CN209927123U - Heading machine position and attitude measuring system based on space vector constraint - Google Patents

Abstract

The utility model discloses a position and attitude measurement system of a roadheader based on space vector constraints, which comprises a laser pointing component, a deviation measuring mechanism and an operation table are arranged on the roadheader, and the operation table comprises a position and attitude measurement module, a communication exchange Mechanism and display component; the deviation measuring mechanism is composed of two fixed-focus cameras and a strapdown inertial navigation component; the fixed-focus camera detects the light source signal sent by the laser pointer in real time; the strapdown inertial navigation component detects the roadheader in real time The communication switching mechanism converts the light source signal output by the fixed-focus camera and the attitude signal of the roadheader into the roadheader attitude data signal; the position and attitude measurement module constructs a space vector constraint equation for the roadheader attitude data signal The six-degree-of-freedom data obtained from the position and attitude of the roadheader is output by the display component, and the device realizes the computerized processing of the position and attitude detection of the roadheader to ensure the safety and efficiency of mining construction.

Description

A Roadheader Position and Attitude Measurement System Based on Space Vector Constraint

technical field

The utility model is suitable for the application field of mining equipment, in particular to a position and attitude measurement system of a coal mine roadheader based on space vector constraints.

Background technique

At present, the proportion of coal in my country's energy structure is gradually decreasing, but in 2015, the national coal production accounted for 47% of the world's coal production, and the total consumption still accounted for more than 50% of the world's total. Coal is the main energy source in my country. The status quo has not changed. Therefore, the healthy development of the coal industry directly affects the economic interests and national energy security of the country and the people, and has important strategic significance for the development of our country.

With the continuous improvement of my country's coal mining capacity, the conventional roadway excavation technology has been unable to meet the demand, which puts forward higher requirements for the working efficiency of the underground roadheader. In the process of roadway excavation, it is extremely important to measure the position and posture of the roadheader, which is one of the important links in the realization of unmanned excavation, which directly determines the safety and production efficiency of coal mines. At present, most of the laser pointers are used to indicate the center line of roadway design, and the light spot produced by the laser pointer is used to control the working direction of the roadheader. Influenced by factors, it is easy to cause problems such as over-digging or under-digging.

In the prior art, a method for measuring the position and attitude of a roadheader is proposed by combining vision technology, but it can only measure the position and attitude information of the roadheader with five degrees of freedom, and is easily affected by the environment such as on-site dust and vibration.

Utility model content

In view of the above existing problems, the present utility model proposes a roadheader position and attitude measurement device based on space vector constraints, which realizes the computerized processing of the roadheader position and attitude detection and ensures the safety and efficiency of mining construction.

In order to achieve the above-mentioned purpose, the technical scheme that the utility model provides is:

A position and attitude measurement device for a roadheader based on space vector constraints, comprising a laser pointing component, a deflection measuring mechanism and an operation table are arranged on the roadheader, and the operation table includes a position and attitude measurement module, a communication exchange mechanism and a display component; in:

The deviation measuring mechanism is composed of two fixed-focus cameras and a strapdown inertial navigation component; the fixed-focus camera detects the light source signal sent by the laser pointer in real time; the strapdown inertial navigation component detects the attitude angle signal of the roadheader in real time;

The communication exchange mechanism converts the light source signal output by the fixed-focus camera and the attitude signal of the roadheader into the roadheader attitude data signal;

The position and attitude measurement module constructs a space vector constraint equation for the roadheader's attitude data signal to obtain the six-degree-of-freedom data of the roadheader's position and attitude, which is output by the display component.

The two fixed-focus cameras are arranged coaxially in the polarization measuring unit in opposite directions, and the strapdown inertial navigation mechanism is arranged at the coaxial centers of the two fixed-focus cameras.

