CN112746812A - Illumination and camera shooting follow-up system and control method of drill jumbo and drill jumbo - Google Patents
Illumination and camera shooting follow-up system and control method of drill jumbo and drill jumbo Download PDFInfo
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- CN112746812A CN112746812A CN202110093627.6A CN202110093627A CN112746812A CN 112746812 A CN112746812 A CN 112746812A CN 202110093627 A CN202110093627 A CN 202110093627A CN 112746812 A CN112746812 A CN 112746812A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention discloses a lighting and camera shooting follow-up system and a control method of a drill jumbo and the drill jumbo, and belongs to the field of engineering machinery control. The device comprises a frame, a rock drilling working assembly, a cradle head and a control device, wherein the rock drilling working assembly, the cradle head and the control device are arranged on the frame; the rock drilling working assembly comprises a first member, a second member, a third member, a fourth member, a fifth member, a sixth member and a seventh member which are connected in sequence; the rock drill is arranged on the seventh component; the control device is connected with the holder. The spatial motion information of each component of the rock drilling working assembly is obtained in real time, the spatial position of the rock drilling end of the rock drilling machine is obtained in real time by using a spatial transformation method, then the adjustment angle of the illumination camera device is calculated, the cradle head is controlled to act to realize the follow-up of the illumination camera device and the rock drilling end of the rock drilling machine, the illumination camera effect is good, the work burden of operators is effectively reduced, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the field of engineering machinery control, and particularly relates to a lighting and camera shooting follow-up system and a control method for a drill jumbo and the drill jumbo.
Background
The rock drilling device of a rock drilling jumbo (hereinafter referred to as a vehicle) is arranged on the front side of a large arm of the vehicle, and when the rock drilling jumbo works on an underground working surface, the large arm needs to be moved, so that the rock drilling device reaches a working point, and then a power source is connected to perform rock drilling operation. Because the working point is far away from the vehicle, and underground light is dim, need vehicle front side installation work lighting device, when making vehicle rock drilling work, the working point obtains abundant illumination, and the operator can observe rock drilling device behavior near the vehicle, in addition in order to can monitor the rock drilling condition, still can be at vehicle front side installation camera to the implementation is shot the control to the rock drilling condition.
At present, the drill jumbo needs to move the big arm to another work point in the operation process after a certain work point drilling is finished, if new work point and original work point distance are far away, then the operator needs to move the angle of lighting device with the machine camera, makes new work point obtain abundant light to can make a video recording to new work point. When the working points of one working surface are more, the operator needs to pull and adjust the directions of the lighting device and the camera continuously, so that the burden of the operator is increased. In addition, the large arm of the vehicle is long, an operator is far away from a working point, and the far working point is difficult to observe through visual inspection, so that the direction of the lighting device and the direction of the camera are also inaccurate when the lighting device and the camera are adjusted manually, and the lighting and shooting effects are poor. Therefore, the problem that needs to be solved in the technical field of the rock drilling jumbo at present is to obtain more ideal illumination and shooting effect on a working surface or a working point and reduce the workload of operators.
Disclosure of Invention
The technical problem is as follows: the invention provides a rock jumbo illumination and camera follow-up system and a corresponding control method, aiming at the problems that the illumination and camera effect is poor and the workload of operators is greatly increased because the directions of an illumination and camera device need to be adjusted manually when the existing rock jumbo works, so that the illumination and camera effect is improved, and the workload of the operators is effectively reduced; further, a rock drilling jumbo is provided.
The technical scheme is as follows: the lighting and camera shooting follow-up system of the rock drilling jumbo comprises a frame, a rock drilling working assembly, a cradle head and a control device, wherein the rock drilling working assembly, the cradle head and the control device are arranged on the frame;
the rock drilling working assembly comprises a first member, a second member, a third member, a fourth member, a fifth member, a sixth member and a seventh member which are sequentially connected, wherein the first member is hinged to the frame, the second member is hinged to the first member, the third member is slidably sleeved with the second member, the fourth member is hinged to the third member, the fifth member is hinged to the fourth member, the sixth member is rotatably connected with the fifth member, and the seventh member is hinged to the sixth member;
the rock drill is arranged on the seventh component;
the control device is connected with the cradle head, and the cradle head is controlled to move to realize follow-up of the lighting camera device and the rock drilling end of the rock drilling machine through acquiring spatial motion information of each component of the rock drilling working assembly in real time.
Further, the sixth member is perpendicular to the axis of the fifth member.
