CN110736446A - boom-type roadheader pose identification system and method - Google Patents

boom-type roadheader pose identification system and method Download PDF

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CN110736446A
CN110736446A CN201911027713.6A CN201911027713A CN110736446A CN 110736446 A CN110736446 A CN 110736446A CN 201911027713 A CN201911027713 A CN 201911027713A CN 110736446 A CN110736446 A CN 110736446A
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laser target
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CN110736446B (en
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段清娟
张世雄
郭宁博
王天乐
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Xian University of Electronic Science and Technology
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Xian University of Electronic Science and Technology
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Abstract

The invention provides a posture identification system and method of boom-type roadheader, which are used for solving the technical problems of large posture identification error and small measurable working space in the prior art during long-distance tunneling.

Description

boom-type roadheader pose identification system and method
Technical Field
The invention belongs to the technical field of mining equipment application and machine vision application, and relates to cantilever type heading machine position and posture identification systems and methods.
Background
The cantilever type excavator is kinds of excavating equipment, and is widely applied to underground coal mine roadway construction by .
The method is characterized in that operators are high in labor intensity and high in danger degree, and the phenomena of over-excavation and under-excavation are caused by interference of human factors, so that the production efficiency of enterprises is reduced.
The scheme of adopting laser targets in the prior various methods for detecting the attitude of the cantilever excavator based on the machine vision technology needs to consider the occurrence of miss-target, increase the identification limit ranges of the deflection angle, the pitch angle, the roll angle, the vertical offset and the horizontal offset of the cantilever excavator under the condition of no miss-target, namely increase the area of a laser target, but the space in an underground tunnel is limited, the area of the laser target cannot be increased infinitely, and the measurable working space of the cantilever excavator under the condition of miss-target is limited.
The method for detecting the spatial pose of the cantilever type heading machine in real time comprises the steps of projecting two cross lasers fixed on a roadway to corresponding laser targets, then acquiring images of the two laser targets in real time when the heading machine works through two network cameras fixed on a machine body of the heading machine, then processing acquired video signals through an image processing method of a Rentinex image enhancement algorithm, image distortion correction and linear detection, and finally obtaining a yaw angle, a pitch angle and a roll angle of the heading machine in the advancing process and offset of a fixed point on the machine body on the section of the roadway by using an established pose resolving model.
The invention has the disadvantages that firstly, two cross-shaped light emitters are adopted by a laser pointing device, laser beams emitted by the two cross-shaped laser emitters are required to be parallel to each other and to be consistent with the designed axial direction of a roadway, but in the actual operation process, the installation errors of the two cross-shaped laser emitters can cause parallelism errors of the two emitted laser beams, under the condition of long-distance tunneling, the distance between the cross-shaped laser emitters and a laser target is very long, at the moment, the influence of the parallelism errors of the laser beams caused by the installation errors in a pose calculation model established by an industrial control computer can be amplified, finally, the drift angle, the pitch angle, the roll angle and the offset of a fixed point on the body on the roadway section are greatly deviated from the actual condition in the process of traveling of the tunneling machine, the system identification precision is reduced, two frosted surface tunneling PC boards are adopted by the laser, the laser pointing device is fixedly arranged at the left front and the right sides of a horizontal panel of the tunneling machine body of the tunneling machine, the tunneling machine can only receive laser projection by , when the drift angle, the fixed roll angle and the drift angle on the tunneling machine body are greatly deviated from the roadway section of the roadway, and the drift angle, the drift angle of the fixed point on the tunneling machine, and the drift angle are easily adjusted by the measurable target, so that the measurable target can be frequently received by the laser target, when the laser target in the working plane, the.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides boom-type roadheader position and posture identification systems and methods, and aims to reduce the error of position and posture identification during remote tunneling and enlarge the measurable working space of the boom-type roadheader.
In order to achieve the purpose, the invention adopts the technical scheme that:
kinds of boom-type roadheader position and posture identification systems comprise a laser pointing device, a laser target, an explosion-proof camera and an industrial control computer, wherein the laser pointing device is fixed at the top of a roadway and used for emitting laser to the excavation direction of the boom-type roadheader;
the laser pointing device adopts a laser pointing instrument, and the emitted laser is single-beam point laser;
the laser target is of a hollow cuboid structure formed by splicing six rectangular transparent plates and is fixed right above a forward axis of a machine body of the cantilever type tunneling machine, the upper surface and the lower surface of the laser target are parallel to the top plane of the cantilever type tunneling machine, the front side and the rear side are parallel to the tail plane of the cantilever type tunneling machine, and the left side and the right side are parallel to the side plane of the cantilever type tunneling machine;
the number of the explosion-proof cameras is two, the two explosion-proof cameras are oppositely arranged above the body of the cantilever type excavator, the shooting range of each explosion-proof camera comprises three surfaces of the laser target, and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras are not overlapped with each other;
an intrinsic safety type inclination angle sensor is fixed on a machine body of the cantilever type tunneling machine, a measuring shaft of the intrinsic safety type inclination angle sensor is coplanar with a tail plane of the cantilever type tunneling machine and is parallel to a top plane of the cantilever type tunneling machine, and the intrinsic safety type inclination angle sensor is used for acquiring inclination angle data of the measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time;
the industrial control computer is fixed in the body of the cantilever type tunneling machine, and the acquired space pose parameters of the cantilever type tunneling machine are obtained by receiving laser target surface images acquired by the two anti-explosion cameras and inclination angle data of a measuring shaft of the self-safety type inclination angle sensor relative to a horizontal plane and resolving a pose inverse solution program of the cantilever type tunneling machine.
According to the cantilever type heading machine position and posture identification system, the laser target is made of organic glass, acrylic materials or other light-transmitting materials.
In the boom-type roadheader position and posture identification system, the connecting line of the mounting points of the two explosion-proof cameras is collinear with the body diagonal line of the laser target, wherein explosion-proof cameras are mounted on the upper surface of the laser target, and explosion-proof cameras are mounted on the lower surface of the laser target.
