WO2020125737A1 - Construction machinery positioning method and system - Google Patents

Construction machinery positioning method and system Download PDF

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Publication number
WO2020125737A1
WO2020125737A1 PCT/CN2019/126825 CN2019126825W WO2020125737A1 WO 2020125737 A1 WO2020125737 A1 WO 2020125737A1 CN 2019126825 W CN2019126825 W CN 2019126825W WO 2020125737 A1 WO2020125737 A1 WO 2020125737A1
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WO
WIPO (PCT)
Prior art keywords
boom
coordinate system
laser
construction machinery
attitude matrix
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PCT/CN2019/126825
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French (fr)
Chinese (zh)
Inventor
刘飞香
郑大桥
秦念稳
袁超
邓泽
张子明
田旭
魏纯春
王华明
Original Assignee
中国铁建重工集团股份有限公司
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Publication of WO2020125737A1 publication Critical patent/WO2020125737A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target

Definitions

  • the invention relates to the technical field of engineering positioning, in particular, to a method and system for engineering machinery positioning.
  • the positioning of construction machinery is mainly achieved through the total station positioning system.
  • the positioning system based on the total station has the characteristics of high automation and good accuracy.
  • the structure of this measurement and positioning system is relatively complicated, the cost is high, and it does not have good explosion-proof characteristics, so it is also subject to certain restrictions in practical applications.
  • the present invention provides a method for positioning a construction machine.
  • the method includes:
  • Step 1 By adjusting the mechanical arm of the construction machinery, the extension direction of the designated boom of the construction machinery is parallel to the direction of the laser guide;
  • Step 2 Obtain the relative position relationship data of each mechanical arm between the designated arm frame and the construction machinery body and the guide laser posture data of the guide laser, and determine the position based on the relative position relationship data and the guide laser posture data The posture data of the construction machinery body is described.
  • the mechanical arm of the construction machine is adjusted so that the guide laser passes through the holes of the first target and the second target at the same time.
  • the angle data of each joint of the construction machine is obtained to obtain the relative position relationship data.
  • the angle data of each joint is acquired by using angle sensors installed at the positions of each joint.
  • the posture data of the construction machine body includes the attitude angle of the construction machine body in the tunnel space coordinate system.
  • the posture matrix of each boom in the coordinate system corresponding to the following boom and the coordinates corresponding to the first boom with the closest connection relationship with the construction machinery body are generated respectively
  • the posture data of the construction machine body is determined according to each posture matrix.
  • the n-th boom when the coordinate system corresponding to the n-th boom is rotated about the X axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is at the n
  • the attitude matrix of the coordinate system corresponding to the +1 arm is:
  • the posture data of the construction machine body includes the ZYX Euler angle of the construction machine body in the tunnel space coordinate system, and the guided laser light in the tunnel space coordinate system is determined according to the following expression Attitude matrix:
  • the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom is determined according to the following expression:
  • the posture data of the construction machinery body is determined according to the following expression:
  • ⁇ ′, ⁇ ′ and ⁇ ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system
  • m represents the total number of booms
  • the invention also provides an engineering machinery positioning system, which includes:
  • a laser emitting device which is used to emit a guiding laser in a specified direction and generate corresponding guiding laser posture data according to the direction of the guiding laser;
  • a first target and a second target with the same structure, and holes are formed in the centers of the first target and the second target.
  • the first target and the second target are arranged at the On the designated boom of the construction machine, and the line of the holes of the two targets is parallel to the extending direction of the designated boom;
  • a positioning device which is connected to an angle sensor installed on each joint of the construction machine and the laser emitting device, is used to determine a project based on the angle data of each joint transmitted from the angle sensor and the guide laser posture data Posture data of the mechanical body.
  • the guide laser passes through the holes of the first target and the second target at the same time.
  • the construction machine positioning system includes more than three targets.
  • each target is set on a designated arm of the construction machine, and the holes of each target are collinear. And the connection line of the target hole is parallel to the extending direction of the designated boom.
  • the laser emitting device includes:
  • Laser emitter which is used to generate and emit laser light
  • a guiding laser posture data generating device connected to the laser emitter, is used to generate the guiding laser posture data according to the direction of the guiding laser.
  • the posture data of the construction machine body includes the posture angle of the construction machine body in spatial coordinates.
  • the positioning device includes:
  • An attitude matrix generation module which is connected to the angle sensor and the laser emitting device, is used to determine the attitude matrix of the guided laser in the tunnel space coordinate system according to the guided laser attitude data, so as to obtain the installation of the first target
  • the posture matrix of the boom of the second target in the tunnel space coordinate system is also used to generate the posture matrix of each boom in the coordinate system corresponding to the subsequent boom according to the angle data of each joint, and
  • An engineering machinery attitude positioning module which is connected to the attitude matrix generation module, is used to determine the attitude data of the construction machinery body according to each attitude matrix.
  • the posture data of the construction machine body includes the ZYX Euler angle of the construction machine body in the tunnel space coordinate system
  • the posture matrix generation module is configured to determine the guidance according to the following expression The attitude matrix of the laser in the tunnel space coordinate system:
  • the posture matrix generation module is configured to determine the posture matrix of the construction machinery body in the coordinate system corresponding to the first boom according to the following expression:
  • the positioning device is configured to determine the posture data of the construction machinery body according to the following expression:
  • ⁇ ′, ⁇ ′ and ⁇ ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system
  • m represents the total number of booms
  • the engineering machinery positioning system and positioning method provided by the present invention determine the posture of the designated boom under the tunnel space coordinate system by making the designated boom parallel to the guiding laser, and then determine the posture of the designated boom in the tunnel space coordinate system.
  • the relative position relationship is used to determine the posture of the construction machinery body in the tunnel space coordinate system.
  • the structure of the system is simpler, so that the volume of the entire laser positioning system can be made smaller, and the cost of the entire system can be reduced.
  • the present system and method can realize the automatic measurement of the posture of the construction machinery when positioning the construction machinery, which effectively reduces the difficulty and cost of the construction machinery positioning.
  • the positioning system and the positioning method provided by the present invention determine the posture of the specified boom in the space coordinate system by making the specified boom parallel to the guiding laser, compared with the existing system and method, it The requirements are lower, so that the adaptability of the entire system can be effectively improved, and the system and method can be applied to many harsh working conditions.
  • FIG. 1 is a schematic diagram of a mechanism of a construction machinery positioning system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a target according to an embodiment of the present invention.
  • FIG. 3 is a simplified schematic diagram of a construction machine according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the coordinate system of each joint of a construction machine according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of an implementation method of a construction machinery positioning method according to an embodiment of the present invention.
  • the device includes a laser transmitter, a gyroscope, a laser receiver, a distance calculation module and a coordinate calculation module. Its principle is to use the form of a laser distribution function to achieve the positioning of an underwater target.
  • the device can only use the properties of laser transmission to make relevant measurements, and fine-tune the connection direction of the target with the aid of a gyroscope, so that the measured distance data has high accuracy, and can achieve the positioning of any distance target within the effective range of laser transmission .
  • the system includes a control module for controlling the operation of each module, a laser positioning module for positioning the target, an operation module for data input, a wireless transceiver module for connecting with other remote terminals, and The data storage module for storing data, the positioning execution module for issuing execution instructions according to the positioning target, the motor drive module for receiving the instructions issued by the positioning execution module and converting the instructions into actual actions, for performing the changed position Signal feedback position feedback module.
  • the system can control the operation of the entire system through a remote terminal. Users can flexibly use the laser positioning system. When performing laser positioning, it has an automatic calibration function to ensure the accuracy of positioning.
  • the present invention provides a new construction machinery positioning system and positioning method.
  • the system and method can realize the orientation positioning of the construction machinery body based on the guided laser, thereby determining the construction machinery body Related posture data.
  • FIG. 1 shows a schematic structural diagram of a construction machine positioning system provided by this embodiment, and the figure is a top view.
  • the engineering machine positioning system preferably includes: a laser emitting device 101, a first target 102 and a second target 103 with the same structure, and a positioning device 104.
  • the laser emitting device 101 is used to emit a guide laser in a specified direction, and generate corresponding guide laser posture data according to the direction of the guide laser.
  • the laser emitting device 101 preferably includes a laser emitter and a steering laser attitude data generating device.
  • the laser emitter is used to generate and emit laser light
  • the guidance laser attitude data generation device is connected to the laser emitter, which can generate guidance laser attitude data according to the guidance laser.
  • the steering laser attitude data preferably includes the attitude angle of the steering laser in the tunnel space coordinate system (for example, Z-Y-X Euler angles ⁇ , ⁇ , and ⁇ ).
  • the steering laser posture data may also include other reasonable data or be characterized by other reasonable data, and the present invention is not limited to this.
  • the steering laser attitude data may also include data such as the position coordinates of the laser emitter in the tunnel space coordinate system.
  • the first target 102 and the second target 103 have holes 201 in the centers.
  • the diameter of the hole 201 is preferably slightly larger than the diameter of the spot of the guide laser generated by the laser emitter, so that the guide laser can also pass through the holes of the first target 102 and the second target 103 without being blocked.
  • the first target 102 and the second target 103 are both set on the designated arm of the construction machine (for example, the third arm 105_3), and the connection between the holes of the two targets and the designated arm The extension direction is parallel.
  • the guide laser can pass through the holes of the first target 102 and the second target 103 at the same time, and because the first target and the second target The connection line of the hole is parallel to the extension direction of the specified boom, so the posture of the specified boom in the tunnel space coordinate system is the same as the attitude of the guiding laser in the tunnel coordinate system, so that the Specify the positioning of the boom posture.
  • the arm frame refers to the robot arm.
  • the diameters of the holes in the first target 102 and the second target 103 cannot be too large compared to the diameter of the beam spot guiding the laser .
  • the specific size of the hole in the target can be specifically determined according to the spot diameter of the guided laser based on the above principle.
  • the present invention does not limit the specific size of the hole in the target.
  • the positioning system may further include more than three targets with the same structure.
  • each target is set on the designated arm of the construction machine (for example, the third arm 105_3).
  • the holes of each target are also collinear, and the connection between the target holes and the designated arm The extension direction is parallel.
  • the positioning device 104 is connected to the angle sensor and the laser emitting device 104 installed on each joint of the construction machine.
  • the positioning device 104 can acquire the angle data of each joint through an angle sensor, that is, obtain the relative booms of each arm relative to its adjacent booms (for example, the first arm 105_1 and the second arm 105_2, the second arm 105_2 and the third arm Frame 105_3 etc.) corner data.
  • the positioning device 104 Based on the angle data of each joint and the attitude laser guidance data, the positioning device 104 can also determine the attitude data of the construction machine body.
  • the posture data of the construction machine body preferably includes the attitude angle of the construction machine body 106 in the tunnel space coordinate system (for example, Euler angles ⁇ ′, ⁇ ′, and ⁇ ′).
  • the positioning device 104 preferably generates the posture matrix of each boom in the coordinate system corresponding to the subsequent boom and the construction machinery body in the closest connection relationship with the construction machinery body according to the angle data of each joint The posture matrix in the coordinate system corresponding to the first boom of the system, and then determine the posture data of the construction machinery body according to each posture matrix and the guide laser posture data.
