;
5: automatic rotating device;
6: development machine;
7: driving face.
Embodiment:
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
For realizing the unmanned of heading machine pose measurement, embodiments provide a kind of development machine list erect-position gesture measuring method based on iGPS, the method is by iGPS mono-station multiple spot timesharing measuring table, 3 airborne receivers, task processors and resolve the equipment such as computing machine, just space orientation and the attitude detection of machine body of boring machine can be realized, see Fig. 1, Fig. 2.Specifically describe as follows:
(1) based on equipment layout and the establishment of coordinate system of the development machine list erect-position gesture measuring method of iGPS
Multiple spot timesharing measuring table in iGPS mono-station is made up of automatic rotating device 4 and cell site 5, rear, the tunnel top board suitable location apart from driving face certain distance is fixedly installed to, to ensure the normal rotational movement that enough spaces make automatic rotating device by the mount pad on automatic rotating device 4; 3 airborne receivers 1,2,3 are arranged on machine body of boring machine, the laser signal that receiving end sends towards rear, tunnel can receive cell site, and the installation site of each airborne receiver not conllinear; Task processor peace turns on machine body of boring machine, and installation site is comparatively near apart from the installation site of each airborne receiver, is convenient to Signal transmissions; Resolve computing machine and be placed on the home places such as rear, tunnel or pulpit.
During concrete enforcement, both ensureing heading machine pose parameter measurement precision, under can realizing again the prerequisite of measurement function, the shift position of selection 4 cell sites is that example is described by the present invention, respectively provides as A, B, C, D, and 4 all in same level.Set up global coordinate system OXYZ by equipment such as total powerstations at rear, tunnel place, regulation A point is the initial time point at place, cell site, then the initial coordinate system O of cell site 6 0x 0y 0z 0be the cell site local coordinate system O when A point ax ay az a.At measurement initial time, cell site 6 is positioned at A point, by the initial position co-ordinates value (x of the calibration facilities such as total powerstation to cell site 6 0, y 0, z 0) demarcate.
(2) the real-time location coordinates system O of cell site is calculated ix iy iz iand real-time coordinates (x i, y i, z i).
Below illustrate and participate in Fig. 2.Cell site 6 moves to B, C, D point successively by A point under the effect of automatic rotating device, and angle measured by scrambler 3 is α i, the brachium of known mechanical arm 4 is l, then cell site is at the real-time location coordinates system O at each point place ix iy iz ieach axle and point to as figure, real-time coordinates (x i, y i, z i) calculate as follows:
wherein, i is A, B, C, D.
(3) in measuring process, cell site sends fan laser and synchronizing pulse light at diverse location place to measurement space, the light signal that the cell site of diverse location place received sends by each airborne receiver reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the position coordinates of each airborne receiver in global coordinate system by resolving computer solving.Namely receiver is by the plane of scanning motion light signal that receives the cell site at diverse location place and send and sync mark light signal, to calculate the normal vector n of corresponding plane when the two bundle plane of scanning motion light signals sent in the cell site of i point distinguish inswept jth receiver 1ij(t 1ij), n 2ij(t 2ij), the vector method being then 0 according to each laser plane and its normal vector dot product builds the position relationship system of equations of receiver under global coordinate system:
P in formula j(x pj, y pj, z pj) be the jth position coordinates of airborne receiver in global coordinate system, O i(x i, y i, z i) be the real-time coordinates of cell site when i point in global coordinate system, n 1ij(t 1ij), n 2ij(t 2ij) the two bundle plane of scanning motion light signals that send of the cell site be respectively when i point respectively inswept jth airborne receiver time corresponding plane normal vector, be respectively rotation matrix and translation vector that real-time location coordinates system of cell site is converted to global coordinate system, i is A, B, C, D, and j is 1,2,3.
By resolving computing machine, position relation equation group being resolved, drawing the to be measured coordinate P of any one airborne receiver in global coordinate system j(x pj, y pj, z pj), the space orientation of machine body of boring machine can be realized.
(4), after the position coordinates of each airborne receiver in global coordinate system solves and draw, the operation that just can be calculated the attitude parameter of machine body of boring machine by combination of two is specially:
The attitude parameter of machine body of boring machine comprises course angle α, angle of pitch β, roll angle γ 3 parameters, and course angle α obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
Angle of pitch β obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
Roll angle γ obtains by the position coordinates of airborne receiver 1,2 in global coordinate system:
Above attitude parameter is obtained, and can realize the attitude measurement of machine body of boring machine.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (7)

1. the invention discloses a kind of development machine list erect-position gesture measuring method based on iGPS, it is characterized in that, described method comprises the steps:
(1) multiple spot timesharing measuring table in iGPS mono-station is installed to rear, the tunnel top board suitable location apart from driving face certain distance, 3 airborne receivers are fixedly mounted on machine body of boring machine and installation site not conllinear, task processor fixed installation machine body of boring machine near airborne receiver installed position, resolves computing machine and is placed on the home places such as rear, tunnel or pulpit;
(2) tunnel coordinate system OXYZ and initial position co-ordinates system of cell site O is set up 0x 0y 0z 0, using tunnel coordinate system as global coordinate system, demarcate the initial position co-ordinates value (x of cell site in global coordinate system 0, y 0, z 0);
(3) cell site rotates around O axle thus moves to diverse location place under automatic rotating device effect, and all launch fan laser signal and synchronizing pulse light signal to measurement space at diverse location place, record by the scrambler in automatic rotating device the angle that mechanical arm turns in real time, the length in conjunction with mechanical arm can be regarded as out transmitting and stands in real-time location coordinates (x in global coordinate system i, y i, z i) and real-time location coordinates system O ix iy iz i;
(4) light signal that the cell site of diverse location place received sends by each airborne receiver reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the position coordinates implementation space location of each airborne receiver in global coordinate system by resolving computer solving;
(5), after the position coordinates of each airborne receiver in global coordinate system solves and draw, the attitude parameter of machine body of boring machine can just be calculated by combination of two.
2. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, is characterized in that, the operation of described installation iGPS mono-station multiple spot timesharing measuring table is specially:
Multiple spot timesharing measuring table in iGPS mono-station is made up of automatic rotating device and cell site, rear, the tunnel top board suitable location apart from driving face certain distance is fixedly installed to, to ensure the normal rotational movement that enough spaces make automatic rotating device by the mount pad on automatic rotating device.
3. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, it is characterized in that, the operation that described 3 airborne receivers and task processor are all fixedly mounted on machine body of boring machine is specially:
(1) 3 airborne receiver is arranged on machine body of boring machine, the laser signal that receiving end sends towards rear, tunnel can receive cell site, and the installation site of each airborne receiver not conllinear;
(2) task processor peace turns on machine body of boring machine, and installation site is comparatively near apart from the installation site of each airborne receiver, is convenient to Signal transmissions.
4. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, it is characterized in that, the described tunnel coordinate system OXYZ that sets up is cartesian coordinate system, set up at rear, tunnel place by equipment such as total powerstations, and demarcate the initial position co-ordinates value (x of cell site in global coordinate system 0, y 0, z 0).
5. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, is characterized in that, the real-time location coordinates system O of described calculating cell site ix iy iz iand real-time coordinates (x i, y i, z i) record by its initial position co-ordinates system and initial position co-ordinates and scrambler the angle that turns over and mechanical arm brachium calculates.
6. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, it is characterized in that, the light signal that the cell site of diverse location place received sends by each airborne receiver described reaches task processor through transforming, and calculate the angle information of airborne receiver under different cell sites coordinate system, finally go out the operation of locating the position coordinates implementation space of each airborne receiver in global coordinate system be specially by resolving computer solving:
Suppose in measuring process, the real-time coordinates of cell site in global coordinate system is (x i, y i, z i), the to be measured coordinate of each airborne receiver in global coordinate system is (x pj, y pj, z pj), then the position relationship system of equations that airborne receiver and the cell site real-time coordinates in global coordinate system forms is:
[ P j ( x p j , y p j , z p j ) - O i ( x i , y i , z i ) ] n 1 i j ( t 1 i j ) T i R i = 0 [ P j ( x p j , y p j , z p j ) - O i ( x i , y i , z i ) ] n 2 i j ( t 2 i j ) T i R i = 0
P in formula j(x pj, y pj, z pj) be the jth position coordinates of airborne receiver in global coordinate system, O i(x i, y i, z i) be the real-time coordinates of cell site when i point in global coordinate system, n 1ij(t 1ij), n 2ij(t 2ij) the two bundle plane of scanning motion light signals that send of the cell site be respectively when i point respectively inswept jth airborne receiver time corresponding plane normal vector, R i = r i 11 r i 12 r i 13 r i 21 r i 22 r i 23 r i 31 r i 32 r i 33 , T i = t i 11 t i 12 t i 13 t i 21 t i 22 t i 23 t i 31 t i 32 t i 33 Be respectively rotation matrix and translation vector that real-time location coordinates system of cell site is converted to global coordinate system.
By resolving computing machine, position relation equation group being resolved, drawing the to be measured coordinate P of any one airborne receiver in global coordinate system j(x pj, y pj, z pj), the space orientation of machine body of boring machine can be realized.
7. a kind of development machine list erect-position gesture measuring method based on iGPS according to claim 1, it is characterized in that, after the position coordinates of each airborne receiver described in global coordinate system solves and draw, the operation that just can be calculated the attitude parameter of machine body of boring machine by combination of two is specially:
The attitude parameter of machine body of boring machine comprises course angle α, angle of pitch β, roll angle γ 3 parameters, and course angle α obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
α = a r c t a n y 2 - y 3 x 2 - x 3
Angle of pitch β obtains by the position coordinates of airborne receiver 2,3 in global coordinate system:
β = a r c t a n z 2 - z 3 x 2 - x 3
Roll angle γ obtains by the position coordinates of airborne receiver 1,2 in global coordinate system:
γ = a r c t a n z 1 - z 2 y 1 - y 2
Above attitude parameter is obtained, and can realize the attitude measurement of machine body of boring machine.
CN201510705894.9A 2015-10-27 2015-10-27 Single-station position and attitude measurement method for heading machine based on iGPS Pending CN105203099A (en)

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