CN113914880B - Tunnel punching method capable of correcting inclination angle based on laser ranging and punching robot - Google Patents
Tunnel punching method capable of correcting inclination angle based on laser ranging and punching robot Download PDFInfo
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- CN113914880B CN113914880B CN202111022213.0A CN202111022213A CN113914880B CN 113914880 B CN113914880 B CN 113914880B CN 202111022213 A CN202111022213 A CN 202111022213A CN 113914880 B CN113914880 B CN 113914880B
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- 238000004080 punching Methods 0.000 title claims abstract description 254
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012937 correction Methods 0.000 claims abstract description 62
- 238000005286 illumination Methods 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 3
- 238000003062 neural network model Methods 0.000 claims description 3
- 238000005553 drilling Methods 0.000 abstract description 71
- 238000010276 construction Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
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- 238000009412 basement excavation Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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Abstract
The application relates to the technical field of tunnel construction and provides a tunnel punching method and a punching robot capable of correcting an inclination angle based on laser ranging. The method comprises the following steps: obtaining the distance from the punching robot to the section where the punching point is located through a laser range finder arranged on the punching robot; the laser range finders are 3, the 3 laser range finders are arranged in a triangle around the drill bit of the punching robot and are positioned on the same mounting surface of the punching robot; calculating a primary correction inclination angle of the section offset of a drill bit of the punching robot and the punching point according to the distances from the punching robot to the section where the punching point is located, which are measured by the 3 laser rangefinders; according to the primary correction inclination angle, the gesture of an execution end fixedly connected with the tail end of a mechanical arm of the punching robot is adjusted, so that a drill bit on the execution end is opposite to the section of the punching point. Therefore, the inclination angle of the execution end is corrected, and automatic control of the drilling robot during drilling is realized.
Description
Technical Field
The application relates to the technical field of tunnel construction, in particular to a tunnel punching method and a punching robot with correctable dip angle based on laser ranging.
Background
In subway tunnel construction, the side wall cables of the tunnel, pipeline installation and the like all need to be drilled. At present, a manual operation method is mostly adopted for tunnel drilling, namely, workers support electric drill drilling on a ladder car, and the drilling mode is low in efficiency, high in cost, high in risk and high in labor intensity, and a large amount of dust is splashed during construction, so that the health of constructors is greatly damaged. In addition, in the traditional manual drilling mode, before drilling, the camber angle of the drill bit of the electric drill is generally measured by adopting tools such as an angle gauge or the like, or the camber angle of the drill is controlled by an operator through experience. Because the special measuring equipment of non-drilling inclination of angle gauge, when measuring the inclination, be difficult to cooperate between angle gauge and the electric drill, so adopt angle gauge control inclination method actual operation in-process inconvenient, rarely adopt when tunnel excavation drilling, often by the operating personnel depend on experience control drilling inclination, unavoidable lead to tunnel drilling inclination inequality, cause the difficulty for follow-up cable, pipeline installation construction.
Accordingly, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
An object of the present application is to provide a tunnel punching method and a punching robot capable of correcting a dip angle based on laser ranging, so as to solve or alleviate the problems existing in the prior art.
In order to achieve the above object, the present application provides the following technical solutions:
the application provides a tunnel punching method capable of correcting an inclination angle based on laser ranging, which comprises the following steps: obtaining the distance from the punching robot to the section where the punching point is located through a laser range finder arranged on the punching robot; the laser range finders are arranged in a triangular shape around the drill bit of the punching robot, and are positioned on the same mounting surface of the punching robot; calculating a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distances from the punching robot to the section where the punching point is located, which are measured by the 3 laser range finders; and according to the primary correction inclination angle, adjusting the posture of an execution end fixedly connected with the tail end of the mechanical arm of the punching robot so that the drill bit on the execution end is opposite to the section of the punching point.
Preferably, the distance from the punching robot to the section where the punching point is located is specifically: and 3 laser rangefinders are adjusted to have the same distance to the drill bit, and the distances from the 3 laser rangefinders to the section where the punching point is located are respectively obtained.
Preferably, the 3 laser rangefinders are respectively a first laser rangefinder, a second laser rangefinder and a third laser rangefinder; the distances from the punching robot to the section where the punching point is located, which are measured by the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument, are respectively a first distance, a second distance and a third distance; correspondingly, the calculating a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distances from the punching robot to the section of the punching point, which are measured by the 3 laser distance measuring instruments, specifically comprises the following steps: calculating the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill bit according to the first distance, the second distance and the third distance, and taking the rotation angle as a primary correction inclination angle of the section offset of the drill bit and the punching point; the X axis coincides with the extending direction from the first laser range finder to the second laser range finder, and the Y axis is parallel with the extending direction from the second laser range finder to the third laser range finder and passes through the first laser range finder.