  • the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom is:
  • the pose matrix of the coordinate system is:
  • the construction machine includes six robotic arms, each of which is connected by joints.
  • the first joint F is connected between the first mechanical arm and the second mechanical arm
  • the second joint G is connected between the second mechanical arm and the third mechanical arm
  • the third mechanical arm is connected to the fourth mechanical arm
  • the third joint H is connected
  • the fourth joint I and the fifth joint are connected by the fourth joint I
  • the fifth joint and the sixth joint are connected by the fifth joint J.
  • the rotation axis of the first joint F will be along the y 0 axis, that is, the first joint F can be regarded as a pitch joint at this time, and the first joint F can make the second boom Rotate around the y 0 axis with the first joint F as the fulcrum.
  • the rotation axis of the second joint G will be along the x 0 axis direction, that is, the second joint G can be regarded as a slewing joint at this time, the second joint G can make the third boom take the second joint G as a fulcrum around the x 0 axis Direction of rotation.
  • the third joint H is a telescopic joint along the z 0 direction, which can make the fourth boom extend and contract along the extension direction of the third boom.
  • the rotation axis of the fourth joint I is along the z 0 axis direction, that is, the fourth joint I is a yaw joint at this time, which enables the fifth boom to rotate around the z 0 axis with the fourth joint I as a fulcrum.
  • the rotation axis of the fifth joint J is along the y 0 axis, that is, the fifth joint J can also be regarded as a pitch joint.
  • the attitude matrix generation module is configured to determine the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom according to the following expression:
  • the attitude matrix of the first boom in the coordinate system corresponding to the second boom can be determined according to the following expression:
  • the posture matrix of the second boom in the coordinate system corresponding to the subsequent joint (ie, the third boom) can be determined according to the following expression:
  • the third joint H is a telescopic joint, and the telescopic joint does not change the posture of the two booms connected to it, the third boom is behind the boom (that is, the fourth boom )
  • the attitude matrix in the corresponding coordinate system is the identity matrix.
  • the attitude matrix of the fourth boom in the coordinate system corresponding to the following boom can be determined according to the following expression:
  • the posture matrix of the fifth boom in the coordinate system corresponding to the following boom (that is, the sixth boom), and the movement of the coordinate system corresponding to the fifth boom around ⁇ 4 around Z 5 can be regarded as the first
  • the coordinate system corresponding to the six boom first rotates around its own X axis by 90 degrees and then rotates around the Z 6 axis by ⁇ 4 movement, so that the fifth boom corresponds to the one behind it (that is, the sixth boom)
  • the attitude matrix in the coordinate system can be determined according to the following expression:
  • the engineering machine attitude positioning module can also determine the guided laser in the tunnel space according to the guided laser attitude data The attitude matrix in the coordinate system, so as to obtain the attitude matrix of the boom (that is, the designated boom) installed with the first target and the second target in the tunnel space coordinate system.
  • the posture positioning module of the construction machinery preferably determines the posture matrix of the guided laser in the tunnel space coordinate system according to the following expression:
  • the posture positioning module of the construction machinery can be based on the above-mentioned attitude matrix (including the attitude matrix of the mth boom in the tunnel space coordinate system, and the construction machinery body in the coordinate system corresponding to the first boom closest to the connection of the construction machinery body.
  • the attitude matrix and the attitude matrix of each boom in the coordinate system corresponding to the following boom to determine the attitude matrix of the construction machine body in the space coordinate system, and then determine the attitude of the construction machine body in the space coordinate system Data (e.g. Euler angles ⁇ ', ⁇ 'and ⁇ ').
  • the posture positioning module of the construction machine preferably determines the pose data of the construction machine body according to the following expression:
  • ⁇ ′, ⁇ ′ and ⁇ ′ represent the posture data of the construction machinery body in the space coordinate system
  • m represents the total number of booms
  • the value of the total number m of the booms is 6.
  • the positioning device may also adopt other reasonable ways to determine the posture data of the construction machine body based on the angle data of each joint and the steering laser posture data. this.
  • the posture data of the construction machine body determined by the positioning device 104 may also include other reasonable data, and the present invention is not limited to this.
  • the posture data of the construction machinery body determined by the positioning device 104 may further include the relative positional relationship between the construction machinery body and the above-mentioned designated boom and/or the construction machinery body in the tunnel space coordinate system Coordinate data, etc.
  • the posture data of the construction machine body determined by the positioning device 104 can also be expressed using other reasonable parameters other than the Euler angle, and the present invention is not limited thereto.
  • FIG. 5 shows a schematic diagram of an implementation process of the method for positioning a construction machine provided by this embodiment.
  • the construction machine positioning method provided in this embodiment firstly adjusts the mechanical arm of the construction machine in step S501 so that the extension direction of the designated boom of the construction machine is parallel to the direction of the laser guide.
  • the method preferably places the first target 102 and the second target 103 with the same structure on the designated boom (for example, the third boom 105_3).
  • the guided laser passes through the holes of the first target 102 and the second target 103 at the same time.
  • the line between the holes of the first target 102 and the second target 103 is The extension directions are parallel, so the attitude data of the guided laser in the tunnel space coordinate system is equal to the attitude data of the specified boom in the tunnel space coordinate system.
  • the method will obtain the relative positional relationship data of each robot arm between the designated boom and the construction machine body in step S502 And the guiding laser posture data of the guiding laser (that is, the guiding laser posture data in the tunnel space coordinate system).
  • the method preferably obtains the angle data of each joint of the construction machine in step S502, so that the relative position data of each robot arm between the specified boom and the construction machine body can also be obtained.
  • the method may use angle sensors installed at the positions of various joints to acquire the rotation angle data of each joint.
  • the method can also adopt other reasonable ways to obtain the relative positional relationship data of each robot arm between the specified boom and the construction machinery body, and the present invention is not limited to this.
  • the method can also be determined in step S503 according to the relative positional relationship data and the attitude data of the guided laser in the tunnel space coordinate system The posture data of the construction machinery body in the tunnel space coordinate system is obtained.
  • the posture data of the construction machine body preferably includes the attitude angle of the construction machine body 106 in the tunnel space coordinate system (ie, Euler angles ⁇ ′, ⁇ ′, and ⁇ ′).
  • step S503 the method determines the attitude matrix of the guidance laser in the tunnel space coordinate system according to the guidance laser, that is, the attitude matrix of the arm mount with the first target and the second target in the tunnel space coordinate system Attitude matrix.
  • step S503 the method will also generate the posture matrix of each joint in the coordinate system corresponding to the following joint according to the angle data of each joint, and the first closest relationship between the construction machinery body and the construction machinery body.
  • the posture matrix in the coordinate system corresponding to the joint, and then the posture data of the construction machinery body is determined according to each posture matrix and the posture matrix of the specified boom under the tunnel space coordinates.
  • step S503 the principle and process of the method for determining the posture data of the construction machine body in step S503 is the same as the principle and process of the above-mentioned positioning device to achieve its function, so the details of step S503 will not be repeated here.
  • the engineering machinery positioning system and positioning method provided by the present invention determine the attitude of the designated boom in the tunnel space coordinate system by making the designated boom parallel to the guiding laser, Furthermore, the posture of the construction machine body in the tunnel space coordinate system is determined according to the relative positional relationship between the booms.
  • the structure of the system is simpler, so that the volume of the entire laser positioning system can be made smaller, and the cost of the entire system can be reduced.
  • the present system and method can realize the automatic measurement of the posture of the construction machinery when positioning the construction machinery, which effectively reduces the difficulty and cost of the construction machinery positioning.
  • the positioning system and the positioning method provided by the present invention determine the posture of the specified boom in the space coordinate system by making the specified boom parallel to the guiding laser, compared with the existing system and method, it The requirements are lower, so that the adaptability of the entire system can be effectively improved, and the system and method can be applied to many harsh working conditions.

Abstract

Provided are a construction machinery positioning method and system, the method comprising: step 1: adjusting robotic manipulators of construction machinery to enable the extending direction of a designated cantilever of the construction machinery to be parallel to the direction of a guide laser; and step 2: acquiring relative positional relationship data of each robotic manipulator which is located between the designated cantilever and a construction machinery body (106) as well as guide laser orientation data of the guide laser, and determining orientation data of the construction machinery body (106) according to the relative positional relationship data and the guide laser orientation data. According to the present method, the designated cantilever is parallel to the guide laser, thus the guide laser is utilized to determine the orientation of the designated cantilever in a tunnel space coordinate system, so as to further determine the orientation of the construction machinery body (106) in the tunnel space coordinate system according to the relative positional relationship between each cantilever. The present method has less requirements for measurement environment, so that the adaptability of the whole system may be effectively improved, and the system and method may be applied to many working scenarios under severe conditions.

Description

一种工程机械定位方法及系统Engineering machinery positioning method and system 技术领域Technical field
本发明涉及工程定位技术领域，具体地说，涉及一种工程机械定位方法及系统。The invention relates to the technical field of engineering positioning, in particular, to a method and system for engineering machinery positioning.
背景技术Background technique
在智能建造施工中，为实现工程机械的自动化施工，首先需确定和保持设备的位置和姿态，这样才能够提高自动化施工的精度和质量。其中，对于工程机械的姿态测量是其主要难点，因此在工程机械的施工过程中也就需要配备定位系统。In intelligent construction, in order to realize the automatic construction of construction machinery, the position and posture of equipment must be determined and maintained first, so that the accuracy and quality of automated construction can be improved. Among them, the attitude measurement of construction machinery is its main difficulty, so it is necessary to equip the positioning system during the construction of construction machinery.
目前工程机械的定位主要通过全站仪定位系统来实现，基于全站仪的定位系统具有自动化程度高、精度好等特点。但这种测量定位系统的结构较为复杂、成本较高，且不具有较好的防爆特性，因此在实际应用中也受到了一定限制。At present, the positioning of construction machinery is mainly achieved through the total station positioning system. The positioning system based on the total station has the characteristics of high automation and good accuracy. However, the structure of this measurement and positioning system is relatively complicated, the cost is high, and it does not have good explosion-proof characteristics, so it is also subject to certain restrictions in practical applications.
发明内容Summary of the invention
为解决上述问题，本发明提供了一种工程机械定位方法，所述方法包括：In order to solve the above problems, the present invention provides a method for positioning a construction machine. The method includes:
步骤一、通过调整工程机械的机械臂，使得所述工程机械的指定臂架的延伸方向与导向激光的方向平行；Step 1: By adjusting the mechanical arm of the construction machinery, the extension direction of the designated boom of the construction machinery is parallel to the direction of the laser guide;
步骤二、获取所述指定臂架与所述工程机械本体之间各个机械臂的相对位置关系数据以及所述导向激光的导向激光姿态数据，根据所述相对位置关系数据以及导向激光姿态数据确定所述工程机械本体的姿态数据。Step 2: Obtain the relative position relationship data of each mechanical arm between the designated arm frame and the construction machinery body and the guide laser posture data of the guide laser, and determine the position based on the relative position relationship data and the guide laser posture data The posture data of the construction machinery body is described.
