CN117706563B

CN117706563B - Method, system, equipment and storage medium for positioning drilling holes in vertical section of mine

Info

Publication number: CN117706563B
Application number: CN202410165411.XA
Authority: CN
Inventors: 代建龙; 赵于前; 刘志华; 龚志鹏; 王毅; 阳春华
Original assignee: Hunan Chuangyuan High Tech Machinery Co ltd; Central South University
Current assignee: Hunan Chuangyuan High Tech Machinery Co ltd; Central South University
Priority date: 2024-02-05
Filing date: 2024-02-05
Publication date: 2024-05-07
Anticipated expiration: 2044-02-05
Also published as: CN117706563A

Abstract

The invention discloses a method, a system, equipment and a storage medium for positioning a vertical section of a mine, wherein the method for positioning the vertical section of the mine comprises the steps of constructing a first global point cloud map of a first coordinate system according to historical laser radar point cloud data and inertial measurement unit sensor data, converting the first global point cloud map of the first coordinate system into a second coordinate system guided by a central line through a KD (key distribution) tree neighborhood search algorithm to obtain a second global point cloud map, extracting the vertical section of the second global point cloud map, calculating all drilling positions of the vertical section, calculating a real-time pose conversion matrix from the second global point cloud map to real-time laser radar point cloud data, converting all drilling positions of the vertical section into a third coordinate system according to the real-time pose conversion matrix, so as to obtain a final drilling position of the third coordinate system, realizing autonomous determination of the drilling position, improving the drilling precision and the construction efficiency, and reducing the construction cost.

Description

Method, system, equipment and storage medium for positioning drilling holes in vertical section of mine

Technical Field

The invention relates to the technical field of automation, in particular to a method, a system, equipment and a storage medium for positioning drilling holes on vertical sections of mines.

Background

The mining industry has important significance for national economy development, the drilling and blasting method is a common method for mine construction, and rock drilling and drilling are key links. In rock drilling operations, there is a type of operation in which vertical drilling, i.e. drilling operations in the vertical direction in rock or soil are performed at regular intervals in the mine. The method for manually marking the drilling position is adopted in the traditional rock drilling operation, the drilling precision is too dependent on the skill level of operators, the problems of strong subjectivity and large deviation exist, and the phenomena of overexcavation and underexcavation are easy to occur, so that the construction efficiency is influenced.

Disclosure of Invention

The present invention aims to at least solve the technical problems existing in the prior art. Therefore, the invention provides a method, a system, equipment and a medium for positioning drilling holes on a vertical section of a mine, which can autonomously determine the drilling position, improve the drilling accuracy and the construction efficiency and reduce the construction cost.

The invention provides a method for positioning a vertical section drilling hole of a mine, which comprises the following steps:

Acquiring historical laser radar point cloud data and inertial measurement unit sensor data of a mine;

constructing a first global point cloud map of a first coordinate system according to the historical laser radar point cloud data and the inertial measurement unit sensor data;

converting the first global point cloud map of the first coordinate system into a second coordinate system guided by a central line through a KD tree neighborhood searching algorithm to obtain a second global point cloud map;

Extracting a vertical section of the second global point cloud map, and calculating all drilling positions of the vertical section;

Acquiring real-time laser radar point cloud data of a mine and a third coordinate system where the real-time laser radar point cloud data is located;

calculating a real-time pose conversion matrix from the second global point cloud map to real-time laser radar point cloud data;

and converting all drilling positions of the vertical section into a third coordinate system according to the real-time pose conversion matrix to obtain the final drilling position of the third coordinate system.

The control method according to the embodiment of the invention has at least the following beneficial effects:

According to the method, a first global point cloud map of a first coordinate system is constructed according to historical laser radar point cloud data and inertial measurement unit sensor data, the mine outline is scanned through a laser radar, point cloud data of the mine outline are obtained, a three-dimensional global map of the mine is built, the advantages of non-contact and autonomous rapid measurement are achieved, the first global point cloud map of the first coordinate system is converted into a second coordinate system guided by a central line through KD tree neighborhood search algorithm, a second global point cloud map is obtained, a vertical section of the second global point cloud map is extracted, all drilling positions of the vertical section are calculated, the drilling positions are planned in the vertical section through the extraction of the vertical section, the number of point cloud processing is reduced, then a real-time position and attitude conversion matrix from the second global point cloud map to the real-time laser radar point cloud data is obtained, the coordinate conversion technology of the global point cloud map is adopted, the newly obtained real-time laser point cloud can be accurately matched into the global point cloud through the KD tree neighborhood search algorithm, accordingly, the determination of the real-time position and the drilling position and the three-dimensional coordinate conversion matrix of the real-time point cloud can be achieved, the drilling position and the three-dimensional position can be accurately converted into the drilling position according to the third coordinate system of the drilling position.

