CN109443326B - Engineering machinery positioning method and system - Google Patents
Engineering machinery positioning method and system Download PDFInfo
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Abstract
A method and a system for positioning engineering machinery are provided, wherein the method comprises the following steps: acquiring coordinates of two designated points on engineering machinery in a tunnel space coordinate system; and secondly, transforming a coordinate system according to the coordinates of the two appointed points in the space coordinate system of the engineering machine and the coordinates of the two appointed points in the space coordinate system of the tunnel, which are stored in advance, and determining the pose of the engineering machine in the space coordinate system of the tunnel according to a transformation result. Because the coordinates in the coordinate system of the engineering machinery are determined in advance and stored, the positioning method and the positioning system can obtain the coordinate data by directly reading the data, so that the data amount required to be processed for positioning the engineering machinery in the tunnel can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of engineering machinery positioning, in particular to an engineering machinery positioning method and system.
Background
In the tunnel construction process, the position of the fully intelligent drilling trolley is used as the basis of mechanical action design data, so that trolley positioning is an important factor influencing construction precision and construction speed.
At present, the main technical means for positioning the engineering trolley is to measure by using a total station through professional measuring personnel. In the measurement process, a professional surveying staff is required to position the trolley by using the total station and matching with the adjustment of the trolley operating staff. The automation degree of the positioning mode is low, and the positioning mode needs the help of professional measuring personnel during implementation, so that the dependence degree on human factors is high, and the existence of the human factors can also inevitably affect the final positioning precision and accuracy.
Disclosure of Invention
In order to solve the above problem, the present invention provides a method for positioning an engineering machine, the method comprising:
acquiring coordinates of two designated points on engineering machinery in a tunnel space coordinate system;
and secondly, transforming a coordinate system according to the coordinates of the two designated points in the space coordinate system of the engineering machine and the coordinates of the two designated points in the space coordinate system of the tunnel, which are stored in advance, and determining the pose of the engineering machine in the space coordinate system of the tunnel according to a transformation result.
According to one embodiment of the invention, in the first step, coordinates of two designated points on the construction machine in a tunnel space coordinate system are measured by using a total station.
According to an embodiment of the present invention, in the first step, prisms are respectively disposed at positions of two designated points on the engineering machine, and coordinates of the two prisms in the tunnel space coordinate system are respectively measured by using a total station, so as to obtain coordinates of the two designated points in the tunnel space coordinate system.
According to one embodiment of the present invention, in the second step,
acquiring a rotation angle from a tunnel space coordinate system to the engineering machinery space coordinate system around a horizontal shaft to obtain a rotation angle of the horizontal shaft;
and determining a coordinate system conversion parameter by using the coordinates of the two designated points in a tunnel space coordinate system and the coordinates in a space coordinate system of the engineering machine according to the rotation angle of the horizontal shaft, and determining the pose of the engineering machine in the tunnel space coordinate system according to the coordinate system conversion parameter.
According to an embodiment of the present invention, in the second step, the coordinate system conversion parameter is determined according to the following expression:
wherein (X, Y, Z) represents the coordinates of a point in the tunnel space coordinate system, (X, Y, Z) represents the coordinates of a point in the work machine space coordinate system, (Δ X, Δ Y, Δ Z) represents the vector between the origin of the tunnel space coordinate system and the origin of the work machine space coordinate system, k represents a scaling factor, R represents the scaling factor, and R represents the scaling factorX(α) a transformation matrix representing the rotation of the spatial coordinate system of the tunnel to the spatial coordinate system of the construction machine along the X-axis, RY(beta) represents a transformation matrix from the tunnel space coordinate system to the engineering machine space coordinate system rotating along the Y axis, RZAnd (gamma) represents a transformation matrix of the tunnel space coordinate system to the engineering machine space coordinate system rotating along the Z axis, alpha represents a rotating angle of the tunnel space coordinate system from the X axis to the engineering machine space coordinate system, beta represents a rotating angle of the tunnel space coordinate system from the Y axis to the engineering machine space coordinate system, and gamma represents a rotating angle of the tunnel space coordinate system from the Z axis to the engineering machine space coordinate system, wherein the X axis and the Y axis are horizontal axes.