根据本发明的一个实施例，在所述步骤一中，According to an embodiment of the present invention, in the first step,
将结构相同的第一标靶和第二标靶设置在所述指定臂架上，并且使得分别形成在两个标靶中心的孔洞的连线与所述指定臂架的延伸方向平行；Arranging the first target and the second target with the same structure on the designated arm, and making the lines of the holes formed in the centers of the two targets parallel to the extending direction of the designated arm;
调整所述工程机械的机械臂，使得所述导向激光同时穿过所述第一标靶和第二标靶的孔洞。The mechanical arm of the construction machine is adjusted so that the guide laser passes through the holes of the first target and the second target at the same time.
根据本发明的一个实施例，在所述步骤二中，获取所述工程机械的各个关节 的角度数据，从而得到所述相对位置关系数据。According to an embodiment of the present invention, in the second step, the angle data of each joint of the construction machine is obtained to obtain the relative position relationship data.
根据本发明的一个实施例，在所述步骤二中，利用安装在各个关节位置的角度传感器来获取所述各个关节的角度数据。According to an embodiment of the present invention, in the second step, the angle data of each joint is acquired by using angle sensors installed at the positions of each joint.
根据本发明的一个实施例，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的姿态角。According to an embodiment of the present invention, the posture data of the construction machine body includes the attitude angle of the construction machine body in the tunnel space coordinate system.
根据本发明的一个实施例，在所述步骤二中，According to an embodiment of the present invention, in the second step,
根据所述各个关节的角度数据分别生成各个臂架在其后一臂架所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵；According to the angle data of each joint, the posture matrix of each boom in the coordinate system corresponding to the following boom and the coordinates corresponding to the first boom with the closest connection relationship with the construction machinery body are generated respectively The attitude matrix under the system;
根据各个姿态矩阵确定所述工程机械本体的姿态数据。The posture data of the construction machine body is determined according to each posture matrix.
根据本发明的一个实施例，当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕X轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：According to an embodiment of the present invention, when the coordinate system corresponding to the n-th boom is rotated about the X axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is at the n The attitude matrix of the coordinate system corresponding to the +1 arm is:
Figure PCTCN2019126825-appb-000001
Figure PCTCN2019126825-appb-000001
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Y轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the Y axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000002
Figure PCTCN2019126825-appb-000002
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Z轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the n-th boom is rotated about the Z axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is corresponding to the n+1-th boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000003
Figure PCTCN2019126825-appb-000003
其中，
Figure PCTCN2019126825-appb-000004
表示第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵，θ n表示第n个关节的转动角度。 among them,
Figure PCTCN2019126825-appb-000004
Represents the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom, and θ n represents the rotation angle of the nth joint.
根据本发明的一个实施例，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的Z-Y-X欧拉角，根据如下表达式确定所述导向激光在隧道空间坐标系下的姿态矩阵：According to an embodiment of the present invention, the posture data of the construction machine body includes the ZYX Euler angle of the construction machine body in the tunnel space coordinate system, and the guided laser light in the tunnel space coordinate system is determined according to the following expression Attitude matrix:
Figure PCTCN2019126825-appb-000005
Figure PCTCN2019126825-appb-000005
其中，
Figure PCTCN2019126825-appb-000006
表示导向激光在隧道空间坐标系下的姿态矩阵，其中，α、β和γ表示所述导向激光在隧道空间坐标系中的欧拉角。 among them,
Figure PCTCN2019126825-appb-000006
Represents the attitude matrix of the guided laser in the tunnel space coordinate system, where α, β and γ represent the Euler angle of the guided laser in the tunnel space coordinate system.
根据本发明的一个实施例，根据如下表达式确定工程机械本体在第一臂架所对应的坐标系下的姿态矩阵：According to an embodiment of the present invention, the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom is determined according to the following expression:
Figure PCTCN2019126825-appb-000007
Figure PCTCN2019126825-appb-000007
其中，
Figure PCTCN2019126825-appb-000008
表示工程机械本体在第一臂架所对应的坐标系下的姿态矩阵。 among them,
Figure PCTCN2019126825-appb-000008
Represents the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom.
根据本发明的一个实施例，在所述步骤二中，根据如下表达式确定所述工程机械本体的姿态数据：According to an embodiment of the present invention, in the second step, the posture data of the construction machinery body is determined according to the following expression:
Figure PCTCN2019126825-appb-000009
Figure PCTCN2019126825-appb-000009
其中，α′、β′和γ′表示工程机械本体在隧道空间坐标系下的欧拉角，
Figure PCTCN2019126825-appb-000010
表示工程机械本体在隧道空间坐标系下的姿态矩阵，
Figure PCTCN2019126825-appb-000011
表示第k臂架在第k+1臂架所对应的坐标系下的姿态矩阵，m表示臂架总数，
Figure PCTCN2019126825-appb-000012
表示第m臂架在隧道空间坐标系下的姿态矩阵。 Among them, α′, β′ and γ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system,
Figure PCTCN2019126825-appb-000010
Represents the attitude matrix of the construction machinery body in the tunnel space coordinate system,
Figure PCTCN2019126825-appb-000011
Represents the attitude matrix of the k-th boom in the coordinate system corresponding to the k+1th boom, m represents the total number of booms,
Figure PCTCN2019126825-appb-000012
Represents the attitude matrix of the m-th boom in the tunnel space coordinate system.
本发明还提供了一种工程机械定位系统，所述系统包括：The invention also provides an engineering machinery positioning system, which includes:
激光发射设备，其用于向指定方向发射导向激光，并根据所述导向激光的方向生成相应的导向激光姿态数据；A laser emitting device, which is used to emit a guiding laser in a specified direction and generate corresponding guiding laser posture data according to the direction of the guiding laser;
结构相同的第一标靶和第二标靶，所述第一标靶和第二标靶的中心形成有孔洞，在测量过程中，所述第一标靶和第二标靶设置在所述工程机械的指定臂架上， 并且两个标靶的孔洞的连线与所述指定臂架的延伸方向平行；A first target and a second target with the same structure, and holes are formed in the centers of the first target and the second target. During the measurement process, the first target and the second target are arranged at the On the designated boom of the construction machine, and the line of the holes of the two targets is parallel to the extending direction of the designated boom;
定位装置，其与安装在所述工程机械的各个关节上的角度传感器和所述激光发射设备连接，用于根据所述角度传感器传输来的各个关节的角度数据和所述导向激光姿态数据确定工程机械本体的姿态数据。A positioning device, which is connected to an angle sensor installed on each joint of the construction machine and the laser emitting device, is used to determine a project based on the angle data of each joint transmitted from the angle sensor and the guide laser posture data Posture data of the mechanical body.
根据本发明的一个实施例，在对工程机械进行定位的过程中，所述导向激光同时穿过所述第一标靶和第二标靶的孔洞。According to an embodiment of the present invention, during the positioning of the construction machine, the guide laser passes through the holes of the first target and the second target at the same time.
根据本发明的一个实施例，所述工程机械定位系统包括三个以上标靶，在测量过程中，各个标靶均设置在所述工程机械的指定臂架上，各个标靶的孔洞共线，且标靶孔洞的连线与所述指定臂架的延伸方向平行。According to an embodiment of the present invention, the construction machine positioning system includes more than three targets. During the measurement process, each target is set on a designated arm of the construction machine, and the holes of each target are collinear. And the connection line of the target hole is parallel to the extending direction of the designated boom.
根据本发明的一个实施例，所述激光发射设备包括：According to an embodiment of the present invention, the laser emitting device includes:
激光发射器，其用于产生并向外发射激光；Laser emitter, which is used to generate and emit laser light;
导向激光姿态数据生成装置，其与所述激光发射器连接，用于根据所述导向激光的方向生成所述导向激光姿态数据。A guiding laser posture data generating device, connected to the laser emitter, is used to generate the guiding laser posture data according to the direction of the guiding laser.
根据本发明的一个实施例，所述工程机械本体的姿态数据包括所述工程机械本体在空间坐标中的姿态角。According to an embodiment of the present invention, the posture data of the construction machine body includes the posture angle of the construction machine body in spatial coordinates.
根据本发明的一个实施例，所述定位装置包括：According to an embodiment of the present invention, the positioning device includes:
姿态矩阵生成模块，其与所述角度传感器和激光发射设备连接，用于根据所述导向激光姿态数据确定所述导向激光在隧道空间坐标系下的姿态矩阵，从而得到安装所述第一标靶和第二标靶的臂架在所述隧道空间坐标系下的姿态矩阵，还用于根据各个关节的角度数据分别生成各个臂架在其后一臂架所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵；An attitude matrix generation module, which is connected to the angle sensor and the laser emitting device, is used to determine the attitude matrix of the guided laser in the tunnel space coordinate system according to the guided laser attitude data, so as to obtain the installation of the first target The posture matrix of the boom of the second target in the tunnel space coordinate system is also used to generate the posture matrix of each boom in the coordinate system corresponding to the subsequent boom according to the angle data of each joint, and The attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom with the closest connection relationship with the construction machinery body;
工程机械姿态定位模块，其与所述姿态矩阵生成模块连接，用于根据各个姿态矩阵确定所述工程机械本体的姿态数据。An engineering machinery attitude positioning module, which is connected to the attitude matrix generation module, is used to determine the attitude data of the construction machinery body according to each attitude matrix.
根据本发明的一个实施例，According to an embodiment of the invention,
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕X轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the X axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000013
Figure PCTCN2019126825-appb-000013
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Y轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the Y axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000014
Figure PCTCN2019126825-appb-000014
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Z轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the n-th boom is rotated about the Z axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is corresponding to the n+1-th boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000015
Figure PCTCN2019126825-appb-000015
其中，
Figure PCTCN2019126825-appb-000016
表示第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵，θ n表示第n个关节的转动角度。 among them,
Figure PCTCN2019126825-appb-000016
Represents the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom, and θ n represents the rotation angle of the nth joint.
根据本发明的一个实施例，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的Z-Y-X欧拉角，所述姿态矩阵生成模块配置为根据如下表达式确定所述导向激光在隧道空间坐标系下的姿态矩阵：According to an embodiment of the present invention, the posture data of the construction machine body includes the ZYX Euler angle of the construction machine body in the tunnel space coordinate system, and the posture matrix generation module is configured to determine the guidance according to the following expression The attitude matrix of the laser in the tunnel space coordinate system:
Figure PCTCN2019126825-appb-000017
Figure PCTCN2019126825-appb-000017
其中，
Figure PCTCN2019126825-appb-000018
表示导向激光在隧道空间坐标系下的姿态矩阵，其中，α、β和γ表示所述导向激光在在空间坐标中的姿态角。 among them,
Figure PCTCN2019126825-appb-000018
Represents the attitude matrix of the guided laser in the tunnel space coordinate system, where α, β and γ represent the attitude angle of the guided laser in space coordinates.