According to some embodiments of the present invention, the converting the first global point cloud map of the first coordinate system into the second coordinate system guided by the midline through the KD-tree neighborhood search algorithm to obtain the second global point cloud map includes:

searching the nearest neighbor preset point number of each scanning point in the first global point cloud map;

carrying out plane fitting on the nearest neighbor preset points of each scanning point by a least square method to obtain a fitted plane;

calculating the normal vector of the fitted plane;

Normalizing the normal vector to obtain a surface normal vector corresponding to each scanning point;

taking a point mark with the absolute value of the Z component of the surface normal vector larger than a preset threshold value as a plane point, and carrying out average value calculation according to the Z components of all the plane points to obtain an average elevation, wherein the preset threshold value is a constant value larger than 0 and smaller than 1;

carrying out elevation filtering and statistical filtering according to the plane points and the average elevation to obtain a plane point cloud;

Extracting the outline of the ground point cloud;

fitting a ground point cloud boundary according to the outline of the ground point cloud;

Selecting two boundary straight lines with the smallest X-axis included angle with a first coordinate system, and calculating standard unit direction vectors of the two boundary straight lines, wherein the standard unit direction vectors are unit direction vectors with components on the X-axis larger than 0;

Translating the starting points of the standard unit direction vectors of the two boundary straight lines to the original point of the first coordinate system, and calculating the average value of the standard unit direction vectors of the two boundary straight lines to obtain the direction vector of the X axis of the second coordinate system; calculating the average value of the normal vectors of the surface point cloud to obtain the direction vector of the Z axis of the second coordinate system; obtaining a direction vector of a Y axis of a second coordinate system according to a right-hand theorem;

Performing matrix calculation according to the direction vector of the second coordinate system to obtain a first rotation matrix from the first coordinate system to the second coordinate system;

and calculating a second global point cloud map according to the first global point cloud map and the first rotation matrix.

According to some embodiments of the invention, the calculating the matrix according to the direction vector of the second coordinate system, to obtain a first rotation matrix from the first coordinate system to the second coordinate system, includes:

According to the direction vector of the X axis of the second coordinate system, the direction vector of the Y axis of the second coordinate system and the direction vector of the Z axis of the second coordinate system, the coordinate matrix under the first coordinate system is calculated by adopting the following formula:

，

Wherein, Is the coordinate value of the end point of the direction vector of the X axis of the second coordinate system under the first coordinate system,Coordinate value of the end point of the direction vector of the Y axis of the second coordinate system under the first coordinate system,/>Coordinate value of the end point of the direction vector of the Z axis of the second coordinate system under the first coordinate system,/>A coordinate matrix of the three endpoints under a first coordinate system;

According to the direction vector of the X axis of the second coordinate system, the direction vector of the Y axis of the second coordinate system and the direction vector of the Z axis of the second coordinate system, calculating a coordinate matrix under the second coordinate system by adopting the following formula:

，

Wherein, A coordinate matrix of the three endpoints under a second coordinate system;

A first rotation matrix from the first coordinate system to the second coordinate system is calculated from the coordinate matrix in the first coordinate system and the coordinate matrix in the second coordinate system using the following formula:

；

Wherein, For the second global point cloud map,/>For a first rotation matrix from a first coordinate system to a second coordinate system,/>For the first global point cloud map,/>For/>Is a transposed matrix of (a).

According to some embodiments of the invention, the calculating the real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data includes:

Constructing an initial pose conversion matrix according to the first rotation matrix and a preset initial translation matrix;

Constructing a cuboid according to the second global point cloud map, wherein the cuboid surrounds all point cloud data in the second global point cloud map;

Dividing the cuboid into m cube grid areas, wherein m is a positive integer;

calculating a mean vector and a covariance matrix of each cube grid area according to the second global point cloud map by adopting the following formula:

，

Wherein, For/>Mean vector of the square grid regions,/>For/>Covariance matrix of each cube grid region,/>Is a positive integer and/>，/>For/>First/>, in the square grid regionCoordinates of the scanning points,/>For/>Number of scan points in the square grid region,/>Transpose the matrix;

calculating an optimal coarse pose conversion matrix according to the real-time laser radar point cloud data, the initial pose conversion matrix and the second global point cloud map by adopting the following formula, wherein the initial value of the coarse pose conversion matrix is the initial pose conversion matrix:

，

Wherein, For real-time laser radar point cloud data,/>For/>Point cloud data obtained after pose conversion,/>For the optimal coarse pose conversion matrix,/>For/>The number of midpoints,/>For/>Middle/>Coordinates of individual points,/>For/>Inverse matrix of covariance matrix of grid region where each point is located,/>For/>Mean vector of grid region where each point is located,/>For/>And/>Matching scores of (2);

According to Screening feature points by using curvature information of the point cloud to obtain a feature point subset;

searching a neighboring subset of the feature points in the second global point cloud map through a KD tree neighborhood searching algorithm;

And performing matrix calculation according to the feature point subset and the adjacent subset of the feature points by adopting the following formula through a Newton optimization algorithm to obtain an optimal pose conversion matrix:

，

Wherein, For the optimal pose conversion matrix,/>For the rotation matrix in the optimal pose conversion matrix,/>For the translation matrix in the optimal pose conversion matrix,/>Is a contiguous subset of feature points,/>Is a feature point subset;

according to the optimal coarse pose conversion matrix and the optimal pose conversion matrix, calculating a real-time pose conversion matrix by adopting the following formula:

；

Wherein, For real-time pose conversion matrix,/>Inverting the matrix.