According to one embodiment of the invention, the horizontal axis rotation angle is determined using an inclinometer.
The invention also provides a positioning system of the engineering machinery, which is characterized in that the system adopts the method as described in any one of the above to position the engineering machinery.
According to one embodiment of the invention, the system comprises:
the data storage device is used for storing the coordinates of two designated points on the engineering machinery in an engineering machinery space coordinate system;
the system comprises a coordinate measuring device, a data processing device and a data processing device, wherein the coordinate measuring device is used for acquiring coordinates of two appointed points on the engineering machinery in the tunnel in a tunnel space coordinate system;
and the positioning device is connected with the data storage device and the coordinate measuring device and used for carrying out coordinate system transformation according to the coordinates of the two appointed points in the space coordinate system of the engineering machine and the coordinates of the two appointed points in the space coordinate system of the tunnel and obtaining the pose of the engineering machine in the space coordinate system of the tunnel according to the transformation result.
According to one embodiment of the invention, the positioning system of the construction machine further comprises two prisms, which are respectively arranged on two different designated points of the construction machine,
the coordinate measuring device is configured to measure the coordinates of the two prisms in the tunnel space coordinate system respectively, so as to obtain the coordinates of the two designated points in the tunnel space coordinate system.
According to one embodiment of the invention, the positioning device is configured to acquire a rotation angle from a tunnel space coordinate system to a space coordinate system of the engineering machine around a horizontal axis, acquire a rotation angle of the horizontal axis, determine a coordinate system conversion parameter according to the rotation angle of the horizontal axis by using coordinates of the two designated points in the tunnel space coordinate system and coordinates of the two designated points in the space coordinate system of the engineering machine, and determine a pose of the engineering machine in the space coordinate system of the tunnel according to the coordinate system conversion parameter.
According to one embodiment of the invention, the positioning device comprises an inclinometer for measuring the angle of rotation of the horizontal axis.
According to an embodiment of the invention, the data storage device and the positioning device are arranged on the working machine.
The engineering machinery positioning method and the positioning system provided by the invention determine the transformation relation between two coordinate systems by utilizing the coordinates of two fixed points on the engineering machinery in the two different coordinate systems (namely the engineering machinery coordinate system and the tunnel space coordinate system), and further determine the pose of the engineering machinery in the tunnel space coordinate system according to the transformation relation. Because the coordinates in the coordinate system of the engineering machinery are determined in advance and stored, the positioning method and the positioning system can obtain the coordinate data by directly reading the data, so that the data amount required to be processed for positioning the engineering machinery in the tunnel can be effectively reduced.
Meanwhile, the positioning method and the positioning system provided by the invention determine the pose of the engineering machinery under the tunnel space coordinate system according to the acquired coordinates of the two appointed points on the engineering machinery under the space coordinate system, so that compared with the prior art, the data processing method and the positioning system have less data volume to be processed, and the data processing algorithm can be simpler, thereby not only improving the positioning efficiency, but also reducing the complexity of the data processing algorithm, further reducing the development cost and improving the reliability of the system. In addition, the method can also effectively reduce the interference of human influence factors on the positioning result, so that the accuracy of the final positioning result can be improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required in the description of the embodiments or the prior art:
FIG. 1 is a flow chart of an implementation of a method for positioning a work machine according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a work machine positioning system according to one embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an application scenario of a coordinate measuring apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an implementation flow of determining the pose of the work machine within the spatial coordinate system of the tunnel according to one embodiment of the invention;
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or with other methods described herein.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.
