CN111274696B - Method for acquiring spatial position and posture of double-triangle drill boom of drill jumbo in real time - Google Patents
Method for acquiring spatial position and posture of double-triangle drill boom of drill jumbo in real time Download PDFInfo
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Abstract
The invention discloses a method for acquiring the spatial position and the posture of a double-triangle drill boom of a drilling jumbo in real time. And (3) establishing a kinematic equation of the double-triangle drilling boom according to the CFDH method, and comparing a simulation result of the virtual prototype with the kinematic equation to verify the correctness of the kinematic equation, so as to obtain the accurate position and posture of the double-triangle drilling boom of the drilling boom at any moment. The invention provides reliable guarantee for accurate drilling positioning of the double triangular drilling arms.
Description
Technical Field
The invention relates to a positioning technology of a drill boom of a computerized drill jumbo, in particular to a method for acquiring the spatial position and the attitude of a double-triangle drill boom of the drill jumbo in real time.
Background
In the process of tunnel and mine exploitation, full-hydraulic drilling trolleys are commonly used for drilling, and accurate positioning of drilling positions is a key of whole drilling construction. The movement of the drill boom is controlled by a manipulator at the operation table, so that the positioning of the hole is realized. However, the rock drilling machine has complex working environment, more dust and water vapor in the tunnel and more remote section of the machine hand, and the method has inaccurate positioning of the holes, low efficiency and larger deviation, thereby seriously affecting the blasting effect. In order to solve the defect of manual positioning, the computerized rock drilling trolley can acquire three spatial coordinates and postures of the drill boom in real time, so that accurate auxiliary positioning and hole alignment are realized, the traditional full-hydraulic rock drilling trolley is gradually replaced, and the computerized rock drilling trolley rapidly becomes main mechanical equipment for tunnel construction. The double-triangle drill boom has the advantages of parallel movement in space, rapid action, compact structure and better stability, but is not easy to control, and positioning accuracy is an important factor affecting the operation of the drill boom, so that how to accurately control the movement track of the drill boom can have very direct influence on whether the drilling can be accurately positioned at the tail end of the drill boom and the fiber rod.
Disclosure of Invention
The invention aims to provide a method for acquiring the spatial position and the posture of a double-triangle drill boom of a drilling jumbo in real time, which can accurately acquire the spatial position and the posture of the double-triangle drill boom so as to assist a drill rod to accurately align to a drilling position.
In order to achieve the above purpose, the method for acquiring the spatial position and the posture of the front and rear double-triangle drilling booms in real time comprises the steps of establishing a three-dimensional model of the double-triangle drilling booms, then establishing a virtual prototype, and carrying out kinematic simulation on the double-triangle drilling booms; establishing a kinematic equation of the double-triangle drill boom according to the CDFH method, and comparing a simulation result of the virtual prototype with the kinematic equation to verify the correctness of the kinematic equation so as to obtain the accurate position and posture of the double-triangle drill boom of the drill boom at any moment; the method comprises the following steps:
step 1, obtaining a verification point p i Three-dimensional space measurement coordinates relative to frame coordinate system {0} 0 p i_C ；
Step 2, based on an improved CFDH method, establishing a coordinate system of i=1 of the double triangular drilling boom;
step 3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system;
step 4, obtaining a verification point p i Coordinates are calculated in three-dimensional space of (a).