A position and posture identification method for a cantilever type heading machine comprises the following steps:
(1) setting basic parameters:
setting the installation distance of the centroid of the laser target relative to the centroid of the cantilever type tunneling machine in the forward axis direction of the cantilever type tunneling machine to be XM2CThe mounting distance in the horizontal axis direction is YM2CThe mounting distance in the upward axial direction being ZM2C(ii) a Setting the front side face of the laser target as f and the rear side face as b, and respectively labeling six surfaces of the laser target;
(2) three reference coordinate systems are established:
establishing a height (M) from the ground centered on the roadway widthZ+CZPoint O of/2)bTaking the designed driving direction of the tunnel as XbThe axis points forward and takes the vertical upward direction as ZbWith axis pointing forward, with Y determined by the right-hand rulebGeodetic coordinate system O with axis pointing in the forward directionb-XbYbZbWherein M isZHeight of boom-type roadheader body, CZIs the height of the laser target;
ii, establishing a geometric centroid O of the cantilever type tunneling machinemAs the origin, with the forward axis of the boom-type roadheader as XmThe shaft points forward and takes the upward axis of the cantilever type development machine as ZmY with axis pointing in forward direction and determined by right-hand rulemHeading machine coordinate system O with forward-directed shaftm-XmYmZm；
Iii, establishing a laser target centroid OcAs origin, with XmAxial forward direction is XcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcAxis forward pointing target coordinate system Oc-XcYcZc；
(3) Adjusting the initial position of the cantilever type tunneling machine:
adjusting the initial position of the cantilever type tunneling machine, so that when the beam direction of a single-beam point laser emitted by a laser direction indicator is parallel to the designed tunneling direction of a roadway, the laser is emitted from the center of the rear side surface of a laser target, penetrates through the geometric centroid of the laser target and is emitted from the center of the front side surface of the laser target, and light spots are reserved in the center of the rear side surface and the center of the front side surface of the laser target respectively;
(4) the two anti-explosion cameras collect and upload calibration images:
before the boom-type excavator starts to work, fixing chessboard pattern calibration plates on surfaces of a laser target each time, shooting the surfaces by an explosion-proof camera with a shooting range including the surfaces of the chessboard pattern calibration plates for six times, and uploading six calibration images to an industrial personal computer;
(5) two anti-explosion cameras collect and upload laser target surface images:
removing the checkerboard calibration plate in the working process of the cantilever type tunneling machine, shooting six surfaces of the laser target in real time when laser beams emitted by the laser direction indicator penetrate through two surfaces of the six surfaces of the laser target by the two explosion-proof cameras, and continuously uploading shot surface images of the laser target to an industrial control computer;
(6) the intrinsic safety type inclination angle sensor collects inclination angle data of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane and uploads the data:
in the working process of the cantilever type heading machine, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time and transmits the inclination angle data sensor _ h to an industrial control computer;
(7) resolving a pose inverse solution program of the cantilever type tunneling machine by the industrial control computer:
(7a) the industrial control computer identifies a label on the surface where the light spot on the incident surface of the laser target is located and a label on the surface where the light spot on the emergent surface is located, and calculates the actual distance from the light spot on the incident surface of the laser target to the four sides of the incident surface and the actual distance from the light spot on the emergent surface of the laser target to the four sides of the emergent surface to obtain an actual distance value set Q;
(7b) the industrial control computer determines an incident table according to the actual distance value set Q and the label of the surface where the light spot on the incident surface of the laser target is positioned and the label of the surface where the light spot on the emergent surface is positionedSpot on surface and spot on exit surface in target coordinate system Oc-XcYcZcCoordinates of lowercE1AndcE2and establishcE1AndcE2the straight line k is in the target coordinate system Oc-XcYcZcA lower linear equation;
(7c) the industrial control computer establishes a linear equation about a straight line k and the front side face f in a target coordinate system Oc-XcYcZcLower plane equation and back side b in target coordinate system Oc-XcYcZcSolving the equation set of the plane equation to obtain the target coordinate system O of the intersection point of the straight line k and the plane where the front side face f of the laser target is locatedc-XcYcZcCoordinates of lowercEfAnd the intersection point with the plane of the back side b is in the target coordinate system Oc-XcYcZcCoordinates of lowercEb；
(7d) Industrial control computer passcEfAndcEbthe difference between the measured values is formed into a laser light path vector v, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time, and the pitch angle f of the cantilever type tunneling machine is calculatedinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninvWherein v ═cEf-cEb。
Compared with the prior art, the invention has the following advantages:
1. the image signal input received by the industrial control computer in the invention is derived from the surface image of two laser light spots left after a single-beam point laser emitted by an explosion-proof camera and transmitted by laser pointing devices and transmitted by the same laser pointing device, the theoretical calculation of a pose inverse solution program is still established during remote tunneling, while the image signal input received by the industrial control computer in the prior art is derived from the explosion-proof camera and used for acquiring cross laser projection images of two cross laser emitters on two frosted surface semi-transparent PC boards respectively, the two cross laser projections are emitted by different laser pointing devices, and during remote tunneling, the installation error of the two cross laser emitters can cause the premise that two laser light paths of a pose solution model are parallel to each other to be not established, and the theoretical calculation can generate errors.
2. The laser target in the invention adopts a hollow light-transmitting cuboid structure, six surfaces of the laser target can be used for receiving laser projection of a laser direction indicator, the laser target in the prior art adopts two frosted surface semitransparent PC boards, only two surfaces can be used for receiving laser projection, and compared with the prior art, the invention can directly increase measurable space pose parameter set of the cantilever type tunneling machine by increasing the receivable laser projection area, thereby effectively expanding the measurable working space of the cantilever type tunneling machine.
Drawings
FIG. 1 is a schematic diagram of an identification system according to the present invention;
FIG. 2 is a flow chart of an implementation of the identification method of the present invention;
FIG. 3 is a model diagram of a reference coordinate system of the recognition method of the present invention;
FIG. 4 is a flowchart of a pose inverse solution routine of the present invention;
FIG. 5 is a schematic diagram of the pose resolving principle of the present invention according to the rotation process of a motion coordinate system;
FIG. 6 is a schematic diagram of the pose resolving principle of the present invention according to the rotation process of a fixed coordinate system;
fig. 7 is a schematic view of the deviation due to rotation.
Detailed Description
The invention is described in further detail with reference to the figures and the specific embodiments.
In embodiment 1, the number of the explosion-proof cameras used in this embodiment is two.