Preferably, the calculating, according to the first distance, the second distance and the third distance, an angle of rotation of the drill of the drilling robot about an X axis and a Y axis perpendicular to each other in a normal plane of the drill, as a primary correction inclination angle of a section offset between the drill and the drilling point, includes: calculating a first vector and a second vector according to the first distance, the second distance and the third distance and the distances among the first laser distance meter, the second laser distance meter and the third laser distance meter, wherein the first vector is a vector from an illumination point of the first laser distance meter on the section of the punching point to an illumination point of the second laser distance meter on the section of the punching point; the second vector is a vector from the point of illumination of the second laser range finder on the cross section of the punching point to the point of illumination of the third laser range finder on the cross section of the punching point; calculating a normal vector of a cross section of the punching point according to the first vector and the second vector; based on the three-vertical theorem, according to the normal vector of the cross section of the punching point, calculating the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually vertical in the normal plane of the drill bit, and taking the rotation angle as a primary correction inclination angle of the cross section offset of the drill bit and the punching point.
Preferably, after the adjusting the posture of the execution end fixedly connected to the tail end of the mechanical arm of the punching robot according to the primary correction inclination angle, the method further includes: and responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and determining whether the drill bit and the punching point are offset according to the distance from the laser range finder to the section where the punching point is located at the working position.
Preferably, the determining whether the drill bit is offset from the drilling point according to the distance from the laser range finder to the section where the drilling point is located at the working position in response to the drilling robot moving to the working position corresponding to the coordinates of the drilling point includes: responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distances from 3 laser range finders at the working position to the section where the punching point is located; and determining that the drill bit is offset from the punching point in response to the mutual error of the distances from the 3 laser rangefinders at the working position to the section where the punching point is located being greater than a preset error threshold.
Preferably, after determining that the drill bit is offset from the drilling point in response to the mutual error between the distances from the 3 laser rangefinder to the section where the drilling point is located at the working position being greater than a preset error threshold, the method further includes: and calculating a secondary correction inclination angle of the deviation of the drill bit and the punching point according to the distances from the 3 laser range finders at the working position to the section where the punching point is located, and adjusting the posture of the executing end according to the secondary correction inclination angle so that the drill bit is opposite to the punching point.
The embodiment of the application also provides a tunnel boring robot based on laser rangefinder's inclination can be corrected, include: the laser range finders are used for measuring the distance from the punching robot to the section where the punching point is located, wherein 3 laser range finders are arranged, and 3 laser range finders are arranged in a triangular mode around the drill bit of the punching robot and are located on the same installation surface of the punching robot; the industrial personal computer is in communication connection with the 3 laser rangefinders, receives and calculates a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distances between the punching robot and the section where the punching point is located, which are measured by the 3 laser rangefinders; the tail end of the adjusting mechanical arm is fixedly connected with the execution end of the punching robot, the adjusting mechanical arm is in communication connection with the industrial personal computer, and the posture of the execution end is adjusted according to the primary correction inclination angle sent by the industrial personal computer, so that the drill bit on the execution end is opposite to the punching point.
Preferably, the 3 laser rangefinders are respectively a first laser rangefinder, a second laser rangefinder and a third laser rangefinder; the distances from the punching robot to the section where the punching point is located, which are measured by the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument, are respectively a first distance, a second distance and a third distance; correspondingly, the industrial personal computer calculates the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill bit according to the first distance, the second distance and the third distance, and the rotation angle is used as a primary correction inclination angle of the section offset of the drill bit and the punching point; the X axis coincides with the extending direction from the first laser range finder to the second laser range finder, and the Y axis is parallel with the extending direction from the second laser range finder to the third laser range finder and passes through the first laser range finder.
Preferably, the industrial personal computer is configured with: a first calculation unit configured to calculate a first vector and a second vector according to the first distance, the second distance, and the third distance, and the distances among the first laser range finder, the second laser range finder, and the third laser range finder, wherein the first vector is a vector from an illumination point of the first laser range finder on a cross section of the punching point to an illumination point of the second laser range finder on a cross section of the punching point; the second vector is a vector from the point of illumination of the second laser range finder on the cross section of the punching point to the point of illumination of the third laser range finder on the cross section of the punching point; a second calculation unit configured to calculate a normal vector of a cross section of the punching point based on the first vector and the second vector; and the correction calculation unit is configured to calculate the angle of rotation of the drill of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill based on the three-perpendicular theorem according to the normal vector of the cross section of the punching point, and the angle is used as a primary correction inclination angle of the cross section offset of the drill and the punching point.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
