CN109579831A - Mining boom-type roadheader visualization auxiliary guidance method and system - Google Patents
Mining boom-type roadheader visualization auxiliary guidance method and system Download PDFInfo
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Abstract
The invention discloses mining boom-type roadheaders to visualize auxiliary guidance method and system, the first target image in acquisition development machine running state information and development machine cantilever；Pose of the cutting head of roadheader relative to body is determined by the method for vision measurement；Calculate pose of the machine body of boring machine relative to tunnel；Fusion inertial navigation and vision measurement technology are combined positioning, obtain pose of the cutterhead relative to drift section；Development machine lead track is carried out to graphic interface to show on host computer；By cutterhead, graphic interface is shown on host computer, and carries out the track guiding in cutterhead moving process according to determining lead track.Measure the real-time pose of cutterhead using vision measuring method and inertial navigation with system by means of the present invention, the real-time pose of cutterhead can be compared with planned trajectory, carry out visual cutting guiding, development machine driver can pass through the prompt of interface display and the cutting route of building, visual cutting track guidance is completed, guarantees the requirement of cutting quality.
Description
Technical Field
The invention belongs to the technical field of mining entry driving machines, and particularly relates to a visual auxiliary guiding method and system for a mining cantilever type entry driving machine.
Background
The boom-type roadheader is widely applied to the tunnelling construction in coal mine tunnel, subway tunnel and railway engineering, cave, however, when the boom-type roadheader cuts the coal petrography, because the reason of driver position, the driver can only see the cutting of one side, the opposite side often need have a vice driver to look at specially and instruct the driver to cut with light, simultaneously, because reasons such as cutting dust production and spraying watering lead to the tunnel to form the quality not good, when the tunnel section is half dome or three-heart dome, the driver is difficult to hold more. At present, the tunneling process of the roadway mainly comprises two types, one is grasped by the experience of a driver, and the other is calculated according to the stretching amount of an oil cylinder measured by a displacement sensor to obtain the pose of the cutting head. The first mode is unreliable, and overexcavation and underexcavation are easy to occur; compared with the first method, the second method is greatly improved, but because the underground environment is very complex and the influence of vibration is large, poor contact of the contact sensor is easily caused, and the reliability of the detection result is greatly reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a visual auxiliary guiding method and a visual auxiliary guiding system for a mining boom-type roadheader, and solves the problem that the tunneling efficiency and the tunneling quality of the existing boom-type roadheader are difficult to guarantee due to the influence of human and environmental factors in the working process.
In order to achieve the purpose, the invention adopts the following technical scheme:
a visual auxiliary guide method for a mining cantilever type tunneling machine is characterized in that a target is arranged on a cantilever of the tunneling machine in the method, and a plurality of light source points are arranged on the edge of the target, and the method comprises the following steps:
step 1: collecting heading machine running state information and a target image on a heading machine cantilever, wherein the heading machine running state information comprises a roll angle, a pitch angle and a yaw angle of a heading machine body, the position of the heading machine body in a roadway, the distance between the heading machine body and coal walls on two sides and the distance between the heading machine body and the front coal wall;
step 2: determining the pose of the cutting head of the heading machine relative to the machine body by a vision measurement method;
step 2.1: extracting light spots in the target image acquired in the step 1, sequencing the light spots, fitting straight lines, and taking the intersection point of every two straight lines as a characteristic point;
step 2.2: determining the coordinates of all the characteristic points in a camera coordinate system by using a four-point perspective imaging method;
step 2.3: calculating a horizontal swing angle theta 1 and a vertical swing angle theta 2 of the cutting head according to the coordinates of the characteristic points in the target coordinate system and the coordinates of the characteristic points in the camera coordinate system obtained in the step 2.2 by using an error model of the dual quaternion;
step 2.4: according to the theta 1 and the theta 2 determined in the step 2.3, the position and the posture of the cutting head relative to the heading machine body are calculated through the formula (1)
Wherein theta 1 is a horizontal swing angle of the cutting head, theta 2 is a vertical swing angle of the cutting head, d is a telescopic distance of the oil cylinder, and b1 is a height difference between a lifting joint and a telescopic joint of the development machine; a1 is the horizontal distance between the center of the heading machine rotary table and the lifting joint, a2 is the distance between the heading machine lifting joint and the telescopic joint, and a3 is the horizontal distance between the heading machine telescopic joint and the cutting head;
and step 3: according to the running state information of the heading machine obtained in the step 1, the pose of the heading machine relative to the roadway is obtained through the formula (2)
Wherein gamma is the roll angle of the body of the heading machine, β is the pitch angle of the body of the heading machine, α is the yaw angle of the body of the heading machine, D1The distance from the machine body to the lateral coal wall is L, and the distance from the development machine to the front coal wall is L; d3The width of the body of the development machine is shown, and b2 is the distance between the lifting joint and the ground;
and 4, step 4: according to the position and posture data of the cutting head relative to the machine body obtained in the step 2 and the position and posture data of the tunneling machine body relative to the roadway section obtained in the step 3, the position and posture of the cutting head relative to the roadway section can be obtained through the formula (3)
And 5: determining a guide track of a cutting head of the heading machine according to the type of the roadway section of the working face of the heading machine, the diameter of the cutting head, the size and the direction of the roadway and the cutting process, and displaying the guide track on a graphical interface on an upper computer;
step 6: and (5) performing data interaction on the pose data of the cutting head relative to the roadway section obtained in the step (4) and an upper computer, displaying the cutting head on a graphical interface on the upper computer, and performing track guidance in the moving process of the cutting head according to the guidance track determined in the step (5).