根据本发明的一个实施例，所述姿态矩阵生成模块配置为根据如下表达式确定工程机械本体在第一臂架所对应的坐标系下的姿态矩阵：According to an embodiment of the present invention, the posture matrix generation module is configured to determine the posture matrix of the construction machinery body in the coordinate system corresponding to the first boom according to the following expression:
Figure PCTCN2019126825-appb-000019
Figure PCTCN2019126825-appb-000019
其中，
Figure PCTCN2019126825-appb-000020
表示工程机械本体在第一臂架所对应的坐标系下的姿态矩阵。 among them,
Figure PCTCN2019126825-appb-000020
Represents the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom.
根据本发明的一个实施例，所述定位装置配置为根据如下表达式确定所述工程机械本体的姿态数据：According to an embodiment of the present invention, the positioning device is configured to determine the posture data of the construction machinery body according to the following expression:
Figure PCTCN2019126825-appb-000021
Figure PCTCN2019126825-appb-000021
其中，α′、β′和γ′表示工程机械本体在隧道空间坐标系下的欧拉角，
Figure PCTCN2019126825-appb-000022
表示工程机械本体在隧道空间坐标系下的姿态矩阵，
Figure PCTCN2019126825-appb-000023
表示第k臂架在第k+1臂架所对应的坐标系下的姿态矩阵，m表示臂架总数，
Figure PCTCN2019126825-appb-000024
表示第m臂架在隧道空间坐标系下的姿态矩阵。 Among them, α′, β′ and γ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system,
Figure PCTCN2019126825-appb-000022
Represents the attitude matrix of the construction machinery body in the tunnel space coordinate system,
Figure PCTCN2019126825-appb-000023
Represents the attitude matrix of the k-th boom in the coordinate system corresponding to the k+1th boom, m represents the total number of booms,
Figure PCTCN2019126825-appb-000024
Represents the attitude matrix of the m-th boom in the tunnel space coordinate system.
本发明所提供的工程机械定位系统以及定位方法通过使得指定臂架与导向激光平行，以此利用导向激光来确定出指定臂架在隧道空间坐标系下的姿态，进而根据各个臂架之间的相对位置关系来确定出工程机械本体在隧道空间坐标系下的姿态。The engineering machinery positioning system and positioning method provided by the present invention determine the posture of the designated boom under the tunnel space coordinate system by making the designated boom parallel to the guiding laser, and then determine the posture of the designated boom in the tunnel space coordinate system. The relative position relationship is used to determine the posture of the construction machinery body in the tunnel space coordinate system.
相较于现有定位系统，本系统的结构更为简单，这样也就可以使得整个激光定位系统的体积更小，同时也使得整个系统的成本得以降低。同时，本系统以及方法在对工程机械进行定位时，其能够实现对工程机械的姿态的自动测量，这样也就有效降低工程机械定位的难度以及成本。Compared with the existing positioning system, the structure of the system is simpler, so that the volume of the entire laser positioning system can be made smaller, and the cost of the entire system can be reduced. At the same time, the present system and method can realize the automatic measurement of the posture of the construction machinery when positioning the construction machinery, which effectively reduces the difficulty and cost of the construction machinery positioning.
此外，本发明所提供的定位系统以及定位方法由于是通过使得指定臂架与导向激光平行来确定指定臂架在空间坐标系中的姿态，因此相较于现有系统以及方法，其对于测量环境的要求更低，这样也就能够有效提高整个系统的适应性，进而使得该系统以及方法能够应用于诸多条件恶劣的工况下。In addition, since the positioning system and the positioning method provided by the present invention determine the posture of the specified boom in the space coordinate system by making the specified boom parallel to the guiding laser, compared with the existing system and method, it The requirements are lower, so that the adaptability of the entire system can be effectively improved, and the system and method can be applied to many harsh working conditions.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present invention will be explained in the subsequent description, and partly become obvious from the description, or be understood by implementing the present invention. The objects and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings.
附图说明BRIEF DESCRIPTION
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要的附图做简单的介绍：In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art:
图1是根据本发明一个实施例的工程机械定位系统的机构示意图；1 is a schematic diagram of a mechanism of a construction machinery positioning system according to an embodiment of the present invention;
图2是根据本发明一个实施例的标靶的结构示意图；2 is a schematic structural view of a target according to an embodiment of the present invention;
图3是根据本发明一个实施例的工程机械的简化示意图；3 is a simplified schematic diagram of a construction machine according to an embodiment of the present invention;
图4是根据本发明一个实施例的工程机械的各个关节的坐标系示意图；4 is a schematic diagram of the coordinate system of each joint of a construction machine according to an embodiment of the present invention;
图5是根据本发明一个实施例的工程机械定位方法的实现流程示意图。5 is a schematic flowchart of an implementation method of a construction machinery positioning method according to an embodiment of the present invention.
具体实施方式detailed description
以下将结合附图及实施例来详细说明本发明的实施方式，借此对本发明如何应用技术手段来解决技术问题，并达成技术效果的实现过程能充分理解并据以实施。需要说明的是，只要不构成冲突，本发明中的各个实施例以及各实施例中的各个特征可以相互结合，所形成的技术方案均在本发明的保护范围之内。In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, so as to understand how the present invention uses technical means to solve technical problems and achieve the technical effect. The implementation process can be fully understood and implemented accordingly. It should be noted that, as long as there is no conflict, the embodiments of the present invention and the features of the embodiments can be combined with each other, and the resulting technical solutions are within the scope of the present invention.
同时，在以下说明中，出于解释的目的而阐述了许多具体细节，以提供对本发明实施例的彻底理解。然而，对本领域的技术人员来说显而易见的是，本发明可以不用这里的具体细节或者所描述的特定方式来实施。Meanwhile, in the following description, for the purpose of explanation, many specific details are set forth to provide a thorough understanding of the embodiments of the present invention. However, it is obvious to those skilled in the art that the present invention may be implemented without the specific details here or the specific manner described.
另外，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。In addition, the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical sequence is shown in the flowchart, in some cases, the steps may be different. The steps shown or described are performed in the order presented here.
通过检索发现，现有技术中存在由电子科技大学申请的名称为“一种用激光对目标物进行定位的装置及方法”(申请号201710524626.6)的发明专利。该装置包括激光发射器、陀螺仪、激光接收器、距离计算模块和坐标计算模块，其原理是利用激光分布函数的形式来实现水下目标的定位。该装置能够仅仅利用激光传输的属性来进行相关测量，并借助陀螺仪对目标的连接方向进行微调，使得测量的距离数据准确度高，并且可以在激光传输的有效范围内实现任意距离目标的定位。Through searching, it was found that there is an invention patent in the prior art titled "A device and method for positioning a target with a laser" (application number 201710524626.6) applied by the University of Electronic Science and Technology. The device includes a laser transmitter, a gyroscope, a laser receiver, a distance calculation module and a coordinate calculation module. Its principle is to use the form of a laser distribution function to achieve the positioning of an underwater target. The device can only use the properties of laser transmission to make relevant measurements, and fine-tune the connection direction of the target with the aid of a gyroscope, so that the measured distance data has high accuracy, and can achieve the positioning of any distance target within the effective range of laser transmission .
同时，现有技术中还存在由合肥通彩自动化设备有限公司申请的名称为“一种激光定位系统及方法”(申请号201711205169.0)的发明专利。该系统包括用于控制各个模块运行的控制模块、用于对目标进行定位的激光定位模块、用于数据输入的操作模块、用于与其他远程终端连接的无线收发模块、用于对收集处理的数据进行存储的数据存储模块、用于根据定位目标发出执行指令的定位执行模块、用于接收定位执行模块发出的指令并将指令转换成实际动作的电机驱动模块、用于对改变后的位置进行信号反馈的位置反馈模块。该系统通过远程终端可 以控制整个系统的运行，使用者可以灵活使用该激光定位系统，在进行激光定位时，具有自动校准功能，保证了定位的精准度。At the same time, there is an invention patent in the prior art entitled "A laser positioning system and method" (application number 201711205169.0) applied by Hefei Tongcai Automation Equipment Co., Ltd. The system includes a control module for controlling the operation of each module, a laser positioning module for positioning the target, an operation module for data input, a wireless transceiver module for connecting with other remote terminals, and The data storage module for storing data, the positioning execution module for issuing execution instructions according to the positioning target, the motor drive module for receiving the instructions issued by the positioning execution module and converting the instructions into actual actions, for performing the changed position Signal feedback position feedback module. The system can control the operation of the entire system through a remote terminal. Users can flexibly use the laser positioning system. When performing laser positioning, it has an automatic calibration function to ensure the accuracy of positioning.
然而，现有的这些激光定位系统都存在着结构复杂的问题，这样不仅造成了激光定位系统的体积过大，同时也使得整个系统的成本过高。此外，现有的激光定位系统还不具有良好的防爆特性，这也同样限制了该系统的应用。However, these existing laser positioning systems have the problem of complicated structure, which not only causes the volume of the laser positioning system to be too large, but also makes the cost of the entire system too high. In addition, the existing laser positioning system does not have good explosion-proof characteristics, which also limits the application of the system.
针对现有技术中所存在的问题，本发明提供了一种新的工程机械定位系统以及定位方法，该系统以及方法能够基于导向激光来实现对工程机械本体的姿态定位，从而确定出工程机械本体的相关姿态数据。In view of the problems in the prior art, the present invention provides a new construction machinery positioning system and positioning method. The system and method can realize the orientation positioning of the construction machinery body based on the guided laser, thereby determining the construction machinery body Related posture data.
图1示出了本实施例所提供的工程机械定位系统的结构示意图，该图为一俯视图。FIG. 1 shows a schematic structural diagram of a construction machine positioning system provided by this embodiment, and the figure is a top view.
如图1所示，本实施例所提供的工程机械定位系统优选地包括：激光发射设备101、结构相同的第一标靶102和第二标靶103以及定位装置104。其中，激光发射设备101用于向指定方向发射导向激光，并根据该导向激光的方向生成相应的导向激光姿态数据。As shown in FIG. 1, the engineering machine positioning system provided in this embodiment preferably includes: a laser emitting device 101, a first target 102 and a second target 103 with the same structure, and a positioning device 104. Among them, the laser emitting device 101 is used to emit a guide laser in a specified direction, and generate corresponding guide laser posture data according to the direction of the guide laser.
具体地，本实施例中，激光发射设备101优选地包括激光发射器和导向激光姿态数据生成装置。其中，激光发射器用于产生并向外发射激光，而导向激光姿态数据生成装置与激光发射器连接，其能够根据导向激光来生成导向激光姿态数据。本实施例中，导向激光姿态数据优选地包括导向激光在隧道空间坐标系中的姿态角(例如Z-Y-X欧拉角α、β和γ)。Specifically, in this embodiment, the laser emitting device 101 preferably includes a laser emitter and a steering laser attitude data generating device. Among them, the laser emitter is used to generate and emit laser light, and the guidance laser attitude data generation device is connected to the laser emitter, which can generate guidance laser attitude data according to the guidance laser. In this embodiment, the steering laser attitude data preferably includes the attitude angle of the steering laser in the tunnel space coordinate system (for example, Z-Y-X Euler angles α, β, and γ).