according to the technical scheme, the 3 laser rangefinders arranged on the punching robot are used for measuring the distance from the punching robot to the section where the punching point is located, and as the 3 laser rangefinders are arranged on the same installation surface of the punching robot in a triangular mode, whether the drill bit of the punching robot is right opposite to the section of the punching point or not can be determined according to the 3 distances measured by the 3 laser rangefinders; when the distances measured by the 3 laser rangefinders are equal or the opportunity is equal, the drill bit of the drilling robot is considered to be the section right opposite to the drilling point, otherwise, the inclination angle deviation between the drill bit and the section of the drilling point is indicated, at the moment, the one-time correction inclination angle of the drill bit of the drilling robot and the section deviation of the drilling point can be calculated according to the distances measured by the 3 laser rangefinders, and the execution gesture of the fixed connection of the tail end of the mechanical arm of the drilling robot is adjusted according to the one-time correction inclination angle, so that the drill bit on the execution end is right opposite to the section of the drilling point. Therefore, whether the drill bit and the section of the punching point are offset can be accurately judged, and when the drill bit is offset and the section of the punching point is offset, the offset inclination angle of the drill bit and the section of the punching point can be accurately obtained, and the inclination angle correction is carried out on the execution end fixedly connected with the mechanical arm, so that the automatic control of the punching robot during drilling is realized, personnel are liberated from high-risk and high-hazard work, the punching precision is effectively improved, the installation and construction of subsequent cables and pipelines are facilitated, and the construction difficulty is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. Wherein:
fig. 1 is a schematic flow chart of a tunnel boring method with modifiable dip angle based on laser ranging according to some embodiments of the present application;
FIG. 2 is a process diagram of a tilt-modifiable tunnel boring method based on laser ranging according to some embodiments of the present application;
FIG. 3 is a schematic front view of an actuator provided according to some embodiments of the present application;
FIG. 4 is a side view of the embodiment shown in FIG. 3;
FIG. 5 is a schematic diagram of a laser coordinate system provided according to some embodiments of the present application;
FIG. 6 is a flow chart of a primary tilt correction calculation provided in accordance with some embodiments of the present application;
FIG. 7 is a schematic diagram of a drill bit rotated about a Y-axis in a laser coordinate system according to some embodiments of the present application;
FIG. 8 is a schematic view of a drill bit according to some embodiments of the present application rotated about an X' axis in a laser coordinate system;
FIG. 9 is a flow chart of secondary tilt correction provided in accordance with some embodiments of the present application;
FIG. 10 is a schematic diagram of a system for providing a laser ranging-based tilt-modifiable tunnel boring robot, in accordance with some embodiments of the present application;
fig. 11 is a schematic structural diagram of a tunnel boring robot with modifiable inclination angle based on laser ranging according to some embodiments of the present application.
Reference numerals illustrate:
100. the industrial personal computer 200, the adjusting mechanical arm 300, the laser range finder 400 and the 2D camera,
101. a first calculation unit, 102, a second calculation unit, 103, a correction calculation unit,
301. first laser range finder, 302, second laser range finder, 303-third laser range finder.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. Various examples are provided by way of explanation of the present application and not limitation of the present application. Indeed, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present application include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
In the description of the present application, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely for convenience in describing the present application and do not require that the present application must be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present application. The terms "coupled," "connected," and "configured" as used herein are to be interpreted broadly, and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through an intermediate component; either a wired electrical connection, a radio connection or a wireless communication signal connection, the specific meaning of which terms will be understood by those of ordinary skill in the art as the case may be.
Fig. 1 is a schematic flow chart of a tunnel boring method with modifiable dip angle based on laser ranging according to some embodiments of the present application; FIG. 2 is a process diagram of a tilt-modifiable tunnel boring method based on laser ranging according to some embodiments of the present application; as shown in fig. 1, the tunnel punching method with modifiable dip angle based on laser ranging includes:
step S101, obtaining the distance from the punching robot to the section where the punching point is located through a laser range finder 300 arranged on the punching robot; wherein, the number of the laser rangefinders 300 is 3, and the 3 laser rangefinders 300 are arranged in a triangle around the drill bit of the punching robot and are positioned on the same mounting surface of the punching robot;
in the embodiment of the application, 3 laser rangefinders 300 are arranged on the same installation surface of the punching robot in a triangular shape, and by distance measurement, as 3 points determine a plane, the irradiation points of the 3 laser rangefinders 300 on the cross section of the punching point can determine that the punching point is located on the plane instead of a line segment; then, the distance to the plane is measured by using 3 laser rangefinders 300, and it is known whether the plane is inclined with respect to the mounting surface of 3 laser rangefinders 300. If the distances to the plane measured by the 3 laser rangefinders 300 are equal or nearly equal, it is indicated that the plane is parallel or nearly parallel to the plane in which the 3 laser rangefinders 300 are located, and because the drill bit is located between the three laser rangefinders 300, it can be determined that the drill bit is not offset from the cross section (i.e., the cross section of the perforation point) determined by the irradiation points of the 3 laser rangefinders 300 on the cross section of the perforation point.
In this embodiment of the present application, the distance from the punching robot to the section where the punching point is located is specifically: the distances from the 3 laser rangefinders 300 to the drill bit are adjusted to be the same, and the distances from the 3 laser rangefinders 300 to the section where the punching point is located are respectively obtained. Therefore, because the distances from the drill bit to the 3 laser rangefinders 300 are the same, the drill bit is positioned at the center of the triangle circumcircle formed by the 3 laser rangefinders 300, and the accuracy of the deviation judgment of the cross section (i.e. the cross section of the punching point) determined by the drill bit and the irradiation point of the 3 laser rangefinders 300 on the cross section of the punching point is further improved.