Specifically, the calculation process of the horizontal swing angle θ 1 of the cutting head and the vertical swing angle θ 2 of the cutting head in the step 2.3 is as follows:
step 2.3.1: a matrix A is constructed by utilizing a dual quaternion error model, and is shown in a formula (4),
in the formula, Q (P)i W) An orthogonal matrix representing the coordinates of the ith characteristic point in a target coordinate system; w (P)i C) An orthogonal matrix representing the coordinates of the ith characteristic point in the camera coordinate system;representing the coordinates of the ith feature point in the target coordinate system, representing the coordinates of the ith feature point in the camera coordinate system,i 1,2, N represents the number of feature points;
when the eigenvalue of the matrix A is maximum, the error of the model is minimum, the eigenvector r of the matrix A at the moment is obtained,wherein,representing four elements in a feature vector r;
step 2.3.2: determining a rotation matrix R between the camera coordinate system and the target coordinate system according to the characteristic vector R obtained in the step 2.3.1 by an equation (5),
step 2.3.3: calculating to obtain theta 1 and theta 2 according to the rotation matrix R obtained in the step 2.3.2 by using the principle that corresponding elements of the equal matrix in the formula (6) are equal,
wherein R is the rotation matrix calculated in step 2.3.2, R*When θ 1 is 0 ° and θ 2 is-90 °, the coordinates of the feature point calculated in step 2.3.2 in the camera coordinate system are determinedThe corresponding rotation matrix R.
Specifically, in the step 1, a strapdown inertial navigation sensor is used for acquiring a roll angle, a pitch angle and a yaw angle of a cantilever type tunneling machine body and position information of the tunneling machine body in a roadway; and measuring the distance from the tunneling machine body to the coal walls on two sides and the distance from the tunneling machine body to the front coal wall by using an ultrasonic sensor.
The invention also discloses a visual auxiliary guide system of the mining cantilever type tunneling machine, wherein a target is arranged on the cantilever of the tunneling machine in the system, a plurality of light source points are arranged on the edge of the target, and the system comprises:
the communication module is used for acquiring the running state information of the heading machine and a target image on a cantilever of the heading machine, wherein the running state information of the heading machine comprises a roll angle, a pitch angle and a yaw angle of a machine body of the heading machine, the distance between the machine body of the heading machine and coal walls on two sides and the distance between the machine body of the heading machine and the front coal wall;
the vision measurement module is used for measuring the position and posture of the cutting head relative to the heading machine body, and specifically comprises:
extracting light spots in a target image acquired by a communication module, sequencing the light spots, fitting straight lines, and taking the intersection point of every two straight lines as a characteristic point;
determining the coordinates of all the characteristic points in a camera coordinate system by utilizing a four-point perspective imaging principle;
calculating a horizontal swing angle theta 1 and a vertical swing angle theta 2 of the cutting head according to the coordinates of the characteristic points in the target coordinate system and the coordinates of the characteristic points in the camera coordinate system by using an error model of the dual quaternion;
calculating the position and posture of the cutting head relative to the heading machine body according to the theta 1 and the theta 2 through the formula (1)
Wherein theta 1 is a horizontal swing angle of the cutting head, theta 2 is a vertical swing angle of the cutting head, d is a telescopic distance of the oil cylinder, and b1 is a height difference between a lifting joint and a telescopic joint of the development machine; a1 is the horizontal distance between the center of the heading machine rotary table and the lifting joint, a2 is the distance between the heading machine lifting joint and the telescopic joint, and a3 is the horizontal distance between the heading machine telescopic joint and the cutting head;
the position and posture detection module of the development machine is used for acquiring the position and posture of the development machine body relative to the tunnel by using a formula (2) according to the position and posture data of the development machine body relative to the tunnel, which is acquired by the communication module, and the operation state information of the development machine, which is acquired by the communication module