Further, the control device includes:
the first angle detection module is used for detecting the rotation angle of the first component;
the second angle detection module is used for detecting the rotation angle of the second component;
the third angle detection module is used for detecting the rotation angle of the fourth component;
the fourth angle detection module is used for detecting the rotation angle of the fifth component;
the fifth angle detection module is used for detecting the rotation angle of the sixth component;
the sixth angle detection module is used for detecting the rotation angle of the seventh component;
the first length detection module is used for detecting the extension distance of a drilling end of the rock drilling machine;
a second length detection module for detecting an extension distance of the third member;
and the controller is used for performing operation according to the information sent by each detection module, sending a control instruction to the holder and driving the lighting and shooting device to move through the holder.
Further, the first angle detection module, the second angle detection module, the third angle detection module, the fourth angle detection module, the fifth angle detection module and the fifth angle detection module are all encoders.
Furthermore, the first length detection module and the second length detection module are both pull rope displacement sensors.
The lighting camera follow-up control method for the drill jumbo comprises the following steps:
the first angle detection module detects and detects the rotation angle of the first component, the second angle detection module detects and detects the rotation angle of the second component, the third angle detection module detects the rotation angle of the fourth component, the fourth angle detection module detects the rotation angle of the fifth component, and the fifth angle detection module detects the rotation angle of the sixth component; the sixth angle detection module detects a rotation angle of the seventh member, the first length detection module detects an extension distance of a rock drilling end of the rock drilling machine, and the second length detection module detects an extension distance of the third member;
the controller calculates the spatial position of a rock drilling end of the rock drilling machine according to the data detected by each detection module, and calculates the motion angle of the lighting camera device according to the spatial position of the rock drilling end;
and the controller sends a control command to the cradle head according to the movement angle of the illumination camera device, and controls the cradle head to drive the illumination camera device to follow the rock drilling end of the rock drilling machine.
Further, the method of calculating the spatial position of the drilling end of a rock drilling machine is:
constructing a global coordinate system Coord0 by taking a mounting point J0 of the illumination and camera device as a coordinate origin;
constructing a first local coordinate system Coord1 by taking a connecting point J1 of the first member and the frame as a coordinate origin, wherein the first local coordinate system Coord1 is fixed on the first member;
constructing a second local coordinate system Coord2 by taking a connecting point J2 of the first member and the second member as a coordinate origin, wherein the second local coordinate system Coord2 is fixed on the second member;
constructing a third local coordinate system Coord3 by taking an end point J3 at one end of the third member connected with the fourth member as a coordinate origin, wherein the third local coordinate system Coord3 is fixed on the third member;
constructing a fourth local coordinate system Coord4 by taking a connecting point J4 of the third member and the fourth member as a coordinate origin, wherein the fourth local coordinate system Coord4 is fixed on the fourth member;
constructing a fifth local coordinate system Coord5 by taking a connecting point J5 of the fourth member and the fifth member as a coordinate origin, wherein the fifth local coordinate system Coord5 is fixed on the fifth member;
constructing a sixth local coordinate system Coord6 by taking a connecting point J6 of the fifth member and the sixth member as a coordinate origin, wherein the sixth local coordinate system Coord6 is fixed on the sixth member;
constructing a seventh local coordinate system Coord7 by taking a connection point J7 of the sixth member and the seventh member as a coordinate origin, wherein the seventh local coordinate system Coord7 is fixed on the seventh member;
according to the constructed coordinate systems Coord0, Coord1, Coord2, Coord3, Coord4, Coord5, Coord6 and Coord7, calculating the spatial coordinates of the rock drilling end of the rock drilling machine under a global coordinate system by using a spatial transformation method;
and determining the adjustment angle of the lighting camera device according to the space coordinates of the rock drilling end of the rock drilling machine under the global coordinate system.
