CN113739774A - Position and attitude correction method of heading machine based on mobile laser and target cooperation - Google Patents
Position and attitude correction method of heading machine based on mobile laser and target cooperation Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The application provides a position and posture correction method of a heading machine based on mobile laser and target cooperation, which relates to the field of monitoring of the running state of mining equipment, and the specific scheme is as follows: firstly, a plurality of lasers are emitted to a target through a laser mapping device, laser spot coordinates corresponding to the lasers are determined, wherein the laser spot coordinates are determined by taking the laser mapping device as a center, then laser coordinates corresponding to reflected light rays are further calculated through reflection of the target, the laser coordinates are determined based on a world coordinate system, then the pose of the laser mapping device is calculated according to local coordinates and world coordinate information of each target laser spot, and further the pose adjustment amount of the heading machine is determined according to the pose, so that correction is carried out. Therefore, the pose of the laser mapping device can be accurately solved based on the local coordinate and the world coordinate, and the adjustment quantity of the pose of the heading machine is further determined, so that the pose of the heading machine can be reliably and accurately adjusted.
Description
Technical Field
The application relates to the field of monitoring of operation states of mining equipment, in particular to a heading machine pose correction method, a heading machine pose correction device, heading machine pose correction equipment and a storage medium based on cooperation of mobile laser and a target.
Background
The intelligent mining becomes the first choice for the development of the coal industry, and the full unmanned development becomes the aim of the whole industry. The tunneling is an important link of coal mining, the quality of tunneling directly determines the safety and the production efficiency of coal, the tunneling machine is used as one of tunneling core equipment, and whether tasks can be intelligently, efficiently and accurately completed in the fully-mechanized tunneling process is a key step of tunneling quality. In the fully mechanized excavation process, in order to realize directional excavation, the excavation direction needs to be marked in a roadway, so that a pointing basis is provided for cutting operation of a driver of the excavator.
However, most of the traditional methods are manual operation for adjusting the tunneling direction, for example, the cutting of the cutting head is controlled by a laser spot method of visually observing the laser direction indicator, the operation is complicated, the pose accuracy after adjustment cannot be guaranteed, and the method is easily influenced by various aspects such as complexity and instability of an underground working surface light field, dust, fog and the like, so that the tunneling machine cannot be effectively adjusted in time when the operation pose error occurs, and the phenomena of over-excavation and under-excavation are easily caused. Therefore, how to timely and accurately adjust the pose of the heading machine is a problem which needs to be solved urgently at present.
Disclosure of Invention
The application provides a heading machine pose correction method, a heading machine pose correction device, heading machine pose correction equipment and a storage medium based on cooperation of mobile laser and a target, so that the pose of a laser mapping device can be calculated based on coordinates of two coordinate systems, further the deviation of the pose of the heading machine is determined, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient, and the measurement cost can be reduced.
According to a first aspect of the application, a heading machine pose correction method based on mobile laser and target cooperation is provided, and the method comprises the following steps:
controlling a laser mapping device to emit a plurality of laser beams to a laser target to form a plurality of light spots;
determining respective first coordinates of the plurality of spots in a first coordinate system, wherein the first coordinate system is centered on the laser mapping device;
determining respective second coordinates of the plurality of spots in a second coordinate system, wherein the second coordinate system is centered on the laser target;
calculating the pose of the laser mapping device according to the first coordinate and the second coordinate;
calculating the deviation of the position and posture of the heading machine according to the position and posture of the laser mapping device;
and adjusting the pose of the heading machine according to the deviation.