According to some embodiments of the invention, the calculating all borehole locations for the vertical section includes:

calculating the coordinate of a drilling reference point of each vertical section according to the coordinate of the scanning point of each vertical section;

And calculating all drilling positions of each vertical section according to the drilling reference point coordinates of each vertical section and the preset drilling angle.

According to some embodiments of the invention, the calculating the drilling reference point coordinates of each vertical section according to the coordinates of the scanning point of each vertical section includes:

according to the coordinates of the scanning points of each vertical section, calculating an X-axis coordinate mean value by adopting the following formula, and taking the X-axis coordinate mean value of each vertical section as the X-axis coordinate of the drilling reference point corresponding to the vertical section:

，

Wherein, Is the X-axis coordinate of the drilling reference point of the ith vertical section, n is the number of scanning points of the ith vertical section,/>Represents the/>/>, In a vertical sectionX-axis coordinate values of the scanning points;

To scan points in each vertical section The range formed by the maximum value and the minimum value of the coordinate values is uniformly divided into a plurality of intervals, and the range is divided into a plurality of intervals according to/>Calculating the number of scanning points in each interval by the coordinate values;

selecting two intervals with the largest number of scanning points in the interval, and calculating all points in the two intervals The average value of the coordinate values is used for obtaining Y-axis coordinates;

And obtaining a drilling reference point coordinate of each vertical section according to the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate, wherein the Z-axis coordinate is a height value of the origin of the mechanical arm of the rock drilling machine from the ground.

According to some embodiments of the invention, the extracting the vertical section of the second global point cloud map includes:

Extracting an initial vertical section from the second global point cloud map according to the preset distance value and the preset vertical section thickness;

and filtering all the extracted initial vertical sections to obtain the vertical section of the second global point cloud map.

In a second aspect of the invention, there is provided a mine vertical section borehole positioning system comprising:

the data acquisition module is used for acquiring historical laser radar point cloud data of the mine and sensor data of the inertial measurement unit;

the first global point cloud map calculation module is used for constructing a first global point cloud map of a first coordinate system according to the historical laser radar point cloud data and the inertial measurement unit sensor data;

The second global point cloud map calculation module is used for converting the first global point cloud map of the first coordinate system into the second coordinate system guided by the central line through a KD tree neighborhood search algorithm to obtain a second global point cloud map;

the vertical section and drilling position calculation module is used for extracting the vertical section of the second global point cloud map and calculating all drilling positions of the vertical section;

the real-time data acquisition module is used for acquiring real-time laser radar point cloud data of the mine and a third coordinate system where the real-time laser radar point cloud data is located;

The matrix calculation module is used for calculating a real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data;

and the coordinate conversion module is used for converting all drilling positions of the vertical section into a third coordinate system according to the real-time pose conversion matrix so as to obtain the final drilling position of the third coordinate system.

According to the method, the first global point cloud map of the first coordinate system is firstly constructed according to historical laser radar point cloud data and inertial measurement unit sensor data, the mine outline is scanned through a laser radar to obtain point cloud data of the mine outline, a three-dimensional global map of the mine is built, the advantages of non-contact and autonomous rapid measurement are achieved, the first global point cloud map of the first coordinate system is converted into a second coordinate system guided by a central line through KD tree neighborhood search algorithm, the second global point cloud map is obtained, a vertical section of the second global point cloud map is extracted, all drilling positions of the vertical section are calculated, the drilling positions are planned in the vertical section through the extraction of the vertical section, the number of point cloud processing is reduced, then the real-time laser radar point cloud data of the mine and a third coordinate system where the point cloud data are located are obtained, the real-time pose conversion matrix of the second global point cloud map to the real-time laser radar point cloud data is calculated, the coordinate conversion and the matching technology of the global point cloud map is adopted, the newly obtained real-time laser point cloud can be accurately matched into the global point cloud through the KD tree neighborhood search algorithm, therefore the determination of the real-time point cloud is achieved, the drilling position conversion accuracy of the drilling position and the drilling position is improved, the drilling position accuracy is improved, and the drilling position accuracy is finally is improved, and the drilling position accuracy is well position conversion is achieved.

In a third aspect of the invention, there is provided a mine vertical section borehole positioning electronic device comprising at least one control processor and a memory for communication connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the method of mine vertical section drilling positioning described above.

In a fourth aspect of the present invention, there is provided a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the above-described method of locating a vertical section borehole in a mine.

It should be noted that the advantages of the second to fourth aspects of the present invention with the prior art are the same as those of the above-described vertical section drilling positioning system for mines and the prior art, and will not be described in detail here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a flow chart of a method of locating a borehole in a vertical section of a mine in accordance with an embodiment of the present invention;

FIG. 2 is a diagram of an example of vertical section extraction of a method for locating a borehole in a vertical section of a mine according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a method for locating a borehole in a vertical section of a mine according to an embodiment of the present invention;

FIG. 4 is a first global point cloud map of a method for locating a borehole in a vertical section of a mine according to an embodiment of the present invention;

FIG. 5 is a graph of the result of extracting a vertical section from a first global point cloud map according to the method for locating a borehole of a vertical section of a mine according to an embodiment of the present invention;

FIG. 6 is a schematic diagram showing the results of calculating drilling reference points for each vertical section of a method for locating a drilling hole for a vertical section of a mine according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a system for locating a borehole in a vertical section of a mine according to an embodiment of the present invention.