Further, the method for calculating the spatial coordinates of the initial position of the drilling end of the rock drilling machine in the global coordinate system by using the spatial transformation method comprises the following steps:
determining homogeneous coordinates P of the initial position of the drilling end of the rock drilling machine in a seventh local coordinate system Coord70According to rock drillsThe elongation distance of the rock drilling end, calculating a first translation transformation matrix H1Obtaining the homogeneous coordinate P of the rock drilling end after transformation1Wherein P is1＝H1×P0；
The obtained rotation angle θ of the seventh member about the Y6 axis of the sixth local coordinate system Coord61Calculating a first rotation transformation matrix R1Determining homogeneous coordinates P of the origin of coordinates J7 in a sixth local coordinate system Coord6J6According to PJ6Determining a second translation transformation matrix H2Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord62，P2＝H2×R1×P1；
The rotation angle theta of the sixth member about the X5 axis of the fifth local coordinate system Coord5 is acquired2Determining a second rotational transformation matrix R2Determining homogeneous coordinates P of the origin of coordinates J6 in a fifth local coordinate system Coord5J5According to PJ5Determining a third translational transform matrix H3Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord53，P3＝H3×R2×P2；
The rotation angle θ of the fifth member about the Z4 axis of the fourth local coordinate system Coord4 is acquired3Determining a third rotational transformation matrix R3Determining homogeneous coordinates P of the origin of coordinates J5 in a fourth local coordinate system Coord4J4According to PJ4Determining a fourth translation transformation matrix H4Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord44，P4＝H4×R3×P3；
The rotation angle θ of the fourth member about the Y3 axis of the third local coordinate system Coord3 is acquired4Determining a fourth rotation transformation matrix R4Determining homogeneous coordinates P of the origin of coordinates J4 in a third local coordinate system Coord3J3According to PJ3Determining a fifth translation transformation matrix H5Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord35，P5＝H5×R4×P4；
Get the thirdThe member is elongated by a distance L in the direction of the X2 axis of a second local coordinate system Coord22Determining a sixth translation transformation matrix H6Determining homogeneous coordinates P of the origin of coordinates J3 in a second local coordinate system Coord2J2According to PJ2Determining a seventh translation transformation matrix H7Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord26，P6＝H7×H6×P5；
The rotation angle theta of the second member about the Y1 axis of the first local coordinate system Coord1 is acquired5Determining a fifth rotational transformation matrix R5Determining homogeneous coordinates P of the origin of coordinates J2 in the first local coordinate system Coord1J1According to PJ1Determining an eighth translational transformation matrix H8Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord17，P7＝H8×R5×P6；
Obtaining a rotation angle theta of the first member around the Z-axis of the global coordinate system Coord06Determining a sixth rotation transformation matrix R6Determining homogeneous coordinate P of coordinate origin J1 in global coordinate system Coord0J0According to PJ0Determining a ninth translation transformation matrix H9Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord08，P8＝H9×R6×P7I.e. the spatial coordinates of the drilling end in the global coordinate system.
Further, the method for determining the adjustment angle of the lighting camera device according to the space coordinates of the rock drilling end of the rock drilling machine under the global coordinate system comprises the following steps:
spatial coordinate P of drilling end under global coordinate system8Expressed as:
P1＝[θ，β，γ，1]T
calculating the angles of the illumination imaging angles in the global coordinate system Coord0 relative to the X, Y, Z axis as thetax、θy、θzThen, then
Controller according to thetax、θy、θzThe angle of the lighting camera device is controlled by the holder to adjust the angle, so that follow-up is realized.
The rock drilling jumbo is characterized in that the illumination and camera shooting follow-up control system controls the illumination and camera shooting device to follow up by using the illumination and camera shooting follow-up control method.
Has the advantages that: compared with the prior art, the illumination camera device can follow the rock drilling end of the rock drill, and the direction of the illumination camera device can be adjusted along with the rock drilling end of the rock drill, so that the illumination direction and the camera shooting direction can be aligned to the rock drilling end of the rock drill in real time, and the problem that the illumination camera shooting effect is not ideal because an operator cannot accurately adjust the direction of the illumination camera device when the operator is too far away from an operation point is solved; meanwhile, the direction of the lighting and shooting device is automatically adjusted, manual moving is not needed, the workload of operators is greatly reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of an illumination and camera follow-up system of a rock drilling jumbo according to the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a block diagram of the working assembly of the present invention;
fig. 4 is a block diagram of a rock drilling machine in an embodiment of the invention;
fig. 5 is a schematic view of an illumination camera angle.
The figure shows that: 1. a frame; 2. a holder; 3. an illumination camera device; 4. a first member; 5. a second member, 6, a third member; 7. a fourth member; 8. a fifth member; 9. a sixth member; 10. a seventh member; 11. rock drilling machines.
Detailed Description
The present invention will be further described with reference to the following examples and figures in the specification, wherein the terms "first", "second", "third", etc. are used for descriptive purposes only and are not intended to indicate or imply relative importance.
Referring to fig. 1, the lighting camera follow-up system of the invention comprises a frame 1, a rock drilling work assembly arranged on the frame 1, a cradle head 2 and a control device, wherein a lighting camera device 3 is arranged on the cradle head 2, and a rock drill 11 is arranged on the rock drilling work assembly. The tripod head 2 is used for installing and fixedly supporting the illumination and camera shooting device 3, the horizontal angle and the pitching angle of the illumination and camera shooting device 3 can be adjusted by utilizing a motor, and the illumination direction and the camera shooting direction are the same usually, so that the illumination and camera shooting directions are arranged on the same tripod head 2, and the synchronous adjustment of the illumination and camera shooting directions is realized. The existing pan/tilt head 2 and the illumination camera 3 can be used, and therefore, the structure thereof will not be described in detail here, and the illumination camera can be a single structure of an illumination lamp and a camera, or a camera with an illumination lamp.