Referring to fig. 1 and cantilever type roadheader position and posture identification systems comprise a laser pointing device 1, a laser target 2, two anti-explosion cameras 3, an intrinsic safety type inclination angle sensor 4 and an industrial control computer 5, wherein:
the laser pointing device 1 is fixed at the top of the roadway and used for emitting laser to the excavation direction of the cantilever type tunneling machine;
the laser pointing device 1 adopts a laser pointing instrument, and the emitted laser is single-beam point laser;
the laser target 2 is a hollow cuboid structure formed by splicing six rectangular transparent plates, is fixed right above a forward axis of a machine body of the cantilever type tunneling machine 6, and is provided with an upper surface and a lower surface which are parallel to a top plane of the cantilever type tunneling machine 6, a front side and a rear side which are parallel to a tail plane of the cantilever type tunneling machine 6, and a left side and a right side which are parallel to a side plane of the cantilever type tunneling machine 6, and is used for receiving a laser beam emitted by the laser pointing device 1;
the laser target 2 adopts organic glass or acrylic as the material of the light-transmitting plate material, so as to ensure that the laser beam emitted by the laser pointing device 1 passes through the incident surface of the laser target 2 and leaves th laser light spots, and then can leave a second laser light spot on the emergent surface, the laser target 2 is in a hollow cuboid structure, when the laser beam passes through the incident surface, because the surface material of the laser target 2 is different from the refractive index of air, the laser beam can be refracted, so the thickness of the light-transmitting plate material used on each surface of the laser target 2 is as small as possible, and the error generated by refraction can be ignored.
In the normal working process of the heading machine, the pose of the boom-type heading machine changes, the laser target 2 is fixedly arranged on the body of the boom-type heading machine, the pose of the laser target 2 relative to the laser beam emitted by the laser pointing device 1 also changes, the laser beam can be emitted from any surfaces of the six surfaces of the laser target 2 and emitted from any surfaces, two laser light spots are always reserved on the laser target in the normal working process, when the pose of the body of the heading machine is excessively deviated, a miss phenomenon can be caused, the laser beam emitted by the laser pointing device 1 and the laser target 2 do not have an intersection point, and at the moment, the boom-type heading machine should stop working and adjust the body, so that the laser target 2 can receive the laser beam emitted by the laser pointing device 1 again.
The laser pointing device 1 and the laser target 2 are combined for use, so that enough image information can be acquired to solve the pose inverse solution program, the technical problem that in the prior art, two cross laser transmitters are used to cause large pose identification errors during remote tunneling is solved, six faces of the laser target with the cuboid structure can receive laser beams emitted by the laser pointing instrument, and the measurable working space of the cantilever type tunneling machine is enlarged.
The two anti-explosion cameras 3 are oppositely arranged above the body of the cantilever type excavator, the shooting range of each anti-explosion camera comprises three surfaces of the laser target, and the three surfaces of the laser target contained in the shooting range of anti-explosion cameras are not overlapped with the three surfaces of the laser target contained in the shooting range of anti-explosion cameras, so that the three surfaces of the laser target are used for collecting surface images of the laser target;
referring to fig. 1, two mounting point connecting lines of two anti-explosion cameras 3 are collinear with a body diagonal line of a laser target, wherein anti-explosion cameras are mounted in the left front of the upper surface of a boom excavator body and are higher than the upper surface of the laser target, a shooting range comprises the upper surface, the left side surface and the front side surface of the laser target, in addition, anti-explosion cameras are mounted in the right rear of the upper surface of the boom excavator body and are lower than the lower surface of the laser target, and the shooting range comprises the lower surface, the right side surface and the rear side surface of the laser target.
The intrinsic safety type inclination angle sensor 4 is fixed with a machine body of the cantilever type tunneling machine, a measuring shaft of the intrinsic safety type inclination angle sensor is coplanar with a tail plane of the cantilever type tunneling machine and is parallel to a top plane of the cantilever type tunneling machine, and the intrinsic safety type inclination angle sensor is used for acquiring inclination angle data of the measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time;
and the industrial control computer 5 is fixed in the body of the cantilever type tunneling machine and is used for calculating the pose inverse solution program of the cantilever type tunneling machine by receiving the surface images of the laser targets collected by the two anti-explosion cameras and the inclination angle data of the measuring shaft of the self relative to the horizontal plane collected by the intrinsic safety type inclination angle sensor so as to obtain the space pose parameters of the cantilever type tunneling machine.
The two anti-explosion cameras 3 and the intrinsic safety type inclination angle sensor 4 are connected to an industrial control computer in a wired mode to transmit data.
Referring to fig. 2 and , the position and posture identification method of the cantilever type heading machine comprises the following steps:
step 1) setting basic parameters:
setting the installation distance of the centroid of the laser target relative to the centroid of the cantilever type tunneling machine in the forward axis direction of the cantilever type tunneling machine to be XM2CThe mounting distance in the horizontal axis direction is YM2CThe mounting distance in the upward axial direction being ZM2C(ii) a Setting the front side face of the laser target as f and the rear side face as b, and respectively labeling six surfaces of the laser target;
marking the label on the front side surface of the laser target as 1, the label on the rear side surface of the laser target as 2, the label on the left side surface of the laser target as 3, the label on the right side surface of the laser target as 4, the label on the upper surface of the laser target as 5 and the label on the lower surface of the laser target as 6;
step 2) three reference coordinate systems as shown in fig. 3 are established:
establishing a height (M) from the ground centered on the roadway widthZ+CZPoint O of/2)bTaking the designed driving direction of the tunnel as XbThe axis points forward and takes the vertical upward direction as ZbWith axis pointing forward, with Y determined by the right-hand rulebGeodetic coordinate system O with axis pointing in the forward directionb-XbYbZbWherein M isZHeight of boom-type roadheader body, CZIs the height of the laser target;
ii, establishing a geometric centroid O of the cantilever type tunneling machinemAs the origin, with the forward axis of the boom-type roadheader as XmThe shaft points forward and takes the upward axis of the cantilever type development machine as ZmY with axis pointing in forward direction and determined by right-hand rulemHeading machine coordinate system O with forward-directed shaftm-XmYmZm；
Iii, establishing a laser target centroid OcAs origin, with XmAxial forward direction is XcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcAxis forward pointing target coordinate system Oc-XcYcZc；
Step 3) adjusting the initial position of the cantilever type tunneling machine:
adjusting the initial position of the cantilever type tunneling machine, so that when the beam direction of a single-beam point laser emitted by a laser direction indicator is parallel to the designed tunneling direction of a roadway, the laser is emitted from the center of the rear side surface of a laser target, penetrates through the geometric centroid of the laser target and is emitted from the center of the front side surface of the laser target, and light spots are reserved in the center of the rear side surface and the center of the front side surface of the laser target respectively;
the invention discloses a position and posture identification method of cantilever type tunneling machines, which is specifically used for identifying the deflection angle, the pitch angle, the roll angle, the vertical offset and the horizontal offset of a reference coordinate system of the cantilever type tunneling machine relative to a straight line where a laser beam emitted by a laser direction instrument is located in real time.
