CN209927123U - Heading machine position and attitude measuring system based on space vector constraint - Google Patents
Heading machine position and attitude measuring system based on space vector constraint Download PDFInfo
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- CN209927123U CN209927123U CN201920615762.0U CN201920615762U CN209927123U CN 209927123 U CN209927123 U CN 209927123U CN 201920615762 U CN201920615762 U CN 201920615762U CN 209927123 U CN209927123 U CN 209927123U
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Abstract
The utility model discloses a heading machine position and posture measuring system based on space vector constraint, which comprises a laser pointing component, wherein a deviation measuring mechanism and an operation platform are arranged on the heading machine, and the operation platform comprises a position and posture measuring module, a communication exchange mechanism and a display component; the deviation measuring mechanism consists of two fixed-focus cameras and a strapdown inertial navigation part; the fixed-focus camera detects a light source signal emitted by the laser direction indicator in real time; the strapdown inertial navigation component detects an attitude angle signal of the heading machine in real time; the communication exchange mechanism converts a light source signal output by the fixed-focus camera and an attitude signal of the heading machine into a heading machine attitude data signal; the pose measurement module constructs a space vector constraint equation for the heading machine pose data signal to obtain six-degree-of-freedom data of the heading machine pose, and the six-degree-of-freedom data are output by the display component.
Description
Technical Field
The utility model is suitable for a digging equipment application, in particular to colliery entry driving machine position appearance measurement system based on space vector restraint.
Background
At present, the proportion of coal in the energy structure of China is gradually reduced, but in 2015, the national coal yield accounts for 47% of the world coal yield, the total consumption amount also accounts for more than 50% of the world total amount, and the current situation that coal is taken as the main energy of China is not changed. Therefore, the health development of the coal industry directly influences the economic benefits and national energy safety of the nation and people, and has important strategic significance on the development of China.
With the continuous improvement of coal mining capacity in China, the conventional roadway tunneling technology cannot meet the requirements, and higher requirements are provided for the working efficiency of the underground tunneling machine. In the process of tunneling operation of a roadway, the measurement of the pose of the tunneling machine is extremely important, is one of important links for realizing unmanned tunneling, and directly determines the safety and the production efficiency of a coal mine. At present, most of the methods adopt a laser direction indicator to indicate a roadway design center line, and manually and visually measure light spots made by the laser direction indicator to control the working direction of the heading machine.
The method for measuring the position and the attitude of the heading machine is provided by combining a vision technology, which is recorded in documents in the prior art, but only five-degree-of-freedom position and attitude information of the heading machine can be measured, and the method is easily influenced by environment such as field dust, vibration and the like.
SUMMERY OF THE UTILITY MODEL
To the problem that exists, the utility model provides a entry driving machine position appearance measuring device based on space vector restraint, the device realize the computerized processing to entry driving machine position appearance detection, guarantee mining construction safety and high efficiency.
In order to achieve the above object, the present invention provides a technical solution:
a heading machine pose measuring device based on space vector constraint comprises a laser pointing component, wherein a deviation measuring mechanism and an operation platform are arranged on a heading machine, and the operation platform comprises a pose measuring module, a communication exchange mechanism and a display component; wherein:
the deviation measuring mechanism consists of two fixed-focus cameras and a strapdown inertial navigation part; the fixed-focus camera detects a light source signal emitted by the laser direction indicator in real time; the strapdown inertial navigation component detects an attitude angle signal of the heading machine in real time;
the communication exchange mechanism converts a light source signal output by the fixed-focus camera and an attitude signal of the heading machine into a heading machine attitude data signal;
the pose measurement module constructs a space vector constraint equation for the heading machine pose data signal to obtain six-degree-of-freedom data of the heading machine pose, and the six-degree-of-freedom data are output by the display component.
The two fixed-focus cameras are reversely and coaxially arranged in the deviation measuring unit, and the strapdown inertial navigation mechanism is arranged at the coaxial center of the two fixed-focus cameras.
The construction process of the attitude space vector of the heading machine comprises the following steps:
1. the position of the laser pointing component is used as the origin of an engineering coordinate system, and the direction of the laser pointing component is consistent with the advancing plan line of the heading machine;
2. processing according to light spot signals in the light source of the laser pointing component collected by the two CCD fixed-focus cameras to obtain light vectors;
3. processing three attitude angle signals of the heading machine according to the strapdown inertial navigation mechanism to obtain a direction vector of the deviation measuring mechanism;
4. and 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 heading machine.