当然，在本发明的其他实施例中，导向激光姿态数据还可以包含其他合理数据，抑或是采用其他合理数据来表征，本发明不限于此。例如，在本发明的一个实施例中，导向激光姿态数据还可以包含诸如激光发射器在隧道空间坐标系下的位置坐标等数据。Of course, in other embodiments of the present invention, the steering laser posture data may also include other reasonable data or be characterized by other reasonable data, and the present invention is not limited to this. For example, in one embodiment of the present invention, the steering laser attitude data may also include data such as the position coordinates of the laser emitter in the tunnel space coordinate system.
如图2所示，本实施例中，第一标靶102和第二标靶103的中心都有孔洞201。其中，孔洞201的直径优选地较激光发射器所产生的导向激光的光斑直径略大，这样导向激光也就可以不受遮挡地穿过第一标靶102和第二标靶103的孔洞。As shown in FIG. 2, in this embodiment, the first target 102 and the second target 103 have holes 201 in the centers. The diameter of the hole 201 is preferably slightly larger than the diameter of the spot of the guide laser generated by the laser emitter, so that the guide laser can also pass through the holes of the first target 102 and the second target 103 without being blocked.
在测量过程中，第一标靶102和第二标靶103均设置在工程机械的指定臂架(例如第三臂架105_3)上，并且两个标靶的孔洞的连线与指定臂架的延伸方向平行。在对工程机械进行定位的过程中，通过调整工程机械的臂架可以使得导向 激光同时穿过第一标靶102和第二标靶103的孔洞，而又由于第一标靶与第二标靶的孔洞的连线与指定臂架的延伸方向平行，因此此时该指定臂架在隧道空间坐标系下的姿态也就与导向激光在隧道坐标系下的姿态相同，这样也就实现了对该指定臂架的姿态的定位。本实施例中，臂架也即指代机械臂。During the measurement process, the first target 102 and the second target 103 are both set on the designated arm of the construction machine (for example, the third arm 105_3), and the connection between the holes of the two targets and the designated arm The extension direction is parallel. In the process of positioning the construction machinery, by adjusting the boom of the construction machinery, the guide laser can pass through the holes of the first target 102 and the second target 103 at the same time, and because the first target and the second target The connection line of the hole is parallel to the extension direction of the specified boom, so the posture of the specified boom in the tunnel space coordinate system is the same as the attitude of the guiding laser in the tunnel coordinate system, so that the Specify the positioning of the boom posture. In this embodiment, the arm frame refers to the robot arm.
需要指出的是，为了保证对指定臂架的姿态定位的准确性，本实施例中，第一标靶102和第二标靶103中孔洞的直径不能相较于导向激光的光斑的直径过大。而标靶中孔洞的具体尺寸可以基于上述原则来根据导向激光的光斑直径来具体确定，本发明并不对标靶中孔洞的具体尺寸进行限定。It should be pointed out that, in order to ensure the accuracy of the posture positioning of the designated boom, in this embodiment, the diameters of the holes in the first target 102 and the second target 103 cannot be too large compared to the diameter of the beam spot guiding the laser . The specific size of the hole in the target can be specifically determined according to the spot diameter of the guided laser based on the above principle. The present invention does not limit the specific size of the hole in the target.
同时，还需要指出的是，在本发明的其他实施例中，根据实际需要，该定位系统还可以包含三个以上结构相同的标靶。在测量过程中，各个标靶均设置在工程机械的指定臂架(例如第三臂架105_3)上，此时各个标靶的孔洞同样共线，且标靶孔洞的连线与指定臂架的延伸方向平行。At the same time, it should also be noted that, in other embodiments of the present invention, according to actual needs, the positioning system may further include more than three targets with the same structure. In the measurement process, each target is set on the designated arm of the construction machine (for example, the third arm 105_3). At this time, the holes of each target are also collinear, and the connection between the target holes and the designated arm The extension direction is parallel.
本实施例中，定位装置104与安装在工程机械的各个关节上的角度传感器和激光发射设备104连接。定位装置104能够通过角度传感器来获取各个关节的角度数据，即获得各个臂架相对于其相邻臂架(例如第一臂架105_1与第二臂架105_2，第二臂架105_2与第三臂架105_3等)的转角数据。而根据各个关节的角度数据以及导向激光姿态数据，定位装置104也就可以确定出工程机械本体的姿态数据。In this embodiment, the positioning device 104 is connected to the angle sensor and the laser emitting device 104 installed on each joint of the construction machine. The positioning device 104 can acquire the angle data of each joint through an angle sensor, that is, obtain the relative booms of each arm relative to its adjacent booms (for example, the first arm 105_1 and the second arm 105_2, the second arm 105_2 and the third arm Frame 105_3 etc.) corner data. Based on the angle data of each joint and the attitude laser guidance data, the positioning device 104 can also determine the attitude data of the construction machine body.
具体地，本实施例中，工程机械本体的姿态数据优选地包括工程机械本体106在隧道空间坐标系统中的姿态角(例如欧拉角α′、β′和γ′)。Specifically, in this embodiment, the posture data of the construction machine body preferably includes the attitude angle of the construction machine body 106 in the tunnel space coordinate system (for example, Euler angles α′, β′, and γ′).
本实施例中，定位装置104优选地会根据各个关节的角度数据分别生成各个臂架在其后一臂架所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵，随后根据各个姿态矩阵以及导向激光姿态数据确定所述工程机械本体的姿态数据。In this embodiment, the positioning device 104 preferably generates the posture matrix of each boom in the coordinate system corresponding to the subsequent boom and the construction machinery body in the closest connection relationship with the construction machinery body according to the angle data of each joint The posture matrix in the coordinate system corresponding to the first boom of the system, and then determine the posture data of the construction machinery body according to each posture matrix and the guide laser posture data.
本实施例中，当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕X轴的转动(即第n个关节坐标系相对于第n+1个关节坐标系作绕X轴的转动)时，第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：In this embodiment, when the coordinate system corresponding to the n-th boom is rotated about the X-axis relative to the coordinate system corresponding to the n+1-th boom (that is, the n-th joint coordinate system is relative to the n+1th When the joint coordinate system rotates around the X axis), the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom is:
Figure PCTCN2019126825-appb-000025
Figure PCTCN2019126825-appb-000025
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Y轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the Y axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000026
Figure PCTCN2019126825-appb-000026
当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Z轴5的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the Z axis 5 relative to the coordinate system corresponding to the n+1 boom, the nth boom corresponds to the n+1 boom The pose matrix of the coordinate system is:
Figure PCTCN2019126825-appb-000027
Figure PCTCN2019126825-appb-000027
其中，
Figure PCTCN2019126825-appb-000028
表示第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵，θ n表示第n个关节的转动角度。 among them,
Figure PCTCN2019126825-appb-000028
Represents the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom, and θ n represents the rotation angle of the nth joint.
例如，对于如图3所示的工程机械的简化示意图(该图为侧视图)来说，其机械臂以及各个关节坐标系的关系示意图。如图3所示，该工程机械包含有六个机械臂，各个机械臂之间采用关节连接。其中，第一机械臂与第二机械臂之间采用第一关节F连接，第二机械臂与第三机械臂之间采用第二关节G连接，第三机械臂与第四机械臂之间采用第三关节H连接，第四机械臂与第五机械臂之间采用第四关节I连接，第五机械臂与第六机械臂之间采用第五关节J连接。For example, for the simplified schematic diagram of the construction machine shown in FIG. 3 (the figure is a side view), the relationship between the mechanical arm and the coordinate system of each joint. As shown in Figure 3, the construction machine includes six robotic arms, each of which is connected by joints. Among them, the first joint F is connected between the first mechanical arm and the second mechanical arm, the second joint G is connected between the second mechanical arm and the third mechanical arm, and the third mechanical arm is connected to the fourth mechanical arm The third joint H is connected, the fourth joint I and the fifth joint are connected by the fourth joint I, and the fifth joint and the sixth joint are connected by the fifth joint J.
如图4所示，在初始状态下，第一关节F的转动轴线将会沿y 0轴方向，即此时第一关节F可以视为一俯仰关节，第一关节F能够使得第二臂架以第一关节F为支点绕y 0轴方向转动。第二关节G的转动轴线将会沿x 0轴方向，即此时第二关节G可以视为一回转关节，第二关节G能够使得第三臂架以第二关节G为支点绕x 0轴方向转动。第三关节H为一沿z 0方向的伸缩关节，其能够使得第四臂架沿第三臂架延伸方向伸缩。第四关节I的转动轴线沿z 0轴方向，即此时第四关节I为一横摆关节，其能够使得第五臂架以第四关节I为支点绕z 0轴转动。第五关节J的转动轴线沿y 0轴方向，即此时第五关节J同样可以视为一俯仰关节。 As shown in FIG. 4, in the initial state, the rotation axis of the first joint F will be along the y 0 axis, that is, the first joint F can be regarded as a pitch joint at this time, and the first joint F can make the second boom Rotate around the y 0 axis with the first joint F as the fulcrum. The rotation axis of the second joint G will be along the x 0 axis direction, that is, the second joint G can be regarded as a slewing joint at this time, the second joint G can make the third boom take the second joint G as a fulcrum around the x 0 axis Direction of rotation. The third joint H is a telescopic joint along the z 0 direction, which can make the fourth boom extend and contract along the extension direction of the third boom. The rotation axis of the fourth joint I is along the z 0 axis direction, that is, the fourth joint I is a yaw joint at this time, which enables the fifth boom to rotate around the z 0 axis with the fourth joint I as a fulcrum. The rotation axis of the fifth joint J is along the y 0 axis, that is, the fifth joint J can also be regarded as a pitch joint.
对于如图3和图4所示的工程机械，姿态矩阵生成模块配置为根据如下表达式来确定工程机械本体在第一臂架所对应的坐标系下的姿态矩阵：For the construction machinery shown in FIGS. 3 and 4, the attitude matrix generation module is configured to determine the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom according to the following expression:
Figure PCTCN2019126825-appb-000029
Figure PCTCN2019126825-appb-000029
其中，
Figure PCTCN2019126825-appb-000030
表示工程机械本体在第一臂架所对应的坐标系下的姿态矩阵。 among them,
Figure PCTCN2019126825-appb-000030
Represents the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom.
而第一臂架在第二臂架所对应的坐标系下的姿态矩阵则可以根据如下表达式确定：The attitude matrix of the first boom in the coordinate system corresponding to the second boom can be determined according to the following expression:
Figure PCTCN2019126825-appb-000031
Figure PCTCN2019126825-appb-000031
其中，
Figure PCTCN2019126825-appb-000032
表示第一臂架在第二臂架所对应的坐标系下的姿态矩阵，θ 1表示第一关节F的转动角度(也即第二臂架相对于第一臂架的转动角度)。 among them,
Figure PCTCN2019126825-appb-000032
Represents the attitude matrix of the first boom in the coordinate system corresponding to the second boom, and θ 1 represents the rotation angle of the first joint F (that is, the rotation angle of the second boom relative to the first boom).