Wherein gamma is the roll angle of the heading machine body, β is the pitch angle of the heading machine body, α is the yaw angle of the heading machine body, D1The distance from the machine body to the lateral coal wall is L, and the distance from the development machine to the front coal wall is L; d3The width of the body of the development machine is shown, and b2 is the distance between the lifting joint and the ground;
the data processing module is used for determining the position and pose data of the cutting head relative to the section of the roadway, obtaining the position and pose data of the cutting head relative to the section of the roadway according to the position and pose data of the cutting head relative to the machine body obtained by the vision measuring module and the position and pose data of the heading machine body relative to the roadway obtained by the heading machine position and pose detecting module, and obtaining the position and pose data of the cutting head relative to the section of the roadway according to
The track display module is used for displaying a guide track of the cutting head of the heading machine, determining the guide track of the cutting head of the heading machine according to the type of the section of the roadway of the working face of the heading machine, the diameter of the cutting head, the size and the direction of the roadway and the cutting process, and displaying the guide track on a graphical interface on an upper computer;
and the track guidance module is used for track guidance in the moving process of the cutting head, performing data interaction on the position and posture data of the cutting head, which is obtained by the data processing module, relative to the roadway section and the upper computer, displaying the cutting head on a graphical interface on the upper computer, and performing track guidance in the moving process of the cutting head according to the guidance track determined by the track display module.
Specifically, the determination process of the horizontal swing angle θ 1 and the vertical swing angle θ 2 of the cutting head in the vision measurement module is as follows:
a matrix A is constructed by utilizing a dual quaternion error model, as shown in a formula (4),
in the formula, Q (P)i W) An orthogonal matrix representing the coordinates of the ith characteristic point in a target coordinate system; w (P)i C) An orthogonal matrix representing the coordinates of the ith characteristic point in the camera coordinate system;representing the coordinates of the ith feature point in the target coordinate system, representing the coordinates of the ith feature point in the camera coordinate system,i＝1,2,...,N，n represents the number of the characteristic points;
when the eigenvalue of the matrix A is maximum, the error of the model is minimum, the eigenvector r of the matrix A at the moment is obtained,wherein,representing four elements in a feature vector r;
determining a rotation matrix R between the camera coordinate system and the target coordinate system by formula (5) based on the obtained feature vector R,
according to the obtained rotation matrix R, calculating to obtain theta 1 and theta 2 according to the principle that corresponding elements of the equal matrix in the formula (6) are equal,
wherein R is a rotation matrix, R*The coordinate of the characteristic point under the camera coordinate system when theta 1 is equal to 0 DEG and theta 2 is equal to-90 DEGThe corresponding rotation matrix R.
Specifically, in the communication module, a roll angle, a pitch angle and a yaw angle of the cantilever-type heading machine body and position information of the heading machine body in a roadway are acquired by using a strapdown inertial navigation sensor; and measuring the distance from the machine body to the coal walls on two sides and the distance from the development machine to the front coal wall by using an ultrasonic ranging sensor and a laser ranging sensor.
Compared with the prior art, the invention has the beneficial effects that:
(1) the real-time space positions of the machine body and the cutting head of the heading machine calculated by the vision measurement method, and the real-time display of a graphical interface are realized, so that the real moving track of the movement of the cutting head can be known in real time, and the problems that the working environment of the underground heading machine of a coal mine is large in dust and noise, and an operator is difficult to master the specific condition of a heading section are solved. The driver of the heading machine can complete visual cutting track guidance through interface display and the constructed prompt of the cutting route, thereby ensuring the cutting quality requirement, simultaneously avoiding the occurrence of over-excavation and under-excavation of the roadway, and greatly improving the working efficiency and the working quality of roadway heading.