Further, in step 1, the verification point p is acquired i Three-dimensional space measurement coordinates relative to frame coordinate system {0} 0 p i_C The specific method of (a) is as follows:
step 1.1, a three-dimensional entity model is established, and the three-dimensional entity model is imported into software to establish a virtual prototype;
step 1.2, arranging angle and length sensors; the double-triangle drill boom is provided with 11 joints, 8 joints are rotary joints, 3 joints are movable joints, and an angle sensor and a length sensor are respectively arranged on the 11 joints;
step 1.3, obtaining a Point p in the virtual prototype i Spatial position coordinates; the method comprises the following steps:
(1) setting the sensor theta in the virtual prototype 1 ，θ 2 ，θ 3 ，θ 4 ，d 5 ，θ 6 ，θ 7 ，θ 8 ，θ 9 ，d 10 ，d 11 Is set to be a value within any reasonable range. Driving the virtual prototype model to a sensor set point;
(2) taking the point p 1c ，p 2c ，p 3c ，p 4c ，p 5c ，p 6c ，p 7c ，p 8c ，p 9c ，p 10c ，p 11c The three-dimensional space measurement coordinates of any point on the joint connecting rod 1-11 can be measured in the virtual prototype to obtain p ic ＝{x i_c ，y i_c ，z i_c }。
Further, in step 2, the specific method for establishing the coordinate system of the drill boom i=1 is as follows:
step 2.1, finding out a common vertical line between the joint axes i and i+1 or an intersection point of the joint axes i and i+1, and taking the intersection point of the joint axes i and i+1 as an origin O of a drill boom coordinate system { i } i ；
Step 2.2, defining the direction Z along the joint axis i i ；
Step 2.3, defining a common perpendicular from axis i to i+1, defining X if joint axes i and i+1 intersect i The axis is perpendicular to the plane of joint axes i and i+1, and X is determined i ；
Step 2.4, determining Y according to the right hand rule i ；
Step 2.5, repeating the steps 2.1-2.4 to establish a coordinate system { X ] i ，Y i ，Z i ，O i }。
Further, in step 3, the specific method for establishing the homogeneous coordinate transformation matrix of the adjacent joint coordinate system is as follows:
step 3.1, defining joint parameters of adjacent drilling booms, namely a respectively i-1 ,α i-1 ,d i ,θ i ；a i-1 : the length of the connecting rod is along X i-1 An axis from Z i-1 Move to Z i Is a distance of (2); alpha i-1 : the corner of the connecting rod is X i-1 An axis from Z i-1 Rotate to Z i Is a function of the angle of (2); d, d i : the offset of the connecting rod is Z i An axis from X i-1 Move to X i Is a distance of (2); θ i : the angle of the joint is about Z i An axis from X i-1 Rotate to X i Is a function of the angle of (2);
step 3.2, defining homogeneous coordinate transformation matrixes of adjacent joint coordinate systems;
(1) the coordinate system { i-1} is wrapped around X i-1 Shaft rotation alpha i-1 Angle Z is made to i-1 Axis and Z i The axes are parallel to obtain a rotation matrix R X (α i-1 )。
(2) The coordinate system { i-1} is along the current X i-1 Translation distance a i-1 Make Z i-1 Axis and Z i Axis coincidence to obtain a translation matrix D X (α i-1 )。
The coordinate system { i-1} is wrapped around the current Z i Shaft rotation theta i Angle, X i-1 Axis and X i The axes are parallel to obtain a translation matrix D Z (d i )。
(3) Along Z i Distance of axis translation d i Let the coordinate system { i-1} and the coordinate system {i } are completely coincident.
Step 3.3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system; multiplying the four matrices in step 3.2 to obtain a homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system { i-1 }:
further, in step 4, the verification point p is acquired i The specific method for calculating the coordinates in the three-dimensional space is as follows:
step 4.1, the homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system {0} is
Step 4.2, point p in coordinate System { i }, point p in coordinate System i Is the local coordinates of (a) i p i Point p i Three-dimensional space coordinates with respect to frame coordinate system {0}, are
Step 4.3, checking the point p i Is used for calculating coordinates in three-dimensional space 0 p i_J And three-dimensional space measurement coordinates in a virtual prototype 0 p i_C Whether or not they are equal; if equal, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i Selecting a transformation matrix and the like correctly, setting i as i+1, repeating the step 2, the step 3 and the step 4, and obtaining parameters of the node i+1 and the transformation matrix; if not, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i If the selection is wrong, the virtual prototype needs to be retestedMeasuring the above parameters until 0 p i_J ＝ 0 p i_C 。
The beneficial effects of the invention are as follows: by establishing a virtual prototype, installing 11 joints on a double-triangle drill boom, and determining the spatial position and posture of any point and any moment of each joint on the drill boom through a CFDH method and homogeneous coordinates, the accurate position and posture provides important support for accurate positioning of fiber rods.