第二臂架在其后一关节(即第三臂架)所对应的坐标系下的姿态矩阵可以根据如下表达式确定：The posture matrix of the second boom in the coordinate system corresponding to the subsequent joint (ie, the third boom) can be determined according to the following expression:
Figure PCTCN2019126825-appb-000033
Figure PCTCN2019126825-appb-000033
其中，
Figure PCTCN2019126825-appb-000034
表示第二臂架在其后一关节(即第三臂架)所对应的坐标系下的姿态矩阵，θ 2表示第二关节的转动角度(也即第三臂架相对于第二臂架的转动角度)。 among them,
Figure PCTCN2019126825-appb-000034
Represents the posture matrix of the second boom in the coordinate system corresponding to the subsequent joint (ie, the third boom), θ 2 represents the rotation angle of the second joint (that is, the third boom relative to the second boom Rotation angle).
本实施例中，由于第三关节H为一伸缩关节，而伸缩关节并不会改变其所连接的两个臂架的姿态，因此第三臂架在其后一臂架(即第四臂架)所对应的坐标系下的姿态矩阵即为单位矩阵。In this embodiment, since the third joint H is a telescopic joint, and the telescopic joint does not change the posture of the two booms connected to it, the third boom is behind the boom (that is, the fourth boom ) The attitude matrix in the corresponding coordinate system is the identity matrix.
第四臂架在其后一臂架(即第五臂架)所对应的坐标系下的姿态矩阵可以根据如下表达式确定：The attitude matrix of the fourth boom in the coordinate system corresponding to the following boom (ie, the fifth boom) can be determined according to the following expression:
Figure PCTCN2019126825-appb-000035
Figure PCTCN2019126825-appb-000035
其中，
Figure PCTCN2019126825-appb-000036
表示第四臂架在第五臂架所对应的坐标系下的姿态矩阵，θ 3表示第四关节的转动角度(也即第五臂架相对于第四臂架的转动角度)。 among them,
Figure PCTCN2019126825-appb-000036
Represents the attitude matrix of the fourth boom in the coordinate system corresponding to the fifth boom, and θ 3 represents the rotation angle of the fourth joint (that is, the rotation angle of the fifth boom relative to the fourth boom).
而第五臂架在其后一臂架(即第六臂架)所对应的坐标系下的姿态矩阵，第五臂架所对应的坐标系绕Z 5旋转θ 4的运动，可以视为第六臂架所对应的坐标系先绕自身X轴旋转了90度再绕Z 6轴旋转了θ 4的运动，这样第五臂架在其后一臂架(即第六臂架)所对应的坐标系下的姿态矩阵可以根据如下表达式确定： The posture matrix of the fifth boom in the coordinate system corresponding to the following boom (that is, the sixth boom), and the movement of the coordinate system corresponding to the fifth boom around θ 4 around Z 5 can be regarded as the first The coordinate system corresponding to the six boom first rotates around its own X axis by 90 degrees and then rotates around the Z 6 axis by θ 4 movement, so that the fifth boom corresponds to the one behind it (that is, the sixth boom) The attitude matrix in the coordinate system can be determined according to the following expression:
Figure PCTCN2019126825-appb-000037
Figure PCTCN2019126825-appb-000037
其中，
Figure PCTCN2019126825-appb-000038
表示第六臂架在第五臂架所对应的坐标系下的姿态矩阵，θ 4表示第五关节的转动角度(也即第六臂架相对于第五臂架的转动角度)。 among them,
Figure PCTCN2019126825-appb-000038
Represents the attitude matrix of the sixth boom in the coordinate system corresponding to the fifth boom, and θ 4 represents the rotation angle of the fifth joint (that is, the rotation angle of the sixth boom relative to the fifth boom).
由于第六臂架在隧道空间坐标系下的姿态矩阵与导向激光在空间坐标系下的姿态矩阵是相同的，因此工程机械姿态定位模块也就可以根据导向激光姿态数据确定出导向激光在隧道空间坐标系下的姿态矩阵，从而得到安装所述第一标靶和第二标靶的臂架(即指定臂架)在隧道空间坐标系下的姿态矩阵。Since the attitude matrix of the sixth boom in the tunnel space coordinate system is the same as that of the guided laser in the space coordinate system, the engineering machine attitude positioning module can also determine the guided laser in the tunnel space according to the guided laser attitude data The attitude matrix in the coordinate system, so as to obtain the attitude matrix of the boom (that is, the designated boom) installed with the first target and the second target in the tunnel space coordinate system.
具体地，本实施例中，工程机械姿态定位模块优选地根据如下表达式来确定导向激光在隧道空间坐标系下的姿态矩阵：Specifically, in this embodiment, the posture positioning module of the construction machinery preferably determines the posture matrix of the guided laser in the tunnel space coordinate system according to the following expression:
Figure PCTCN2019126825-appb-000039
Figure PCTCN2019126825-appb-000039
其中，
Figure PCTCN2019126825-appb-000040
表示第m臂架在隧道空间坐标系下的姿态矩阵(即导向激光在隧道空间坐标系下的姿态矩阵)，α、β和γ表示所述导向激光在在空间坐标中的姿态角。 among them,
Figure PCTCN2019126825-appb-000040
Represents the attitude matrix of the m-th boom in the tunnel space coordinate system (ie, the attitude matrix of the guided laser in the tunnel space coordinate system), and α, β, and γ represent the attitude angle of the guided laser in space coordinates.
工程机械姿态定位模块可以根据上述姿态矩阵(包括第m臂架在隧道空间坐标系下的姿态矩阵、工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵以及各个臂架在其后一臂架所对应的坐标系下的姿态矩阵)来确定出工程机械本体在空间坐标系下的姿态矩阵，进而确定出工程机械本体在空间坐标系下的姿态数据(例如欧拉角α′、β′和γ′)。The posture positioning module of the construction machinery can be based on the above-mentioned attitude matrix (including the attitude matrix of the mth boom in the tunnel space coordinate system, and the construction machinery body in the coordinate system corresponding to the first boom closest to the connection of the construction machinery body. The attitude matrix and the attitude matrix of each boom in the coordinate system corresponding to the following boom) to determine the attitude matrix of the construction machine body in the space coordinate system, and then determine the attitude of the construction machine body in the space coordinate system Data (e.g. Euler angles α', β'and γ').
具体地，本实施例中，工程机械姿态定位模块优选地根据如下表达式来确定工程机械本体的姿态数据：Specifically, in this embodiment, the posture positioning module of the construction machine preferably determines the pose data of the construction machine body according to the following expression:
Figure PCTCN2019126825-appb-000041
Figure PCTCN2019126825-appb-000041
其中，α′、β′和γ′表示工程机械本体在空间坐标系下的姿态数据，
Figure PCTCN2019126825-appb-000042
表示工程机械本体在隧道空间坐标系下的姿态矩阵，
Figure PCTCN2019126825-appb-000043
表示第k臂架在第k+1臂架所对应的坐标系下的姿态矩阵，m表示臂架总数，
Figure PCTCN2019126825-appb-000044
表示第m臂架在隧道空间坐标系下的姿态矩阵(也即导向激光激光在隧道空间坐标系下的姿态矩阵)。本实施例中，上述臂架总数m的取值为为6。 Among them, α′, β′ and γ′ represent the posture data of the construction machinery body in the space coordinate system,
Figure PCTCN2019126825-appb-000042
Represents the attitude matrix of the construction machinery body in the tunnel space coordinate system,
Figure PCTCN2019126825-appb-000043
Represents the attitude matrix of the k-th boom in the coordinate system corresponding to the k+1th boom, m represents the total number of booms,
Figure PCTCN2019126825-appb-000044
Represents the attitude matrix of the m-th boom in the tunnel space coordinate system (that is, the attitude matrix of the guided laser laser in the tunnel space coordinate system). In this embodiment, the value of the total number m of the booms is 6.
需要指出的是，在本发明的其他实施例中，根据实际情况，定位装置还可以采用其他合理方式来根据各个关节的角度数据和导向激光姿态数据确定工程机械本体的姿态数据，本发明不限于此。It should be pointed out that in other embodiments of the present invention, according to the actual situation, the positioning device may also adopt other reasonable ways to determine the posture data of the construction machine body based on the angle data of each joint and the steering laser posture data. this.
同时，还需要指出的是，在本发明的其他实施例中，根据实际需要，定位装置104所确定出的工程机械本体的姿态数据还可以包含其他合理数据，本发明不限于此。例如，在本发明的一个实施例中，定位装置104所确定出的工程机械本体的姿态数据还可以包含工程机械本体与上述指定臂架的相对位置关系和/或工程机械本体在隧道空间坐标系中的坐标数据等。同样，定位装置104所确定出的工程机械本体的姿态数据还可以采用欧拉角外的其他合理参数来表示，本发明同样不限于此。At the same time, it should also be noted that, in other embodiments of the present invention, according to actual needs, the posture data of the construction machine body determined by the positioning device 104 may also include other reasonable data, and the present invention is not limited to this. For example, in an embodiment of the present invention, the posture data of the construction machinery body determined by the positioning device 104 may further include the relative positional relationship between the construction machinery body and the above-mentioned designated boom and/or the construction machinery body in the tunnel space coordinate system Coordinate data, etc. Similarly, the posture data of the construction machine body determined by the positioning device 104 can also be expressed using other reasonable parameters other than the Euler angle, and the present invention is not limited thereto.
图5示出了本实施例所提供的工程机械定位方法的实现流程示意图。FIG. 5 shows a schematic diagram of an implementation process of the method for positioning a construction machine provided by this embodiment.
如图5所示，本实施例所提供的工程机械定位方法首先会在步骤S501中通过调整工程机械的机械臂来使得工程机械的指定臂架的延伸方向与导向激光的方向平行。As shown in FIG. 5, the construction machine positioning method provided in this embodiment firstly adjusts the mechanical arm of the construction machine in step S501 so that the extension direction of the designated boom of the construction machine is parallel to the direction of the laser guide.
具体地，本实施例中，该方法在步骤S501中优选地会将结构相同的第一标靶102和第二标靶103设置在该指定臂架(例如第三臂架105_3)上。通过调整工程机械的机械臂，使得导向激光同时穿过第一标靶102和第二标靶103的孔洞。正如上述分析的那样，当导向激光同时穿过第一标靶102和第二标靶103的孔洞时，由于第一标靶102和第二标靶103的孔洞的连线与该指定臂架的延伸方向平行，因此导向激光在隧道空间坐标系下的姿态数据也就等于该指定臂架在隧道空 间坐标系下的姿态数据。Specifically, in this embodiment, in step S501, the method preferably places the first target 102 and the second target 103 with the same structure on the designated boom (for example, the third boom 105_3). By adjusting the mechanical arm of the construction machine, the guided laser passes through the holes of the first target 102 and the second target 103 at the same time. As described above, when the guided laser passes through the holes of the first target 102 and the second target 103 at the same time, the line between the holes of the first target 102 and the second target 103 is The extension directions are parallel, so the attitude data of the guided laser in the tunnel space coordinate system is equal to the attitude data of the specified boom in the tunnel space coordinate system.
如图5所示，当工程机械的指定臂架的延伸方向与导向激光的方向平行后，该方法会在步骤S502中获取该指定臂架与工程机械本体之间各个机械臂的相对位置关系数据以及导向激光的导向激光姿态数据(即导向激光在隧道空间坐标系下的姿态数据)。As shown in FIG. 5, when the extending direction of the designated boom of the construction machine is parallel to the direction of the laser, the method will obtain the relative positional relationship data of each robot arm between the designated boom and the construction machine body in step S502 And the guiding laser posture data of the guiding laser (that is, the guiding laser posture data in the tunnel space coordinate system).
