CN115950420A - Combined pose detection system and detection method for development machine - Google Patents
Combined pose detection system and detection method for development machine Download PDFInfo
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Abstract
The invention discloses a combined pose detection system of a heading machine, which comprises: laser perception system, inertial navigation system, host computer and entry driving machine electrical system, laser perception system includes: the plane laser transmitter, the first laser sensing target and the second laser sensing target are fixed on the roadway roof; the first laser perception target is arranged at the rear end of the machine body of the heading machine; the second laser sensing target is arranged in front of the first laser sensing target and connected through a bus, and a plurality of photosensitive elements are horizontally distributed on the laser sensing target; the inertial navigation system is arranged above the tunneling machine body, and the laser sensing system is connected with the inertial navigation system; the upper computer is connected with the inertial navigation system; the invention completes the real-time detection of the position and posture of the development machine by a combined navigation method and overcomes the accumulated error of an inertial navigation system, so that the inertial navigation system can be suitable for the position and posture detection work of each mobile device in a tunnel.
Description
Technical Field
The invention relates to the technical field of pose detection and navigation, in particular to a heading machine combined pose detection system and a detection method thereof.
Background
With the development of the multi-sensor fusion technology, the operation of the development machine does not meet the traditional pointing laser navigation mode any more and gradually turns to real-time pose detection. For the pose detection of the heading machine, various researchers provide different methods, for example, a tilt angle sensor, a speedometer, machine vision and the like are used for combined measurement, but the sensors have defects in consideration of the actual situation of a heading working face, for example, the tilt angle sensor is influenced by a magnetic field, the speedometer generates a measurement error due to the slipping of a crawler belt and is difficult to correct, and the machine vision is difficult to adapt to a smoke environment, so that the combined detection method of many sensors is not practical.
Considering the actual working environment of a roadway, the laser penetration capability is strong, compared with other sensors, the inertial navigation system can better adapt to severe environmental factors such as smoke dust, water mist and the like on a working surface, and has the characteristic of being not influenced by the external environment, a heading machine position and posture detection method based on the combination of laser sensing and inertial navigation is proposed, for example, a strapdown inertial navigation and laser sensing combined heading machine position and posture detection system proposed by Wu' 2815656team of the university of mineral industry in China. However, the actual tunneling work process is slow, the work time is long, and the mechanical vibration is accompanied, and the inertial navigation system calculates the angle and the displacement in an integral mode, so that the measurement result has a large accumulated error, wherein the measurement error on the displacement is large, and the inertial navigation system cannot be used for detecting the displacement of the tunneling machine. Therefore, when the inertial navigation system is adopted to measure the attitude angle of the heading machine, the measured value of the attitude angle needs to be corrected, and other detection equipment is needed to independently measure two vectors of the displacement and the transverse offset of the heading machine.
Disclosure of Invention
The invention aims to provide a combined pose detection system of a heading machine and a detection method thereof, and aims to solve the problems.
The technical scheme of the invention is as follows:
a combined pose detection system of a heading machine comprises: a laser perception system, the laser perception system comprising: the plane laser transmitter is fixed on a roadway top plate; the first laser sensing target is arranged at the rear end of the machine body of the heading machine; the second laser sensing target is arranged in front of the first laser sensing target, the first laser sensing target and the second laser sensing target are connected through an RS485 bus, and a plurality of photosensitive elements are horizontally arranged on the first laser sensing target and the second laser sensing target; the laser sensing system is connected with the inertial navigation system through a CAN bus; the upper computer is connected with the inertial navigation system through a wireless network, is arranged in an aboveground control center and is in data communication with the industrial ring network through a base station arranged underground; the electric control system of the heading machine is arranged in an electric control system protective shell, the electric control system protective shell is arranged on the heading machine and is connected with hydraulic valves of all hydraulic mechanisms on the heading machine, a wireless communication module is arranged in the electric control system of the heading machine and is communicated with the upper computer, and the electric control system of the heading machine controls all the hydraulic valves to complete the control of the heading machine by receiving control instructions sent by the upper computer.
Furthermore, the center lines of the first laser perception target and the second laser perception target in the laser perception system are coincident with the center line of the excavator body.
Further, the center line of the inertial navigation system is superposed with the center line of the body of the heading machine.
Further, the distance between the second laser perception target and the first laser perception target is 50cm.