(2) The invention adopts a vision measurement method to measure the pose of the cutting head relative to the heading machine body, and combines the strapdown inertial navigation technology to carry out combined positioning to determine the pose of the cutting head in the roadway, thereby improving the pose detection precision.
Drawings
FIG. 1 is a schematic diagram of a four-point perspective imaging method.
Fig. 2 is a schematic diagram of various coordinate systems of the heading machine.
Fig. 3 is a flow chart of vision measurement according to the present invention.
Fig. 4 is a block diagram of the system of the present invention.
Fig. 5 is a display diagram of a visual interface of the heading machine and the guide track in the simulation experiment.
Fig. 6 is a display diagram of a visual interface of a visual cutting process of the heading machine in a simulation experiment.
Detailed Description
The target of the invention generally refers to a square plate, and 16 infrared light sources are uniformly arranged on four edges of the square plate, and the light spots are points formed by the light sources in an image.
The camera coordinate system in the invention refers to that the X axis points along the horizontal direction, the Y axis points along the vertical direction and the Z axis points to the target direction by taking the optical center of the camera as the origin, wherein the Z axis is vertical to the Y, X axis. The target coordinate system is that the center of the target is used as an original point, the X axis is parallel to the upper edge and the lower edge of the target and points to the right, the Y axis is parallel to the left edge and the right edge of the target and points to the lower edge, and the Z axis is perpendicular to the plane of the target.
The invention discloses a visual auxiliary guide method of a mining cantilever type tunneling machine, wherein a target is arranged on a cantilever of the tunneling machine in the method, and a plurality of light source points are arranged on the edge of the target, and the method comprises the following steps:
step 1: the method comprises the steps of collecting running state information of the tunneling machine and target images on a cantilever of the tunneling machine, specifically, collecting the target images on the cantilever of the tunneling machine by using a camera arranged on a machine body of the tunneling machine, obtaining poses of the machine body of the tunneling machine in the working process, namely a roll angle, a pitch angle and a yaw angle, and position information of the machine body of the tunneling machine in a roadway by using a strapdown inertial navigation sensor, obtaining the distance between the tunneling machine and coal walls on two sides by using ultrasonic sensors arranged on two sides of the machine body, and measuring the distance between the machine body and the front coal wall by using a laser ranging sensor arranged on the front side of the machine body of the tunneling. Determining the geographic position of the heading machine by utilizing position information obtained by strapdown inertial navigation so as to ensure the direction of the heading machine during working and prevent a roadway from deviating; and determining the position information of the heading machine relative to the roadway by using sensors such as a roll angle, a pitch angle, a yaw angle, ultrasonic waves and the like, and performing accurate positioning.
Step 2: determining pose data of the cutting head relative to the heading machine body;
step 2.1: carrying out noise reduction on the collected target image, preferably using Gaussian filtering to carry out noise reduction, extracting the central point of each light spot on the image subjected to noise reduction, fitting the light spots on each edge of the target image by using a least square method, and taking the intersection point of every two straight lines as a characteristic point;
step 2.2: determining the coordinates of all the feature points in the camera coordinate system by using a four-point perspective imaging method (namely P4P), and specifically comprising the following steps: taking the coordinates of the feature points obtained in step 2.1 as pixel coordinates, converting the pixel coordinates into an image coordinate system, as shown in fig. 1, which is a coplanar P4P schematic diagram, where the conversion relationship between the pixel coordinate system and the image coordinate system is as follows:
wherein (X)p,Yp) Represents the coordinates in the image coordinate system, (u)0,v0) The coordinates of the origin of the image coordinate system under the pixel coordinate system are shown, and (u, v) represent the coordinates under the pixel coordinate system;
the relationship between the image coordinate system and the camera coordinate system without taking imaging distortion into account:
wherein f is the effective focal length of the camera, (X)C,YC,ZC) Representing coordinates in a camera coordinate system; converting the coordinates of the feature points in the pixel coordinate system according to the conversion relation to obtain the coordinates in the camera coordinate system;
as shown in FIG. 1, four coplanar feature points P1～P4Is four vertexes of a square target, and the point formed in the image plane coordinate system is C1～C4，C1～C4The coordinates of (2) can be obtained by processing the image to obtain pixel coordinates, and by using the relationship (formula (7)) between the pixel coordinate system and the image plane coordinate system, the coordinates in the image plane coordinate system are obtainedP is calculated by utilizing a P4P method1～P4Coordinates in the camera coordinate system
Step 2.3: calculating a horizontal swing angle theta 1 and a vertical swing angle theta 2 of the cutting head according to the coordinates of the characteristic points in the target coordinate system and the coordinates of the characteristic points in the camera coordinate system obtained in the step 2.2, namely the space attitude angle of the cutting head; the method is determined by using an error model of dual quaternion, further, a parallel perspective model pose measuring method based on three-dimensional vision can be used, a dual quaternion model method is preferred, and the calculation process of the error model by using the dual quaternion specifically comprises the following steps:
step 2.3.1: determining a rotation matrix R between a camera coordinate system and a target coordinate system by using a dual quaternion error model;
① the dual quaternion consists of two parts:wherein ε is a dual operator, and the dual operator satisfies ε2＝0，ε≠0；
Both the dual and pure quaternions have a similar representation:
dual vectorA spatial curve around which the coordinate system rotates and translates,u is a unit vector indicating the direction of rotation and translation;is the dual angle of rotation and translation; r and s are respectively the real part and the dual part of a pure four-element number, and the mathematical expression is as follows: r ═ r0r1r2r3]T，s＝[s0s1s2s3]T；
From the properties of dual quaternions: r isTs＝sTr＝0，rTr＝1。
The rotation matrix and translation R and T between the two coordinate systems can be expressed as
Wherein Q (r), W (r) are orthogonal matrices
② optimal solution based on error model
From conversion between coordinate systemsWhereinThe theoretical coordinates of the feature points in the camera coordinate system,is the coordinate of the characteristic point in the target coordinate system, and T is the translation amount from the target coordinate system to the camera coordinate.
In the actual calculation, the center of extraction is usedThe error between the theoretical coordinate and the actual coordinate of the characteristic point in the camera coordinate system caused by point error, calculation error and the like
Passing through typeAndestablishing an error model:
in the formula, N is the number of characteristic points;
is composed ofAnd formulae (9) and (10) can be derived:
wherein,
in the formula, Q (P)i W) An orthogonal matrix representing the coordinates of the ith characteristic point in a target coordinate system; w (P)i C) An orthogonal matrix representing the coordinates of the ith characteristic point in the camera coordinate system;representing the coordinates of the ith feature point in the target coordinate system, as the coordinates of the ith feature point in the camera coordinate system,i 1,2, N represents the number of feature points;
constructing a Lagrange function by using a constraint condition of a dual quaternion:
L(r，s，λ1，λ2)＝rTG1r+sTG2r+G3+4NsTs+λ1(rTr-1)+λ2sT
where λ 1 and λ 2 are lagrangian multipliers.
The partial derivatives of r and s are calculated respectively, so that λ 2 can be calculated as 0, and
substituting equation (15) into equation (14) to obtain the index function
F(r,s)＝(G3-λ)/N (15)
Setting upλ represents the eigenvalue of the matrix a, and λ is maximum if the index function F (r, s) is minimum, i.e. the error is minimum; the eigenvector r of the matrix A at this time, namely the real part of the dual quaternion is obtained,
step 2.3.2: based on the determined feature vector R, a rotation matrix R between the camera coordinate system and the target coordinate system is obtained by equation (5),
step 2.3.3: according to the rotation matrix R obtained in the step 2.3.2 and the principle that corresponding elements of the equal matrix are equal, theta 1 and theta 2 are obtained through calculation in the formula (6),
