CN111273270A - Positioning and orienting method of heading machine - Google Patents
Positioning and orienting method of heading machine Download PDFInfo
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- CN111273270A CN111273270A CN202010187017.8A CN202010187017A CN111273270A CN 111273270 A CN111273270 A CN 111273270A CN 202010187017 A CN202010187017 A CN 202010187017A CN 111273270 A CN111273270 A CN 111273270A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The invention discloses a positioning and orienting method of a heading machine, which is used for positioning and orienting the heading machine in a tunnel, wherein a ranging plate is arranged in the tunnel behind the heading machine, a three-dimensional radar and an inclination angle measuring instrument are arranged on the heading machine, and the three-dimensional radar is arranged towards the ranging plate.
Description
Technical Field
The invention relates to the field of mining area production operation in general, and particularly relates to a positioning and orienting method of a heading machine.
Background
At present, the construction environment of roadway excavation is complex and severe, the danger coefficient is high, and the autonomous operation capability of the excavator serving as important equipment for underground mining operation greatly influences the efficiency and safety of underground production. However, the existing heading machine mainly relies on a visual image device or a laser or a wireless positioning base station for guiding and positioning when excavating and heading in a roadway, the modes are greatly influenced by dust concentration, visibility and temperature and humidity of the roadway environment, the obtained data quality is poor, the data availability is low, the data processing period is long, the processing difficulty is high, the accuracy and efficiency of autonomous positioning and guiding of the heading machine are greatly influenced, the underground heading production efficiency is not improved, and higher potential safety hazards are brought to the production safety.
Therefore, there is a need for a method for positioning and orienting a heading machine with high efficiency and high accuracy.
Disclosure of Invention
It is a primary object of the present invention to overcome at least one of the above-mentioned drawbacks of the prior art and to provide a method for positioning and orienting a heading machine with high efficiency and high accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to one aspect of the invention, a positioning and orienting method of a heading machine is provided, which is used for positioning and orienting the heading machine in a roadway, a ranging plate is arranged in the roadway behind the heading machine, a three-dimensional radar and an inclination angle measuring instrument are arranged on the heading machine, and the three-dimensional radar is arranged towards the ranging plate, and the method comprises the following steps:
1) acquiring point cloud data of a roadway environment in real time by using the three-dimensional radar;
2) measuring the inclination angle of the machine body of the development machine in real time by using the inclination angle measuring instrument;
3) and carrying out data fusion and extraction on the point cloud data and the body inclination angle to obtain the distance d1 from the heading machine to the left side wall of the roadway, the distance d2 from the heading machine to the right side wall of the roadway, the distance d3 from the heading machine to the distance measuring plate and the heading drift angle α of the heading machine.
According to an embodiment of the present invention, step 3) includes:
3.1) carrying out segmentation processing on the point cloud data acquired by the three-dimensional radar to obtain a left side wall point cloud area, a right side wall point cloud area and a ranging board point cloud area;
and 3.2) respectively extracting the features of the cloud area of the left side wall point, the cloud area of the right side wall point and the point cloud area of the distance measuring plate.
According to an embodiment of the invention, step 3.2) comprises:
establishing a left side wall preselection model, performing feature extraction on the left side wall point cloud area through the left side wall preselection model to obtain a left side wall mathematical model, and obtaining the distance d1 from the heading machine to the left side wall of the roadway through the left side wall mathematical model.
According to an embodiment of the invention, step 3.2) comprises:
establishing a right side wall preselection model, performing feature extraction on the right side wall point cloud area through the right side wall preselection model to obtain a right side wall mathematical model, and obtaining the distance d2 from the heading machine to the right side wall of the roadway through the right side wall mathematical model.
According to an embodiment of the invention, step 3.2) comprises:
establishing a ranging plate preselection model, performing characteristic extraction on the ranging plate point cloud area through the ranging plate preselection model and a machine body inclination angle to obtain a ranging plate mathematical model, and obtaining the distance d3 from the heading machine to the ranging plate through the ranging plate mathematical model.
According to an embodiment of the invention, step 3.2) comprises:
and (3) carrying out inclination extraction on the left side wall mathematical model and the right side wall mathematical model to obtain a heading declination α of the heading machine.