The construction process of the attitude space vector of the roadheader:

1. The position of the laser pointing component is used as the origin of the engineering coordinate system, and its direction is consistent with the travel plan line of the roadheader;

2. The light vector is obtained by processing the spot signal in the light source of the laser pointing component collected by the two CCD fixed-focus cameras;

3. According to the signal processing of the three attitude angles of the roadheader measured by the strapdown inertial navigation mechanism, the direction vector of the deviation measuring mechanism is obtained;

4. The pose measurement module constructs a space vector constraint equation according to the light vector and direction vector data signals to realize the six-degree-of-freedom pose measurement and output of the roadheader.

beneficial effect

1. The present utility model performs real-time detection and output on the light direction and posture of the roadheader through the deviation measuring mechanism, and obtains the data of six degrees of freedom of the roadheader through the processing of the position and attitude module, and then can accurately and clearly learn the construction state of the roadheader, ensuring that Safe and efficient mining construction.

2. The utility model realizes the computer processing of the construction state of the roadheader through the combination of hardware and software, and meets the requirements of rapid production.

Description of drawings

FIG. 1 is a schematic diagram of the system structure of the present invention.

Figure 2 is a schematic diagram of the working state of the present invention.

Figure 3 is a schematic diagram of the composition of the polarization measuring unit of the present invention.

FIG. 4 is a schematic diagram of the principle of pose measurement of the present invention.

5 is a schematic diagram of coordinate conversion between the fuselage coordinate system and the engineering coordinate system of the present invention.

Detailed ways

The preferred embodiments of the present utility model will be further described in detail below with reference to the accompanying drawings.

The utility model provides a device for measuring the position and attitude of a roadheader based on space vector constraints. The 401 position and attitude measurement system for a coal mine roadheader includes a laser pointing component 101, a polarization measuring mechanism 201, an operating table 301, and two CCD fixed-focus cameras. (202, 203), the strapdown inertial navigation component 204, the communication switching mechanism 303 is a communication distribution box; the laser pointer 101 is installed at the starting point of the roadheader 401, and the laser beam is installed to ensure that the emitted laser irradiates the face 501 and is connected with the roadheader. The direction of the planned line of 401 work is the same; the deviation measuring unit 201 is fixed on the horizontal plane of the roadheader body; CCD fixed-focus cameras (202, 203), the CCD fixed-focus camera 202 is consistent with the forward direction of the roadheader 401, and the CCD fixed-focus camera 203 is consistent with the backward direction of the roadheader 401 to ensure that there is no obstruction in front of the camera lens; the polarization measuring mechanism 201 The power supply line with the operating console 301 and the communication line between them are connected to the communication switching mechanism 303; during operation, the strapdown inertial navigation component 204 in the deflection measuring mechanism 201 can measure the three attitude angles (pitch angle) of the center point of the roadheader. , roll angle, attitude angle), the two CCD fixed-focus cameras (202, 203) in the polarization measuring mechanism 201 respectively collect the light source light spot of the laser pointer 101 and the light spot irradiated on the palm surface, and then pass the pose measurement module 302. The constructed space vector constraints and coordinate system transformation can obtain the three-dimensional coordinates of the center point of the roadheader in the engineering coordinate system, and then realize the real-time measurement of the roadheader's six degrees of freedom. That is to say, the utility model obtains the direction vector of the deviation measuring unit and the coordinate system conversion matrix through calculation, and then constructs a space vector constraint equation to solve the pose and attitude, and obtains the coordinate information (dx, dy, dz) of the center point of the roadheader fuselage. And attitude information, and then realize the real-time six-degree-of-freedom pose measurement of the roadheader.

FIG. 3 is a schematic diagram of the composition of the polarization measuring unit 201 , including a strapdown inertial navigation component 204 , two CCD fixed-focus cameras ( 202 , 203 ) and a base plate 205 of the polarization measuring unit. It can be seen from the figure that the strapdown inertial navigation component 204 is installed between two oppositely coaxial CCD fixed-focus cameras (202, 203), and the three are rigidly connected.