具体地，本实施例中，该方法在步骤S502中优选地会获取工程机械的各个关节的角度数据，这样也就可以得到指定臂架与工程机械本体之间各个机械臂的相对位置关系数据。例如，在本发明的一个实施例中，该方法可以利用安装在各个关节位置的角度传感器来获取各个关节的转动角度数据。Specifically, in this embodiment, the method preferably obtains the angle data of each joint of the construction machine in step S502, so that the relative position data of each robot arm between the specified boom and the construction machine body can also be obtained. For example, in one embodiment of the present invention, the method may use angle sensors installed at the positions of various joints to acquire the rotation angle data of each joint.
当然，在本发明的其他实施例中，根据实际情况，该方法还可以采用其他合理方式来获取指定臂架与工程机械本体之间各个机械臂的相对位置关系数据，本发明不限于此。Of course, in other embodiments of the present invention, according to the actual situation, the method can also adopt other reasonable ways to obtain the relative positional relationship data of each robot arm between the specified boom and the construction machinery body, and the present invention is not limited to this.
在得到指定臂架与工程机械本体之间各个机械臂的相对位置关系数据后，该方法也就可以在步骤S503中根据该相对位置关系数据以及导向激光在隧道空间坐标系下的姿态数据来确定出工程机械本体在隧道空间坐标系下的姿态数据。After obtaining the relative positional relationship data of each mechanical arm between the specified boom and the construction machinery body, the method can also be determined in step S503 according to the relative positional relationship data and the attitude data of the guided laser in the tunnel space coordinate system The posture data of the construction machinery body in the tunnel space coordinate system is obtained.
具体地，本实施例中，工程机械本体的姿态数据优选地包括工程机械本体106在隧道空间坐标系统中的姿态角(即欧拉角α′、β′和γ′)。Specifically, in this embodiment, the posture data of the construction machine body preferably includes the attitude angle of the construction machine body 106 in the tunnel space coordinate system (ie, Euler angles α′, β′, and γ′).
该方法在步骤S503中会根据导向激光来确定导向激光在隧道空间坐标系下的姿态矩阵，该姿态矩阵也即安装有第一标靶和第二标靶的臂架在隧道空间坐标系下的姿态矩阵。In step S503, the method determines the attitude matrix of the guidance laser in the tunnel space coordinate system according to the guidance laser, that is, the attitude matrix of the arm mount with the first target and the second target in the tunnel space coordinate system Attitude matrix.
同时，该方法在步骤S503中还会根据各个关节的角度数据分别生成各个关节在其后一关节所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一关节所对应的坐标系下的姿态矩阵，随后根据各个姿态矩阵以及指定臂架在隧道空间坐标下的的姿态矩阵来确定工程机械本体的姿态数据。At the same time, in step S503, the method will also generate the posture matrix of each joint in the coordinate system corresponding to the following joint according to the angle data of each joint, and the first closest relationship between the construction machinery body and the construction machinery body. The posture matrix in the coordinate system corresponding to the joint, and then the posture data of the construction machinery body is determined according to each posture matrix and the posture matrix of the specified boom under the tunnel space coordinates.
本实施例中，该方法在步骤S503中确定工程机械本体的姿态数据的原理与过程与上述定位装置实现其功能的原理以及过程相同，故在此不再对步骤S503的具体内容进行赘述。In this embodiment, the principle and process of the method for determining the posture data of the construction machine body in step S503 is the same as the principle and process of the above-mentioned positioning device to achieve its function, so the details of step S503 will not be repeated here.
从上述描述中可以看出，本发明所提供的工程机械定位系统以及定位方法通过使得指定臂架与导向激光平行，以此利用导向激光来确定出指定臂架在隧道空 间坐标系下的姿态，进而根据各个臂架之间的相对位置关系来确定出工程机械本体在隧道空间坐标系下的姿态。It can be seen from the above description that the engineering machinery positioning system and positioning method provided by the present invention determine the attitude of the designated boom in the tunnel space coordinate system by making the designated boom parallel to the guiding laser, Furthermore, the posture of the construction machine body in the tunnel space coordinate system is determined according to the relative positional relationship between the booms.
相较于现有定位系统，本系统的结构更为简单，这样也就可以使得整个激光定位系统的体积更小，同时也使得整个系统的成本得以降低。同时，本系统以及方法在对工程机械进行定位时，其能够实现对工程机械的姿态的自动测量，这样也就有效降低工程机械定位的难度以及成本。Compared with the existing positioning system, the structure of the system is simpler, so that the volume of the entire laser positioning system can be made smaller, and the cost of the entire system can be reduced. At the same time, the present system and method can realize the automatic measurement of the posture of the construction machinery when positioning the construction machinery, which effectively reduces the difficulty and cost of the construction machinery positioning.
此外，本发明所提供的定位系统以及定位方法由于是通过使得指定臂架与导向激光平行来确定指定臂架在空间坐标系中的姿态，因此相较于现有系统以及方法，其对于测量环境的要求更低，这样也就能够有效提高整个系统的适应性，进而使得该系统以及方法能够应用于诸多条件恶劣的工况下。In addition, since the positioning system and the positioning method provided by the present invention determine the posture of the specified boom in the space coordinate system by making the specified boom parallel to the guiding laser, compared with the existing system and method, it The requirements are lower, so that the adaptability of the entire system can be effectively improved, and the system and method can be applied to many harsh working conditions.
应该理解的是，本发明所公开的实施例不限于这里所公开的特定结构或处理步骤，而应当延伸到相关领域的普通技术人员所理解的这些特征的等同替代。还应当理解的是，在此使用的术语仅用于描述特定实施例的目的，而并不意味着限制。It should be understood that the disclosed embodiments of the present invention are not limited to the specific structures or processing steps disclosed herein, but should extend to equivalent replacements of these features as understood by those of ordinary skill in the relevant art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not meant to be limiting.
说明书中提到的“一个实施例”或“实施例”意指结合实施例描述的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，说明书通篇各个地方出现的短语“一个实施例”或“实施例”并不一定均指同一个实施例。Reference to "one embodiment" or "an embodiment" in the specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment" or "an embodiment" appearing in various places throughout the specification do not necessarily all refer to the same embodiment.
虽然上述示例用于说明本发明在一个或多个应用中的原理，但对于本领域的技术人员来说，在不背离本发明的原理和思想的情况下，明显可以在形式上、用法及实施的细节上作各种修改而不用付出创造性劳动。因此，本发明由所附的权利要求书来限定。Although the above examples are used to illustrate the principles of the present invention in one or more applications, it is obvious to those skilled in the art that they can be used in form, usage and implementation without departing from the principles and ideas of the present invention Make various modifications to the details without paying creative efforts. Therefore, the invention is defined by the appended claims.

Claims (20)

  1. 一种工程机械定位方法，其特征在于，所述方法包括：An engineering machinery positioning method, characterized in that the method includes:
    步骤一、通过调整工程机械的机械臂，使得所述工程机械的指定臂架的延伸方向与导向激光的方向平行；Step 1: By adjusting the mechanical arm of the construction machinery, the extension direction of the designated boom of the construction machinery is parallel to the direction of the laser guide;
    步骤二、获取所述指定臂架与所述工程机械本体之间各个机械臂的相对位置关系数据以及所述导向激光的导向激光姿态数据，根据所述相对位置关系数据以及导向激光姿态数据确定所述工程机械本体的姿态数据。Step 2: Obtain the relative position relationship data of each mechanical arm between the designated arm frame and the construction machinery body and the guide laser posture data of the guide laser, and determine the position based on the relative position relationship data and the guide laser posture data The posture data of the construction machinery body is described.
  2. 如权利要求1所述的方法，其特征在于，在所述步骤一中，The method according to claim 1, wherein in the first step,
    将结构相同的第一标靶和第二标靶设置在所述指定臂架上，并且使得分别形成在两个标靶中心的孔洞的连线与所述指定臂架的延伸方向平行；Arranging the first target and the second target with the same structure on the designated arm, and making the lines of the holes formed in the centers of the two targets parallel to the extending direction of the designated arm;
    调整所述工程机械的机械臂，使得所述导向激光同时穿过所述第一标靶和第二标靶的孔洞。The mechanical arm of the construction machine is adjusted so that the guide laser passes through the holes of the first target and the second target at the same time.
  3. 如权利要求1或2所述的方法，其特征在于，在所述步骤二中，获取所述工程机械的各个关节的角度数据，从而得到所述相对位置关系数据。The method according to claim 1 or 2, characterized in that, in the second step, the angle data of each joint of the construction machine is obtained to obtain the relative position relationship data.
  4. 如权利要求3所述的方法，其特征在于，在所述步骤二中，利用安装在各个关节位置的角度传感器来获取所述各个关节的角度数据。The method according to claim 3, wherein in the second step, the angle data of each joint is acquired by using an angle sensor installed at each joint position.
  5. 如权利要求3所述的方法，其特征在于，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的姿态角。The method according to claim 3, wherein the posture data of the construction machinery body includes the attitude angle of the construction machinery body in a tunnel space coordinate system.
  6. 如权利要求5所述的方法，其特征在于，在所述步骤二中，The method according to claim 5, wherein in the second step,
    根据所述各个关节的角度数据分别生成各个臂架在其后一臂架所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵；According to the angle data of each joint, the posture matrix of each boom in the coordinate system corresponding to the following boom and the coordinates corresponding to the first boom with the closest connection relationship with the construction machinery body are generated respectively The attitude matrix under the system;
    根据各个姿态矩阵确定所述工程机械本体的姿态数据。The posture data of the construction machine body is determined according to each posture matrix.
  7. 如权利要求6中所述的方法，其特征在于，The method according to claim 6, characterized in that
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕X轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the X axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100001
    Figure PCTCN2019126825-appb-100001
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Y轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the n-th boom is rotated about the Y axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is corresponding to the n+1-th boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100002
    Figure PCTCN2019126825-appb-100002
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Z轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the n-th boom is rotated about the Z axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is corresponding to the n+1-th boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100003
    Figure PCTCN2019126825-appb-100003
    其中，
    Figure PCTCN2019126825-appb-100004
    表示第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵，θ n表示第n个关节的转动角度。     among them,
    Figure PCTCN2019126825-appb-100004
    Represents the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom, and θ n represents the rotation angle of the nth joint.
  8. 如权利要求7中所述的方法，其特征在于，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的Z-Y-X欧拉角，根据如下表达式确定所述导向激光在隧道空间坐标系下的姿态矩阵：The method according to claim 7, wherein the posture data of the construction machinery body includes the ZYX Euler angle of the construction machinery body in the tunnel space coordinate system, and the guiding laser is determined according to the following expression Attitude matrix in tunnel space coordinate system:
    Figure PCTCN2019126825-appb-100005
    Figure PCTCN2019126825-appb-100005
    其中，
    Figure PCTCN2019126825-appb-100006
    表示导向激光在隧道空间坐标系下的姿态矩阵，其中，α、β和γ表示所述导向激光在隧道空间坐标系中的欧拉角。     among them,
    Figure PCTCN2019126825-appb-100006
    Represents the attitude matrix of the guided laser in the tunnel space coordinate system, where α, β and γ represent the Euler angle of the guided laser in the tunnel space coordinate system.