Drawings
FIG. 1 is a workflow diagram of the present invention;
FIG. 2 is a virtual prototype of the present invention;
FIG. 3 is a schematic view of an angle and length sensor arrangement of the present invention;
FIG. 4 is a point p of the present invention i A measurement coordinate schematic diagram of the spatial position;
FIG. 5 is a schematic diagram of a spatial coordinate system of a drill boom based on the CFDH method of the present invention;
FIG. 6 is a schematic view of adjacent two joint coordinates;
in the figure, a 1-wing type arm seat I, a 2-wing type arm seat II, a 3-rear arm cross hinge, a 4-drill arm telescopic cylinder barrel, a 5-drill arm telescopic cylinder rod, a 6-front arm cross hinge, a 7-rotary cylinder barrel, an 8-rotary cylinder rod, a 9-propeller swinging cylinder, a 10-propeller compensating cylinder and an 11-drilling machine propelling cylinder.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The double-triangle drilling boom is similar to a multi-joint robot structure, so that the kinematics of the drilling boom can be analyzed by utilizing the common theory in robot research, and the analysis method adopts a CFDH (Coordinate Fixed Denavit-Hartenberg) method, so that the accuracy and operability of the kinematics analysis are improved, the analysis time is saved, and an effective means is provided for establishing a kinematics equation. The homogeneous matrix change is suitable for describing the transformation relation among a plurality of coordinates due to the visual geometric meaning. Moreover, the homogeneous matrix change can also be used for representing the transformation of rotation and displacement by the same matrix, and the characteristic enables the homogeneous matrix change to be widely used in the kinematic study of the multi-joint robot.
Firstly, three-dimensional modeling is carried out on parts on a double-triangle drilling arm by using Pro/E software, each built part model is assembled according to actual installation requirements, then a three-dimensional model of the double-triangle drilling arm is obtained, then the three-dimensional model of the double-triangle drilling arm is imported into ADMAS software, a virtual prototype of the drilling arm is obtained through corresponding processing, and the drilling arm is simulated. And firstly establishing a double-triangle drilling boom coordinate system by using a CFDH method, and then establishing a homogeneous coordinate transformation matrix of an adjacent joint coordinate system to obtain a kinematic equation of the double-triangle drilling boom. And verifying the kinematic equation by using virtual prototype simulation, and if the verification is passed, obtaining the coordinate value of the real-time position and posture of the double-triangle drilling boom. Fig. 1 is a flow chart of the present method. The invention specifically introduces a method for acquiring the spatial position and the posture of a double-triangle drill boom of a drilling jumbo in real time, which comprises the following steps: step 1, obtaining a verification point p i Is measured in three dimensions relative to the frame coordinate system {0}, coordinates 0 p i_C 。
Step 1.1, a three-dimensional entity model is built, and the three-dimensional entity model is imported into software to build a virtual prototype, as shown in fig. 2.
The computer drill jumbo drill boom is a direct positioning double-triangle drill boom, and is a joint type drill boom with multiple degrees of freedom, wherein the total number of the drill booms is 8, and the total number of the drill booms is 3. The device comprises a wing type arm seat I1, a wing type arm seat II2, a rear arm cross hinge 3, a drill arm telescopic cylinder barrel 4, a drill arm telescopic cylinder rod 5, a front arm cross hinge 6, a rotary cylinder barrel 7, a rotary cylinder rod 8, a propeller swinging cylinder 9, a propeller compensation cylinder 10 and a drilling machine propelling cylinder 11.