According to the second aspect of the application, a heading machine pose correcting device based on mobile laser and target cooperation is provided, and the heading machine pose correcting device comprises:
the control module is used for controlling the laser mapping device to emit a plurality of laser beams to the laser target so as to form a plurality of light spots;
a first determining module, configured to determine respective first coordinates of the plurality of light spots in a first coordinate system, where the first coordinate system uses the laser mapping device as a central point;
the second determining module is used for determining each second coordinate of the plurality of light spots in a second coordinate system, wherein the second coordinate system takes the laser target as a center;
a first calculation module, configured to calculate a pose of the laser mapping device according to the first coordinate and the second coordinate;
the second calculation module is used for calculating the deviation of the position and posture of the heading machine according to the position and posture of the laser mapping device;
and the adjusting module is used for adjusting the pose of the heading machine according to the deviation.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present application;
FIG. 2 is a schematic diagram according to a second embodiment of the present application;
FIG. 3 is a structural block diagram of a heading machine pose correction device based on mobile laser and target cooperation for implementing the embodiment of the application;
FIG. 4 is a block diagram of an electronic device in which embodiments of the present application may be implemented;
fig. 5 provides a model schematic diagram of a heading machine position and attitude correction method based on the cooperation of mobile laser and a target.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The heading machine pose correcting method based on the cooperation of the mobile laser and the target is executed by the heading machine pose correcting device based on the cooperation of the mobile laser and the target, which is provided by the application, and is not limited by the application, and is referred to as the device for short.
The heading machine pose deviation rectifying method and device based on the cooperation of the mobile laser and the target, the computer equipment and the storage medium provided by the application are described in detail below with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a heading machine position and attitude correction method based on cooperation of a mobile laser and a target according to an embodiment of the application.
As shown in fig. 1, the heading machine position and attitude correction method based on the cooperation of the mobile laser and the target may include the following steps:
Wherein, laser mapping device can be laser range finder, perhaps, still can be for after to laser target transmission many laser, can receive many laser from laser target reflection by laser receiving component, and can have a plurality of laser facula on laser target.
The laser mapping device is fixedly mounted on the heading machine and perpendicular to the heading machine, and is used for sending laser to the laser target and calculating a first coordinate formed by the laser. Specifically, the laser mapping device may be installed at the rear side of the heading machine, for example, at a position on the heading machine that is far from the initial position of the roadway. The laser target can be fixedly arranged at the initial position of a roadway, so that the laser receiving assembly can be prevented from being influenced by multiple aspects such as complexity, instability, dust, fog and the like of a working surface light field of the heading machine when receiving reflected laser, and interference can be eliminated for accurately determining the pose deviation of the heading machine later.
The laser target may include a laser target plate and a component disposed about the laser target plate. By mounting a laser receiving assembly, such as a laser receiver, on the laser target, the coordinates of the plurality of spots can be calculated from the spatial geodetic coordinate system.
The number of the laser beams may be three or more, and is not limited herein.
And 102, determining each first coordinate of the plurality of light spots in a first coordinate system, wherein the first coordinate system takes the laser mapping device as a central point.
It should be noted that the first coordinate system may be a local coordinate system established with the laser mapping device as a central point. The first coordinate system may be established by using a geometric center of the laser mapping device as a central point, or by using a preset point as a central point.
Wherein each coordinate in the first coordinate system may refer to a respective coordinate relative to the laser mapping device. After emitting a plurality of laser lights to the laser target, the emission distance of the laser lights and the time taken to the laser target can be measured by the laser mapping device. In addition, a measuring device such as a biaxial inclinometer can be mounted on the laser mapping module. Thus, the respective coordinates of the current plurality of spots in the first coordinate system can be determined by combining the respective measurement data of the plurality of lasers.
And 103, determining each second coordinate of the plurality of light spots in a second coordinate system, wherein the second coordinate system takes the laser target as the center.
The second coordinate system is determined by taking the laser target as a center, the world coordinate system can be established by taking the target surface center of the laser target as an origin, and the second coordinate system is a space geodetic coordinate system because the laser target is fixed.
As a possible implementation manner, the laser receiving assembly may measure the angle of the reflected light through the laser reflected by the laser on the laser target, and may further determine the second coordinate of each point of the reflected light on the target surface through each corresponding distance parameter.
And 104, calculating the pose of the laser mapping device according to the first coordinate and the second coordinate.
Specifically, the pose of the laser mapping device can be solved according to the first coordinate and the second coordinate based on a least square method.
And 105, calculating the deviation of the position and posture of the heading machine according to the position and posture of the laser mapping device.
After the pose of the laser mapping device is determined, the device can convert the pose of the laser mapping device into the pose of the heading machine through coordinate conversion. It should be noted that, when calculating the deviation of the pose of the heading machine, the pose deviation of the heading machine may be calculated according to the pose of the current heading machine and the initial pose of the heading machine, that is, the reference pose.