wherein R is the rotation matrix calculated in step 2.3.2, R*The coordinates of the feature points calculated in accordance with step 2.3.2 in the camera coordinate system for θ 1 ° and θ 2 ° of-90 °The corresponding rotation matrix R. R is generally determined by a method given by θ 1 and θ 2*The invention determines the coordinate of the characteristic point under the condition in the camera coordinate system by setting theta 1 to be 0 DEG and theta 2 to be-90 DEG, namely the position where the cantilever of the heading machine is horizontal and is positioned in the middle of the machine bodyAnd then, calculating a rotation matrix R between the coordinate system of the camera and the coordinate system of the target at the current position according to the step 2.3.2, wherein R at the current position is R*。
And 2. step 2.4: performing kinematic analysis on the boom-type roadheader, and establishing a coordinate system of the boom-type roadheader as shown in figure 2, wherein the coordinate system is a basic coordinate system O0X0Y0Z0The origin of (A) is at the same height as the rotation axis of the lifting joint of the cutting arm, X0The shaft is on the central axis of the development machine, Z0The shaft is arranged on the rotating axis of the rotary table; revolute joint coordinate system O1X1Y1Z1The origin of the coordinate system is superposed with the origin of the base coordinate system; lifting joint coordinate system O2X2Y2Z2Is at the center of the lifting joint of the cutting arm, Z2The shaft is arranged on the axis of the lifting joint of the cutting arm; coordinate system O of telescopic joint3X3Y3Z3The original point of (A) is at the center of the front joint of the telescopic oil cylinder, Y3The axis being on the axis of the joint, Z3The shaft is arranged on the axis of the piston rod of the oil cylinder; cutting head coordinate system O4X4Y4Z4Is at the center of the cutting head's minimum cutting radius, Z4The shaft is arranged on the axis of the cutting head frustum; camera coordinate system OCXCYCZCTaking the optical center of the camera as an origin; target coordinate system OWXWYWZWUsing the center of the square target as the origin, ZWThe axis is perpendicular to the infrared target; roadway section coordinate system OXXXYXZXUsing the lower left corner of the tunnel section as the origin, ZXCoordinate axes perpendicular to ground, YXThe coordinate axis is parallel to the roadway ground and faces to the left. Obtaining a change matrix from the cutting head to the heading machine body according to the established coordinate system, namely the formula (1); and calculating the position data of the cutting head relative to the heading machine body according to the theta 1 and the theta 2 determined in the step 2.3
Wherein theta 1 is a horizontal swing angle of the cutting head, theta 2 is a vertical swing angle of the cutting head, d is a telescopic distance of the oil cylinder, and b1 is a height difference between a lifting joint and a telescopic joint of the development machine; a1 is the horizontal distance between the center of the heading machine rotary table and the lifting joint, a2 is the distance between the heading machine lifting joint and the telescopic joint, and a3 is the horizontal distance between the heading machine telescopic joint and the cutting head.
And step 3: obtaining position and attitude data of the tunneling machine body relative to the roadway through the formula (2) according to the tunneling machine running state information obtained in the step 1
Wherein gamma is the roll angle of the body of the heading machine, β is the pitch angle of the body of the heading machine, α is the yaw angle of the body of the heading machine, D1The distance from the machine body to the lateral coal wall is L, and the distance from the development machine to the front coal wall is L; d3The width of the body of the development machine is shown, and b2 is the distance between the lifting joint and the ground;
and 4, step 4: integrating inertial navigation and vision measurement technologies to carry out combined positioning, namely acquiring the position and attitude data of the cutting head relative to the roadway section according to the position and attitude data of the cutting head relative to the machine body obtained in the step 2 and the position and attitude data of the heading machine body relative to the roadway section obtained in the step 3 by the formula (3)
And 5: determining a guide track of a cutting head of the heading machine according to the type of the roadway section of the working face of the heading machine, the diameter of the cutting head, the size and the direction of the roadway and a cutting process (namely a cutting path combination mode), and displaying the guide track on a graphical interface on an upper computer;
step 6: and (5) performing data interaction on the pose data of the cutting head relative to the roadway section obtained in the step (4) and an upper computer, displaying the cutting head on a graphical interface on the upper computer, and performing track guidance in the moving process of the cutting head according to the guidance track determined in the step (5). The method can be used for acquiring functions of over-excavation and under-excavation, footage query, over-excavation and under-excavation alarm and the like.