According to an embodiment of the present invention, the extracting features of the ranging plate point cloud area through the ranging plate preselection model and the fuselage inclination angle includes:
and carrying out inclination angle conversion on the point cloud area of the ranging plate, and further carrying out feature extraction through the ranging plate preselection model.
According to an embodiment of the invention, a millimeter wave radar is arranged on the heading machine, and the millimeter wave radar is arranged towards the ranging plate.
According to an embodiment of the present invention, step 3) includes:
and measuring the distance d' 3 from the development machine to the ranging board in real time by using the millimeter wave radar.
According to an embodiment of the present invention, step 3) includes: the distance d' 3 from the heading machine to the range board measured by the millimeter wave radar calibrates the distance d3 from the heading machine to the range board derived from the mathematical model of the range board.
According to the technical scheme, the positioning and orienting method of the heading machine has the advantages and positive effects that:
according to the invention, the position and the heading drift angle of the heading machine in the roadway are obtained by carrying out data fusion and extraction on the point cloud data acquired by the three-dimensional radar and the inclination angle of the machine body measured by the inclination angle measuring instrument, the data processing is rapid, the precision is high, the adaptability to complex environments is strong, the positioning and orientation of the heading machine can be stably carried out for a long time, the efficiency and the accuracy of the autonomous positioning and orientation of the heading machine are effectively improved, the efficiency and the safety of the heading production of the heading machine are improved, the economy is very high, and the method is extremely suitable for being popularized and used in the industry.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a positioning and orienting method of a heading machine according to an embodiment of the invention.
Fig. 2 is an application schematic diagram of a positioning and orienting method of a heading machine according to an embodiment of the invention.
Wherein the reference numerals are as follows:
1. a heading machine; 2. a three-dimensional radar; 3. a distance measuring plate; 4. a dip meter; 5. a left sidewall cloud region; 6. a right sidewall point cloud zone; 7. a distance measuring plate is arranged in a cloud area; 8. a millimeter wave radar; 9. and (5) laneways.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
In the following description of various examples of the invention, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various example structures, systems, and steps in which aspects of the invention may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Moreover, although the terms "top," "bottom," "front," "back," "side," and the like may be used in this specification to describe various example features and elements of the invention, these terms are used herein for convenience only, e.g., as to the orientation of the examples described in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of the invention.
Fig. 1 is a schematic flow chart of a positioning and orienting method of a heading machine according to an embodiment of the invention.
Fig. 2 is an application schematic diagram of a positioning and orienting method of a heading machine according to an embodiment of the invention.
As shown in fig. 1 and 2, the positioning and orienting method of the heading machine of the embodiment is used for positioning and orienting the heading machine 1 in a roadway 9, wherein a ranging plate 3 is arranged in the roadway 9 behind the heading machine 1, a three-dimensional radar 2 and an inclination angle measuring instrument 4 are arranged on the heading machine 1, and the three-dimensional radar 2 is arranged towards the ranging plate 3. the method comprises the following steps of 1) acquiring point cloud data of the environment of the roadway 9 in real time by using the three-dimensional radar 2, 2) measuring the inclination angle of the machine body of the heading machine 1 in real time by using the inclination angle measuring instrument 4, and 3) performing data fusion and extraction on the point cloud data and the inclination angle of the machine body to obtain the distance d1 from the heading machine 1 to the left side wall of the roadway 9, the distance d2 from the heading machine 1 to the right side wall of the roadway 9, the distance d3 from the heading machine 1 to.
In the embodiment, the three-dimensional radar 2 in the step 1) can be installed on the top surface or other suitable positions of the heading machine 1 and is arranged towards the ranging plate 3 behind the heading machine 1, the ranging plate 3 can be a metal plate with a small area, the ranging plate 3 is fixedly arranged in the roadway 9 behind the heading machine 1, and the distance between the heading machine 1 and the ranging plate 3 at the beginning of working is d 0; the three-dimensional radar 2 may be a three-dimensional laser radar, or other types of three-dimensional radars such as a three-dimensional radar that detects by using radio waves, and the three-dimensional laser radar generates three-dimensional information more quickly and accurately than conventional photogrammetry and other radars, but is greatly influenced by working environments such as heavy rain, heavy smoke, or heavy fog, and particularly in an environment where the concentration of dust in the underground tunnel 9 in a mining area is high, the propagation distance thereof is sharply attenuated, the working state is unstable, and in addition, the ground in the tunnel 9 is uneven, and the heading machine 1 often jolts during heading in the tunnel 9, and it is difficult to identify a small target object from the point cloud data of the environment of the tunnel 9 obtained by scanning the three-dimensional radar 2.