Referring to fig. 1 and 2, the rock drilling work assembly comprises a first member 4, a second member 5, a third member 6, a fourth member 7, a fifth member 8, a sixth member 9 and a seventh member 10 which are connected in sequence, wherein the first member 4 is hinged on the frame 1, the second member 5 is hinged with the first member 4, the third member 6 is slidably sleeved with the second member 5, the fourth member 7 is hinged with the third member 6, the fifth member 8 is hinged with the fourth member 7, the sixth member 9 is rotatably connected with the fifth member 8, and the seventh member 10 is hinged on the sixth member 9. Through the connection structure of a plurality of components, multidirectional operation in the rock drilling process can be realized, and when each component moves, translation or rotation can be realized in a hydraulic drive or motor drive mode, and the drive can be completed by utilizing the prior art.
In an embodiment of the invention the sixth member 9 is perpendicular to the axis of the fifth member 8, facilitating an increase of the drilling face of the drill jumbo.
The rock drill 11 is arranged on the seventh member 10 and after the rock drill 11 has been adjusted to the drilling operation point by means of the drilling work module, drilling is performed, and the rock drill 11 may be a rock drill according to the prior art, for example, the structure of the rock drill shown in fig. 4, or the structure of the rock drill according to the patent application No. 201910064722.6 in fig. 4.
The control module is connected with the cradle head 2, the cradle head 2 is controlled to move to drive the lighting camera device 3 to follow the rock drilling end of the rock drilling machine 11 according to the obtained information by acquiring the spatial motion information of each component of the rock drilling working assembly in real time, so that the direction of the lighting camera device 3 can be adjusted along with the rock drilling end of the rock drilling machine 11, the lighting direction and the camera shooting direction can be aligned to the rock drilling end of the rock drilling machine 11 in real time, and the problem that the lighting camera shooting effect is not ideal due to the fact that the direction of the lighting camera device 3 cannot be accurately adjusted when an operator is far away from an operation point is solved; meanwhile, the direction of the lighting and shooting device is automatically adjusted, manual moving is not needed, the workload of operators is greatly reduced, and the working efficiency is improved.
In order to be able to obtain the information on the movements of the components of the rock drilling work assembly and the rock drill 11, the control device in an embodiment of the invention comprises a first angle detection module for detecting the angle of rotation of the first component 4; a second angle detection module for detecting a rotation angle of the second member 5; a third angle detection module for detecting a rotation angle of the fourth member 7; a fourth angle detection module for detecting a rotation angle of the fifth member 8; a fifth angle detection module for detecting a rotation angle of the sixth member 9; a sixth angle detection module for detecting a rotation angle of the seventh member 10; a first length detection module for detecting an extension distance of a drilling end of the rock drilling machine 11; a second length detection module for detecting an extension distance of the third member 6; and the controller is used for performing operation according to the information sent by each detection module, sending a control instruction to the holder 2 and driving the lighting and shooting device 3 to move through the holder 2.
Specifically, in the embodiment of the invention, the angle detection modules all adopt encoders, and the encoders can convert the angular displacement into electric signals and can compile and convert the electric signals into electric signals which can be used for communication, transmission and storage, so that the rotation angles of corresponding parts can be detected. The two length detection modules adopt stay cord displacement sensors, and can measure the telescopic change of corresponding components. The controller can adopt PLC, PLC can be according to the data that each detection module sent, calculates the spatial position of the rock drilling end of rock drill 11, then according to the spatial position that calculates, calculates the angle of pitch of light and camera in real time, then sends control signal to cloud platform 2, and cloud platform 2 realizes illumination camera device and the rock drilling end follow-up of rock drill 11 according to the signal drive illumination camera device 3 motion that receives.
Based on the lighting and camera shooting follow-up system of the drill jumbo, the invention provides a lighting and camera shooting follow-up control method of the drill jumbo, which comprises the steps that a first angle detection module detects and detects the rotating angle of a first component 4, a second angle detection module detects and detects the rotating angle of a second component 5, a third angle detection module detects and detects the rotating angle of a fourth component 7, a fourth angle detection module detects and detects the rotating angle of a fifth component 8, and a fifth angle detection module detects and detects the rotating angle of a sixth component 9; the sixth angle detection module detects the rotation angle of the seventh member 10, the first length detection module detects the extension distance of the drilling end of the rock drill 11, and the second length detection module detects the extension distance of the third member 6; the controller calculates the spatial position of the rock drilling end of the rock drilling machine 11 according to the data detected by each detection module, and calculates the motion angle of the lighting camera device 3 according to the spatial position of the rock drilling end; the controller sends a control instruction to the cradle head 2 according to the movement angle of the lighting camera device 3, and controls the cradle head 2 to drive the lighting camera device 3 to follow the rock drilling end of the rock drilling machine 11.