Description of the reference numerals:

110. A vertical section; 120. a mine tunnel boundary; 130. kong Xu; 140. drilling a reference point.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, the description of first, second, etc. is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be determined reasonably by a person skilled in the art in combination with the specific content of the technical solution.

The mining industry has important significance for national economy development, the drilling and blasting method is a common method for mine construction, and rock drilling and drilling are key links. In rock drilling operations, there is a type of operation in which vertical drilling, i.e. drilling operations in the vertical direction in rock or soil are performed at regular intervals in the mine. The method for manually marking the drilling position is adopted in the traditional rock drilling operation, the drilling precision is too dependent on the skill level of operators, the problems of strong subjectivity and large deviation exist, and the phenomena of overexcavation and underexcavation are easy to occur, so that the construction efficiency and the cost are influenced.

In order to solve the technical defects, referring to fig. 1, the invention provides a method for positioning a vertical section drilling hole of a mine, which comprises the following steps:

step S101, acquiring historical laser radar point cloud data of a mine and sensor data of an inertial measurement unit;

step S102, a first global point cloud map of a first coordinate system is constructed according to historical laser radar point cloud data and inertial measurement unit sensor data;

Step S103, converting the first global point cloud map of the first coordinate system into a second coordinate system guided by a central line through a KD tree neighborhood searching algorithm to obtain a second global point cloud map;

step S104, extracting a vertical section of the second global point cloud map, and calculating all drilling positions of the vertical section;

step 105, acquiring real-time laser radar point cloud data of a mine and a third coordinate system where the real-time laser radar point cloud data is located;

step S106, calculating a real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data;

And S107, converting all drilling positions of the vertical section into a third coordinate system according to the real-time pose conversion matrix to obtain the final drilling position of the third coordinate system.

It should be noted that nearest neighbor searching refers to searching for an element with the smallest distance from a given query term in a certain distance measure and a search space, and using KD-tree can reduce the time complexity. Because of the dimensionality disaster, it is difficult to find the exact nearest neighbor in Gao Weiou-style space at a small cost. The approximate nearest neighbor search (Approximate Nearest Neighbor Search) is then a method of obtaining nearest neighbors from a large number of samples by sacrificing accuracy in exchange for time and space.

KD-tree is an abbreviation for K-dimension tree, a data structure of data points divided in K-dimensional space,

In essence, the k-d tree is a spatial division tree, a balanced binary tree. The vector space of the whole k dimension is divided into a plurality of local spaces continuously, then branch judgment is continuously carried out during searching, and the local subspace is selected, so that global space searching is avoided.

In some embodiments, step S103 converts the first global point cloud map of the first coordinate system into the second coordinate system guided by the midline through a KD-tree neighborhood search algorithm, to obtain a second global point cloud map, including:

step S201, searching preset points of nearest neighbors of each scanning point in a first global point cloud map;

step S202, carrying out plane fitting on the nearest neighbor preset points of each scanning point by a least square method to obtain a fitted plane;

Step S203, calculating the normal vector of the fitted plane;

step S204, normalizing the normal vector to obtain a surface normal vector corresponding to each scanning point;

step S205, point marks with the absolute value of the Z component of the surface normal vector larger than a preset threshold value are used as plane points, average value calculation is carried out according to the Z components of all the plane points, and an average elevation is obtained, wherein the preset threshold value is a constant value larger than 0 and smaller than 1;

step S206, carrying out elevation filtering and statistical filtering according to the plane points and the average elevation to obtain a plane point cloud;

step S207, extracting the outline of the ground point cloud;

step S208, fitting a ground point cloud boundary according to the outline of the ground point cloud;

Step S209, selecting two boundary straight lines with the smallest X-axis included angle with the first coordinate system, and calculating standard unit direction vectors of the two boundary straight lines, wherein the standard unit direction vectors are unit direction vectors with components on the X-axis larger than 0;

Step S210, translating the starting points of the standard unit direction vectors of the two boundary straight lines to the original point of the first coordinate system, and calculating the average value of the standard unit direction vectors of the two boundary straight lines to obtain the direction vector of the X axis of the second coordinate system; calculating the average value of the normal vectors of the surface point cloud to obtain the direction vector of the Z axis of the second coordinate system; obtaining a direction vector of a Y axis of a second coordinate system according to a right-hand theorem;

Step S211, performing matrix calculation according to the direction vector of the second coordinate system to obtain a first rotation matrix from the first coordinate system to the second coordinate system;

Step S212, calculating a second global point cloud map according to the first global point cloud map and the first rotation matrix by adopting the following formula:

，

According to the embodiment, the newly acquired real-time laser point cloud can be more accurately matched into the global point cloud map through the coordinate conversion and matching technology of the global point cloud map.