Specifically, the position and posture deviation of the heading machine can be solved through the processor.
And 106, adjusting the pose of the heading machine according to the deviation.
It will be appreciated that after calculating the deviation of the position of the heading machine, the apparatus may generate control commands corresponding to various positioning parameters of the heading machine, such as pitch angle, displacement magnitude, yaw angle, etc., based on the deviation, and is not limited herein.
It should be noted that after the deviation of the position and posture of the heading machine is determined, a heading machine position and posture adjustment request can be sent to the control end of the heading machine by the processor. The adjusting request can include a control instruction generated according to the current deviation data, that is, after the end of the heading machine receives the adjusting request sent by the processor, the control instruction included in the adjusting request can be identified, and then the pose of the heading machine is correspondingly adjusted, so that the pose of the current heading machine is consistent with the reference pose.
According to the method and the device, the position and the posture of the heading machine are adjusted, so that the current heading machine can return to the standard position and posture again, and automatic heading and correction of the heading machine are achieved. Because so with laser target and laser receiving assembly fixed mounting at the initial position in tunnel, therefore can avoid receiving assembly and laser mapping device round trip movement to laser, can effectual reduction number of times of setting up a station, operating mode adaptability is better.
In the embodiment of the application, firstly, the laser mapping device is controlled to emit a plurality of laser beams to the laser target to form a plurality of light spots, then each first coordinate of the plurality of light spots in a first coordinate system is determined, wherein the first coordinate system takes the laser mapping device as a central point, then each second coordinate of the plurality of light spots in a second coordinate system is determined, the second coordinate system takes the laser target as a center and calculates the position and posture of the laser mapping device according to the first coordinate and the second coordinate, and finally, the deviation of the position and posture of the heading machine is calculated according to the position and posture of the laser mapping device and adjusted according to the deviation. Therefore, the pose of the laser mapping device can be calculated based on the coordinates of the two coordinate systems, so that the deviation of the pose of the heading machine can be determined, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient and fast, the number of times of the step station can be effectively reduced, and the measurement cost can be reduced.
Fig. 2 is a schematic flow chart of a heading machine position and attitude correction method based on cooperation of a mobile laser and a target according to another embodiment of the present application.
As shown in fig. 2, the heading machine position and attitude correction method based on the cooperation of the mobile laser and the target may include the following steps:
It should be noted that, for the specific implementation process of steps 201 and 202, reference may be made to the foregoing embodiments, which are not described herein again.
And step 203, determining the reflection angle of the multiple laser beams reflected by the laser target.
It should be noted that the reflection angle of the plurality of laser beams reflected by the laser target may be directly measured by the laser mapping device or the laser receiving assembly.
The distance measurement data may include the height of the laser receiving assembly relative to the ground, the horizontal distance from the laser mapping device on the heading machine, the vertical distance from the laser mapping device, or the pitch angle and the yaw angle.
And step 205, determining each second coordinate of the plurality of light spots in the second coordinate system according to the reflection angle and the distance measurement data.
Optionally, after the reflection angle and the distance measurement data are determined, the reflection angle and the distance measurement data may be packaged and sent to the processor through the wireless communication module for processing, so that the processor may further determine each second coordinate of the plurality of light spots in the second coordinate system according to the trigonometric function relationship.
And step 206, calculating the pose of the laser mapping device according to the first coordinate and the second coordinate.
and 208, adjusting the pose of the heading machine according to the deviation.
It should be noted that, for specific implementation manners of steps 206, 207, and 208, reference may be made to the foregoing embodiments, which are not described herein again.
In the embodiment of the application, firstly, a laser mapping device is controlled to emit a plurality of laser beams to a laser target to form a plurality of light spots, then, each first coordinate of the plurality of light spots in a first coordinate system is determined, wherein the first coordinate system takes the laser mapping device as a central point, then, the reflection angle of the plurality of laser beams reflected by the laser target is determined, then, distance measurement data of a laser receiving assembly is obtained, the laser receiving assembly is fixedly installed on the laser target, each second coordinate of the plurality of light spots in a second coordinate system is determined according to the reflection angle and the distance measurement data, the pose of the laser mapping device is calculated according to the first coordinate and the second coordinate, the deviation of the heading machine is calculated according to the pose of the laser mapping device, and finally, the pose of the heading machine is adjusted according to the deviation. Therefore, the pose of the laser mapping device can be calculated based on the coordinates of the two coordinate systems, so that the deviation of the pose of the heading machine can be determined, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient and fast, the number of times of the step station can be effectively reduced, and the measurement cost can be reduced.