In the prior art, methods for auxiliary positioning of a construction machine by using a total station exist, which are used for auxiliary positioning measurement by mounting a laser range finder and a camera at known positions in the wall of a built tunnel, and using the total station to obtain the spatial position of a trolley by measuring the distance of a point light source on the trolley and imaging. However, the existing method can complicate the structure of the whole positioning system and the image data processing algorithm too much in the implementation process.
Aiming at the problems in the prior art, the invention provides a novel engineering machine positioning method and a system for positioning engineering machines by applying the method. The method and the system obtain the pose of the engineering machinery through coordinate transformation of two appointed points on the engineering machinery in different coordinate systems.
In order to more clearly clarify the implementation principle, implementation process and advantages of the positioning method and system of the present invention, the following describes the positioning method and system of the present invention with reference to fig. 1 and 2. Fig. 1 shows an implementation flowchart of the positioning method for the engineering machine provided by this embodiment, and fig. 2 shows a schematic structural diagram of the positioning system for the engineering machine provided by this embodiment.
As shown in fig. 1, in the method for positioning a construction machine according to this embodiment, first, in step S101, coordinates of two designated points on the construction machine located in a tunnel space coordinate system are obtained. As shown in fig. 2, the positioning system for a construction machine provided by the present embodiment preferably includes a coordinate measuring device 201, which is capable of measuring coordinate data of two designated points on the construction machine, so as to obtain coordinates of the two designated points in the tunnel space coordinate system.
Specifically, as shown in fig. 3, in the present embodiment, the coordinate measuring device 201 is preferably implemented using a total station 301. And prisms are respectively installed at two designated point positions on the construction machine 304, that is, the construction machine positioning system further includes a first prism 302 and a second prism 303 which are respectively installed at two designated point positions. During the positioning process, the total station 301 measures the first prism 302 and the second prism 303 respectively, so as to obtain coordinates of the first prism 302 and the second prism 303 in the tunnel space coordinate system respectively. In this embodiment, the tunnel space coordinate system is a geodetic coordinate system.
Of course, in other embodiments of the present invention, the coordinate measuring device 201 may also determine the coordinates of two designated points on the working machine in other reasonable manners according to actual needs, and the present invention is not limited thereto. For example, in an embodiment of the present invention, no prism may be provided at the positions of two designated points on the construction machine, and the total station 301 may directly locate the positions of the two designated points, so as to obtain the coordinates of the two designated points in the tunnel space coordinate system.
Referring again to fig. 1 and 2, in this embodiment, after obtaining the coordinates of the two designated points on the construction machine in the tunnel space coordinate system, the method reads the coordinates of the two designated points in the construction machine space coordinate system, which are stored in advance, in step S102.
In this embodiment, the coordinates of the two designated points on the construction machine in the construction machine spatial coordinate system are stored in the data storage device 202. The coordinates of the two specified points in the spatial coordinate system of the construction machine are preferably measured before the construction machine is shipped and written into the data storage device 202. Thus, in the actual construction process, when the engineering machine needs to be positioned, the method provided by the embodiment can obtain the coordinates of the two specified points in the spatial coordinate system of the engineering machine by directly reading the data in the data storage device 202.
In this embodiment, before the engineering machine leaves the factory, it is preferable to install a prism (for example, the first prism 302 and the second prism 303) at each of the two designated positions. By measuring the positions of the two fixed points in the machine coordinate system (i.e. the spatial coordinate system of the construction machine), the coordinates of the two fixed points in the spatial coordinate system of the construction machine can be obtained. The coordinates of the two fixed points in the space coordinate system of the engineering machine represent the relative position relationship between the two fixed points and the origin of the space coordinate system of the engineering machine, so that the calibration of the local coordinate system is completed.
Of course, in other embodiments of the present invention, the method may also determine the coordinates of two designated points on the work machine in the work machine spatial coordinate system in other reasonable manners according to practical situations, and the present invention is not limited thereto.