Step 4), two anti-explosion cameras collect calibration images and upload the calibration images:
before the boom-type excavator starts to work, fixing chessboard pattern calibration plates on surfaces of a laser target each time, shooting the surfaces by an explosion-proof camera with a shooting range including the surfaces of the chessboard pattern calibration plates for six times, and uploading six calibration images to an industrial personal computer;
because the shooting range of each explosion-proof camera only comprises three surfaces of the laser target, the explosion-proof camera 5 needs to shoot a calibration image when only fixed checkerboard calibration plates are arranged on the upper surface, the left side surface and the front side surface of the laser target, the shooting is carried out three times, the explosion-proof camera 3 needs to shoot a calibration image when only fixed checkerboard calibration plates are arranged on the lower surface, the right side surface and the rear side surface of the laser target, the shooting is carried out three times, and finally six calibration images are obtained;
step 5), collecting and uploading surface images of the laser target by two anti-explosion cameras:
removing the checkerboard calibration plate in the working process of the cantilever type tunneling machine, shooting six surfaces of the laser target in real time when laser beams emitted by the laser direction indicator penetrate through two surfaces of the six surfaces of the laser target by the two explosion-proof cameras, and continuously uploading shot surface images of the laser target to an industrial control computer;
step 6), the intrinsic safety type inclination angle sensor collects inclination angle data of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane and uploads the data:
in the working process of the cantilever type heading machine, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time and transmits the inclination angle data sensor _ h to an industrial control computer;
step 7), resolving a pose inverse solution program of the cantilever type tunneling machine by the industrial control computer, wherein the implementation steps are as shown in fig. 4:
(7a) the industrial control computer identifies a label on the surface where the light spot on the incident surface of the laser target is located and a label on the surface where the light spot on the emergent surface is located, and calculates the actual distance from the light spot on the incident surface of the laser target to the four sides of the incident surface and the actual distance from the light spot on the emergent surface of the laser target to the four sides of the emergent surface to obtain an actual distance value set Q;
(7a1) the industrial control computer generates six calibration files by using calibration pictures intercepted from six calibration images uploaded by two explosion-proof cameras;
(7a1) the industrial control computer adopts an image enhancement algorithm to adjust the brightness of the laser target surface images continuously uploaded by the two anti-explosion cameras to obtain the laser target surface images continuously subjected to brightness enhancement;
(7a2) the industrial control computer adopts a characteristic matching method, and respectively performs characteristic matching on continuous laser target surface images with enhanced brightness through six laser target single surface characteristic templates and laser spot characteristic templates to obtain six corresponding surface matching areas of the laser target and two corresponding laser spot matching areas;
(7a3) the industrial control computer detects straight lines in matching areas corresponding to the six surfaces of the laser target by adopting a straight line detection method to obtain straight lines corresponding to four edges of each surface of the laser target;
(7a4) the industrial control computer measures the pixel distances of straight lines from the center points of the matching areas corresponding to the two laser spots to the four sides of each surface of the laser target by adopting a point-line measuring method to obtain a set of pixel distances from the center points of the matching areas corresponding to the two laser spots to the straight lines from the four sides of each surface of the laser target;
(7a5) the industrial control computer identifies surface labels corresponding to the two laser light spots through the measured pixel distance set of straight lines from the center points of the corresponding matching areas of the two laser light spots to the four edges of each surface of the laser target, and determines the incident surface and the emergent surface of the laser target according to the identification result;
(7a6) the industrial control computer selects a calibration file of the incident surface and a calibration file of the exit surface of the laser target, finds out the pixel distances from the light spots on the incident surface to the four sides of the incident surface and the pixel distances from the light spots on the exit surface to the four sides of the exit surface from the pixel distance sets of the straight lines of the center points of the corresponding matching areas of the two laser light spots from the four sides of each surface of the laser target, then carries out calibration conversion on the pixel distances from the light spots on the incident surface of the laser target to the four sides of the incident surface by using the calibration file of the incident surface to obtain the actual distances from the light spots on the incident surface of the laser target to the four sides of the incident surface, and carries out calibration conversion on the pixel distances from the light spots on the exit surface of the laser target to the four sides of the exit surface by using the calibration file of the exit surface to obtain the actual distances from the light spots on the exit surface, these eight actual distance values are combined into an actual distance value set Q.
(7b) The industrial control computer determines the light spots on the incident surface and the light spots on the emergent surface in a target coordinate system O through the actual distance value set Q and the label of the surface where the light spots on the incident surface and the label of the surface where the light spots on the emergent surface are locatedc-XcYcZcCoordinates of lowercE1AndcE2and establishcE1AndcE2the straight line k is in the target coordinate system Oc-XcYcZcA lower linear equation;
(7c) the industrial control computer establishes a linear equation about a straight line k and the front side face f in a target coordinate system Oc-XcYcZcLower plane equation and back side b in target coordinate system Oc-XcYcZcSolving the equation set of the plane equation to obtain the target coordinate system O of the intersection point of the straight line k and the plane where the front side face f of the laser target is locatedc-XcYcZcCoordinates of lowercEfAnd the intersection point with the plane of the back side b is in the target coordinate system Oc-XcYcZcCoordinates of lowercEb；
(7d) Industrial control computer passcEfAndcEbthe difference between the measured values is formed into a laser light path vector v, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time, and the pitch angle f of the cantilever type tunneling machine is calculatedinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninvWherein v ═cEf-cEb。
(7d1) The industrial control computer calculates the deflection angle p of the cantilever type tunneling machine through the laser light path vector vinv：
Figure BDA0002249162420000111
Wherein v isxIndicating that the laser light path vector v is at XcComponent on the axis, vyIndicating that the laser light path vector v is in YcAn on-axis component;
calculating the deflection angle of the cantilever excavator, only considering the rotation process after translation, and referring to fig. 5, for the attitude description method rotating according to the motion coordinate system, the whole process of coordinate system transformation is summarized as follows:
heading machine coordinate system Om-XmYmZmInitial pose and geodetic coordinate system Ob-XbYbZbCompletely overlapping, firstly translating the coordinate system of the heading machine along each axis of the geodetic coordinate system to obtain Om1-Xm1Ym1Zm1Then starts to rotate, first around Zm1Rotation of the shaft pinvAngle is given by Om2-Xm2Ym2Zm2Rewinding Y as shown in FIG. 5(a)m1Rotation of the shaft finvAngle is given by Om3-Xm3Ym3Zm3As shown in FIG. 5(b), rewinding Xm1Rotation of the shaft hinvAngle is given by Om-XmYmZmAs shown in fig. 5 (c).