The invention also discloses a visual auxiliary guide system of the mining cantilever type tunneling machine, which comprises the following components:
the communication module is used for acquiring the running state information of the heading machine and a target image on a cantilever of the heading machine, wherein the running state information of the heading machine comprises a roll angle, a pitch angle and a yaw angle of a machine body of the heading machine, the distance between the machine body of the heading machine and coal walls on two sides and the distance between the machine body of the heading machine and the front coal wall;
the vision measurement module is used for measuring the position and posture of the cutting head relative to the heading machine body, and specifically comprises:
extracting light spots in a target image acquired by a communication module, sequencing the light spots, fitting straight lines, and taking the intersection point of every two straight lines as a characteristic point;
determining the coordinates of all feature points in a camera coordinate system by using a four-point perspective imaging principle, which specifically comprises the following steps: the coordinates in the image plane coordinate system are obtained by using the relationship (formula (7)) between the pixel coordinate system and the image plane coordinate systemP is calculated by utilizing a P4P method1～P4Coordinates in the camera coordinate system
Calculating a horizontal swing angle theta 1 and a vertical swing angle theta 2 of the cutting head according to the coordinates of the characteristic points in the target coordinate system and the coordinates of the characteristic points in the camera coordinate system by using an error model of the dual quaternion, and specifically comprising the following steps:
a matrix A is constructed by utilizing a dual quaternion error model, and is shown in a formula (4),
in the formula, Q (P)i W) An orthogonal matrix representing the coordinates of the ith characteristic point in a target coordinate system; w (P)i C) An orthogonal matrix representing the coordinates of the ith characteristic point in the camera coordinate system;representing the coordinates of the ith feature point in the target coordinate system, representing the coordinates of the ith feature point in the camera coordinate system,i 1,2, N represents the number of feature points;
when the eigenvalue of the matrix A is maximum, the error of the model is minimum, the eigenvector r of the matrix A at the moment is obtained,wherein,representing four elements in a feature vector r;
then, according to the obtained characteristic vector R, a rotation matrix R between the camera coordinate system and the target coordinate system is determined by the formula (5),
finally, according to the obtained rotation matrix R, calculating to obtain theta 1 and theta 2 according to the principle that corresponding elements of the equal matrix in the formula (6) are equal,
wherein R is the rotation matrix calculated in step 2.3.2, R*When θ 1 is 0 ° and θ 2 is-90 °, the coordinates of the feature point calculated in step 2.3.2 in the camera coordinate system are determinedThe corresponding rotation matrix R.
Calculating the position data of the cutting head relative to the heading machine body according to the theta 1 and the theta 2 by the formula (1)
Wherein theta 1 is a horizontal swing angle of the cutting head, theta 2 is a vertical swing angle of the cutting head, d is a telescopic distance of the oil cylinder, and b1 is a height difference between a lifting joint and a telescopic joint of the development machine; a1 is the horizontal distance between the center of the heading machine rotary table and the lifting joint, a2 is the distance between the heading machine lifting joint and the telescopic joint, and a3 is the horizontal distance between the heading machine telescopic joint and the cutting head;
the position and posture detection module of the development machine is used for acquiring position and posture data of the development machine body relative to the tunnel according to the communication moduleObtaining the pose data of the heading machine body relative to the roadway by using the formula (2) according to the line state information
Wherein gamma is the roll angle of the heading machine body, β is the pitch angle of the heading machine body, α is the yaw angle of the heading machine body, D1The distance from the machine body to the left coal wall is L, and the distance from the development machine to the front coal wall is L; d3The width of the body of the development machine is shown, and b2 is the distance between the lifting joint and the ground;
the data processing module is used for determining the position and pose data of the cutting head relative to the section of the roadway, obtaining the position and pose data of the cutting head relative to the section of the roadway according to the position and pose data of the cutting head relative to the machine body obtained by the vision measuring module and the position and pose data of the heading machine body relative to the roadway obtained by the heading machine position and pose detecting module, and obtaining the position and pose data of the cutting head relative to the section of the roadway according to
The track display module is used for displaying a guide track of the cutting head of the heading machine, determining the guide track of the cutting head of the heading machine according to the type of the section of the roadway of the working face of the heading machine, the diameter of the cutting head, the size and the direction of the roadway and the cutting process, and displaying the guide track on a graphical interface on an upper computer;
and the track guidance module is used for track guidance in the moving process of the cutting head, performing data interaction on the position and posture data of the cutting head, which is obtained by the data processing module, relative to the roadway section and the upper computer, displaying the cutting head on a graphical interface on the upper computer, and performing track guidance in the moving process of the cutting head according to the guidance track determined by the track display module.
Simulation experiment:
the mark target on the entry driving machine cantilever is the square mark target in this simulation experiment, and four edges of mark target evenly are provided with 16 infrared light source lamps, and entry driving machine guide process includes:
the method comprises the steps of 1, acquiring running state information of the heading machine according to the requirement of visual auxiliary cutting, acquiring the pose of the machine body of the heading machine in the working process by using a strapdown inertial navigation sensor, acquiring the distance between the heading machine and coal walls on two sides by using ultrasonic sensors arranged on two sides of the machine body, measuring the distance between the machine body and the coal walls on the front sides by using a laser ranging sensor arranged on the front side of the machine body of the heading machine, and acquiring images by using a square target arranged on the machine body of the heading machine by using an explosion-proof camera, transmitting the acquired data to an onboard computer through serial port communication, processing and calculating the data of each sensor and storing the data into a database, wherein in the simulation experiment, the roll angle gamma of a cutting head acquired by each sensor in real time is 0.120 degrees, the pitch angle β degrees is-0.069 degrees, the yaw angle α degrees and the distance between the machine body of the heading machine and the right side of the coal mine is 32 cm.