Step 1.2, arranging angle and length sensors as shown in fig. 3. The eleven sensors are respectively:
r1: an angle sensor 1 for measuring the lifting angle theta of the wing-type arm seat I 1 。
R2: an angle sensor 2 for measuring the lifting angle theta of the wing-type arm base II 2 . Remarks: the sensor is not installed in the object, the angle of the sensor is ensured by a parallel four-bar mechanism of a wing-type arm, and the sensor is thatNegative values of the order 1 angle. The sensor is installed in the virtual prototype.
R3: an angle sensor 3 for measuring the left-right swing angle θ of the boom 3 。
R4: an angle sensor 4 for measuring the lifting angle θ of the upper and lower arms 4 。
R5: a length sensor 5 for measuring the fore-and-aft telescopic length d of the boom 5 。
R6: an angle sensor 6 for measuring the vertical lifting angle θ of the propeller 6 。
R7: an angle sensor 7 for measuring the left-right swing angle θ of the propeller 7 。
R8: an angle sensor 8 for measuring the propeller rotation angle θ 8 。
R9: an angle sensor 9 for measuring the pitch angle θ of the propeller 9 。
R10: a length sensor 10 for measuring the telescopic length d of the propeller 10 。
R11: a length sensor 11 for measuring the telescopic length d of the rock drill 11 。
Step 1.3, obtaining a Point p in the virtual prototype i Spatial position coordinates.
(1) Setting the sensor theta in the virtual prototype 1 ，θ 2 ，θ 3 ，θ 4 ，d 5 ，θ 6 ，θ 7 ，θ 8 ，θ 9 ，d 10 ，d 11 Is set to be a value within any reasonable range. The virtual prototype model is driven to the sensor set-point.
(2) Taking the point p 1c ，p 2c ，p 3c ，p 4c ，p 5c ，p 6c ，p 7c ，p 8c ，p 9c ，p 10c ，p 11c The three-dimensional space measurement coordinates of any point on the joint connecting rod 1-11 can be measured in the virtual prototype to obtain p ic ＝{x i_c ，y i_c ，z i_c And as shown in fig. 4.
And 2, establishing a drill boom i=1 coordinate system based on a modified CFDH method.
Step 2.1, finding out a common vertical line between the joint axes i and i+1 or an intersection point of the joint axes i and i+1, and taking the intersection point of the joint axes i and i+1 as an origin O of a drill boom coordinate system { i } i 。
Step 2.2, defining the direction Z along the joint axis i i 。
Step 2.3, defining a common perpendicular from axis i to i+1, defining X if joint axes i and i+1 intersect i The axis is perpendicular to the plane of joint axes i and i+1, and X is determined i 。
Step 2.4, determining Y according to the right hand rule i Where i= 0,1,2,3,4,5,6,7,8,9,10,11.
Repeating the steps 2.1-2.4 to establish a coordinate system { X } i ，Y i ，Z i ，O i The established space coordinate system is shown in figure 4. And 3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system.
Step 3.1, defining joint parameters of adjacent drilling booms, namely a respectively i-1 ,α i-1 ,d i ,θ i See fig. 6.
a i-1 : the length of the connecting rod is along X i-1 An axis from Z i-1 Move to Z i Is a distance of (2);
α i-1 : the corner of the connecting rod is X i-1 An axis from Z i-1 Rotate to Z i Is a function of the angle of (2);
d i : the offset of the connecting rod is Z i An axis from X i-1 Move to X i Is a distance of (2);
θ i : the angle of the joint is about Z i An axis from X i-1 Rotate to X i Is a function of the angle of (2);
step 3.2, defining homogeneous coordinate transformation matrix of adjacent joint coordinate system
(1) The coordinate system { i-1} is wrapped around X i-1 Shaft rotation alpha i-1 Angle Z is made to i-1 Axis and Z i The axes are parallel to obtain a rotation matrix R X (α i-1 )。
(2) The coordinate system { i-1} is along the current X i-1 Translation distance a i-1 Make Z i-1 Axis and Z i Axis coincidence to obtain a translation matrix D X (α i-1 )。
The coordinate system { i-1} is wrapped around the current Z i Shaft rotation theta i Angle, X i-1 Axis and X i The axes are parallel to obtain a translation matrix D Z (d i )。
Along Z i Distance of axis translation d i The coordinate system { i-1} and the coordinate system { i } are completely overlapped.