In FIG. 5, the slave O during rotation according to the motion coordinate system is plottedm1-Xm1Ym1Zm1To Om-XmYmZmAttitude change of each axis of the coordinate system, and three rotation angles pinv、hinv、finv. As can be seen from FIG. 5(b), Xm2、Xm3、Zm2And Zm3The four axes being in the same planes, i.e. the laser path XbIn a coordinate system Om3-Xm3Ym3Zm3X in (1)m3Om3Ym3In-plane projection and Xm3The axes are coincident, as can be seen in FIG. 5(c), the last rotations pinvIn the course of the angle, Zm3And ZmCoincidence, then Xm3Om3Ym3Plane and XmOmYmThe plane is still in the same plane, so the deflection angle pinvNamely the vector v is in the coordinate system O of the heading machinem-XmYmZmIn (C) XmOmYmIn-plane projection (with X)m3Coincident with axis) with XmThe angle of the axes.
It is now known that the vector v is in the target coordinate system Oc-XcYcZcCoordinates of the target coordinate system, and the three coordinate planes of the target coordinate system are the heading machine coordinate system Om-XmYmZmThe three corresponding coordinate planes in the target coordinate system are parallel to each other, so that the included angles between the vector v and each axis and plane in the heading machine coordinate system are the same as the included angles between the vector v and each corresponding axis and plane in the target coordinate system, and the included angles between the vector v and each axis and plane in the target coordinate system can be directly used for calculation in the target coordinate system.
Deflection angle pinvIs that the vector v is in the coordinate system O of the heading machinem-XmYmZmIn (C) XmOmYmIn-plane projection (with X)m3Coincident with axis) with XmThe angle of the axes also being equal to the vector v in the target coordinate system Oc-XcYcZcIn (C) XcOcYcIn-plane projection and XcAngle of included axis, to deflection angle pinvThe calculation formula is as described above.
(7d2) The industrial control computer passes through the laser light path vector v and the deflection angle p of the cantilever type tunneling machineinvCalculating the pitching angle f of a boom-type roadheaderinv：
Figure BDA0002249162420000121
Wherein v iszIndicating the laser light path vector v at ZcAn on-axis component;
the pitch angle f is also shown in FIG. 5(d)invIs the vector v with which it is at XmOmYmAngle of projection in plane equal toVector v and its sum at XcOcYcThe angle of included projection in the plane, the deflection angle p, has now been determinedinvThen the pitch angle f can be obtainedinvThe calculation formula is as described above.
(7d3) Industrial control computer selection heading machine coordinate system Om-XmYmZmY of (A) ismTaking the unit vector u in the negative direction of the axis as a characteristic vector, and calculating the characteristic vector u around Z in the rotating process according to a fixed coordinate systemmRotation of the shaft pinvAngle, rewind YmRotation of the shaft finvU obtained after Angle2Vector:
u2＝(TXYZ(0,0,0)RX(0)RY(finv)RZ(pinv))·u1
wherein, TXYZRepresenting a coordinate transformation translation matrix, RX、RY、RZRepresenting a coordinate transformation rotation matrix;
to calculate the roll angle of the boom-type roadheader, the sensor _ h parameter of the tilt angle is needed, and the corresponding angle of the sensor _ h in the rotation process is firstly found, and the rotation process according to the fixed coordinate system is shown in fig. 6. Because of the mounting axis of the inclination angle sensor and the Y of the heading machinemParallel-axis selective tunneling machine YmThe unit vector u in the axial negative direction is taken as a feature vector.
u vector first around ZmRotation of the shaft pinvAngle is obtained u1Is rewound with YmRotation of the shaft finvAngle is obtained u2At this time u is shown in FIG. 6(a)2At the end of the vector and XmThe plane perpendicular to the axis is set as S plane, and the coordinate transformation formula is used to calculate u2The formula of (c) is as described above.
(7d4) In the process that the industrial control computer calculates and rotates according to the fixed coordinate system, u2Vector end point at u2Vector end point is located with XmRadius of rotation R, u in plane parallel to axis2Vector end point to XmOmYmProjected height H of plane2，u2Vector winding XmRotation of the shaft hinvAngle derived u3Vector end point of vector to XmOmYmProjected height H of plane3：
Figure BDA0002249162420000131
Figure BDA0002249162420000133
H3＝||u3||sin(|sensor_h|)
Wherein u is2yRepresents u2Vector is in YmComponent on the axis, u2zRepresents u2Vector at ZmAn on-axis component;
last revolutions, u2Around XmRotation of the shaft hinvAngle is obtained u3And is also the final position of the vector u after the entire rotation process. As can be seen from FIG. 6(b), the tilt sensor parameter sensor _ h is u3With it in Xm1Om1Ym1The included angle of the projection on the plane can be seen from the geometrical relationship in FIG. 6, the radius of rotation R and the projection height H2And H3The calculation formula of (c) is as described above.
(7d5) The industrial control computer controls the projection height H according to the rotation radius R2And H3Calculating the roll angle hinv：
Figure BDA0002249162420000132
From the geometrical relationship in FIG. 6, the radius of rotation R and the projection height H2And H3To calculate the roll angle hinvThe calculation formula of (c) is as described above.
(7d6) The origin O of the target coordinate system is calculated by the industrial control computer under the state of no offset distancecIn the heading machine coordinate system Om-XmYmZmCoordinates of lowermOcAt a passing pitch angle finvAngle of deflection pinvTransverse rolling angle hinvAfter rotation in the earthIs Ob-XbYbZbCoordinates of lowerbOc：
bOc＝(TXYZ(0,0,0)RX(hinv)RY(finv)RZ(pinv))·mOc
Wherein, the origin O of the target coordinate systemcIn the heading machine coordinate system Om-XmYmZmCoordinates of lowermOcIs [ X ]M2C,YM2C,ZM2C,1]T；
Referring to fig. 7, assume that the boom miner is at Y in the geodetic coordinate systembDirection and ZbWhen both deviations in direction are 0, if the boom excavator is rotated about an axis, the position of the laser path relative to the target coordinate system may also change due to mounting distances of the target coordinate system relative to the excavator coordinate system, thereby creating a rotational offset, according to the pitch angle finvAngle of deflection pinvTransverse rolling angle hinvRotation uses coordinate transformation formula to solve target coordinate system origin O under unbiased statecAfter rotation in the earth's coordinate system Ob-XbYbZbCoordinates of lowerbOcThe formula of (c) is as described above.