Step S102, calculating a primary correction inclination angle of the section offset between a drill bit of the punching robot and the punching point according to the distances from the punching robot to the section where the punching point is located, which are measured by the 3 laser rangefinders 300;
FIG. 3 is a schematic front view of an actuator provided according to some embodiments of the present application; FIG. 4 is a side view of the embodiment shown in FIG. 3; FIG. 5 is a schematic diagram of a laser coordinate system provided according to some embodiments of the present application; as shown in fig. 3, 4 and 5, 3 laser rangefinders 300 are a first laser rangefinder 301, a second laser rangefinder 302 and a third laser rangefinder 303, respectively; the first laser rangefinder 301 and the second laser rangefinder 302 are arranged along the length direction of the execution end, the second laser rangefinder 302 and the third laser rangefinder 303 are arranged along the width direction of the execution end, and the 3 laser rangefinders 300 are right triangle-shaped. Here, a coordinate system ozz of the laser is established with the position of the first laser range finder 301 as a center, wherein the directions from the first laser range finder 301 to the second laser range finder 302 are defined as the positive X-axis direction, the light direction of the laser is defined as the positive Z-axis direction, and the directions from the second laser range finder to the third laser range finder 303 are defined as the positive Y-axis direction; the irradiation points of the planes of the first laser range finder 301, the second laser range finder 302, the third laser range finder 303 and the punching point are respectively point A, point B and point C; defining the distances to the section where the punching point is located, measured by the first laser distance meter 301, the second laser distance meter 302 and the third laser distance meter 303, as a first distance (depth 1), a second distance (depth 2) and a third distance (depth 3) respectively; distance12 is defined as the distance between the first laser rangefinder 301 and the second laser rangefinder 302, and distance23 is defined as the distance between the second laser rangefinder 302 and the third laser rangefinder 303.
In some alternative embodiments, the primary correction inclination angle of the section offset of the drill bit of the punching robot from the punching point is calculated according to the distances between the punching robot and the section of the punching point measured by the 3 laser rangefinder 300, specifically: according to the first distance, the second distance and the third distance, calculating the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill bit, and taking the rotation angle as a primary correction inclination angle of the section offset of the drill bit and the punching point; the X axis coincides with the extending directions of the first to second laser rangefinders 301 to 302, and the Y axis is parallel to the extending directions of the second to third laser rangefinders 302 to 303 and passes through the first laser rangefinder 301.
FIG. 6 is a flow chart of a primary tilt correction calculation provided in accordance with some embodiments of the present application; as shown in fig. 6, according to the first distance, the second distance and the third distance, the angle of rotation of the drill of the drilling robot around the X-axis and the Y-axis perpendicular to each other in the normal plane thereof is calculated as a primary correction inclination of the section offset of the drill from the drilling point, and the method includes:
step S601, calculating a first vector and a second vector according to the first distance, the second distance and the third distance and the distances among the first laser rangefinder 301, the second laser rangefinder 302 and the third laser rangefinder 303, wherein the first vector is a vector from an illumination point of the first laser rangefinder 301 on a cross section of a punching point to an illumination point of the second laser rangefinder 302 on a cross section of the punching point; the second vector is a vector from the point of illumination of the second laser rangefinder 302 on the cross section of the perforation point to the point of illumination of the third laser rangefinder 303 on the cross section of the perforation point;
in the embodiment of the application, the coordinates of the irradiation points of the laser and the wall surface in the laser coordinate system are respectively A (0, depth 1), B (distance 12, 0, depth 2) and C (distance 12, distance23, depth 3); the first vector from the point of illumination of the first laser rangefinder 301 on the cross-section of the perforation point to the point of illumination of the second laser rangefinder 302 on the cross-section of the perforation point isThe second vector is->The method comprises the following steps:
step S602, calculating the normal vector of the cross section of the punching point according to the first vector and the second vector;
in the embodiment of the present application, the normal vector of the section where the punching point is located isNormal vector->Is->Second vector->Vertical, namely:
in the embodiment of the application, to simplify the coordinate transformation, z is set 1 =1, then there is:
step S603, based on the three-vertical theorem, calculates the rotation angle of the drill of the drilling robot around the X-axis and the Y-axis perpendicular to each other in the normal plane of the drill, as the primary correction inclination angle of the cross section offset of the drill and the drilling point.
In the embodiment of the application, the rotation sequence of the punching robot in the established laser coordinate system is set to be ZYX, namely the drill bit rotates around the Y axis first, the laser coordinate system rotates around the Y axis, the laser direction is changed to Z ', and the X axis is changed to X' due to the rotation of the movable shaft; then rotating around the X 'axis, and changing the laser direction into Z'; the angle of rotation of the drill bit about the Y axis is ry and the angle of rotation of the drill bit about the X' axis is rx, as shown in FIGS. 7 and 8.