A method for detecting a combined pose detection system of a heading machine comprises the following steps:
s1, a plane laser transmitter of a laser perception system emits laser to irradiate photosensitive elements on a first laser perception target and a second laser perception target, the installation position of the targets and specific pose parameters of a heading machine are connected, the lateral offset distance of the heading machine relative to a roadway center line and the heading angle of the heading machine are calculated, the lateral offset, the heading angle and the displacement measured by the laser perception system are transmitted to an inertial navigation system, a row of compact photosensitive elements are respectively arranged on the first target and the second target, the position information of the photosensitive elements swept by a laser plane on the two targets, the attitude angle information of the heading machine and the position information of the targets installed on the heading machine are needed when the lateral offset distance of the heading machine is calculated. Namely, the transverse deviation of the machine body can be calculated only by relating the installation positions of the targets on the heading machine, the attitude angle parameters of the heading machine and the position information of the photosensitive elements irradiated on the two targets;
s2, acquiring heading angle and lateral offset of the heading machine according to attitude angle information of the heading machine body obtained by the inertial navigation system, establishing a time and displacement function of laser scanning of a photosensitive element, and calculating displacement information of the heading machine through the time of the laser scanning of the photosensitive element after pitch angle compensation;
s3, after the transverse offset and the transverse displacement of the development machine are obtained, the transverse offset and the transverse displacement are transmitted back to the inertial navigation system together with the information of the heading angle of the machine body, the output of the inertial navigation system is corrected by utilizing the displacement and the heading angle in the inertial navigation system, and the heading angle obtained by the laser sensing system and the heading angle detected by the inertial navigation system are subjected to weighted calculation and then used in the subsequent attitude angle correction process;
and S4, after all the body pose parameters of the heading machine are measured, the specific pose parameters are transmitted to an upper computer, the specific pose parameters are transmitted to an electric control system of the heading machine after being processed by the upper computer, and after one round of heading operation is finished, the pose of the heading machine is adjusted by the electric control system to continue heading operation, and meanwhile, the pose of the heading machine is continuously detected.
Further, in S1, when the laser of the planar laser transmitter scans the photosensitive element at the middle position between the first laser sensing target and the second laser sensing target, it indicates that the heading angle of the heading machine does not shift, and when the laser scans the photosensitive element deviated from the middle position, it indicates that the heading angle of the heading machine shifts.
Further, in S2, since the laser emitted from the planar laser emitter has a time difference when the laser passes through the photosensitive element, the time when the laser just contacts the photosensitive element is assumed to be t 1 Leaving the light-sensitive element for a time t 2 ，t 1 -t 2 The total time of the laser staying on the photosensitive element is related to the rotating speed omega during laser scanning, the influence caused by the change of the pitching angle of the heading machine is compensated, the included angle alpha of the front laser and the back laser is obtained, different distances correspond to different angles, and the time of the laser scanning the photosensitive element can be converted into the tunneling displacement information after the function is constructed.
Further, the displacement is judged by the time of scanning the photosensitive element by the laser, the heading angle and the roll angle of the heading machine have little influence on the distance measurement result when changing, no consideration is made, when the pitch angle changes, the distance scanned by the laser is different from the distance scanned normally, the difference is L, the L is solved by using a simple trigonometric function, the pitch angle is set as-A, the time actually scanned by the laser is added with the time additionally scanned by L (-cosA), the time needed when the pitch angle is not changed is obtained, and the displacement information of the heading machine is further judged according to the time; collecting multiple groups of data by the time of the tunneling machine sweeping the photosensitive element, directly fitting a function curve to obtain, and fitting a quadratic function in y = a for reducing the calculation difficulty 1 x 2 +a 2 x+a 3 。
Compared with the prior art, the invention has the beneficial effects that:
1. the invention completes the real-time detection of the position and the attitude of the development machine by a combined navigation method, and overcomes the accumulated error of an inertial navigation system, so that the inertial navigation system can be suitable for the position and the attitude detection work of each mobile device in a roadway.
2. The laser sensing system has strong laser penetrability and small interference degree, the strapdown inertial navigation system is not influenced by external environment, and the combined pose detection system provided by the invention is suitable for severe working environment on a driving working face.
3. The attitude angle detected by the aligned inertial navigation system is used as an initial value to carry out first offset distance calculation and displacement calculation, and then the calculation result is fed back to the inertial navigation system to carry out attitude angle correction, the initial setting is accurate, the subsequent process can be continuously corrected, and the measurement precision is high.
4. The invention combines two types of measurement systems, the whole measurement system has simple structure, the required physical quantity can be obtained, the output is simple, only the angle information of the strapdown inertial navigation system and the offset and position information of the laser sensing system are taken, and the complex algorithm support is not needed.
5. In the detection process, the measurement is only related to the position of the heading machine body, and no extra error is generated due to the reasons of crawler slip and the like.