As shown in fig. 1, after obtaining the coordinates of two designated points on the construction machine in the construction machine spatial coordinate system and the coordinates in the tunnel spatial coordinate system, the method performs coordinate system transformation in step S103 according to the coordinates of the two designated points in the construction machine spatial coordinate system and the coordinates in the tunnel spatial coordinate system, so as to obtain the pose of the construction machine in the tunnel spatial coordinate system.
Specifically, in the present embodiment, the method determines the pose of the work machine in the tunnel space coordinate system through the positioning device 203 connected with the coordinate measuring device 201 and the data storage device 202 in step S103.
Fig. 4 shows a schematic flow chart of the implementation process of the positioning device 203 in determining the pose of the engineering machine in the tunnel space coordinate system in this embodiment.
As shown in fig. 4, in this embodiment, the positioning device 203 preferably obtains the rotation angle from the tunnel space coordinate system to the engineering machine space coordinate system around the horizontal axis in step S401, so as to obtain the rotation angle of the horizontal axis.
The above-mentioned horizontal axis preferably characterizes two mutually perpendicular coordinate axes in the horizontal plane of the tunnel space coordinate system, which are designated as X-axis and Y-axis, respectively. And the coordinate axis perpendicular to the X axis and the Y axis is a vertical axis Z axis of the tunnel space coordinate system.
In this embodiment, the positioning device 203 preferably comprises an inclinometer. The inclinometer is arranged on the construction machine, so that the positioning device 203 can measure the rotation angle of the tunnel space coordinate system around the horizontal axis to the construction machine space coordinate system by using the inclinometer in step S401. The rotation angle comprises a rotation angle alpha from a tunnel space coordinate system to a space coordinate system of the engineering machine around an X axis and a rotation angle beta from the tunnel space coordinate system to the space coordinate system of the engineering machine around a Y axis.
After obtaining the rotation angle of the horizontal axis, the positioning device 203 determines the coordinate system conversion parameters according to the rotation angle of the horizontal axis, using the coordinates of the two specified points on the construction machine in the tunnel space coordinate system and the coordinates of the two specified points in the construction machine space coordinate system in step S402.
Specifically, in this embodiment, the coordinate system conversion parameter can represent the conversion relationship between two different coordinate systems, namely the tunnel space coordinate system and the engineering machine space coordinate system, together with the rotation angle α and the rotation angle β. The coordinate system conversion parameter preferably includes a proportionality coefficient k, a vector (Δ x, Δ y, Δ Z) between an origin of the tunnel space coordinate system and an origin of the construction machine space coordinate system, and a rotation angle γ of the tunnel space coordinate system to the construction machine space coordinate system around the Z axis.
For example, in the present embodiment, the positioning device 203 preferably determines the coordinate system conversion parameters described above according to the following expression:
wherein (X, Y, Z) represents the coordinate of a point in the space coordinate system of the tunnel, (X, Y, Z) represents the coordinate of a point in the space coordinate system of the engineering machine, and RX(α) a transformation matrix representing the rotation of the spatial coordinate system of the tunnel to the spatial coordinate system of the construction machine along the X-axis, RY(beta) represents a transformation matrix from the tunnel space coordinate system to the engineering machine space coordinate system rotating along the Y axis, RZAnd (gamma) represents a transformation matrix from the space coordinate system of the tunnel to the space coordinate system of the engineering machine rotating along the Z axis.
In this embodiment, the transformation matrix R from the tunnel space coordinate system to the engineering machine space coordinate system rotates along the X-axisX(α) can be expressed as:
transformation matrix R from tunnel space coordinate system to engineering machinery space coordinate system rotating along Y axisY(β) may be represented as:
transformation matrix R from tunnel space coordinate system to engineering machinery space coordinate system rotating along Z axisZ(γ) can be expressed as:
because the coordinates of two appointed points on the engineering machinery under the tunnel space coordinate system and the coordinates under the engineering machinery coordinate system are obtained, and the rotation angle alpha and the rotation angle beta are also obtained, the two groups of coordinate data and the rotation angle data are substituted into the expression (1) to obtain the proportionality coefficient k, the vector (delta x, delta y and delta Z) between the origin of the tunnel space coordinate system and the origin of the engineering machinery space coordinate system and the rotation angle gamma from the tunnel space coordinate system to the engineering machinery space coordinate system around the Z axis, and the coordinate system conversion parameter is obtained.