In this embodiment, the inclinometer 4 installed on the heading machine 1 in the step 2) may be an inclinometer or a common acceleration sensor, the inclinometer 4 may be a single-axis or dual-axis inclinometer 4, and the inclinometer 4 is used for detecting the inclination angle of the machine body of the heading machine 1 in real time so as to assist the three-dimensional radar 2 to acquire the point cloud data of the environment of the roadway 9 for identifying the ranging board 3.
In this embodiment, step 3) includes: and 3.1) carrying out segmentation processing on the point cloud data acquired by the three-dimensional radar 2 to obtain a left side wall point cloud area 5, a right side wall point cloud area 6 and a ranging board point cloud area 7. Before the point cloud data is segmented, filtering the point cloud data to remove noise in the point cloud data, wherein the filtering can adopt a straight-through filter, a voxel filter, a statistical filter, a conditional filter, a radius filter or a Kalman filter; further, the point cloud data is divided, the point cloud data can be briefly partitioned through an octree method, a region growing algorithm, a bounding box method or a fuzzy clustering algorithm, or the whole point cloud data is partitioned through a horizontal axis limiting interval and a vertical axis limiting interval according to the shape of the roadway 9 and the specific coordinate values of the middle points of the point cloud data, and three partitions, namely a left side wall point cloud area 5, a right side wall point cloud area 6 and a distance measuring plate point cloud area 7, are obtained.
In this embodiment, step 3) further includes: and 3.2) extracting the features of the left side wall point cloud area 5. Specifically, a left side wall preselection model is established; then randomly selecting three points in the left sidewall point cloud area 5, respectively substituting the three points into a left sidewall preselection model and combining to obtain a left sidewall undetermined model, respectively calculating the distances from the other points in the left sidewall point cloud area 5 to the left sidewall undetermined model, respectively judging whether the distances from the points to the left sidewall undetermined model are within the range allowed by the error e, and recording the number of the points within the range allowed by the error e; and further randomly selecting three points in the left side wall point cloud area 5 again to obtain a new left side wall undetermined model, repeating the distance calculation sum and the comparison with the error e, replacing the previous model with the current left side wall undetermined model if the number of the points in the range allowed by the error e obtained this time is larger than the number of the points in the range allowed by the error e obtained last time, keeping the previous left side wall undetermined model as the current model if the number of the points in the range allowed by the error e obtained this time is smaller than the number of the points in the range allowed by the error e obtained last time, repeating the process k times, and taking the left side wall undetermined model obtained after k times as the final left side wall mathematical model A1x+B1y+C1z+D10, and then the left side wall mathematical model A1x+B1y+C1z+D1The distance from the heading machine 1 to the left side wall of the roadway 9 is obtained as 0
Where x, y, z may be coordinate values of points on the left fuselage of the heading machine 1.
In this embodiment, step 3.2) further includes: and (5) extracting the features of the cloud area 6 of the right side wall point. Specifically, a right side wall preselection model is established; and then is inRandomly selecting three points in the right side wall point cloud area 6, respectively substituting the three points into a right side wall pre-selection model and combining to obtain a right side wall undetermined model, respectively calculating the distances from the other points in the right side wall point cloud area 6 to the right side wall undetermined model, respectively judging whether the distances from the points to the right side wall undetermined model are within the range allowed by the error e, and recording the number of the points within the range allowed by the error e; and further randomly selecting three points in the right side wall point cloud area 6 again to obtain a new right side wall undetermined model, repeating the distance calculation sum and the comparison with the error e, replacing the previous model with the right side wall undetermined model obtained this time if the number of the points in the range allowed by the error e obtained this time is larger than the number of the points in the range allowed by the error e obtained last time, keeping the right side wall undetermined model obtained last time as the current model if the number of the points in the range allowed by the error e obtained this time is smaller than the number of the points in the range allowed by the error e obtained last time, repeating the process k times, and taking the right side wall undetermined model obtained after k times as the final right side wall mathematical model A2x+B2y+C2z+D20, and then the right side wall mathematical model A2x+B2y+C2z+D2The distance from the heading machine 1 to the right side wall of the roadway 9 is obtained as 0
Where x, y, z may be coordinate values of points on the right side of the machine 1.