Advantageous effects
1. The utility model discloses a survey deviation mechanism and carry out real-time detection output to light, the position appearance of entry driving machine to the processing through the position appearance module obtains entry driving machine six degrees of freedom data, and then can be accurate, clear learn entry driving machine construction state, guarantee mining construction's safety and high efficiency.
2. The utility model discloses a hardware and software combine, have realized the computer processing of entry driving machine construction state, satisfy the fast production requirement.
Drawings
Fig. 1 is a schematic diagram of the system structure of the present invention.
Fig. 2 is a schematic view of the working state of the present invention.
Fig. 3 is a schematic view of the composition of the deviation measuring unit of the present invention.
Fig. 4 is a schematic view of the pose measurement principle of the present invention.
Fig. 5 is a schematic diagram of the coordinate transformation between the machine body coordinate system and the engineering coordinate system of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
The utility model provides a tunneller position and posture measuring device based on space vector constraint, the 401 position and posture measuring system of the coal mine tunneller comprises a laser pointing component 101, a deviation measuring mechanism 201, an operation platform 301, two CCD fixed focus cameras (202,203), a strapdown inertial navigation component 204 and a communication exchange mechanism 303, wherein the laser pointing component 101 is a communication distribution box; the laser direction indicator 101 is installed at the starting point of the heading machine 401, and emitted laser is ensured to irradiate the tunnel face 501 and is consistent with the direction of a planned line of the heading machine 401 during installation; the deviation measuring unit 201 is fixed on the horizontal plane of the development machine body; the deviation measuring mechanism 201 comprises a strapdown inertial navigation unit 204 arranged on a deviation measuring unit bottom plate 205 and two CCD fixed-focus cameras (202,203) which are coaxially arranged in the opposite directions, the CCD fixed-focus camera 202 and the heading machine 401 advance in the same direction, and the CCD fixed-focus camera 203 and the heading machine 401 retreat in the same direction, so that no shielding object exists in front of a camera lens; the power supply wires of the deviation measuring mechanism 201 and the operation platform 301 and the communication wires between the deviation measuring mechanism and the operation platform are connected with the communication exchange mechanism 303; during work, the strapdown inertial navigation part 204 in the deviation measuring mechanism 201 can measure three attitude angles (a pitch angle, a roll angle and an attitude angle) of the central point of the heading machine, two CCD focus cameras (202 and 203) in the deviation measuring mechanism 201 respectively collect light source light spots of the laser direction indicator 101 and light spots irradiated on a tunnel face, and then three-dimensional coordinates of the central point of the heading machine under an engineering coordinate system are obtained through space vector constraint and coordinate system conversion constructed by the pose measuring module 302, so that the real-time measurement of six degrees of freedom of the heading machine is realized. That is to say, the utility model discloses a calculation obtains deviational survey unit direction vector and coordinate system transformation matrix, then constructs space vector constraint equation and carries out the position appearance and solve, obtains the coordinate information (dx, dy, dz) and the gesture information of entry driving machine fuselage central point, and then realizes carrying out real-time six degrees of freedom position appearances to the entry driving machine and measure.
Fig. 3 is a schematic diagram of the composition of the polarization measurement unit 201, which includes a strapdown inertial navigation unit 204, two CCD fixed-focus cameras (202,203), and a bottom plate 205 of the polarization measurement unit. As can be seen, the strapdown inertial navigation unit 204 is installed between two opposite coaxial CCD fixed-focus cameras (202,203), and the three are rigidly connected.