In some embodiments, step S211 performs matrix calculation according to the direction vector of the second coordinate system, to obtain a first rotation matrix from the first coordinate system to the second coordinate system, including:

step S301, calculating a coordinate matrix under the first coordinate system according to the direction vector of the second coordinate system X-axis, the direction vector of the second coordinate system Y-axis, and the direction vector of the second coordinate system Z-axis by adopting the following formula:

，

Step S302, calculating a coordinate matrix under the second coordinate system according to the direction vector of the X axis of the second coordinate system, the direction vector of the Y axis of the second coordinate system and the direction vector of the Z axis of the second coordinate system by adopting the following formula:

，

step S303, calculating a first rotation matrix from the first coordinate system to the second coordinate system according to the coordinate matrix under the first coordinate system and the coordinate matrix under the second coordinate system by adopting the following formula:

。

the first rotation matrix from the first coordinate system to the second coordinate system is calculated according to the direction vector of the X axis of the second coordinate system, the direction vector of the Y axis of the second coordinate system and the direction vector of the Z axis of the second coordinate system, so that the accuracy of the obtained drilling position is higher.

In some embodiments, step S104 calculates all borehole locations for the vertical section, including:

step S401, calculating the coordinate of a drilling reference point of each vertical section according to the coordinate of a scanning point of each vertical section;

Step S402, calculating all drilling positions of each vertical section according to the drilling reference point coordinates of each vertical section and a preset drilling angle.

According to the embodiment, all drilling positions of each vertical section are obtained through calculation according to the second global point cloud map and the preset drilling angles, the vertical sections are extracted along the X axis, and the drilling positions are planned in the vertical sections, so that the point cloud processing quantity is reduced.

In some embodiments, step S401 calculates drill reference point coordinates for each vertical section from the coordinates of the scan points for each vertical section, including:

step S501, calculating an X-axis coordinate mean value according to the coordinates of the scanning points of each vertical section by adopting the following formula, and taking the X-axis coordinate mean value of each vertical section as the X-axis coordinate of the drilling reference point corresponding to the vertical section:

，

Step S502, scanning the scanning points in each vertical section The range formed by the maximum value and the minimum value of the coordinate values is uniformly divided into a plurality of intervals, and the range is divided into a plurality of intervals according to/>Calculating the number of scanning points in each interval by the coordinate values;

step S503, selecting two sections with the largest number of scanning points in the sections, and calculating all points in the two sections The average value of the coordinate values is used for obtaining Y-axis coordinates;

And step S504, obtaining drilling reference point coordinates of each vertical section according to the X-axis coordinates, the Y-axis coordinates and the Z-axis coordinates, wherein the Z-axis coordinates are the height value of the origin of the mechanical arm of the rock drilling machine from the ground.

According to the embodiment, the accurate positioning of the drilling reference points of the vertical sections is realized by calculating the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate and obtaining the drilling reference point coordinate of each vertical section according to the X-axis coordinate, the Y-axis coordinate and the Z-axis coordinate.

In some embodiments, step S106 calculates a real-time pose conversion matrix of the second global point cloud map to real-time laser radar point cloud data, comprising:

Step S601, constructing an initial pose conversion matrix according to a first rotation matrix and a preset initial translation matrix;

Step S602, a cuboid is constructed according to the second global point cloud map, wherein the cuboid surrounds all point cloud data in the second global point cloud map;

step S603, dividing the cuboid into m cube grid areas according to a preset cube side length, wherein m is a positive integer;

step S604, calculating a mean vector and a covariance matrix of each cube grid area according to the second global point cloud map by adopting the following formula:

，

Step S605, calculating an optimal coarse pose conversion matrix according to real-time laser radar point cloud data, an initial pose conversion matrix and a second global point cloud map by adopting the following formula, wherein the initial value of the coarse pose conversion matrix is the initial pose conversion matrix:

，

step S606, according to Screening feature points by using curvature information of the point cloud to obtain a feature point subset;

Step S607, searching a neighboring subset of the feature points in the second global point cloud map through a KD tree neighborhood searching algorithm;

step 608, performing matrix calculation according to the feature point subset and the adjacent subset of the feature points by using the following formula through a newton optimization algorithm, so as to obtain an optimal pose conversion matrix:

，

step S609, calculating a real-time pose conversion matrix according to the optimal coarse pose conversion matrix and the optimal pose conversion matrix by adopting the following formula:

；

Wherein, For real-time pose conversion matrix,/>Inverting the matrix.

According to the embodiment, the real-time laser point cloud is obtained, and is accurately matched into the global point cloud map through the coordinate conversion and matching technology of the global point cloud map, so that the real-time pose is determined, and the accuracy of the drilling position is improved.

In some embodiments, step S104 extracts a vertical section of the second global point cloud map, including:

step S701, extracting an initial vertical section from a second global point cloud map according to a preset distance value and a preset vertical section thickness;

And step S702, filtering all the extracted initial vertical sections to obtain a vertical section of the second global point cloud map.