In this embodiment, step 3.2) further includes: and (5) performing inclination angle conversion on the distance measurement plate point cloud area 7, and performing feature extraction on the distance measurement plate point cloud area 7. Specifically, the points of the point cloud area 7 of the ranging plate are respectively substituted into the inclination angle conversion model
Performing inclination conversion to obtain a new distance measuring plate point cloud area 7, wherein x ', y ' and z ' are points of the converted distance measuring plate point cloud area 7, x, y and z are points of the distance measuring plate point cloud area 7 before conversion, and theta1For the digger measured by the inclinometer 4The entering machine 1 measures the inclination angle theta of the transverse sensitive axis around the inclination angle measuring instrument 42Measuring the inclination angle of the longitudinal sensitive axis of the development machine 1 around the inclination measuring instrument 4, which is measured by the inclination measuring instrument 4, and further carrying out the following operations by using a new distance measuring plate point cloud area 7 to establish a distance measuring plate preselection model; further randomly selecting three points in the ranging plate point cloud area 7, respectively substituting the three points into a ranging plate preselection model and combining to obtain a ranging plate undetermined model, respectively solving the distances from the other points in the ranging plate point cloud area 7 to the ranging plate undetermined model, respectively judging whether the distances from the other points to the ranging plate undetermined model are within the range allowed by the error e, and recording the number of the points within the range allowed by the error e; and further randomly selecting three points in the ranging plate point cloud area 7 again to obtain a new ranging plate undetermined model, repeating the distance calculation sum and the comparison with the error e, replacing the previous model with the ranging plate undetermined model obtained this time if the number of the points in the range allowed by the error e obtained this time is larger than the number of the points in the range allowed by the error e obtained last time, keeping the previous ranging plate undetermined model as the current model if the number of the points in the range allowed by the error e obtained this time is smaller than the number of the points in the range allowed by the error e obtained last time, repeating the process k times, and taking the ranging plate undetermined model obtained after k times as the final ranging plate mathematical model A3x+B3y+C3z+D30, and then the mathematical model A of the distance measuring plate3x+B3y+C3z+D3The distance from the heading machine 1 to the distance measuring plate 3 is obtained as 0
Wherein x, y and z can be coordinate values of points on the back side of the heading machine 1.
In this embodiment, the step 3.2) further includes performing inclination extraction on the left sidewall mathematical model and the right sidewall mathematical model to obtain a heading deviation angle α of the heading machine 1, specifically, obtaining a heading deviation angle (a) through the heading deviation angle model α ═ a (a)1/B1+A2/B2) And/2, obtaining the heading drift angle of the heading machine 1 in the roadway 9.
In the embodiment, the heading machine 1 is further provided with a millimeter wave radar 8, the millimeter wave radar 8 is arranged towards the ranging board 3, the millimeter wave radar 8 is a detection radar working in a millimeter wave band, and the detection radar has strong capability of penetrating smoke, fog, dust and the like, can operate all day long, has strong anti-jamming capability and stability, and can quickly identify smaller target objects; step 3) is followed by: the distance d ' 3 from the development machine 1 to the ranging board 3 is measured in real time by a millimeter wave radar 8, the distance d3 from the development machine 1 to the ranging board 3 obtained by a ranging board mathematical model is calibrated through the distance d ' 3 from the development machine 1 to the ranging board 3 measured by the millimeter wave radar 8, specifically, when | d3-d ' 3| ≦ ε, the distance d3 from the development machine 1 to the ranging board 3 obtained by the ranging board mathematical model is taken as the final distance from the development machine 1 to the ranging board 3, and when | d3-d ' 3| > ε, the distance d ' 3 from the development machine 1 to the ranging board 3 measured by the millimeter wave radar 8 is used for replacing d3 as the final distance from the development machine 1 to the ranging board 3.
According to the invention, the position and the heading drift angle of the heading machine 1 in the roadway 9 are obtained by performing data fusion and extraction on the point cloud data acquired by the three-dimensional radar 2 and the inclination angle of the machine body measured by the inclination angle measuring instrument 4, the data processing is rapid, the precision is high, the adaptability to complex environments is strong, the positioning and orientation of the heading machine 1 can be stably performed for a long time, the efficiency and the accuracy of the autonomous positioning and orientation of the heading machine 1 are effectively improved, the efficiency and the safety of the heading production of the heading machine 1 are improved, the economy is very high, and the method is extremely suitable for popularization and use in the industry.