And 3.3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system. Multiplying the four matrices to obtain a homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system { i-1 }:
in the above formula, c represents cos, and s represents sin.
Step 4, obtaining a verification point p i Coordinates are calculated in three-dimensional space of (a).
Step 4.1, the homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system {0} is
Step 4.2, point p in coordinate System { i }, point p in coordinate System i Is the local coordinates of (a) i p i Point p i Three-dimensional space coordinates with respect to frame coordinate system {0}, are
Step 4.3, checking the point p i Is used for calculating coordinates in three-dimensional space 0 p i_J And three-dimensional space measurement coordinates in a virtual prototype 0 p i_C Whether equal.
(1) If equal, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i The selection, transformation matrix, etc. are correct.
Setting i as i+1, repeating the step 2, the step 3 and the step 4, and obtaining parameters and a transformation matrix of the node i+1.
(2) If not, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i The parameters are re-measured in the virtual prototype until the selection is wrong 0 p i_J ＝ 0 p i_C 。
And 5, acquiring joint parameters of the drill boom model.
Step 5.1, after step 4 has been performed, four parameters of the joints 1-11 are obtained, which are verified to be correct, as shown in table 1 below. d, d 2 ，d 3 ，d 7 ，d 8 ，d 9 ，d 11 ，a 2 ，a 3 ，a 4 ，a 7 ，a 9 ，a 11 Is a known quantity, determined by the inherent geometrical parameters of the drill boom in step 4.θ 1 ，θ 3 ，θ 4 ，d 5 ，θ 6 ，θ 7 ，θ 8 ，θ 9 ，d 10 The input is measured by each sensor in step 1.
Step 5.2, according to the above table, homogeneous transformation matrix between adjacent joint coordinate systems of the mechanical armThe following is the case in this embodiment:
step 5.3 for any point on any part of the drill boom i p i Spatial attitude at any time 0 p i The method comprises the following steps:
wherein the method comprises the steps ofFrom step 5.2.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention, and the present invention is defined in the claims.
Claims (1)
1. A method for acquiring the spatial position and the posture of a double-triangle drill boom of a drilling jumbo in real time is characterized by comprising the following steps: the method comprises the steps of establishing a three-dimensional model of a double-triangle drill boom, then establishing a virtual prototype, and performing kinematic simulation on the double-triangle drill boom; establishing a kinematic equation of the double-triangle drilling boom according to the CFDH method, and comparing a simulation result of the virtual prototype with the kinematic equation to verify the correctness of the kinematic equation so as to obtain the accurate position and posture of the double-triangle drilling boom of the drilling boom at any moment; the method comprises the following steps:
step 1, obtaining a verification point p i Three-dimensional space measurement coordinates relative to frame coordinate system {0} 0 p i_C ；
Step 2, based on an improved CFDH method, establishing a coordinate system of i=1 of the double triangular drilling boom;
step 3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system;
step 4, obtaining a verification point p i Calculating coordinates in a three-dimensional space of (2);
the specific method of the step 1 is as follows:
step 1.1, a three-dimensional entity model of a double-triangle drill boom is established, and the three-dimensional entity model is imported into software to establish a virtual prototype;
step 1.2, arranging angle and length sensors: the double-triangle drill boom is provided with 11 joints, 8 joints are rotary joints, 3 joints are movable joints, and an angle sensor and a length sensor are respectively arranged on the 11 joints;
step 1.3, obtaining a Point p in the virtual prototype i Spatial position coordinates; the method comprises the following steps:
(1) in the virtual prototype, the angle and displacement of the sensor in the step 1.2 are calculated
θ 1 ,θ 2 ,θ 3 ,θ 4 ,d 5 ,θ 6 ,θ 7 ,θ 8 ,θ 9 ,d 10 ,d 11 Setting the value within any reasonable range, and driving the virtual prototype model to a sensor set value;
(2) taking the point p 1c ,p 2c ,p 3c ,p 4c ,p 5c ,p 6c ,p 7c ,p 8c ,p 9c ,p 10c ,p 11c The three-dimensional space measurement coordinates of any point on the joint connecting rod 1-11 can be measured in the virtual prototype to obtain
p ic ＝{x i_c, y i_c, z i_c }；
The specific method of the step 2 is as follows:
step 2.1, finding out a common vertical line between the joint axes i and i+1 or an intersection point of the joint axes i and i+1, and taking the intersection point of the joint axes i and i+1 as an origin O of a drill boom coordinate system { i } i ；
Step 2.2, defining the direction Z along the joint axis i i ；
Step 2.3, defining a common perpendicular from axis i to i+1, defining X if joint axes i and i+1 intersect i The axis is perpendicular to the plane of joint axes i and i+1, and X is determined i ；
Step 2.4, determining Y according to the right hand rule i ；
Step 2.5, repeating the steps 2.1-2.4 to establish a coordinate system { X ] i ,Y i ,Z i ,O i }；
The specific method of the step 3 is as follows:
step 3.1, defining joint parameters of adjacent drilling booms, namely a respectively i-1 ,α i-1 ,d i ,θ i ；a i-1 : the length of the connecting rod is along X i-1 An axis from Z i-1 Move to Z i Is a distance of (2); alpha i-1 : the corner of the connecting rod is X i-1 An axis from Z i-1 Rotate to Z i Is a function of the angle of (2); d, d i : the offset of the connecting rod is Z i An axis from X i-1 Move to X i Is a distance of (2); θ i : the angle of the joint is about Z i An axis from X i-1 Rotate to X i Is a function of the angle of (2);
step 3.2, defining homogeneous coordinate transformation matrixes of adjacent joint coordinate systems;
the coordinate system { i-1} is wrapped around X i-1 Shaft rotation alpha i-1 Angle Z is made to i-1 Axis and Z i The axes are parallel to obtain a rotation matrix R X (α i-1 )；
The coordinate system { i-1} is along the current X i-1 Translation distance a i-1 Make Z i-1 Shaft and method for producing the sameZ i Axis coincidence to obtain a translation matrix D X (α i-1 )；
The coordinate system { i-1} is wrapped around the current Z i Shaft rotation theta i Angle, X i-1 Axis and X i The axes are parallel to obtain a translation matrix D Z (d i )；
Along Z i Distance of axis translation d i Completely overlapping the coordinate system { i-1} with the coordinate system { i };
step 3.3, establishing a homogeneous coordinate transformation matrix of the adjacent joint coordinate system; multiplying the four matrices in step 3.2 to obtain a homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system { i-1 }:
the specific method of the step 4 is as follows:
step 4.1, the homogeneous transformation matrix of the coordinate system { i } relative to the coordinate system {0} is
Step 4.2, point p in coordinate System { i }, point p in coordinate System i Is the local coordinates of (a) i p i Point p i Three-dimensional space coordinates with respect to frame coordinate system {0}, are 0 p i_J ：
Step 4.3, checking the point p i Is used for calculating coordinates in three-dimensional space 0 p i_J And three-dimensional space measurement coordinates in a virtual prototype 0 p i_C Whether or not they are equal; if equal, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i Selecting a transformation matrix and the like correctly, setting i as i+1, repeating the step 2, the step 3 and the step 4, and obtaining parameters of the node i+1 and the transformation matrix; if not, the parameter a of the node i is described i-1 ,α i-1 ,d i ,θ i The parameters are re-measured in the virtual prototype until the selection is wrong 0 p i_J ＝ 0 p i_C 。
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