In order to realize the embodiment, the embodiment of the application further provides a heading machine pose correction device based on cooperation of the mobile laser and the target. Fig. 3 is a structural block diagram of a heading machine pose correction device based on cooperation of mobile laser and a target according to an embodiment of the application.
As shown in fig. 3, the heading machine pose correcting device 300 based on the cooperation of the mobile laser and the target comprises: a control module 310, a first determination module 320, a second determination module 330, a first calculation module 340, a second calculation module 350, and an adjustment module 360.
The control module 310 is used for controlling the laser mapping device to emit a plurality of laser beams to the laser target so as to form a plurality of light spots;
a first determining module 320, configured to determine each first coordinate of the plurality of light spots in a first coordinate system, where the first coordinate system takes the laser mapping device as a central point;
a second determining module 330, configured to determine respective second coordinates of the plurality of light spots in a second coordinate system, where the second coordinate system is centered on the laser target;
a first calculation module 340, configured to calculate a pose of the laser mapping device according to the first coordinate and the second coordinate;
a second calculation module 350, configured to calculate a deviation of the heading machine pose according to the pose of the laser mapping device;
and the adjusting module 360 is used for adjusting the pose of the heading machine according to the deviation.
Optionally, the second determining module includes:
a first determination unit configured to determine a reflection angle of the plurality of laser beams reflected by the laser target;
the first acquisition unit is used for acquiring distance measurement data of a laser receiving assembly, wherein the laser receiving assembly is fixedly arranged on the laser target;
and the second determining unit is used for determining each second coordinate of the plurality of light spots in the second coordinate system according to the reflection angle and the distance measurement data.
Optionally, the laser mapping device is fixedly mounted on the heading machine, is perpendicular to the heading machine, and is configured to send laser to the laser target and calculate a first coordinate formed by the laser.
Optionally, the second determining unit is specifically configured to:
transmitting the reflection angle and the distance measurement data to a processor to enable the processor to determine second coordinates of the plurality of light spots in the second coordinate system based on trigonometric function relationships.
In the embodiment of the application, firstly, the laser mapping device is controlled to emit a plurality of laser beams to the laser target to form a plurality of light spots, then each first coordinate of the plurality of light spots in a first coordinate system is determined, wherein the first coordinate system takes the laser mapping device as a central point, then each second coordinate of the plurality of light spots in a second coordinate system is determined, the second coordinate system takes the laser target as a center and calculates the position and posture of the laser mapping device according to the first coordinate and the second coordinate, and finally, the deviation of the position and posture of the heading machine is calculated according to the position and posture of the laser mapping device and adjusted according to the deviation. Therefore, the pose of the laser mapping device can be calculated based on the coordinates of the two coordinate systems, so that the deviation of the pose of the heading machine can be determined, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient and fast, the number of times of the step station can be effectively reduced, and the measurement cost can be reduced.
There is also provided, in accordance with an embodiment of the present application, an electronic device, a readable storage medium, and a computer program product.
FIG. 4 shows a schematic block diagram of an example electronic device 400 that may be used to implement embodiments of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, ROM 402, and RAM403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
A number of components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
In addition, fig. 5 also provides a model schematic diagram of a heading machine position and posture correction method based on cooperation of mobile laser and a target, as shown in fig. 5, firstly, a laser mapping device emits a plurality of lasers to a target and determines laser spot coordinates corresponding to the lasers, wherein the laser spot coordinates are determined by taking the laser mapping device as a center, then laser coordinates corresponding to reflected light are further calculated through reflection of the target, the laser coordinates are determined based on a world coordinate system, then the position and posture of the laser mapping device are calculated according to local coordinates and world coordinate information of each target laser spot, and further the position and posture adjustment amount of the heading machine is determined according to the position and posture to correct the heading machine.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.