It should be understood by those of ordinary skill in the art that the specific constructions and processes illustrated in the foregoing detailed description are exemplary only, and are not limiting. Furthermore, the various features shown above can be combined in various possible ways to form new solutions, or other modifications, by a person skilled in the art, all falling within the scope of the present invention.
Claims (10)
1. A positioning and orienting method of a heading machine is characterized in that the method is used for positioning and orienting the heading machine in a roadway, a ranging plate is arranged in the roadway behind the heading machine, a three-dimensional radar and an inclination angle measuring instrument are arranged on the heading machine, and the three-dimensional radar is arranged towards the ranging plate, and the method comprises the following steps:
1) acquiring point cloud data of a roadway environment in real time by using the three-dimensional radar;
2) measuring the inclination angle of the machine body of the development machine in real time by using the inclination angle measuring instrument;
3) and carrying out data fusion and extraction on the point cloud data and the body inclination angle to obtain the distance d1 from the heading machine to the left side wall of the roadway, the distance d2 from the heading machine to the right side wall of the roadway, the distance d3 from the heading machine to the distance measuring plate and the heading drift angle α of the heading machine.
2. The method for positioning and orienting a heading machine according to claim 1, wherein step 3) comprises:
3.1) carrying out segmentation processing on the point cloud data acquired by the three-dimensional radar to obtain a left side wall point cloud area, a right side wall point cloud area and a ranging board point cloud area;
and 3.2) respectively extracting the features of the cloud area of the left side wall point, the cloud area of the right side wall point and the point cloud area of the distance measuring plate.
3. A method as claimed in claim 2, wherein step 3.2) comprises:
establishing a left side wall preselection model, performing feature extraction on the left side wall point cloud area through the left side wall preselection model to obtain a left side wall mathematical model, and obtaining the distance d1 from the heading machine to the left side wall of the roadway through the left side wall mathematical model.
4. A method as claimed in claim 2, wherein step 3.2) comprises:
establishing a right side wall preselection model, performing feature extraction on the right side wall point cloud area through the right side wall preselection model to obtain a right side wall mathematical model, and obtaining the distance d2 from the heading machine to the right side wall of the roadway through the right side wall mathematical model.
5. A method as claimed in claim 2, wherein step 3.2) comprises:
establishing a ranging plate preselection model, performing characteristic extraction on the ranging plate point cloud area through the ranging plate preselection model and a machine body inclination angle to obtain a ranging plate mathematical model, and obtaining the distance d3 from the heading machine to the ranging plate through the ranging plate mathematical model.
6. A method as claimed in claim 2, wherein step 3.2) comprises:
and (3) carrying out inclination extraction on the left side wall mathematical model and the right side wall mathematical model to obtain a heading declination α of the heading machine.
7. The method for positioning and orienting a heading machine according to claim 5, wherein the step of performing feature extraction on the point cloud area of the ranging plate through the preselected model of the ranging plate and the inclination angle of the machine body comprises the following steps:
and carrying out inclination angle conversion on the point cloud area of the ranging plate, and further carrying out feature extraction through the ranging plate preselection model.
8. A positioning and orienting method of a heading machine according to any one of claims 1 to 7 wherein a millimeter wave radar is provided on the heading machine, the millimeter wave radar being disposed toward the ranging plate.
9. The method for positioning and orienting a heading machine according to claim 8, wherein step 3) comprises:
and measuring the distance d' 3 from the development machine to the ranging board in real time by using the millimeter wave radar.
10. The method for positioning and orienting a heading machine according to claim 9, wherein step 3) comprises: the distance d' 3 from the heading machine to the range board measured by the millimeter wave radar calibrates the distance d3 from the heading machine to the range board derived from the mathematical model of the range board.
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| CN117270533A (en) * | 2023-09-20 | 2023-12-22 | 河北伊联智能科技有限公司 | Automatic correction system of heading machine based on laser scanning |
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| CN117270533A (en) * | 2023-09-20 | 2023-12-22 | 河北伊联智能科技有限公司 | Automatic correction system of heading machine based on laser scanning |
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