(7d7) The industrial control computer calculates the point of the middle point of the laser segment of the laser path intercepted by the laser target to the origin O of the coordinate system of the targetbVector of (2)cd in the geodetic coordinate system Ob-XbYbZbVector ofbd：
cd＝Ob-(cEf+cEb)/2
bd＝(TXYZ(0,0,0)RX(hinv)RY(finv)RZ(pinv))·cd
Recalculating actual conditions, i.e. heading machine at YbDirection and ZbWhen the offset distance in the direction is not 0, the origin O of the target coordinate systemcTo the straight line of the laser light path at YbDirection and ZbThe distance in the direction, that is, any points on the laser light path to the origin O of the rectangular coordinate systembIn the geodetic coordinate system ofbObZbFor simplifying calculation, taking any points on the laser light path as the middle point of the laser segment intercepted by the cuboid, and calculating the middle point of the laser segment intercepted by the laser target in the laser light path to point to the origin O of the target coordinate system by using a coordinate transformation formulabVector of (2)cd in the geodetic coordinate system Ob-XbYbZbVector ofbThe formula for d is as described above.
(7d8) Industrial control computer calculates that the cantilever type heading machine is at YbDirection and ZbDeviation y of movement in directioninvAnd zinv：
yinv＝bdY-bOcY
zinv＝bdZ-bOcZ
Wherein the content of the first and second substances,bdYrepresenting vectorsbd is at YbThe component on the axis of the light beam,bdZrepresenting vectorsbd is at ZbThe component on the axis of the light beam,bOcYrepresenting coordinatesbOcThe value of (a) is determined,bOcZrepresenting coordinatesbOcThe value of z.
Now it has been calculated that in the actual situation, i.e. the heading machine is at YbDirection and ZbWhen the offset distance in the direction is not 0, the origin O of the target coordinate systemcTo the straight line of the laser light path at YbDirection and ZbVector in the directionbd and in the unbiased condition, i.e. the tunneller is in YbDirection and ZbWhen the offset distances in the directions are all 0, the origin O of the target coordinate systemcAfter rotation in the earth's coordinate system Ob-XbYbZbCoordinates of lowerbOcThe difference between the two coordinates is YbAxis and ZbThe component on the shaft being the boom-type roadheader at YbAxis and ZbThe deviation on the axis.
The number of the explosion-proof cameras used in embodiment 2 and this embodiment is , and the other structures are the same as those in embodiment 1.
explosion-proof camera installs side center on laser target inside, and the mounting base is the cloud platform of taking the drive certainly, and the cloud platform can control explosion-proof camera and carry out 360 degrees rotations for shoot other five surface image of laser target except the top surface.
When the laser target works normally, the tripod head controls the explosion-proof camera to rotate at constant speed and acquire five surface images, when two light spots are arranged on two surfaces of other five surfaces except the upper side of the laser target, the images of the two light spot surfaces shot by the explosion-proof camera are uploaded to an industrial control computer within rotation periods, an actual distance value set Q is obtained through an image processing part of a pose inverse solution program, the subsequent solution step is carried out, and finally the pitch angle f of the cantilever excavator is obtained through calculationinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninv。
When the explosion-proof camera of the embodiment collects images, because the pan-tilt rotation needs fixed time, the collected images of two light points are not images at the same time of actually, and the pose inverse solution program requires that the images of two points at the same time of are processed and solved to obtain accurate real-time pose parameters, considering that in the actual working process, the body of the cantilever excavator does not change every moment, when the excavator cuts the cutting surface, only the cutting arm moves and the body needs to be fixed, which means that when the vibration of the body is ignored, the positions of the two light points on the laser target are unchanged in the period of time, so when explosion-proof cameras are used, the collection of the surface images of the laser targets where the two laser light points are located does not influence the final pose identification result even if the time difference of fixed exists.
Compared with the embodiment 1, images of the upper side face of the laser target cannot be acquired, which means that the number of laser receiving surfaces is reduced by , when a laser spot falls on the upper side face, a pose inverse solution program cannot be solved, and the measurable working space of the cantilever excavator is smaller than that of the embodiment 1, but is still better than that of two planar laser targets in the prior art.
In embodiment 3 and this embodiment, the number of the explosion-proof cameras is plural, and the other configuration is the same as that of embodiment 1.
of images shot by all the anti-explosion cameras definitely comprises images of surfaces where two light points are located, the images are uploaded to an industrial control computer, an actual distance value set Q is obtained through an image processing part of a pose inverse solution program, a subsequent solution step is carried out, and finally the pitch angle f of the cantilever excavator is calculatedinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninv。
In this example, the cost of the explosion-proof camera is increased compared to example 2, but all six surfaces of the laser target can be photographed and the measurable working space can reach the theoretical maximum.
Compared with embodiment 1, the embodiment has the advantages that the number of the explosion-proof cameras is increased, the cost is higher, and the identification precision is the same as the measurable working space. The application scenario of this embodiment is that, for various types of boom-type excavators, the number, type, volume and position of various devices above the machine body are different, and the boom-type excavators may be hooked with various external devices, such as ventilation equipment, two cars, anchor protection equipment, and the like. These uncertain factors may cause that the installation requirements in embodiment 1 cannot be met, and this embodiment needs to be adopted according to actual field conditions, and the number and installation positions of the applicable explosion-proof cameras are selected under the condition that the union of the shooting ranges of all the explosion-proof cameras must include all six surfaces of the laser target.

Claims (6)

  1. The boom-type excavator position and posture identification system comprises a laser pointing device, a laser target, an explosion-proof camera and an industrial control computer, wherein the laser pointing device is fixed at the top of a roadway and used for emitting laser to the excavation direction of the boom-type excavator, the laser target is used for receiving laser beams emitted by the laser pointing device, the explosion-proof camera is used for collecting surface images of the laser target, and the industrial control computer is used for obtaining space position and posture parameters of the boom-type excavator, and is characterized in that:
    the laser pointing device adopts a laser pointing instrument, and the emitted laser is single-beam point laser;
    the laser target is of a hollow cuboid structure formed by splicing six rectangular transparent plates and is fixed right above a forward axis of a machine body of the cantilever type tunneling machine, the upper surface and the lower surface of the laser target are parallel to the top plane of the cantilever type tunneling machine, the front side and the rear side are parallel to the tail plane of the cantilever type tunneling machine, and the left side and the right side are parallel to the side plane of the cantilever type tunneling machine;
    the number of the explosion-proof cameras is two, the two explosion-proof cameras are oppositely arranged above the body of the cantilever type excavator, the shooting range of each explosion-proof camera comprises three surfaces of the laser target, and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras are not overlapped with each other;
    an intrinsic safety type inclination angle sensor is fixed on a machine body of the cantilever type tunneling machine, a measuring shaft of the intrinsic safety type inclination angle sensor is coplanar with a tail plane of the cantilever type tunneling machine and is parallel to a top plane of the cantilever type tunneling machine, and the intrinsic safety type inclination angle sensor is used for acquiring inclination angle data of the measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time;
    the industrial control computer is fixed in the body of the cantilever type tunneling machine, and the acquired space pose parameters of the cantilever type tunneling machine are obtained by receiving laser target surface images acquired by the two anti-explosion cameras and inclination angle data of a measuring shaft of the self-safety type inclination angle sensor relative to a horizontal plane and resolving a pose inverse solution program of the cantilever type tunneling machine.