In the embodiment of the application, the projection of Z ' on the plane XOZ is Z ', and the solution is solved according to the three-perpendicular theorem, so that X ' is perpendicular to Z ' and has two solutions, wherein the angle of rotation of the drill bit obtained by one X ' around the Y axis is ry exceeding (-90 degrees, 90 degrees), namely the solution is an invalid solution. That is, Z 'is perpendicular to X', Z 'is perpendicular to X' after rotating around X 'axis, Z' is projected on the XOZ plane, X 'is perpendicular to Z' on the XOZ plane according to the three-vertical theorem, the projections of Z 'and Z' on the XOZ plane are all on the XOZ plane, and the starting points are all O points, so that the projection of Z 'on the XOZ plane is the same as the direction of Z', namely:
however, X 'perpendicular to both Z' and z″ has two directions (opposite directions) starting from the O point, and at this time, the direction of Z 'is opposite to the projection direction of z″ on the XOZ plane, and the angle ry between Z' and Z is greater than 90 °, which does not fit the actual use scenario, and therefore the solution is omitted.
In this embodiment of the present application, the angle between the projection of Z "on the plane XOZ and the normal vector is rx, the angle between the projection of Z" on the plane XOZ and the Z axis is ry, and there is:
and step 103, according to the primary correction inclination angle, adjusting the posture of an execution end fixedly connected with the tail end of the mechanical arm of the punching robot so that a drill bit on the execution end is opposite to the section of the punching point.
In the embodiment of the application, after the punching robot receives the inclination correction information, the execution end fixedly connected with the tail end of the mechanical arm rotates by rx and ry angles around the X axis and the Y axis in sequence in the laser coordinate system, so that the section of the drill bit facing the punching point can be realized.
In this embodiment of the present application, a 2D camera 400 is disposed above the drill bit at the execution end, and is used for photographing the punching area, where the lens of the 2D camera 400 is parallel to the punching direction of the drill bit. When the drill bit is inclined with respect to the cross section of the hole point, the photo of the hole area obtained by the 2D camera 400 cannot effectively distinguish the hole area from the non-hole area (for example, a shield plate groove, a side seam, a screw, etc. exist). By correcting the inclination angle at one time, the gesture of the execution end fixedly connected with the tail end of the mechanical arm of the punching robot is adjusted, so that the lens of the 2D camera 400 is opposite to the punching area to take a picture, and therefore the punching area and the non-punching area can be effectively distinguished through pictures.
In some alternative embodiments, after adjusting the posture of the execution end fixedly connected to the tail end of the mechanical arm of the drilling robot according to the one-time correction inclination angle so that the drill bit on the execution end is opposite to the section of the drilling point, the method further comprises: in response to the drilling robot moving to a working position corresponding to the coordinates of the drilling point, determining whether the drill bit is offset from the drilling point according to the distance from the laser rangefinder 300 at the working position to the cross section where the drilling point is located.
In the embodiment of the application, after the inclination correction is performed once, the 2D camera 400 photographs the perforated area, and the feature extraction and recognition are performed on the photographed picture of the 2D camera 400 based on the pre-trained neural network model, so that the area which can be perforated and the area which cannot be perforated are effectively distinguished. Then, when the distance from the punching robot to the section where the punching point is located is obtained through the laser range finder 300, since the drill bit is right opposite to the section where the punching point is located at this time, the distance measured by the laser range finder 300 is a straight line distance, and the distance that the punching robot needs to move forward can be determined through the straight line distance, and the industrial personal computer 100 controls the punching robot to move to the working position corresponding to the coordinates of the punching point.
In this embodiment of the present application, after the drilling robot moves to the working position corresponding to the coordinates of the drilling point, the laser rangefinder 300 performs distance measurement on the cross section of the drilling point at the working position, and determines whether the drill bit and the drilling point deviate according to the distance measured again. If the distances measured again by the laser rangefinder 300 are different, it is indicated that the inclination deviation may occur between the drill and the section of the drilling point when the robot moves, and the inclination correction needs to be performed again on the inclination deviation between the drill and the section of the drilling point.
FIG. 9 is a flow chart of secondary tilt correction provided in accordance with some embodiments of the present application; as shown in fig. 9, in response to the drilling robot moving to an operating position corresponding to coordinates of a drilling point, determining whether the drill bit is offset from the drilling point according to a distance from the laser rangefinder 300 at the operating position to a section where the drilling point is located includes:
step S901, responding to the movement of the punching robot to the working position corresponding to the coordinates of the punching point, and obtaining the distances from the 3 laser rangefinders 300 at the working position to the section where the punching point is located;
in the embodiment of the application, 3 distances are obtained through measurement of 3 laser rangefinders 300, which is just the same as the primary inclination angle modification, so that the accuracy in judging whether the section where the drill bit and the punching point are located deviates or not can be improved. Specific steps and processes refer to step S101, and are not described in detail herein.