It should be noted that in other embodiments of the present invention, the positioning device 203 may also determine the coordinate system transformation parameters in other reasonable manners, and the present invention is not limited thereto. For example, in an embodiment of the present invention, the engineering machine positioning method may further determine the scaling factor k and the vector (Δ x, Δ y, Δ z) between the origin of the tunnel space coordinate system and the origin of the engineering machine space coordinate system by using the relevant coordinates of three or more designated points on the engineering machine (including the coordinates of the designated points in the tunnel space coordinate system and the coordinates in the engineering machine coordinate system), and at this time, the horizontal axis rotation angle may not be measured any more according to actual needs, but may be calculated directly through the relevant coordinates of the designated points.
In this embodiment, in step S403, the positioning device 203 determines the pose of the spatial coordinate system of the construction machine (i.e., the construction machine itself) in the spatial coordinate system of the tunnel according to the spatial coordinate system of the tunnel by using the coordinate system transformation parameters obtained in step S402.
Specifically, in the present embodiment, the vectors (Δ x, Δ y, Δ z) between the origin of the tunnel space coordinate system and the origin of the work machine space coordinate system can represent the coordinates of the work machine in the tunnel space coordinate system, and the rotation angles α, β, and γ can represent the posture of the work machine in the tunnel space coordinate system.
As can be seen from the above description, the engineering machine positioning method and the engineering machine positioning system provided by the present invention determine the transformation relationship between two coordinate systems (i.e., the engineering machine coordinate system and the tunnel space coordinate system) by using the coordinates of the two fixed points on the engineering machine in the two different coordinate systems, and further determine the pose of the engineering machine in the tunnel space coordinate system according to the transformation relationship. Because the coordinates in the coordinate system of the engineering machinery are determined in advance and stored, the positioning method and the positioning system can obtain the coordinate data by directly reading the data, so that the data amount required to be processed for positioning the engineering machinery in the tunnel can be effectively reduced.
Meanwhile, the positioning method and the positioning system provided by the invention determine the pose of the engineering machinery under the tunnel space coordinate system according to the acquired coordinates of the two appointed points on the engineering machinery under the space coordinate system, so that compared with the prior art, the data processing method and the positioning system have less data volume to be processed, and the data processing algorithm can be simpler, thereby not only improving the positioning efficiency, but also reducing the complexity of the data processing algorithm, further reducing the development cost and improving the reliability of the system. In addition, the method can also effectively reduce the interference of human influence factors on the positioning result, so that the accuracy of the final positioning result can be improved.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures or process steps disclosed herein, but extend to equivalents thereof as would be understood by those skilled in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
While the above examples are illustrative of the principles of the present invention in one or more applications, it will be apparent to those of ordinary skill in the art that various changes in form, usage and details of implementation can be made without departing from the principles and concepts of the invention. Accordingly, the invention is defined by the appended claims.