  2. 2. The boom miner position and posture identification system of claim 1, wherein the laser target is made of organic glass, acrylic material or other light transparent material.
  3. 3. The boom miner position and orientation recognition system of claim 1 wherein the connection line of the two anti-explosion camera mounting points is collinear with the body diagonal of the laser target, wherein anti-explosion camera mounting locations are above the upper surface of the laser target and further anti-explosion camera mounting locations are below the lower surface of the laser target.
  4. 4, boom-type roadheader position and posture identification method, which is characterized by comprising the following steps:
    (1) setting basic parameters:
    setting the installation distance of the centroid of the laser target relative to the centroid of the cantilever type tunneling machine in the forward axis direction of the cantilever type tunneling machine to be XM2CThe mounting distance in the horizontal axis direction is YM2CThe mounting distance in the upward axial direction being ZM2C(ii) a Setting the front side face of the laser target as f and the rear side face as b, and respectively labeling six surfaces of the laser target;
    (2) three reference coordinate systems are established:
    establishing a height (M) from the ground centered on the roadway widthZ+CZPoint O of/2)bTaking the designed driving direction of the tunnel as XbThe axis points forward and takes the vertical upward direction as ZbWith the axis pointing forwardly to pass through the right-hand gaugeThen determined YbGeodetic coordinate system O with axis pointing in the forward directionb-XbYbZbWherein M isZHeight of boom-type roadheader body, CZIs the height of the laser target;
    ii, establishing a geometric centroid O of the cantilever type tunneling machinemAs the origin, with the forward axis of the boom-type roadheader as XmThe shaft points forward and takes the upward axis of the cantilever type development machine as ZmY with axis pointing in forward direction and determined by right-hand rulemHeading machine coordinate system O with forward-directed shaftm-XmYmZm；
    Iii, establishing a laser target centroid OcAs origin, with XmAxial forward direction is XcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcThe axis pointing in the forward direction, in ZmAxial forward direction is ZcAxis forward pointing target coordinate system Oc-XcYcZc；
    (3) Adjusting the initial position of the cantilever type tunneling machine:
    adjusting the initial position of the cantilever type tunneling machine, so that when the beam direction of a single-beam point laser emitted by a laser direction indicator is parallel to the designed tunneling direction of a roadway, the laser is emitted from the center of the rear side surface of a laser target, penetrates through the geometric centroid of the laser target and is emitted from the center of the front side surface of the laser target, and light spots are reserved in the center of the rear side surface and the center of the front side surface of the laser target respectively;
    (4) the two anti-explosion cameras collect and upload calibration images:
    before the boom-type excavator starts to work, fixing chessboard pattern calibration plates on surfaces of a laser target each time, shooting the surfaces by an explosion-proof camera with a shooting range including the surfaces of the chessboard pattern calibration plates for six times, and uploading six calibration images to an industrial personal computer;
    (5) two anti-explosion cameras collect and upload laser target surface images:
    removing the checkerboard calibration plate in the working process of the cantilever type tunneling machine, shooting six surfaces of the laser target in real time when laser beams emitted by the laser direction indicator penetrate through two surfaces of the six surfaces of the laser target by the two explosion-proof cameras, and continuously uploading shot surface images of the laser target to an industrial control computer;
    (6) the intrinsic safety type inclination angle sensor collects inclination angle data of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane and uploads the data:
    in the working process of the cantilever type heading machine, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time and transmits the inclination angle data sensor _ h to an industrial control computer;
    (7) resolving a pose inverse solution program of the cantilever type tunneling machine by the industrial control computer:
    (7a) the industrial control computer identifies a label on the surface where the light spot on the incident surface of the laser target is located and a label on the surface where the light spot on the emergent surface is located, and calculates the actual distance from the light spot on the incident surface of the laser target to the four sides of the incident surface and the actual distance from the light spot on the emergent surface of the laser target to the four sides of the emergent surface to obtain an actual distance value set Q;
    (7b) the industrial control computer determines the light spots on the incident surface and the light spots on the emergent surface in a target coordinate system O through the actual distance value set Q and the label of the surface where the light spots on the incident surface and the label of the surface where the light spots on the emergent surface are locatedc-XcYcZcCoordinates of lowercE1AndcE2and establishcE1AndcE2the straight line k is in the target coordinate system Oc-XcYcZcA lower linear equation;
    (7c) the industrial control computer establishes a linear equation about a straight line k and the front side face f in a target coordinate system Oc-XcYcZcLower plane equation and back side b in target coordinate system Oc-XcYcZcSolving the equation set of the plane equation to obtain the target coordinate system O of the intersection point of the straight line k and the plane where the front side face f of the laser target is locatedc-XcYcZcCoordinates of lowercEfAnd the intersection point with the plane of the back side b is in the target coordinate system Oc-XcYcZcCoordinates of lowercEb；
    (7d) Industrial control computer passcEfAndcEbthe difference between the measured values is formed into a laser light path vector v, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time, and the pitch angle f of the cantilever type tunneling machine is calculatedinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninvWherein v ═cEf-cEb。
  5. 5. The boom miner position and posture identification method of claim 4, wherein the actual distance value set Q in step (7a) is implemented by a machine vision technique, and the specific steps are as follows:
    (7a1) the industrial control computer generates six calibration files by using calibration pictures intercepted from six calibration images uploaded by two explosion-proof cameras;
    (7a1) the industrial control computer adopts an image enhancement algorithm to adjust the brightness of the laser target surface images continuously uploaded by the two anti-explosion cameras to obtain the laser target surface images continuously subjected to brightness enhancement;
    (7a2) the industrial control computer adopts a characteristic matching method, and respectively performs characteristic matching on continuous laser target surface images with enhanced brightness through six laser target single surface characteristic templates and laser spot characteristic templates to obtain six corresponding surface matching areas of the laser target and two corresponding laser spot matching areas;
    (7a3) the industrial control computer detects straight lines in matching areas corresponding to the six surfaces of the laser target by adopting a straight line detection method to obtain straight lines corresponding to four edges of each surface of the laser target;
    (7a4) the industrial control computer measures the pixel distances of straight lines from the center points of the matching areas corresponding to the two laser spots to the four sides of each surface of the laser target by adopting a point-line measuring method to obtain a set of pixel distances from the center points of the matching areas corresponding to the two laser spots to the straight lines from the four sides of each surface of the laser target;
    (7a5) the industrial control computer identifies surface labels corresponding to the two laser light spots through the measured pixel distance set of straight lines from the center points of the corresponding matching areas of the two laser light spots to the four edges of each surface of the laser target, and determines the incident surface and the emergent surface of the laser target according to the identification result;
    (7a6) the industrial control computer selects a calibration file of the incident surface and a calibration file of the exit surface of the laser target, finds out the pixel distances from the light spots on the incident surface to the four sides of the incident surface and the pixel distances from the light spots on the exit surface to the four sides of the exit surface from the pixel distance sets of the straight lines of the center points of the corresponding matching areas of the two laser light spots from the four sides of each surface of the laser target, then carries out calibration conversion on the pixel distances from the light spots on the incident surface of the laser target to the four sides of the incident surface by using the calibration file of the incident surface to obtain the actual distances from the light spots on the incident surface of the laser target to the four sides of the incident surface, and carries out calibration conversion on the pixel distances from the light spots on the exit surface of the laser target to the four sides of the exit surface by using the calibration file of the exit surface to obtain the actual distances from the light spots on the exit surface, these eight actual distance values are combined into an actual distance value set Q.