In order to calculate the spatial position of the rock drilling end of the rock drilling machine 11, a spatial coordinate system needs to be established first, since the rock drilling work assembly includes a plurality of moving members, a global coordinate system and local coordinate systems fixed to the moving members need to be established, and then the spatial coordinate of the rock drilling end of the rock drilling machine 11 in the global coordinate system is calculated by using a spatial transformation method, that is, the spatial position of the rock drilling end is obtained.
The method for establishing the space coordinate system comprises the following steps: a global coordinate system Coord0 is constructed with the mounting point J0 of the illumination and imaging apparatus 3 as the origin of coordinates, the coordinate axis direction of the global coordinate system Coord0 is the X, Y, Z direction in fig. 1, and the Y axis is perpendicular to the paper in fig. 1.
A first local coordinate system Coord1 is constructed by taking a connecting point J1 of the first member 4 and the frame as a coordinate origin, wherein the first local coordinate system Coord1 is fixed on the first member 4, and the coordinate axis directions of Coord1 are as X1, Y1 and Z1 directions in FIG. 3.
A second local coordinate system Coord2 is constructed by taking a connecting point J2 of the first member 4 and the second member 5 as a coordinate origin, wherein Coord2 is fixed on the second member 5, and the coordinate axis directions of Coord2 are as shown in X2, Y2 and Z2 directions in fig. 3.
A third local coordinate system Coord3 is constructed by taking an end point J3 at one end of the third member 6 connected with the fourth member 7 as a coordinate origin, the third local coordinate system Coord3 is fixed on the third member 6, and the coordinate axis directions of Coord3 are as X3, Y3 and Z3 directions in FIG. 3.
A fourth local coordinate system Coord4 is constructed by taking the connecting point J4 of the third member 6 and the fourth member 7 as a coordinate origin, wherein the fourth local coordinate system Coord4 is fixed on the fourth member 7, and the coordinate axis directions of Coord4 are as shown in the directions of X4, Y4 and Z4 in fig. 3.
A fifth local coordinate system Coord5 is constructed by taking a connecting point J5 of the fourth member 7 and the fifth member 8 as a coordinate origin, wherein Coord5 is fixed on the fifth member 8, and the coordinate axis directions of Coord5 are as shown in X5, Y5 and Z5 directions in fig. 3.
A sixth local coordinate system Coord6 is constructed by taking a connecting point J6 of the fifth member 8 and the sixth member 9 as a coordinate origin, wherein Coord6 is fixed on the sixth member 9, and the coordinate axis directions of Coord6 are as shown in X6, Y6 and Z6 directions in fig. 3.
A seventh local coordinate system Coord7 is constructed by taking a connection point J7 of the sixth member 9 and the seventh member 10 as a coordinate origin, wherein Coord7 is fixed on the seventh member 10, and coordinate axis directions of Coord7 are as shown in X7, Y7 and Z7 directions in fig. 3.
According to the constructed coordinate systems Coord0, Coord1, Coord2, Coord3, Coord4, Coord5, Coord6 and Coord7, the spatial coordinates of the rock drilling end of the rock drilling machine 11 under the global coordinate system Coord0 can be calculated by using a spatial transformation method. The specific calculation method comprises the following steps:
determining homogeneous coordinates P of the initial position of the drilling end of the rock drilling machine 11 in a seventh local coordinate system Coord70＝[X7，Y7，Z7，1]TThe elongation distance L of the drilling end along the X7 axis of Coord7 obtained from the first length detection module1Calculating a first shift transform matrix H1First shift transform matrix H1Comprises the following steps:
obtaining homogeneous coordinate P of the rock drilling end after transformation1Wherein P is1＝H1×P0。
The rotation angle θ of the seventh member 10 about the Y6 axis of the sixth local coordinate system Coord6, which is acquired according to the sixth angle detection module1Calculating a first rotation transformation matrix R1Comprises the following steps:
where C represents a cos (() cosine function and S represents a sin () sine function.