In the embodiment of the application, firstly, the laser mapping device is controlled to emit a plurality of laser beams to the laser target to form a plurality of light spots, then each first coordinate of the plurality of light spots in a first coordinate system is determined, wherein the first coordinate system takes the laser mapping device as a central point, then each second coordinate of the plurality of light spots in a second coordinate system is determined, the second coordinate system takes the laser target as a center and calculates the position and posture of the laser mapping device according to the first coordinate and the second coordinate, and finally, the deviation of the position and posture of the heading machine is calculated according to the position and posture of the laser mapping device and adjusted according to the deviation. Therefore, the pose of the laser mapping device can be calculated based on the coordinates of the two coordinate systems, so that the deviation of the pose of the heading machine can be determined, the pose of the heading machine can be automatically and accurately adjusted, the operation is simple, the implementation is convenient and fast, the number of times of the step station can be effectively reduced, and the measurement cost can be reduced.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A heading machine pose deviation rectifying method based on mobile laser and target cooperation is characterized by comprising the following steps:
controlling a laser mapping device to emit a plurality of laser beams to a laser target to form a plurality of light spots;
determining respective first coordinates of the plurality of spots in a first coordinate system, wherein the first coordinate system is centered on the laser mapping device;
determining respective second coordinates of the plurality of spots in a second coordinate system, wherein the second coordinate system is centered on the laser target;
calculating the pose of the laser mapping device according to the first coordinate and the second coordinate;
calculating the deviation of the position and posture of the heading machine according to the position and posture of the laser mapping device;
and adjusting the pose of the heading machine according to the deviation.
2. The method of claim 1, wherein determining respective second coordinates of the plurality of light spots in a second coordinate system comprises:
determining a reflection angle of the plurality of laser beams reflected by the laser target;
acquiring distance measurement data of a laser receiving component, wherein the laser receiving component is fixedly arranged on the laser target;
and determining each second coordinate of the plurality of light spots in the second coordinate system according to the reflection angle and the distance measurement data.
3. The method of claim 1, wherein the laser mapping device is fixedly mounted on and perpendicular to the heading machine for sending laser light to the laser target and calculating the first coordinates formed by the laser light.
4. The method of claim 2, wherein determining respective second coordinates of the plurality of spots in the second coordinate system based on the reflection angle and the distance measurement data comprises:
transmitting the reflection angle and the distance measurement data to a processor to enable the processor to determine second coordinates of the plurality of light spots in the second coordinate system based on trigonometric function relationships.
5. The utility model provides a entry driving machine position appearance deviation correcting device based on remove laser and mark target cooperation which characterized in that includes:
the control module is used for controlling the laser mapping device to emit a plurality of laser beams to the laser target so as to form a plurality of light spots;
a first determining module, configured to determine respective first coordinates of the plurality of light spots in a first coordinate system, where the first coordinate system uses the laser mapping device as a central point;
the second determining module is used for determining each second coordinate of the plurality of light spots in a second coordinate system, wherein the second coordinate system takes the laser target as a center;
a first calculation module, configured to calculate a pose of the laser mapping device according to the first coordinate and the second coordinate;
the second calculation module is used for calculating the deviation of the position and posture of the heading machine according to the position and posture of the laser mapping device;
and the adjusting module is used for adjusting the pose of the heading machine according to the deviation.
6. The apparatus of claim 5, wherein the second determining module comprises:
a first determination unit configured to determine a reflection angle of the plurality of laser beams reflected by the laser target;
the first acquisition unit is used for acquiring distance measurement data of a laser receiving assembly, wherein the laser receiving assembly is fixedly arranged on the laser target;
and the second determining unit is used for determining each second coordinate of the plurality of light spots in the second coordinate system according to the reflection angle and the distance measurement data.
7. The apparatus of claim 5 wherein the laser mapping device is fixedly mounted on and perpendicular to the heading machine for transmitting laser light to the laser target and calculating the first coordinates formed by the laser light.
8. The apparatus according to claim 6, wherein the second determining unit is specifically configured to:
transmitting the reflection angle and the distance measurement data to a processor to enable the processor to determine second coordinates of the plurality of light spots in the second coordinate system based on trigonometric function relationships.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any one of claims 1-4 when executing the program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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Application publication date: 20211203 |