Drawings
FIG. 1 is a front view structural view of a heading machine of the present invention traveling in a roadway;
fig. 2 is a top view of a schematic structural view of the heading machine of the present invention;
FIG. 3 is a schematic illustration of the operation of the laser target of the present invention;
FIG. 4 is a schematic diagram of a data interaction framework of the pose detection system of the present invention;
FIG. 5 is a general system framework diagram of the present invention;
fig. 6 is a schematic diagram illustrating the ranging principle of the present invention.
Wherein 1, a planar laser transmitter; 2. a first laser sensing target; 3. a second laser sensing target; 4. and 5, an inertial navigation system, and an electric control system protective shell.
Detailed Description
The following describes in detail an embodiment of the present invention with reference to fig. 1 to 6. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be noted that the circuit connections involved in the present invention all adopt a conventional circuit connection manner, and no innovation is involved.
Examples
A combined pose detection system of a heading machine comprises: laser perception system, inertial navigation system 4, host computer and entry driving machine electrical system, laser perception system includes: the device comprises a planar laser transmitter 1, a first laser perception target 2 and a second laser perception target 3, wherein the planar laser transmitter is fixed on a roadway roof; the first laser sensing target 2 is arranged at the rear end of the machine body of the heading machine; the second laser perception target 3 is arranged in front of the first laser perception target, the first laser perception target and the second laser perception target are connected through an RS485 bus, and a plurality of photosensitive elements are horizontally arranged on the first laser perception target 2 and the second laser perception target 3; the inertial navigation system 4 is arranged above the midpoint of the machine body of the heading machine, and the laser sensing system is connected with the inertial navigation system 4 through a CAN bus; the upper computer is connected with the inertial navigation system through a wireless network, is arranged in an aboveground control center and is in data communication with the industrial ring network through a base station arranged underground; the electric control system of the heading machine is arranged in an electric control system protective shell 5, the electric control system protective shell 5 is arranged on the heading machine and is connected with hydraulic valves of hydraulic mechanisms on the heading machine, such as a hydraulic motor throttle valve in a crawler and all levels of hydraulic valves of a hydraulic device for driving a cutting arm, a wireless communication module is arranged in the electric control system of the heading machine and is communicated with the upper computer, the hydraulic valves are controlled to complete the control of the heading machine by receiving control instructions sent by the upper computer, data processing modules are arranged in a laser target and an inertial navigation system, the upper computer is only used for displaying detection data and transmitting control commands downwards, and the control commands are transmitted to the electric control system of the heading machine through a wireless network.
The target is internally provided with a data processing chip, the inertial navigation system has data calculation capacity, the inertial navigation system returns the measured attitude angle parameter to the second laser sensing target, the target calculates the transverse deviation of the body according to the position of the photosensitive element irradiated by the plane laser and the attitude angle information transmitted by the inertial navigation, and the displacement is judged according to the time when the laser scans the photosensitive element.
And the second laser bar transmits the calculated displacement and the transverse deviation back to the inertial navigation system through the CAN bus, and the inertial navigation system packs the pose data after correcting the attitude angle measurement data and transmits the pose data to the upper computer through the wireless module. Namely: the upper computer is connected with the inertial navigation system through a wireless network, and the upper computer is not arranged on the body of the heading machine but arranged in an aboveground control center. And the data communication is carried out between the base station and the industrial ring network through the underground arrangement.
Preferably, in the laser sensing system, the center line of the first laser sensing target 2 and the center line of the second laser sensing target 3 coincide with the center line of the machine body of the heading machine, the center line of the inertial navigation system 4 coincides with the center line of the machine body of the heading machine, and the distance between the second laser sensing target 3 and the first laser sensing target 2 is 50cm.