  9. 如权利要求8所述的方法，其特征在于，根据如下表达式确定工程机械本体在第一臂架所对应的坐标系下的姿态矩阵：The method according to claim 8, wherein the attitude matrix of the construction machine body in the coordinate system corresponding to the first boom is determined according to the following expression:
    Figure PCTCN2019126825-appb-100007
    Figure PCTCN2019126825-appb-100007
    其中，
    Figure PCTCN2019126825-appb-100008
    表示工程机械本体在第一臂架所对应的坐标系下的姿态矩阵。     among them,
    Figure PCTCN2019126825-appb-100008
    Represents the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom.
  10. 如权利要求8或9所述的方法，其特征在于，在所述步骤二中，根据如下表达式确定所述工程机械本体的姿态数据：The method according to claim 8 or 9, wherein in the second step, the posture data of the construction machinery body is determined according to the following expression:
    Figure PCTCN2019126825-appb-100009
    Figure PCTCN2019126825-appb-100009
    其中，α′、β′和γ′表示工程机械本体在隧道空间坐标系下的欧拉角，
    Figure PCTCN2019126825-appb-100010
    表示工程机械本体在隧道空间坐标系下的姿态矩阵，
    Figure PCTCN2019126825-appb-100011
    表示第k臂架在第k+1臂架所对应的坐标系下的姿态矩阵，m表示臂架总数，
    Figure PCTCN2019126825-appb-100012
    表示第m臂架在隧道空间坐标系下的姿态矩阵。     Among them, α′, β′ and γ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system,
    Figure PCTCN2019126825-appb-100010
    Represents the attitude matrix of the construction machinery body in the tunnel space coordinate system,
    Figure PCTCN2019126825-appb-100011
    Represents the attitude matrix of the kth boom in the coordinate system corresponding to the k+1th boom, m represents the total number of booms,
    Figure PCTCN2019126825-appb-100012
    Represents the attitude matrix of the m-th boom in the tunnel space coordinate system.
  11. 一种工程机械定位系统，其特征在于，所述系统包括：An engineering machinery positioning system, characterized in that the system includes:
    激光发射设备，其用于向指定方向发射导向激光，并根据所述导向激光的方向生成相应的导向激光姿态数据；A laser emitting device, which is used to emit a guiding laser in a specified direction and generate corresponding guiding laser posture data according to the direction of the guiding laser;
    结构相同的第一标靶和第二标靶，所述第一标靶和第二标靶的中心形成有孔洞，在测量过程中，所述第一标靶和第二标靶设置在所述工程机械的指定臂架上，并且两个标靶的孔洞的连线与所述指定臂架的延伸方向平行；A first target and a second target with the same structure, a hole is formed in the center of the first target and the second target, and during the measurement process, the first target and the second target are arranged at the On the designated boom of the construction machinery, and the line connecting the holes of the two targets is parallel to the extending direction of the designated boom;
    定位装置，其与安装在所述工程机械的各个关节上的角度传感器和所述激光发射设备连接，用于根据所述角度传感器传输来的各个关节的角度数据和所述导向激光姿态数据确定工程机械本体的姿态数据。A positioning device, which is connected to an angle sensor installed on each joint of the construction machine and the laser emitting device, is used to determine a project based on the angle data of each joint transmitted from the angle sensor and the guide laser posture data Posture data of the mechanical body.
  12. 如权利要求11所述的系统，其特征在于，在对工程机械进行定位的过程中，所述导向激光同时穿过所述第一标靶和第二标靶的孔洞。The system according to claim 11, wherein during the positioning of the construction machine, the guide laser passes through the holes of the first target and the second target at the same time.
  13. 如权利要求12所述的系统，其特征在于，所述工程机械定位系统包括三个以上标靶，在测量过程中，各个标靶均设置在所述工程机械的指定臂架上，各个标靶的孔洞共线，且标靶孔洞的连线与所述指定臂架的延伸方向平行。The system of claim 12, wherein the construction machinery positioning system includes more than three targets, and each target is set on a designated arm of the construction machinery during the measurement process, and each target The holes of are aligned, and the line of the target hole is parallel to the extending direction of the designated boom.
  14. 如权利要求11～13中任一项所述的系统，其特征在于，所述激光发射设备包括：The system according to any one of claims 11 to 13, wherein the laser emitting device includes:
    激光发射器，其用于产生并向外发射激光；Laser emitter, which is used to generate and emit laser light;
    导向激光姿态数据生成装置，其与所述激光发射器连接，用于根据所述导向激光的方向生成所述导向激光姿态数据。A guiding laser posture data generating device, connected to the laser emitter, is used to generate the guiding laser posture data according to the direction of the guiding laser.
  15. 如权利要求11～13中任一项所述的系统，其特征在于，所述工程机械本体的姿态数据包括所述工程机械本体在空间坐标中的姿态角。The system according to any one of claims 11 to 13, wherein the posture data of the construction machine body includes a posture angle of the construction machine body in spatial coordinates.
  16. 如权利要求15所述的系统，其特征在于，所述定位装置包括：The system of claim 15, wherein the positioning device comprises:
    姿态矩阵生成模块，其与所述角度传感器和激光发射设备连接，用于根据所述导向激光姿态数据确定所述导向激光在隧道空间坐标系下的姿态矩阵，从而得到安装所述第一标靶和第二标靶的臂架在所述隧道空间坐标系下的姿态矩阵，还用于根据各个关节的角度数据分别生成各个臂架在其后一臂架所对应的坐标系下的姿态矩阵以及工程机械本体在与工程机械本体连接关系最为靠近的第一臂架所对应的坐标系下的姿态矩阵；An attitude matrix generation module, which is connected to the angle sensor and the laser emitting device, is used to determine the attitude matrix of the guided laser in the tunnel space coordinate system according to the guided laser attitude data, so as to obtain the installation of the first target The posture matrix of the boom of the second target in the tunnel space coordinate system is also used to generate the posture matrix of each boom in the coordinate system corresponding to the subsequent boom according to the angle data of each joint, and The attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom with the closest connection relationship with the construction machinery body;
    工程机械姿态定位模块，其与所述姿态矩阵生成模块连接，用于根据各个姿态矩阵确定所述工程机械本体的姿态数据。An engineering machinery attitude positioning module, which is connected to the attitude matrix generation module, is used to determine the attitude data of the construction machinery body according to each attitude matrix.
  17. 如权利要求16所述的系统，其特征在于，The system of claim 16, wherein:
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕X轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the X axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100013
    Figure PCTCN2019126825-appb-100013
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Y轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the nth boom is rotated about the Y axis relative to the coordinate system corresponding to the n+1 boom, the nth boom is corresponding to the n+1 boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100014
    Figure PCTCN2019126825-appb-100014
    当第n个臂架所对应的坐标系相对第n+1个臂架所对应的坐标系作绕Z轴的转动时，所述第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵为：When the coordinate system corresponding to the n-th boom is rotated about the Z axis relative to the coordinate system corresponding to the n+1-th boom, the n-th boom is corresponding to the n+1-th boom The attitude matrix of the coordinate system is:
    Figure PCTCN2019126825-appb-100015
    Figure PCTCN2019126825-appb-100015
    其中，
    Figure PCTCN2019126825-appb-100016
    表示第n个臂架在第n+1个臂架所对应的坐标系的姿态矩阵，θ n表示第n个关节的转动角度。     among them,
    Figure PCTCN2019126825-appb-100016
    Represents the attitude matrix of the nth boom in the coordinate system corresponding to the n+1th boom, and θ n represents the rotation angle of the nth joint.
  18. 如权利要求17所述的系统，其特征在于，所述工程机械本体的姿态数据包括所述工程机械本体在隧道空间坐标系中的Z-Y-X欧拉角，所述姿态矩阵生 成模块配置为根据如下表达式确定所述导向激光在隧道空间坐标系下的姿态矩阵：The system according to claim 17, wherein the posture data of the construction machinery body includes a ZYX Euler angle of the construction machinery body in a tunnel space coordinate system, and the posture matrix generation module is configured to be expressed as follows Determines the attitude matrix of the guided laser in the tunnel space coordinate system:
    Figure PCTCN2019126825-appb-100017
    Figure PCTCN2019126825-appb-100017
    其中，
    Figure PCTCN2019126825-appb-100018
    表示导向激光在隧道空间坐标系下的姿态矩阵，其中，α、β和γ表示所述导向激光在在空间坐标中的姿态角。     among them,
    Figure PCTCN2019126825-appb-100018
    Represents the attitude matrix of the guided laser in the tunnel space coordinate system, where α, β and γ represent the attitude angle of the guided laser in space coordinates.
  19. 如权利要求18所述的系统，其特征在于，所述姿态矩阵生成模块配置为根据如下表达式确定工程机械本体在第一臂架所对应的坐标系下的姿态矩阵：The system of claim 18, wherein the posture matrix generation module is configured to determine the posture matrix of the construction machine body in the coordinate system corresponding to the first boom according to the following expression:
    Figure PCTCN2019126825-appb-100019
    Figure PCTCN2019126825-appb-100019
    其中，
    Figure PCTCN2019126825-appb-100020
    表示工程机械本体在第一臂架所对应的坐标系下的姿态矩阵。     among them,
    Figure PCTCN2019126825-appb-100020
    Represents the attitude matrix of the construction machinery body in the coordinate system corresponding to the first boom
  20. 如权利要求18或19所述的系统，其特征在于，所述定位装置配置为根据如下表达式确定所述工程机械本体的姿态数据：The system according to claim 18 or 19, wherein the positioning device is configured to determine the posture data of the construction machine body according to the following expression:
    Figure PCTCN2019126825-appb-100021
    Figure PCTCN2019126825-appb-100021
    其中，α′、β′和γ′表示工程机械本体在隧道空间坐标系下的欧拉角，
    Figure PCTCN2019126825-appb-100022
    表示工程机械本体在隧道空间坐标系下的姿态矩阵，
    Figure PCTCN2019126825-appb-100023
    表示第k臂架在第k+1臂架所对应的坐标系下的姿态矩阵，m表示臂架总数，
    Figure PCTCN2019126825-appb-100024
    表示第m臂架在隧道空间坐标系下的姿态矩阵。     Among them, α′, β′ and γ′ represent the Euler angle of the construction machinery body in the tunnel space coordinate system,
    Figure PCTCN2019126825-appb-100022
    Represents the attitude matrix of the construction machinery body in the tunnel space coordinate system,
    Figure PCTCN2019126825-appb-100023
    Represents the attitude matrix of the k-th boom in the coordinate system corresponding to the k+1th boom, m represents the total number of booms,
    Figure PCTCN2019126825-appb-100024
    Represents the attitude matrix of the m-th boom in the tunnel space coordinate system.
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