Fig. 4 is the schematic diagram of pose measurement of the present invention, which includes the deviation measuring unit 201 and the directional laser emitted by the laser direction indicator 101. The figure relates to four coordinate systems: navigation coordinate system C-XnYnZnVector coordinate system M-X of deviation measuring unitbYbZbAnd two CCD fixed-focus cameras (202,203) coordinate systems A-Xc1Yc1Zc1And B-Xc2Yc2Zc2And Z of the camera coordinate system of cameras A and Bc1、Zc2Axis and inertial navigation carrier coordinate system YnThe axes coincide, i.e. the three coordinate system origins a, M, B are collinear. Two coordinate system transformation matrices are involved: conversion matrix from camera coordinate system c to deflection unit carrier coordinate system b
The relative relation can be obtained by calculating the relative relation after the initial tooling of the deviation measuring unit; b is the transformation matrix to the navigation coordinate system n
The transformation matrix may be derived from the attitude angle output by the strapdown inertial navigation mechanism 501. When the heading machine works, the two CCD fixed-focus cameras (202,203) can acquire the laser direction indicator 101 light spot and the tunnel face 501 light spot. The following space vector equation is constructed:
in the formula (1)
Represents a unit vector in the navigation coordinate system,
representing the modulus value of the corresponding vector, wherein
The physical properties of the deviation measurement unit can be obtained by an initial tool calibration and a strapdown inertial navigation system 5.
The direction vector representing the laser emitted by the laser direction finder is consistent with the marking line of the heading machine and is known. According to the camera imaging correlation principle, light vectors from two light spots to the origin of the camera coordinate systems of two CCD fixed-focus cameras (202,203) are obtained through algorithm processing
Obtaining n series lower direction vector through coordinate system conversion
△ ACM in FIG. 4, there are
Point C is the origin of the engineering coordinate system, so the space vector
The value of the point M is the space coordinate of the point M, namely the three-dimensional coordinate of the deviation measurement unit in a navigation coordinate system n, the three-dimensional coordinate is converted into the three-dimensional coordinate in an engineering coordinate system according to initial calibration, and the six-degree-of-freedom measurement of the position and posture of the heading machine is finally realized by combining the posture information output by the strapdown inertial navigation mechanism 204.
It is only above that the utility model discloses a concrete implementation mode, the technical type talent in the field of belong to can all make corresponding more this and transform. Modifications and changes based on the present invention shall fall into the protection scope of the claims of the present invention.
Claims (2)
1. The utility model provides a entry driving machine position appearance measurement system based on space vector restraint, includes laser pointing part, its characterized in that: the heading machine is provided with a deviation measuring mechanism and an operation table, and the operation table comprises a pose measuring module, a communication exchange mechanism and a display component; wherein:
the deviation measuring mechanism consists of two fixed-focus cameras and a strapdown inertial navigation part; the fixed-focus camera detects a light source signal emitted by the laser direction indicator in real time; the strapdown inertial navigation component detects an attitude angle signal of the heading machine in real time;
the communication exchange mechanism converts a light source signal output by the fixed-focus camera and an attitude signal of the heading machine into a heading machine attitude data signal;
the pose measurement module constructs a space vector constraint equation for the heading machine pose data signal to obtain six-degree-of-freedom data of the heading machine pose, and the six-degree-of-freedom data are output by the display component.
2. The heading machine attitude and heading machine measurement system based on space vector constraint according to claim 1, characterized in that: the two fixed-focus cameras are reversely and coaxially arranged in the deviation measuring unit, and the strapdown inertial navigation mechanism is arranged at the coaxial center of the two fixed-focus cameras.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111535810A (en) * | 2020-05-06 | 2020-08-14 | 三一重型装备有限公司 | Attitude detection device and heading machine |
| CN111879314A (en) * | 2020-08-10 | 2020-11-03 | 中国铁建重工集团股份有限公司 | Multi-sensor fusion roadway driving equipment real-time positioning system and method |
| CN114151008A (en) * | 2021-12-06 | 2022-03-08 | 北京中海兴达建设有限公司 | Drilling equipment for construction site soil layer |
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2019
- 2019-04-30 CN CN201920615762.0U patent/CN209927123U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111535810A (en) * | 2020-05-06 | 2020-08-14 | 三一重型装备有限公司 | Attitude detection device and heading machine |
| CN111535810B (en) * | 2020-05-06 | 2021-10-22 | 三一重型装备有限公司 | Attitude detection device and heading machine |
| CN111879314A (en) * | 2020-08-10 | 2020-11-03 | 中国铁建重工集团股份有限公司 | Multi-sensor fusion roadway driving equipment real-time positioning system and method |
| CN114151008A (en) * | 2021-12-06 | 2022-03-08 | 北京中海兴达建设有限公司 | Drilling equipment for construction site soil layer |
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