A method for detecting a combined pose detection system of a heading machine comprises the following steps:
s1, a plane laser transmitter 1 of a laser perception system emits laser to irradiate photosensitive elements on a first laser perception target 2 and a second laser perception target 3, the installation position of the targets and specific pose parameters of a heading machine are related, the lateral offset distance of the heading machine relative to the center line of a roadway and the heading angle of the heading machine are calculated, the lateral offset, the heading angle and the displacement measured by the laser perception system are transmitted to an inertial navigation system 4, a row of compact photosensitive elements are respectively arranged on the first target and the second target, the position information of the photosensitive elements swept by the laser plane on the two targets, the attitude angle information of the heading machine and the position information of the targets installed on the heading machine are needed when the lateral offset distance of the heading machine is calculated. Namely, the transverse deviation of the machine body can be calculated only by relating the installation positions of the targets on the heading machine, the attitude angle parameters of the heading machine and the position information of the photosensitive elements irradiated on the two targets;
s2, acquiring heading angle and transverse offset of the heading machine according to the attitude angle information of the machine body of the heading machine, which is acquired by the inertial navigation system 4, establishing a time and displacement function for scanning a photosensitive element by laser, and calculating the displacement information of the heading machine according to the time for scanning the photosensitive element by laser after pitch angle compensation;
s3, after the transverse offset and the transverse displacement of the development machine are obtained, the transverse offset and the transverse displacement are transmitted back to the inertial navigation system 4 together with the information of the heading angle of the machine body, the output of the inertial navigation system is corrected by utilizing the displacement and the heading angle in the inertial navigation system, and the heading angle obtained by the laser sensing system and the heading angle detected by the inertial navigation system are subjected to weighted calculation and then used in the subsequent attitude angle correction process;
the target is internally provided with a data processing chip, a formula of lateral deviation is written into the chip in a code form, and the information of the installation position of the target on the heading machine is converted into a constant and written into the formula. The lateral deviation can be directly calculated in a data processing chip arranged in the target through data interaction with an inertial navigation system; similarly, the target can record the time when the laser just scans the photosensitive element and the time when the laser leaves the photosensitive element, and directly match displacement data according to the time;
and calculating the heading angle of the heading machine according to the position of the laser scanning the photosensitive elements on the two targets. Namely, the target obtains course angle information, and the inertial navigation system can also provide the course angle information for the target. The course angle measurement precision is further improved through a weighted average mode, a specific weighting coefficient is determined according to the actual working condition, when dust is large and laser is affected, the course angle measured by the inertial navigation system occupies a little weight, and when the dust is little, the course angle occupies a little weight through the laser target;
and S4, after all the body pose parameters of the heading machine are measured, the specific pose parameters are transmitted to an upper computer, the specific pose parameters are transmitted to an electric control system of the heading machine after being processed by the upper computer, and after one round of heading operation is finished, the pose of the heading machine is adjusted by the electric control system to continue heading operation, and meanwhile, the pose of the heading machine is continuously detected.
In the S1, when the laser of the plane laser transmitter 1 sweeps across the photosensitive element at the middle position of the first laser perception target 2 and the second laser perception target 3, it is indicated that the heading angle of the heading machine does not deviate, and if the laser sweeps across the photosensitive element at the middle position, it is indicated that the heading angle of the heading machine deviates.
In S2, since the laser emitted from the planar laser emitter 1 has a time difference when it passes through the photosensitive element, the time when the laser just contacts the photosensitive element is assumed to be t 1 The time of departure from the photosensitive element is t 2 ，t 2 -t 1 The total time of the laser staying on the photosensitive element is related to the rotating speed omega during laser scanning, the influence caused by the change of the pitching angle of the heading machine is compensated, the included angle alpha of the front laser and the rear laser is obtained, and the time of the laser scanning the photosensitive element can be converted into the heading displacement information by constructing a function according to different distances corresponding to different angles.
Judging displacement by adopting the time of scanning the photosensitive element by laser, greatly influencing the ranging result when the heading angle and the roll angle of the development machine change, not considering the change, when the pitch angle changes, the distance scanned by the laser is different from the distance scanned normally, and the difference is L, solving the L by using a simple trigonometric function, setting the pitch angle as-A, adding the time actually scanned by the laser to the time additionally scanned by L (1-cosA), obtaining the time needed when the pitch angle is not changed, and further judging the displacement information of the development machine according to the time;
the time of the tunneling machine for sweeping the photosensitive element is obtained by collecting a plurality of groups of data and directly fitting a function curve, and in order to reduce the calculation difficulty, the time is fit into a quadratic function with y = a 1 x 2 +a 2 x+a 3 。
The above disclosure is only for the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any changes that can be made by those skilled in the art should fall within the scope of the present invention.
Claims (8)
1. The utility model provides a entry driving machine combination position appearance detecting system which characterized in that includes:
a laser perception system, the laser perception system comprising: the plane laser transmitter comprises a plane laser transmitter (1), a first laser perception target (2) and a second laser perception target (3), wherein the plane laser transmitter (1) is fixed on a roadway top plate; the first laser perception target (2) is arranged at the rear end of the machine body of the heading machine; the second laser perception target (3) is arranged in front of the first laser perception target (2), the first laser perception target (2) is connected with the second laser perception target (3) through a bus, and a plurality of photosensitive elements are horizontally arranged on the first laser perception target (2) and the second laser perception target (3);
the laser sensing system is arranged above the midpoint of the machine body of the heading machine, and is communicated with the inertial navigation system (4);
the upper computer is connected with the inertial navigation system through a wireless network, is arranged in an aboveground control center and is in data communication with the industrial ring network through a base station arranged underground;
the electric control system of the heading machine is arranged in an electric control system protective shell (5), the electric control system protective shell (5) is arranged on the heading machine and connected with hydraulic valves of hydraulic mechanisms on the heading machine, a wireless communication module is arranged in the electric control system of the heading machine and communicated with the upper computer, and the electric control system of the heading machine controls the hydraulic valves to complete the control of the heading machine by receiving control instructions sent by the upper computer.