Claims (10)
1. A method for positioning a construction machine, the method comprising:
acquiring coordinates of two designated points on engineering machinery in a tunnel space coordinate system;
secondly, transforming a coordinate system according to the coordinates of the two designated points in the space coordinate system of the engineering machine and the coordinates of the two designated points in the space coordinate system of the tunnel, which are stored in advance, and determining the pose of the engineering machine in the space coordinate system of the tunnel according to a transformation result;
wherein, in the second step:
acquiring a rotation angle from a tunnel space coordinate system to the engineering machinery space coordinate system around a horizontal shaft to obtain a rotation angle of the horizontal shaft;
according to the rotation angle of the horizontal shaft, determining a coordinate system conversion parameter by using the coordinates of the two designated points in a tunnel space coordinate system and the coordinates in an engineering machine space coordinate system, and determining the pose of the engineering machine in the tunnel space coordinate system according to the coordinate system conversion parameter;
in the second step, the coordinate system conversion parameters are determined according to the following expression:
wherein (X, Y, Z) represents the coordinates of a point in the tunnel space coordinate system, (X, Y, Z) represents the coordinates of a point in the work machine space coordinate system, (Δ X, Δ Y, Δ Z) represents the vector between the origin of the tunnel space coordinate system and the origin of the work machine space coordinate system, k represents a scaling factor, R represents the scaling factor, and R represents the scaling factorX(α) a transformation matrix representing the rotation of the spatial coordinate system of the tunnel to the spatial coordinate system of the construction machine along the X-axis, RY(beta) represents a transformation matrix from the tunnel space coordinate system to the engineering machine space coordinate system rotating along the Y axis, RZ(gamma) represents a transformation matrix from a tunnel space coordinate system to a construction machine space coordinate system rotating along a Z axis, alpha represents a rotating angle from the tunnel space coordinate system to the construction machine space coordinate system around an X axis, beta represents a rotating angle from the tunnel space coordinate system to the construction machine space coordinate system around a Y axis, and gamma represents a rotating angle from the tunnel space coordinate system to the construction machine space coordinate system around a Z axis, wherein the X axis and the Y axis are horizontal axes, and an origin of the tunnel space coordinate system and an origin of the construction machine space coordinate systemThe vectors (Δ x, Δ y, Δ z) between the points represent the coordinates of the construction machine in the tunnel space coordinate system, and the rotation angles α, β, and γ represent the posture of the construction machine in the tunnel space coordinate system.
2. The method of claim 1, wherein in step one, coordinates of two designated points on the work machine within a tunnel space coordinate system are measured with a total station.
3. The method according to claim 2, wherein in the first step, prisms are respectively arranged at two designated points on the construction machine, and coordinates of the two prisms in the tunnel space coordinate system are respectively measured by using a total station, so as to obtain coordinates of the two designated points in the tunnel space coordinate system.
4. The method of claim 1, wherein the horizontal axis rotation angle is determined using an inclinometer.
5. A positioning system for a working machine, characterized in that the system is used for positioning the working machine by the method according to any one of claims 1-4.
6. The system of claim 5, wherein the system comprises:
the data storage device is used for storing the coordinates of two designated points on the engineering machinery in an engineering machinery space coordinate system;
the system comprises a coordinate measuring device, a data processing device and a data processing device, wherein the coordinate measuring device is used for acquiring coordinates of two appointed points on the engineering machinery in the tunnel in a tunnel space coordinate system;
and the positioning device is connected with the data storage device and the coordinate measuring device and used for carrying out coordinate system transformation according to the coordinates of the two appointed points in the space coordinate system of the engineering machine and the coordinates of the two appointed points in the space coordinate system of the tunnel and obtaining the pose of the engineering machine in the space coordinate system of the tunnel according to the transformation result.
7. The system of claim 6, wherein the work machine positioning system further comprises two prisms disposed at two different designated points of the work machine,
the coordinate measuring device is configured to measure the coordinates of the two prisms in the tunnel space coordinate system respectively, so as to obtain the coordinates of the two designated points in the tunnel space coordinate system.
8. The system of claim 6, wherein the positioning device is configured to obtain a rotation angle of the tunnel space coordinate system to the work machine space coordinate system around a horizontal axis, obtain a rotation angle of the horizontal axis, determine a coordinate system transformation parameter according to the rotation angle of the horizontal axis by using coordinates of the two designated points in the tunnel space coordinate system and coordinates in the work machine space coordinate system, and determine the pose of the work machine in the tunnel space coordinate system according to the coordinate system transformation parameter.
9. The system of claim 8, wherein the positioning device comprises an inclinometer for measuring the horizontal axis rotation angle.
10. A system according to any of claims 6 to 9, wherein the data storage means and locating means are provided on the work machine.
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