Step 2: determining the pose of the cutting head of the heading machine relative to the machine body by a vision measurement method; specifically, as shown in fig. 2, step 2.1: carrying out noise reduction on the extracted image by using Gaussian filtering, extracting the light spot central point in the noise-reduced image, sequencing and fitting the light spots on each of four sides of the square target, and finally determining a calculation characteristic point;
step 2.2: determining coordinates of the four characteristic points in a camera coordinate system by using a four-point perspective imaging method;
step 2.3: establishing an error model by using a mathematical tool of dual quaternion, establishing a pose error model of the cutting head, and determining a rotation matrix R between a camera coordinate system and a ground coordinate system by using a method of solving a minimum value by using a Lagrange multiplier method; determining theta 1 and theta 2 through the relation between the rotation matrix R shown in the formula (6) and theta 1 and theta 2;
step 2.4: calculating the pose 0 of the cutting head relative to the heading machine body by using the formula (1)4T, and storing the data in a database;
and step 3: calculating the pose data of the excavator body relative to the roadway according to the operation state information of the excavator obtained in the step 1 through the formula (2)
And 4, step 4: through the formula (3), the position and posture data of the cutting head relative to the roadway section can be obtained
And 5: and determining a guide track of the cutting head of the heading machine according to the type of the roadway section of the working face of the heading machine, the diameter of the cutting head, the size and the direction of the roadway and the cutting process (namely a cutting path combination mode), and displaying the guide track on a graphical interface on an upper computer. As shown in fig. 5, which is a visual display diagram of the heading machine, a bending line at the upper right part in the diagram represents a guide track, and an origin point on a bending curve represents a cutting head; the top left view of the figure shows a view of the heading machine in a roadway with the boxes representing the roadway.
And 6, performing data interaction on the position data of the cutting head relative to the roadway section obtained in the step 4 and an upper computer, displaying the cutting head on an upper computer in a graphical interface mode, wherein the original point is shown as a graph 5 to represent the cutting head, and performing track guidance in the moving process of the cutting head according to the guide track determined in the step 5, wherein the covered part of the cutting head on the graph is a walking path of the cutting head as shown in the graph 6, and as can be seen from the graph 6, when the heading machine walks to the position, the roll angle gamma of the cutting head, which is acquired by each sensor in real time, is 0.008 degrees, the pitch angle β is-0.013 degrees, the yaw angle α is 0.132 degrees, and the distance from the right side of the body of the heading machine to the coal mine is.
Setting the initial state of the heading machine as follows: the horizontal swing angle of the cutting head is 0 degree, and the vertical swing angle is-90 degrees. In the actual operation process of the heading machine, the cutting head is measured to be lifted 25.369 degrees and rotated 15.814 degrees rightwards at a certain moment in the operation process of the heading machine; the horizontal swing angle 15.562 degrees of the cutting head and the vertical swing angle of the cutting head of the heading machine at the moment are-115.685 degrees obtained through the simulation experiment, so that the horizontal swing angle of the cutting head and the vertical swing angle of the cutting head are respectively changed into 15.562 degrees and 25.685 degrees, and the obtained lifting angle and the right-hand rotation angle of the cutting head are close to those of the actually measured cutting head, and the method and the system have high accuracy.
The real-time position of the cutting head space calculated by the vision measurement method is realized, the real-time display of a graphical interface is realized, and a driver of the heading machine can complete visual cutting track guidance through the interface display and the constructed prompt of the cutting route. The requirements of cutting quality are ensured, and the occurrence of over-excavation and under-excavation of the roadway is avoided. If the overexcavation and underexcavation occur in the process of tunneling the roadway, the visual interface immediately gives a prompt, and a driver of the tunneling machine can make remedial measures according to the condition. In addition, the tunneling distance and the historical alarm condition can be checked through a query page.
It should be noted that the present invention is not limited to the above embodiments, and all equivalent changes based on the technical solutions of the present application fall into the protection scope of the present invention.
Claims (6)
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