2. The combined pose detection system of the heading machine according to claim 1, wherein the center lines of the first laser sensing target (2) and the second laser sensing target (3) in the laser sensing system coincide with the center line of the body of the heading machine.
3. A combined posture detecting system of a heading machine according to claim 2, characterized in that the center line of the inertial navigation system (4) coincides with the center line of the body of the heading machine.
4. The combined position and posture detection system of the heading machine as claimed in claim 2, characterized in that the distance between the second laser sensing target (3) and the first laser sensing target (2) is 50cm.
5. The method for detecting the pose of the combined pose detection system of the heading machine according to claim 1, comprising the following steps of:
s1, a plane laser transmitter (1) of a laser sensing system transmits laser to irradiate photosensitive elements on a first laser sensing target (2) and a second laser sensing target (3), the mounting position of the targets and specific pose parameters of a heading machine are related, the lateral offset distance of the heading machine relative to the center line of a roadway and the heading angle of the heading machine are calculated, and the lateral offset, the heading angle and the displacement measured by the laser sensing system are transmitted to an inertial navigation system (4);
s2, acquiring heading angle and transverse offset of the heading machine according to the attitude angle information of the machine body of the heading machine, which is acquired by the inertial navigation system (4), establishing a time and displacement function of laser scanning of a photosensitive element, and calculating the displacement information of the heading machine through the time of laser scanning of the photosensitive element after pitch angle compensation;
s3, after the transverse offset and the transverse displacement of the development machine are obtained, the transverse offset and the transverse displacement of the development machine are transmitted back to the inertial navigation system (4) together with the information of the heading angle of the machine body, the output of the inertial navigation system is corrected by utilizing the displacement and the heading angle in the inertial navigation system, and the heading angle obtained by the laser sensing system and the heading angle detected by the inertial navigation system are subjected to weighted calculation and then used in the subsequent attitude angle correction process;
and S4, after all the body pose parameters of the heading machine are measured, the specific pose parameters are transmitted to an upper computer, the specific pose parameters are transmitted to an electric control system of the heading machine after being processed by the upper computer, and after one round of heading operation is finished, the pose of the heading machine is adjusted by the electric control system to continue heading operation, and meanwhile, the pose of the heading machine is continuously detected.
6. The method for detecting the combined pose of the heading machine according to claim 5, wherein in S1, when the laser of the planar laser transmitter (1) sweeps over a photosensitive element at the middle position of the first laser sensing target (2) and the second laser sensing target (3), no deviation of the heading angle of the heading machine is indicated.
7. The method for detecting the combined pose of the heading machine according to claim 5, wherein in S2, the time when the laser emitted by the planar laser emitter (1) just contacts the photosensitive element is set as t 1 Leaving the light-sensitive element for a time t 2 ，(t 2 -t 1 ) The total time of the laser staying on the photosensitive element is related to the rotating speed omega during laser scanning, the influence caused by the change of the pitching angle of the heading machine is compensated, the included angle alpha of the front laser and the back laser is obtained, different distances are corresponding to different angles, and the time of scanning the photosensitive element by the laser after the function is constructed is converted into the tunneling displacement information.
8. The method for detecting the combined pose of the heading machine according to claim 5, wherein the displacement is judged by the time of the laser sweeping the photosensitive element, the heading angle and the roll angle of the heading machine are changed without considering the distance measurement result, when the pitch angle is changed, the distance swept by the laser is different from the distance swept normally, the difference is L, the L is obtained by using a simple trigonometric function, the pitch angle is set as-A, the time actually sweeping the photosensitive element is added with the time additionally required to sweep L (1-cosA), the time required when the pitch angle is not changed is obtained, and the displacement information of the heading machine is further judged according to the time;
the time of the tunneling machine for sweeping the photosensitive element is obtained by collecting a plurality of groups of data and directly fitting a function curve, and in order to reduce the calculation difficulty, the time is fit into a quadratic function with y = a 1 x 2 +a 2 x+a 3 。
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