  6. 6. The boom miner position and orientation recognition method of claim 4, wherein said step (7d) of calculating the pitch angle f of the boom minerinvAngle of deflection pinvTransverse rolling angle hinvAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal directioninvAnd an offset distance z in the vertical directioninvThe method comprises the following implementation steps:
    (7d1) the industrial control computer calculates the vector v through the laser light pathDeflection angle p of boom-type roadheaderinv：
    Figure FDA0002249162410000051
    Wherein v isxIndicating that the laser light path vector v is at XcComponent on the axis, vyIndicating that the laser light path vector v is in YcAn on-axis component;
    (7d2) the industrial control computer passes through the laser light path vector v and the deflection angle p of the cantilever type tunneling machineinvCalculating the pitching angle f of a boom-type roadheaderinv：
    Figure FDA0002249162410000052
    Wherein v iszIndicating the laser light path vector v at ZcAn on-axis component;
    (7d3) industrial control computer selection heading machine coordinate system Om-XmYmZmY of (A) ismTaking the unit vector u in the negative direction of the axis as a characteristic vector, and calculating the characteristic vector u around Z in the rotating process according to a fixed coordinate systemmRotation of the shaft pinvAngle, rewind YmRotation of the shaft finvU obtained after Angle2Vector:
    u2＝(TXYZ(0,0,0)RX(0)RY(finv)RZ(pinv))·u1
    wherein, TXYZRepresenting a coordinate transformation translation matrix, RX、RY、RZRepresenting a coordinate transformation rotation matrix;
    (7d4) in the process that the industrial control computer calculates and rotates according to the fixed coordinate system, u2Vector end point at u2Vector end point is located with XmRadius of rotation R, u in plane parallel to axis2Vector end point to XmOmYmProjected height H of plane2，u2Vector winding XmRotation of the shaft hinvAngle derived u3Vector end point of vector to XmOmYmProjected height H of plane3：
    Figure FDA0002249162410000053
    H2＝|u2z|
    H3＝||u3||sin(|sensor_h|)
    Wherein u is2yRepresents u2Vector is in YmComponent on the axis, u2zRepresents u2Vector at ZmAn on-axis component;
    (7d5) the industrial control computer controls the projection height H according to the rotation radius R2And H3Calculating the roll angle hinv：
    Figure FDA0002249162410000054
    (7d6) The origin O of the target coordinate system is calculated by the industrial control computer under the state of no offset distancecIn the heading machine coordinate system Om-XmYmZmCoordinates of lowermOcAt a passing pitch angle finvAngle of deflection pinvTransverse rolling angle hinvAfter rotation in the earth's coordinate system Ob-XbYbZbCoordinates of lowerbOc：
    bOc＝(TXYZ(0,0,0)RX(hinv)RY(finv)RZ(pinv))·mOc
    Wherein, the origin O of the target coordinate systemcIn the heading machine coordinate system Om-XmYmZmCoordinates of lowermOcIs [ X ]M2C,YM2C,ZM2C,1]T；
    (7d7) The industrial control computer calculates the point of the middle point of the laser segment of the laser path intercepted by the laser target to the origin O of the coordinate system of the targetbVector of (2)cd in the geodetic coordinate system Ob-XbYbZbVector ofbd：
    cd＝Ob-(cEf+cEb)/2
    bd＝(TXYZ(0,0,0)RX(hinv)RY(finv)RZ(pinv))·cd；
    (7d8) Industrial control computer calculates that the cantilever type heading machine is at YbDirection and ZbDeviation y of movement in directioninvAnd zinv：
    yinv＝bdY-bOcY
    zinv＝bdZ-bOcZ
    Wherein the content of the first and second substances,bdYrepresenting vectorsbd is at YbThe component on the axis of the light beam,bdZrepresenting vectorsbd is at ZbThe component on the axis of the light beam,bOcYrepresenting coordinatesbOcThe value of (a) is determined,bOcZrepresenting coordinatesbOcThe value of z.
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CN111156976A (en) * 2020-02-11 2020-05-15 北京易联创安科技发展有限公司 Position and attitude data measuring system and method of heading machine based on rotary target
CN111536955A (en) * 2020-05-18 2020-08-14 中国矿业大学 Heading machine pose detection system and method based on V-shaped laser target image recognition
CN111780666A (en) * 2020-07-17 2020-10-16 西安科技大学 Position and attitude monitoring system and method for mining development machine
CN112050732A (en) * 2020-08-21 2020-12-08 西安科技大学 Method and system for automatically detecting spatial pose of cantilever type heading machine
CN112284253A (en) * 2020-10-19 2021-01-29 北京航天众信科技有限公司 Monocular vision-based heading machine position and attitude measurement method and system and storage medium
CN112557072A (en) * 2020-11-12 2021-03-26 中国煤炭科工集团太原研究院有限公司 Method and device for calibrating spatial degree of freedom of cantilever of excavating equipment
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