According to the embodiment, the vertical section is extracted according to the second global point cloud map, the preset distance value and the preset vertical section thickness, so that section data can be obtained more accurately, a more accurate vertical section is obtained, and the method is beneficial to later drilling positioning.

In particular, for ease of understanding to those skilled in the art, the following set of preferred embodiments is provided:

step S801, a global map of the mine is built, specifically:

Acquiring laser radar point cloud data and inertial measurement unit sensor data, and establishing a first global point cloud map through a laser SLAM module And by/>As a first coordinate system.

Step S802, global map coordinate conversion, specifically:

Step S8021, for the first global point cloud map Searching num points nearest to the scanning points through a KD tree neighborhood searching algorithm, fitting the num+1 points into a plane by using a least square method, obtaining a normal vector of the plane by a principal component analysis method, normalizing, and marking the normal vector of the surface of the scanning points as/>The absolute value of the Z component of the normal vector of the surface is larger than the threshold/>Is identified as a planar point, wherein/>，/>And num is selected to be 30,/>, in this embodiment0.8; Taking the average value of all the plane point Z components as an average elevation; and carrying out elevation filtering and statistical filtering on the plane point cloud formed by the plane points, and respectively filtering out points higher than the average elevation and outliers to obtain the ground point cloud.

Step S8022, extracting the outline of the ground point cloud by using a ALPHA SHAPES algorithm, fitting the ground point cloud boundary according to the outline of the ground point cloud by using a least square method, selecting two boundary straight lines with the smallest included angle with the X-axis of the first coordinate system, and respectively calculating standard unit direction vectors of the two boundary straight lines, wherein the standard unit direction vectors refer to unit direction vectors with components larger than 0 on the X-axis; translating the starting points of the two standard unit direction vectors to the original point of the first coordinate system, and then calculating the average value of the two standard direction vectors to be used as the direction vector of the X axis of the second coordinate system; calculating the mean value of the normal vectors of the surface of the ground point cloud as the direction vector of the Z axis of a second coordinate system, wherein the Y axis direction of the second coordinate system meets the right-hand theorem, so that the direction vector of the Y axis is obtained, and the origin of the second coordinate system and the first global point cloud mapIs coincident with the origin of the coordinate system.

Step S8023, the first global point cloud map obtained in step S801Converting from the first coordinate system to the second coordinate system obtained in step S8022 to obtain a second global point cloud map/>The formula of the conversion process is:

Wherein, For rotating the matrix from the first coordinate system to the second coordinate system, the symbol is a matrix multiplication operation.

Specifically, the following method is provided for calculation：

The direction vector of the X-axis of the second coordinate system obtained by step S8022 is expressed as in the first coordinate systemI.e. the end point coordinates of the direction vector are/>In the second coordinate system, the end point coordinate of the direction vector is/>Thereby obtaining the direction vector/>A pair of coordinates with the end point of the pair in two coordinate systemsAnd/>；

The direction vector of the Y-axis of the second coordinate system obtained by step S8022 is expressed as in the first coordinate systemI.e. the end point coordinates of the direction vector are/>In the second coordinate system, the end point coordinate of the direction vector is/>Thereby obtaining the direction vector/>A pair of coordinates with the end point of the pair in two coordinate systemsAnd/>；

The direction vector of the Z axis of the second coordinate system obtained by step S8022 is expressed as in the first coordinate systemI.e. the end point coordinates of the direction vector are/>In the second coordinate system, the end point coordinate of the direction vector is/>Thereby obtaining the direction vector/>A pair of coordinates with the end point of the pair in two coordinate systemsAnd/>；

Coordinate matrix of the end points of the three obtained direction vectors under the first coordinate systemExpressed as:

Coordinate matrix of the end points of the three obtained direction vectors under the second coordinate system Expressed as:

then by solving for Obtain a rotation matrix/>Of (1), wherein/>Representing a matrix transpose operation.

Step 803, extracting a second global point cloud map vertical section:

Referring to fig. 2, a second global point cloud map obtained by step S8023 will be described Edge/>Every fixed distance/> in the axial directionExtracting a vertical section 110, each vertical section 110 having a thickness/>Each mine also includes a mine path boundary 120, wherein,，/>In meters, and in this example is selected/>5 M, select/>Each vertical section was filtered at 0.5 meters.

Step S804, drilling position planning:

Specifically, referring to fig. 3 and 6, the drilling angle of fig. 3 where the hole sequence 130 is 9 x is 68 degrees. Step S8041, calculating the reference point 140 coordinates of the i-th vertical section Wherein i is a positive integer, and/>The specific process is as follows:

Step S80411, calculating coordinates ：/>Wherein/>Represents the/>/>, In a vertical sectionX-axis coordinate value of individual points,/>Represents the/>The number of midpoints of each section; /(I)

Step S80412, calculating coordinates: Will/>/>, Point cloud in vertical sectionThe maximum and minimum values of the coordinate values are respectively recorded as/>And/>Will/>Aliquoting/>Intervals, wherein/>Is a positive integer, and/>In this embodiment, select/>10 According to/>Calculating the number of points in each interval by the coordinate value, selecting two intervals with the largest number of points, and carrying out/>, on all points in the two intervalsAverage value of coordinate values as/>；

Step S80413, calculating coordinates: Coordinates/>The height value of the origin of the mechanical arm of the rock drilling machine from the ground is obtained.