In step S902, in response to the mutual error between the distances from the 3 laser rangefinders 300 at the working position to the cross section where the drilling point is located being greater than a preset error threshold, the drill bit and the drilling point are determined to be offset.
In the embodiment of the application, error calculation is performed through the distances measured by the 3 laser rangefinders 300 at the working positions, and if the mutual error between the measured 3 distances is less than or equal to a preset error threshold value, the drill bit and the punching point are not deviated; and if the mutual error among the 3 measured distances is greater than a preset error threshold value, indicating that the drill bit and the punching point are offset.
In this embodiment of the present application, whether the drill bit and the punching point are offset may be determined by comparing and calculating the distances measured at the working positions by the 3 laser rangefinder 300 by a preset program in the industrial personal computer 100 or by a comparator, to obtain a comparison result between the mutual error between the 3 distances and the preset error threshold value set.
In an application scenario, after determining that the drill bit and the drilling point are offset in response to the mutual error between the distances from the 3 laser rangefinders 300 at the working position to the cross section where the drilling point is located being greater than the preset error threshold, the method further includes:
step 903, calculating a secondary inclination correction of the offset between the drill bit and the drilling point according to the distances from the 3 laser rangefinder 300 at the working position to the section where the drilling point is located, and adjusting the posture of the execution end according to the secondary correction inclination so that the drill bit is opposite to the drilling point.
In this embodiment of the present application, the step and the flow of adjusting the posture of the execution end according to the secondary correction inclination angle may refer to the step and the flow of the primary correction in step S103, which are not described in detail herein.
FIG. 10 is a schematic diagram of a system for providing a laser ranging-based tilt-modifiable tunnel boring robot, in accordance with some embodiments of the present application; fig. 11 is a schematic structural diagram of a tunnel boring robot with modifiable dip angle based on laser ranging according to some embodiments of the present application; as shown in fig. 10 and 11, the tunnel boring robot with modifiable inclination angle based on laser ranging includes: a laser range finder 300, an industrial personal computer 100 and an adjusting mechanical arm 200. The laser rangefinder 300 is used for measuring the distance from the punching robot to the section where the punching point is located, wherein 3 laser rangefinders 300 are arranged, and 3 laser rangefinders 300 are arranged in a triangle around the drill bit of the punching robot and are positioned on the same mounting surface of the punching robot; the industrial personal computer 100 is in communication connection with the 3 laser rangefinders 300, receives and calculates a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distance from the punching robot to the section where the punching point is located, which is measured by the 3 laser rangefinders 300; the tail end of the adjusting mechanical arm 200 is fixedly connected with the execution end of the punching robot, the adjusting mechanical arm 200 is in communication connection with the industrial personal computer 100, and the posture of the execution end is adjusted according to the primary correction inclination angle sent by the industrial personal computer 100, so that a drill bit on the execution end is opposite to the punching point.
In some alternative embodiments, the industrial personal computer 100 calculates, according to the first distance, the second distance and the third distance, an angle of rotation of the drill of the drilling robot around the X axis and the Y axis perpendicular to each other in the normal plane of the drill, as a primary correction inclination angle of the cross section offset of the drill and the drilling point; the X axis coincides with the extending directions of the first to second laser rangefinders 301 to 302, and the Y axis is parallel to the extending directions of the second to third laser rangefinders 302 to 303 and passes through the first laser rangefinder 301.
In some alternative embodiments, the industrial personal computer 100 has disposed therein: a first calculation unit 101, a second calculation unit 102, and a correction calculation unit 103. The first calculation unit 101 is configured to calculate a first vector and a second vector according to the first distance, the second distance, and the third distance, and the distances among the first laser rangefinder 301, the second laser rangefinder 302, and the third laser rangefinder 303, where the first vector is a vector from an illumination point of the first laser rangefinder 301 on a cross-section of the perforation point to an illumination point of the second laser rangefinder 302 on a cross-section of the perforation point; the second vector is a vector from the point of illumination of the second laser rangefinder 302 on the cross section of the perforation point to the point of illumination of the third laser rangefinder 303 on the cross section of the perforation point; the second calculation unit 102 is configured to calculate a normal vector of the cross section of the punching point from the first vector and the second vector; the correction calculation unit 103 is configured to calculate, based on the three-vertical theorem, the angle at which the drill of the drilling robot rotates about the X-axis and the Y-axis perpendicular to each other in the normal plane thereof, as the primary correction inclination angle of the cross-sectional offset of the drill from the drilling point.
In the embodiment of the application, the distance measurement is performed on the section from the punching robot to the punching point through 3 laser rangefinders 300 arranged on the punching robot, and as the 3 laser rangefinders 300 are arranged on the same installation surface of the punching robot in a triangle shape, whether the drill bit of the punching robot is right opposite to the section of the punching point can be determined according to the 3 distances measured by the 3 laser rangefinders 300; when the distances measured by the 3 laser rangefinders 300 are equal or the opportunity is equal, the drill bit of the drilling robot is considered to be the section right opposite to the drilling point, otherwise, the inclination angle deviation between the drill bit and the section of the drilling point is indicated, at this time, the one-time correction inclination angle of the cross section deviation between the drill bit of the drilling robot and the drilling point can be calculated according to the distances measured by the 3 laser rangefinders 300, and the executing gesture of the fixed connection of the tail end of the mechanical arm of the drilling robot is adjusted according to the one-time correction inclination angle, so that the drill bit on the executing end is right opposite to the section of the drilling point.