可由测偏单元初始工装后的相对关系计算得到；b系到导航坐标系n系的转换矩阵

可由捷联惯性导航机构501输出的姿态角求得转换矩阵。掘进机工作时确保两个CCD定焦相机(202,203)可以采集到激光指向仪101光斑和掌子面501光斑。构建如下空间矢量方程：FIG. 4 is a schematic diagram of the pose measurement of the present invention, including the polarization measuring unit 201 and the pointing laser emitted by the laser pointing instrument 101 . Four coordinate systems are involved in the figure: the navigation coordinate system C–X _n Y _n Z _n , the polarizing unit carrier coordinate system M–X _b Y _b Z _b and the two CCD fixed focus cameras (202, 203) coordinate system A–X _c1 Y _c1 Z _c1 and B–X _c2 Y _c2 Z _c2 , and the Z _c1 and Z _c2 axes of the camera coordinate system where the cameras A and B are located coincide with the Y _n axis of the inertial navigation carrier coordinate system, that is, the origins of the three coordinate systems A, M , B is collinear. Involves two coordinate system conversion matrices: the conversion matrix from the camera coordinate system c system to the polarimetric unit carrier coordinate system b system

It can be calculated from the relative relationship after the initial tooling of the deviation measuring unit; the transformation matrix from the b system to the navigation coordinate system n system

The transformation matrix can be obtained from the attitude angle output by the strapdown inertial navigation mechanism 501 . When the roadheader is working, it is ensured that the two CCD fixed-focus cameras (202, 203) can collect the light spot of the laser pointer 101 and the light spot of the face 501. Construct the following space vector equation:

表示导航坐标系下的单位矢量，

表示相应矢量的模值，其中

表示测偏单元的物理属性，可由初始工装标定和捷联惯性导航系统5得到。

表示激光指向仪发射激光的方向矢量，与掘进机计划线一致，故已知。根据相机成像相关原理，通过算法处理得到两处光斑到两个CCD定焦相机(202,203)的相机坐标系原点的光矢量

通过坐标系转换得到n系下方向矢量

In formula (1)

represents the unit vector in the navigation coordinate system,

represents the modulo value of the corresponding vector, where

Represents the physical properties of the deviation measuring unit, which can be obtained from the initial tool calibration and the strapdown inertial navigation system 5 .

It represents the direction vector of the laser beam emitted by the laser pointer, which is consistent with the planning line of the roadheader, so it is known. According to the principle of camera imaging, the light vector from the two light spots to the origin of the camera coordinate system of the two CCD fixed-focus cameras (202, 203) is obtained through algorithm processing.

The direction vector under the n system is obtained by the transformation of the coordinate system

C点是工程坐标系系的原点，所以空间矢量

的值就是M点的空间坐标，即测偏单元在导航坐标系n系下的三维坐标，再根据初始标定转换到工程坐标系下的三维坐标，结合捷联惯性导航机204构输出的姿态信息，最终实现对掘进机位姿的六自由度测量。In ΔACM in Figure 4, there is

Point C is the origin of the engineering coordinate system, so the space vector

The value of is the spatial coordinates of point M, that is, the three-dimensional coordinates of the deviation measurement unit in the navigation coordinate system n system, and then converted to the three-dimensional coordinates in the engineering coordinate system according to the initial calibration, combined with the attitude information output by the strapdown inertial navigation machine 204 , and finally realize the six-degree-of-freedom measurement of the position and attitude of the roadheader.

The above descriptions are only specific embodiments of the present invention, and those skilled in the art to which the present invention pertains can make corresponding modifications and changes. Any modifications and changes made on the basis of the present utility model shall fall within the protection scope of the claims of the present utility model.

Claims (2)

1. a roadheader position and attitude measurement system based on space vector constraint, comprising laser pointing components, it is characterized in that: described roadheader is provided with deflection measuring mechanism and operating table, and described operating table comprises position and attitude measurement module, communication Switching mechanisms and display parts; where: The deviation measuring mechanism is composed of two fixed-focus cameras and a strapdown inertial navigation component; the fixed-focus camera detects the light source signal sent by the laser pointer in real time; the strapdown inertial navigation component detects the attitude angle signal of the roadheader in real time; The communication exchange mechanism converts the light source signal output by the fixed-focus camera and the attitude signal of the roadheader into the roadheader attitude data signal; The position and attitude measurement module constructs a space vector constraint equation for the roadheader's attitude data signal to obtain the six-degree-of-freedom data of the roadheader's position and attitude, which is output by the display component. 2 . A roadheader position and attitude measurement system based on space vector constraints according to claim 1 , wherein the two fixed-focus cameras are coaxially arranged in the polarization measuring unit in opposite directions, and the two The strapdown inertial navigation mechanism is set at the coaxial center of the fixed-focus camera.

Images