Determining homogeneous coordinates P of origin of coordinates J7 in a sixth local coordinate system Coord6J6＝[X6，Y6，Z6，1]TSince the length of the sixth member 9 is determined, P can be directly obtainedJ6Wherein, in the embodiment of the present invention, X is known6And Z6Are all 0, Y6Is the distance from J6 to J7. According to PJ6Determining a second translation transformation matrix H2Comprises the following steps:
and calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord62Comprises the following steps:
P2＝H2×R1×P1＝H2×R1×H1×P0
the rotation angle θ of the sixth member 9 about the X5 axis of the fifth local coordinate system Coord5 is acquired by the fifth angle sensor2Determining a second rotational transformation matrix R2Comprises the following steps:
determining homogeneous coordinates P of origin of coordinates J6 in a fifth local coordinate system Coord5J5＝[X5，Y5，Z5，1]TWherein, in the examples of the present invention, Y5、Z5Are all 0, X5Is the distance from J5 to J6. According to PJ5Determining a third translational transform matrix H3Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord53：
P3＝H3×R2×P2＝H3×R2×H2×R1×H1×P0。
The rotation angle θ of the fifth member 8 about the Z4 axis of the fourth local coordinate system Coord4 is acquired by the fourth angle detection module3Determining a third rotational transformation matrix R3Comprises the following steps:
determining homogeneous coordinates P of origin of coordinates J5 in a fourth local coordinate system Coord4J4＝[X4，Y4，Z4，1]TWherein, in the examples of the present invention, Y4、Z4Are all 0, X4Is the distance from J4 to J5. According to PJ4Determining a fourth translation transformation matrix H4Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord44，
P4＝H4×R3×P3＝H4×R3×H3×R2×H2×R1×H1×P0
The rotation angle θ of the fourth member 7 about the Y3 axis of the third local coordinate system Coord3 is acquired by the third angle detection module4Determining a fourth rotation transformation matrix R4Comprises the following steps:
determining homogeneous coordinates P of origin of coordinates J4 in a third local coordinate system Coord3J3＝[X3，Y3，Z3，1]TWherein, in the embodiment of the present invention, Y3、Z3Are all 0, X3Is the distance from J3 to J4. According to PJ3Determining a fifth translation transformation matrix H5Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord35：
P5＝H5×R4×P4＝H5×R4×H4×R3×H3×R2×H2×R1×H1×P0
Acquiring the elongation distance L of the third member 6 in the X2 axis direction of the second local coordinate system Coord2 by using the second length detection module2Determining a sixth translation transformation matrix H6Comprises the following steps:
determining homogeneous coordinates P of origin of coordinates J3 in a second local coordinate system Coord2J2＝[X2，Y2，Z2，1]TIn the embodiment of the present invention, Y2、Z2Are all 0, X2Is the distance from J2 to J3. According to PJ2Determining a seventh translation transformation matrix H7Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord26：
P6＝H7×H6×P5＝H7×H6×H5×R4×H4×R3×H3×R2×H2×R1×H1×P0
The rotation angle θ of the second member 5 about the Y1 axis of the first local coordinate system Coord1 is acquired by the second angle detection module5Determining a fifth rotational transformation matrix R5Comprises the following steps:
determining homogeneous coordinates P of origin of coordinates J2 in a first local coordinate system Coord1J1＝[X1，Y1，Z1，1]TIn the embodiment of the present invention, Y1、Z1Are all 0, X1Are J1 to JA distance of 2. According to PJ1Determining an eighth translational transformation matrix H8Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord17：
P7＝H8×R5×P6
＝H8×R5×H7×H6×H5×R4×H4×R3×H3×R2×H2×R1×H1×P0
Acquisition of the rotation angle θ of the first member 4 about the Z-axis of the global coordinate system Coord0 using the first angle detection6Determining a sixth rotation transformation matrix R6Comprises the following steps:
determining homogeneous coordinates P of origin J1 in global coordinate system Coord0J0＝[X0，Y0，Z0，1]TI.e. the coordinates of point J1 in the global coordinate system. According to PJ0Determining a ninth translation transformation matrix H9Comprises the following steps:
calculating to obtain a homogeneous coordinate P of the initial position of the rock drilling end in Coord08：
P8＝H9×R6×P7
＝H8×R5×H7×H6×H5×R4×H4×R3×H3×R2×H2×R1×H1×P0
According to P8To calculate the angle of the lighting camera, in particular the spatial coordinate P of the drilling end in the global coordinate system8Expressed as:
P8＝[α，β，γ1]T
as shown in fig. 5, the angles of the illumination imaging angle in the global coordinate system Coord0 with respect to the X, Y, Z axis are θx、θy、θzAnd then:
by using the method, the PLC calculates the adjustment angle of the lighting camera device 3 in real time, then sends a control signal to the cloud deck 2, and the cloud deck 2 drives the lighting camera device 3 to move, so that the lighting and camera shooting directions are aligned to the rock drilling end of the rock drilling machine 11 in real time, and the lighting and camera shooting follow-up is realized. Need not the manual work and carry out angle adjustment for illumination and effectual with making a video recording, and greatly reduced operating personnel's burden, degree of automation is high, has improved drill jumbo operating efficiency.