And S8042, determining the positions of all drilling holes in the ith vertical section according to the drilling reference point coordinates calculated in the step S8041 and combining given known drilling angles.

Step S805, calculating a real-time pose conversion matrix, and obtaining a global point cloud map in step S8023As a reference point cloud, the newly acquired real-time mine laser radar point cloud/>As a point cloud to be matched, calculating a real-time pose conversion matrix from the point cloud to be matched to a reference point cloud, wherein the real-time pose conversion matrix comprises the following specific steps:

step S8051, step S8023 As an initial rotation matrix/>Will/>As an initial translation matrix, an initial pose conversion matrix/>, is constructed：

Step S8052, calculating global point cloud maps respectivelyThe difference between the maximum value and the minimum value of the coordinates of the point cloud data in three directions of X, Y, Z is expressed as/>, respectivelyBuild a surround/>Cuboid of all point cloud data in (1), cuboid volume is/>Divide cuboid into/>The square grid area with the side length of 0.1 is adopted to express the point cloud characteristics of each grid area by adopting a Gaussian function model, and the/> iscalculatedMean vector of individual grid regions/>Sum covariance matrix/>The calculation formulas are respectively as follows:

Wherein, Is a positive integer and/>，/>For/>First/>, in a mesh regionCoordinates of individual points,/>For/>Number of points in each grid region,/>Operations are transposed for the matrix.

Step S8053, constructing a coarse pose conversion matrixAnd the real-time mine laser radar point cloud/>Conversion to Global Point cloud map/>Under the coordinate system, the calculation formula is as follows:

Wherein, Is real-time mine laser radar point cloud/>Obtaining point cloud after pose conversion;

For the following Is calculated at/>, using a gaussian function modelProbability values of all grid areas in the grid area are accumulated to obtain/>To/>As/>And/>Is calculated by the following formula: /(I)

Wherein,For/>The number of midpoints,/>For/>Middle/>Coordinates of individual points,/>As the inverse of the covariance matrix of the grid region where the point is located,/>A mean vector for the grid region;

Step S8054, solving the optimal coarse pose conversion matrix : At/>, in step S8053To optimize the target, the initial pose transformation matrix/>, obtained in step S8051As/>Solving an optimal coarse pose conversion matrix/>, using a newton optimization algorithm：

；

Wherein,Representing the corresponding pose conversion matrix when the function takes the maximum value.

Step S8055, according to the formula in step S8053Calculating to obtain the real-time mine laser radar point cloud/>, after pose conversionAccording to/>The curvature information of the point cloud screens feature points to form a subset/>At global point cloud map/>Find and subset/>, using KD-tree neighborhood search algorithmNearest corresponding subset/>。

Step S8056, solving the subset by applying Newton optimization algorithmAnd subset/>Inter-optimal pose conversion matrix/>：

Wherein,And/>Respectively a rotation matrix and a translation matrix in the optimal pose conversion matrix,/>Is the square of Euclidean norms,/>Corresponding/>, when taking minimum value for functionAnd/>And (5) constructing an optimal pose conversion matrix by the values.

Step S8057, calculating a real-time pose conversion matrixThe formula is:

。

Step S806, real-time coordinate conversion:

Real-time pose conversion matrix obtained according to step S805 And (3) converting the planned drilling position obtained in the step S804 into a real-time laser point cloud coordinate system to obtain a final drilling position.

Specifically, referring to fig. 4 and 5, experiments of the vertical section drilling positioning method were performed by using the method in the examples. The data acquisition is carried out from an underground mine, the rock drilling machine runs in the mine, mine data are acquired by carrying Ouster lines of radar of 32 degrees, a first global point cloud map is established, the first global point cloud map is converted into a second coordinate system, the length of the converted map in the X-axis direction is 63 meters, vertical sections with the thickness of 0.5 meter are extracted every 5 meters along the X-axis, and 12 vertical sections are obtained.

Table 1 shows the drilling reference point coordinates of each vertical section, and Table 2 shows the drilling reference point coordinates and drilling angles of the third vertical section in FIG. 5.

TABLE 1

TABLE 2

In particular, in some embodiments, the first and second processing elements,30,/>0.8; /(I)Is 2,/>0.4; /(I)10.

In particular, the application is also applicable to other rock drilling apparatuses.

According to the application, the laser radar scans the mine outline to obtain the point cloud data of the mine outline, a three-dimensional global map of the mine is established, the vertical section is extracted along the X axis, and the drilling position is planned in the vertical section, so that the number of point cloud processing is reduced, and compared with a manual measurement mode, the method has the advantages of non-contact, autonomous and rapid measurement;

The application adopts the coordinate conversion and matching technology of the global point cloud map, so that the newly acquired real-time laser point cloud can be accurately matched into the global point cloud map, thereby realizing the determination of the real-time pose, being beneficial to improving the accuracy of the drilling position, and being particularly in complex and changeable mine environments.