The inclination angle is corrected once, so that the 2D camera 400 installed at the execution end can be opposite to the punching area, and the 2D camera 400 is used for photographing the punching area, so that the punching area and the non-punching area can be effectively distinguished; after the inclination angle is corrected once, the distance of the section of the punching point measured by the laser range finder 300 is used for controlling the punching robot to move to the working position, then in the working position, whether the section of the drill bit and the section of the punching point are deviated or not is judged again according to the distance of the section of the punching point measured by the laser range finder 300, and if the deviation exists, the inclination angle is corrected for the gesture of the execution end for the second time, so that the drill bit is opposite to the punching point.
Therefore, whether the drill bit is offset from the section of the punching point or not can be judged more accurately, and when the drill bit is offset from the section of the punching point, the offset inclination angle of the drill bit and the punching point can be accurately obtained, and the automatic control of the punching robot during drilling is realized by correcting the inclination angle twice of the execution end fixedly connected with the mechanical arm, so that personnel are liberated from high-risk and high-hazard work, the punching precision is effectively improved, the installation and construction of subsequent cables and pipelines are facilitated, and the construction difficulty is reduced.
In the embodiment of the application, in the drilling process, excessive coordinate information is not required to be acquired any more, and the correction angle of the drilling inclination angle can be calculated only by the depth information of three points corresponding to the three laser rangefinders 300, so that the operation amount of equipment is greatly reduced, the drilling efficiency is improved, and the drilling robot can complete the drilling operation more quickly and orderly; moreover, the laser range finder 300 is adopted, so that the structure of the execution end is simpler and more reliable than that of an industrial 3D camera, the requirement on equipment stability is met in a severe tunnel environment, and meanwhile, the cost is effectively reduced.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (7)
1. The tunnel punching method capable of correcting the inclination angle based on laser ranging is characterized by comprising the following steps of:
obtaining the distance from the punching robot to the section where the punching point is located through a laser range finder arranged on the punching robot; the laser range finders are arranged in a triangular shape around the drill bit of the punching robot, and are positioned on the same mounting surface of the punching robot;
calculating a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distances from the punching robot to the section where the punching point is located, which are measured by the 3 laser range finders;
according to the primary correction inclination angle, the posture of an execution end fixedly connected with the tail end of a mechanical arm of the punching robot is adjusted, so that the drill bit on the execution end is opposite to the section of the punching point;
after correcting the inclination angle for one time, the 2D camera photographs the punching area, and the characteristic extraction and recognition are carried out on the photographed picture of the 2D camera based on a pre-trained neural network model so as to distinguish the area which can be punched from the area which cannot be punched; wherein the 2D camera is arranged above the drill bit at the execution end;
responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distances from 3 laser range finders at the working position to the section where the punching point is located;
determining that the drill bit is offset from the punching point in response to the mutual error of the distances from the 3 laser rangefinders at the working position to the section where the punching point is located being greater than a preset error threshold;
and calculating a secondary correction inclination angle of the deviation of the drill bit and the punching point according to the distances from the 3 laser range finders at the working position to the section where the punching point is located, and adjusting the posture of the executing end according to the secondary correction inclination angle so that the drill bit is opposite to the punching point.
2. The tunnel boring method based on the inclination angle modifiable based on the laser ranging of claim 1, wherein the obtaining the distance from the boring robot to the section where the boring point is located by the laser ranging device arranged on the boring robot is specifically: and 3 laser rangefinders are adjusted to have the same distance to the drill bit, and the distances from the 3 laser rangefinders to the section where the punching point is located are respectively obtained.
3. The tunnel boring method based on the inclination angle modifiable as described in claim 1, wherein the 3 laser rangefinders are respectively a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder; the distances from the punching robot to the section where the punching point is located, which are measured by the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument, are respectively a first distance, a second distance and a third distance;
the corresponding code is used to determine the position of the object,
the method comprises the steps of calculating a primary correction inclination angle of the section offset of a drill bit of the punching robot and the punching point according to the distances from the punching robot to the section of the punching point, which are measured by 3 laser distance measuring instruments, specifically:
calculating the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill bit according to the first distance, the second distance and the third distance, and taking the rotation angle as a primary correction inclination angle of the section offset of the drill bit and the punching point; the X axis coincides with the extending direction from the first laser range finder to the second laser range finder, and the Y axis is parallel with the extending direction from the second laser range finder to the third laser range finder and passes through the first laser range finder.