Further, the rock drilling jumbo adopts the proposed lighting and camera shooting follow-up system and utilizes the proposed control method to carry out follow-up control, so that an operator can better light and shoot a working face or a working point when driving the rock drilling jumbo to work, the workload of the operator is reduced, and the rock drilling work efficiency is improved.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (10)
1. A lighting and camera shooting follow-up system of a drill jumbo is characterized by comprising a frame (1), a drill work assembly arranged on the frame (1), a cradle head (2) and a control device, wherein the cradle head (2) is provided with a lighting camera shooting device (3), and the drill work assembly is provided with a rock drill (11);
the rock drilling working assembly comprises a first member (4), a second member (5), a third member (6), a fourth member (7), a fifth member (8), a sixth member (9) and a seventh member (10) which are sequentially connected, wherein the first member (4) is hinged to the frame (1), the second member (5) is hinged to the first member (4), the third member (6) is in sliding sleeve joint with the second member (5), the fourth member (7) is hinged to the third member (6), the fifth member (8) is hinged to the fourth member (7), the sixth member (9) is in rotating connection with the fifth member (8), and the seventh member (10) is hinged to the sixth member (9);
the rock drill (11) is arranged on a seventh member (10);
the control device is connected with the cradle head (2), and the cradle head (2) is controlled to move to realize the follow-up of the lighting camera device (3) and the rock drilling end of the rock drilling machine (11) through acquiring the spatial motion information of each component of the rock drilling working assembly in real time.
2. A drill jumbo lighting camera follow-up system according to claim 1, characterized in that the sixth member (9) is perpendicular to the axis of the fifth member (8).
3. A drill jumbo lighting camera follow-up system as claimed in claim 1, wherein the control means comprises:
a first angle detection module for detecting a rotation angle of the first member (4);
a second angle detection module for detecting a rotation angle of the second member (5);
a third angle detection module for detecting a rotation angle of the fourth member (7);
a fourth angle detection module for detecting a rotation angle of the fifth member (8);
a fifth angle detection module for detecting a rotation angle of the sixth member (9);
a sixth angle detection module for detecting a rotation angle of the seventh member (10);
a first length detection module for detecting the extension distance of the rock drilling end of the rock drilling machine (11);
a second length detection module for detecting an elongation distance of the third member (6);
and the controller is used for performing operation according to the information sent by each detection module, sending a control instruction to the holder (2) and driving the lighting and shooting device (3) to move through the holder (2).
4. A rock-drilling jumbo illumination camera follow-up system according to claim 3, characterized in that first angle detection module, second angle detection module, third angle detection module, fourth angle detection module, fifth angle detection module are encoders.
5. A rock drilling jumbo illumination camera follow-up system as claimed in claim 3 or 4, characterized in that first length detection module and second length detection module are stay cord displacement sensors.
6. A lighting camera follow-up control method for a drill jumbo is characterized by comprising the following steps:
the first angle detection module detects and detects the rotation angle of the first component (4), the second angle detection module detects and detects the rotation angle of the second component (5), the third angle detection module detects the rotation angle of the fourth component (7), the fourth angle detection module detects the rotation angle of the fifth component (8), and the fifth angle detection module detects the rotation angle of the sixth component (9); the sixth angle detection module detects the rotation angle of the seventh member (10), the first length detection module detects the extension distance of the rock drilling end of the rock drilling machine (11), and the second length detection module detects the extension distance of the third member (6);
the controller calculates the spatial position of the rock drilling end of the rock drilling machine (11) according to the data detected by each detection module, and calculates the motion angle of the lighting camera device (3) according to the spatial position of the rock drilling end;
the controller sends a control command to the cradle head (2) according to the movement angle of the lighting camera device (3), and the cradle head (2) is controlled to drive the lighting camera device (3) to follow the rock drilling end of the rock drill (11).
7. A method of follow-up control of lighting and camera shooting of a rock drilling rig according to claim 6, characterized in that the method of calculating the spatial position of the rock drilling end of the rock drilling machine (11) is:
constructing a global coordinate system Coord0 by taking a mounting point J0 of the illumination and imaging device (3) as a coordinate origin;
constructing a first local coordinate system Coord1 by taking a connecting point J1 of the first member (4) and the frame (1) as a coordinate origin, wherein the first local coordinate system Coord1 is fixed on the first member (4);
constructing a second local coordinate system Coord2 by taking a connecting point J2 of the first member (4) and the second member (5) as a coordinate origin, wherein the second local coordinate system Coord2 is fixed on the second member (5);
constructing a third local coordinate system Coord3 by taking an end point J3 at one end of the third member (6) connected with the fourth member (7) as a coordinate origin, wherein the third local coordinate system Coord3 is fixed on the third member (6);
constructing a fourth local coordinate system Coord4 by taking a connecting point J4 of the third member (6) and the fourth member (7) as a coordinate origin, wherein the fourth local coordinate system Coord4 is fixed on the fourth member (7);
constructing a fifth local coordinate system Coord5 by taking a connecting point J5 of the fourth member (7) and the fifth member (8) as a coordinate origin, wherein the fifth local coordinate system Coord5 is fixed on the fifth member (8);
constructing a sixth local coordinate system Coord6 by taking a connecting point J6 of the fifth member (8) and the sixth member (9) as a coordinate origin, wherein the sixth local coordinate system Coord6 is fixed on the sixth member (9);
constructing a seventh local coordinate system Coord7 by taking a connection point J7 of the sixth member (9) and the seventh member (10) as a coordinate origin, wherein the seventh local coordinate system Coord7 is fixed on the seventh member (10);
according to the constructed coordinate systems Coord0, Coord1, Coord2, Coord3, Coord4, Coord5, Coord6 and Coord7, the spatial coordinates of the rock drilling end of the rock drilling machine (11) in the global coordinate system are calculated by using a spatial transformation method;
and determining the adjustment angle of the lighting camera device (3) according to the space coordinate of the rock drilling end of the rock drilling machine (11) under the global coordinate system.