In addition, referring to fig. 7, an embodiment of the present invention provides a mine vertical section drilling positioning system, which includes a data acquisition module 1100, a first global point cloud map calculation module 1200, a second global point cloud map calculation module 1300, a vertical section and drilling position calculation module 1400, a real-time data acquisition module 1500, a matrix calculation module 1600, and a coordinate conversion module 1700, wherein:

the data acquisition module 1100 is used for acquiring historical laser radar point cloud data of a mine and sensor data of an inertial measurement unit;

The first global point cloud map calculation module 1200 is configured to construct a first global point cloud map of a first coordinate system according to historical lidar point cloud data and inertial measurement unit sensor data;

The second global point cloud map calculation module 1300 is configured to convert the first global point cloud map of the first coordinate system into the second coordinate system guided by the midline through a KD-tree neighborhood search algorithm, to obtain a second global point cloud map;

The vertical section and drilling position calculation module 1400 is configured to extract a vertical section of the second global point cloud map and calculate all drilling positions of the vertical section;

The real-time data acquisition module 1500 is configured to acquire real-time laser radar point cloud data of a mine and a third coordinate system in which the real-time laser radar point cloud data is located;

The matrix calculation module 1600 is configured to calculate a real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data;

The coordinate conversion module 1700 is configured to convert all drilling positions of the vertical section into a third coordinate system according to the real-time pose conversion matrix, so as to obtain a final drilling position of the third coordinate system.

It should be noted that, the system embodiment and the above-mentioned system embodiment are based on the same inventive concept, so that the relevant content of the above-mentioned method embodiment is also applicable to the system embodiment, and is not repeated here.

The application also provides electronic equipment for positioning the drilling of the vertical section of the mine, which comprises: memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing when executing the computer program: the method for positioning the vertical section drilling of the mine is described above.

The processor and the memory may be connected by a bus or other means.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The non-transitory software programs and instructions required to implement the mine vertical section borehole positioning method of the above-described embodiments are stored in the memory, which when executed by the processor, perform the mine vertical section borehole positioning method of the above-described embodiments, for example, perform the method steps S101 to S108 of fig. 1 described above.

The present application also provides a computer-readable storage medium storing computer-executable instructions for performing: the method for positioning the vertical section drilling of the mine is described above.

The computer-readable storage medium stores computer-executable instructions that are executed by a processor or controller, for example, by a processor in the above-described electronic device embodiment, which may cause the processor to perform the mine vertical section drilling positioning method in the above-described embodiment, for example, to perform the method steps S101 to S108 in fig. 1 described above.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program elements or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program elements or other data in a modulated data signal such as a carrier wave or other transport mechanism and may include any information delivery media.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.

Claims

1. The method for positioning the vertical section drilling of the mine is characterized by comprising the following steps of:

Calculating a real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data, wherein the real-time pose conversion matrix specifically comprises the following steps of:

Dividing the cuboid into m cube grid areas, wherein m is a positive integer;

；

Wherein, For/>Mean vector of the square grid regions,/>For/>Covariance matrix of each cube grid region,/>Is a positive integer and/>，/>For/>First/>, in the square grid regionCoordinates of the scanning points,/>Is the firstNumber of scan points in the square grid region,/>Transpose the matrix;

；

Wherein, For real-time pose conversion matrix,/>Inverting the matrix;

2. The method for positioning a vertical section of a mine according to claim 1, wherein the converting the first global point cloud map of the first coordinate system into the second coordinate system guided by the midline through the KD-tree neighborhood search algorithm to obtain the second global point cloud map comprises:

calculating the normal vector of the fitted plane;

Extracting the outline of the ground point cloud;

3. The method for positioning a vertical section of a mine according to claim 2, wherein the performing matrix calculation according to the direction vector of the second coordinate system to obtain a first rotation matrix from the first coordinate system to the second coordinate system comprises:

；

4. A method of locating boreholes in a vertical section of a mine as defined by claim 1 wherein said calculating all borehole locations of the vertical section comprises:

5. The method of claim 4, wherein calculating the drilling reference point coordinates of each vertical section based on the coordinates of the scanning point of each vertical section comprises:

；

Wherein, The X-axis coordinate of the drilling reference point of the ith vertical section, n is the number of scanning points of the ith vertical section,Represents the/>/>, In a vertical sectionX-axis coordinate values of the scanning points;

6. The method for locating a vertical section of a mine according to claim 1, wherein the extracting the vertical section of the second global point cloud map comprises:

7. A mine vertical section borehole positioning system, the mine vertical section borehole positioning system comprising:

the matrix calculation module is used for calculating a real-time pose conversion matrix from the second global point cloud map to the real-time laser radar point cloud data, and specifically comprises the following steps:

Dividing the cuboid into m cube grid areas, wherein m is a positive integer;

；

Wherein, For real-time pose conversion matrix,/>Inverting the matrix;

8. A mine vertical section drilling positioning apparatus comprising at least one control processor and a memory for communication connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform a method of mine vertical section drilling positioning as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized by: the computer-readable storage medium stores computer-executable instructions for causing a computer to perform a mine vertical section drilling positioning method as set forth in any one of claims 1 to 6.