4. The laser ranging-based inclination angle modifiable tunnel boring method as set forth in claim 3, wherein said calculating an angle of rotation of a drill of said boring robot about X-axis and Y-axis perpendicular to each other in a normal plane thereof as a primary correction inclination angle of a section offset of said drill from said boring point based on said first distance, second distance and third distance comprises:
calculating a first vector and a second vector according to the first distance, the second distance and the third distance and the distances among the first laser distance meter, the second laser distance meter and the third laser distance meter, wherein the first vector is a vector from an illumination point of the first laser distance meter on the section of the punching point to an illumination point of the second laser distance meter on the section of the punching point; the second vector is a vector from the point of illumination of the second laser range finder on the cross section of the punching point to the point of illumination of the third laser range finder on the cross section of the punching point;
calculating a normal vector of a cross section of the punching point according to the first vector and the second vector;
based on the three-vertical theorem, according to the normal vector of the cross section of the punching point, calculating the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually vertical in the normal plane of the drill bit, and taking the rotation angle as a primary correction inclination angle of the cross section offset of the drill bit and the punching point.
5. Tunnel boring robot based on inclination modifiable of laser rangefinder, its characterized in that includes:
the laser range finders are used for measuring the distance from the punching robot to the section where the punching point is located, wherein 3 laser range finders are arranged, and 3 laser range finders are arranged in a triangular mode around the drill bit of the punching robot and are located on the same installation surface of the punching robot;
the industrial personal computer is in communication connection with the 3 laser rangefinders, receives and calculates a primary correction inclination angle of the section offset of the drill bit of the punching robot and the punching point according to the distances between the punching robot and the section where the punching point is located, which are measured by the 3 laser rangefinders;
the tail end of the adjusting mechanical arm is fixedly connected with the execution end of the punching robot, the adjusting mechanical arm is in communication connection with the industrial personal computer, and the posture of the execution end is adjusted according to the primary correction inclination angle sent by the industrial personal computer so that the drill bit on the execution end is opposite to the punching point;
the 2D camera is arranged above the drill bit at the execution end, after the inclination angle is corrected for one time, the hole punching area is photographed, and the feature extraction and recognition are carried out on the picture photographed by the 2D camera based on the pre-trained neural network model so as to distinguish the hole punching area from the non-hole punching area;
the industrial personal computer is also used for: responding to the movement of the punching robot to a working position corresponding to the coordinates of the punching point, and acquiring the distances from 3 laser range finders at the working position to the section where the punching point is located;
determining that the drill bit is offset from the punching point in response to the mutual error of the distances from the 3 laser rangefinders at the working position to the section where the punching point is located being greater than a preset error threshold;
and calculating a secondary correction inclination angle of the deviation of the drill bit and the punching point according to the distances from the 3 laser range finders at the working position to the section where the punching point is located, and adjusting the posture of the executing end according to the secondary correction inclination angle so that the drill bit is opposite to the punching point.
6. The tunnel boring robot of claim 5, wherein the 3 laser rangefinders are a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder, respectively; the distances from the punching robot to the section where the punching point is located, which are measured by the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument, are respectively a first distance, a second distance and a third distance;
the corresponding code is used to determine the position of the object,
the industrial personal computer calculates the rotation angle of the drill bit of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill bit according to the first distance, the second distance and the third distance, and the rotation angle is used as a primary correction inclination angle of the section offset of the drill bit and the punching point; the X axis coincides with the extending direction from the first laser range finder to the second laser range finder, and the Y axis is parallel with the extending direction from the second laser range finder to the third laser range finder and passes through the first laser range finder.
7. The laser ranging-based tilt-modifiable tunnel boring robot as recited in claim 6, wherein said industrial personal computer is configured to:
a first calculation unit configured to calculate a first vector and a second vector according to the first distance, the second distance, and the third distance, and the distances among the first laser range finder, the second laser range finder, and the third laser range finder, wherein the first vector is a vector from an illumination point of the first laser range finder on a cross section of the punching point to an illumination point of the second laser range finder on a cross section of the punching point; the second vector is a vector from the point of illumination of the second laser range finder on the cross section of the punching point to the point of illumination of the third laser range finder on the cross section of the punching point;
a second calculation unit configured to calculate a normal vector of a cross section of the punching point based on the first vector and the second vector;
and the correction calculation unit is configured to calculate the angle of rotation of the drill of the punching robot around the X axis and the Y axis which are mutually perpendicular in the normal plane of the drill based on the three-perpendicular theorem according to the normal vector of the cross section of the punching point, and the angle is used as a primary correction inclination angle of the cross section offset of the drill and the punching point.
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| CN115890924A (en) * | 2022-11-30 | 2023-04-04 | 中国一冶集团有限公司 | Intelligent punching machine based on multi-axis robot |
| CN116044462B (en) * | 2023-04-03 | 2023-06-20 | 山东能源集团西北矿业有限公司 | Anchoring posture control method of anchor rod |
| CN116579989B (en) * | 2023-04-21 | 2024-05-14 | 中铁九局集团电务工程有限公司 | Tunnel punching inclination angle correction method based on depth camera |
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