8. A rock drilling rig illumination camera follow-up control method according to claim 7, characterized in that the method of calculating the spatial coordinates of the initial position of the drilling end of the rock drilling machine (11) in the global coordinate system by means of a spatial transformation method is:
determining homogeneous coordinates P of the initial position of the drilling end of the rock drilling machine (11) in a seventh local coordinate system Coord70Calculating a first translational transformation matrix H from the extension distance of the rock drilling end of the rock drilling machine (11)1Obtaining the homogeneous coordinate P of the rock drilling end after transformation1Wherein P is1＝H1×P0；
The obtained rotation angle theta of the seventh member (10) about the Y6 axis of the sixth local coordinate system Coord61Calculating a first rotation transformation matrix R1Determining homogeneous coordinates P of the origin of coordinates J7 in a sixth local coordinate system Coord6J6According to PJ6Determining a second translation transformation matrix H2Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord62，P2＝H2×R1×P1；
Acquiring the rotation angle theta of the sixth member (9) around the X5 axis of the fifth local coordinate system Coord52Determining a second rotational transformation matrix R2Determining homogeneous coordinates P of the origin of coordinates J6 in a fifth local coordinate system Coord5J5According to PJ5Determining a third translational transform matrix H3To obtainHomogeneous coordinate P of initial location of drilling end in Coord53，P3＝H3×R2×P2；
Acquiring the rotation angle theta of the fifth member (8) around the Z4 axis of the fourth local coordinate system Coord43Determining a third rotational transformation matrix R3Determining homogeneous coordinates P of the origin of coordinates J5 in a fourth local coordinate system Coord4J4According to PJ4Determining a fourth translation transformation matrix H4Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord44，P4＝H4×R3×P3；
Acquiring the rotation angle theta of the fourth member (7) around the Y3 axis of the third local coordinate system Coord34Determining a fourth rotation transformation matrix R4Determining homogeneous coordinates P of the origin of coordinates J4 in a third local coordinate system Coord3J3According to PJ3Determining a fifth translation transformation matrix H5Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord35，P5＝H5×R4×P4；
Obtaining the elongation distance L of the third member (6) along the X2 axis direction of the second local coordinate system Coord22Determining a sixth translation transformation matrix H6Determining homogeneous coordinates P of the origin of coordinates J3 in a second local coordinate system Coord2J2According to PJ2Determining a seventh translation transformation matrix H7Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord26，P6＝H7×H6×P5；
The rotation angle theta of the second member (5) around the Y1 axis of the first local coordinate system Coord1 is acquired5Determining a fifth rotational transformation matrix R5Determining homogeneous coordinates P of the origin of coordinates J2 in the first local coordinate system Coord1J1According to PJ1Determining an eighth translational transformation matrix H8Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord17，P7＝H8×R5×P6；
The rotation angle theta of the first member (4) around the Z axis of the global coordinate system Coord0 is acquired6Determining a sixth rotation transformation matrix R6Determining homogeneous coordinate P of coordinate origin J1 in global coordinate system Coord0J0According to PJ0Determining a ninth translation transformation matrix H9Obtaining a homogeneous coordinate P of the initial position of the rock drilling end in Coord08，P8＝H9×R6×P7I.e. the spatial coordinates of the drilling end in the global coordinate system.
9. A method of follow-up control of lighting camera of rock drilling jumbo according to claim 8, characterized in that the method of determining the adjustment angle of the lighting camera (3) according to the spatial coordinates of the rock drilling end of the rock drilling machine (11) in the global coordinate system is:
spatial coordinate P of drilling end under global coordinate system8Expressed as:
P1＝[α，β，γ，1]T
calculating the angles of the illumination imaging angles in the global coordinate system Coord0 relative to the X, Y, Z axis as thetax、θy、θzThen, then
Controller according to thetax、θy、θzThe angle of the lighting camera device (3) is controlled by the holder (2) to adjust the angle, so that the follow-up is realized.
10. A rock drilling rig comprising the illumination and camera follow-up control system according to any one of claims 1 to 5 and controlling the illumination and camera device (3) to follow-up by using the illumination and camera follow-up control method according to any one of claims 6 to 9.
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