CN117804341A - Heading machine pose measuring device and method based on laser positioning - Google Patents
Heading machine pose measuring device and method based on laser positioning Download PDFInfo
- Publication number
- CN117804341A CN117804341A CN202410007457.9A CN202410007457A CN117804341A CN 117804341 A CN117804341 A CN 117804341A CN 202410007457 A CN202410007457 A CN 202410007457A CN 117804341 A CN117804341 A CN 117804341A
- Authority
- CN
- China
- Prior art keywords
- laser
- heading machine
- data
- point
- pose measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 21
- 238000005286 illumination Methods 0.000 claims abstract description 12
- 238000000605 extraction Methods 0.000 claims abstract description 10
- 230000005641 tunneling Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000000691 measurement method Methods 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000012935 Averaging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Computational Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Algebra (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a heading machine pose measurement device and method based on laser positioning, and belongs to the technical field of heading machine pose measurement; the problems of low measurement precision, poor convenience, heavy volume and the like of the traditional laser target guiding system are solved; the system comprises a laser transmitter arranged at the rear of a heading machine and two movable parallel laser receiving devices arranged on the heading machine, wherein the two laser receiving devices are used for collecting illumination brightness of the same beam of laser at certain intervals, the two laser receiving devices are respectively connected with a heading machine pose measurement main controller, the heading machine pose measurement main controller receives illumination brightness digital quantity signals collected by the two laser receiving devices, boundary points of images are determined after data processing and boundary extraction, a fitting algorithm is used for fitting laser point center coordinates through the boundary points, and a control computer is used for calculating pitch angle and heading angle of the heading machine through the laser point center coordinates; the method is applied to the pose measurement of the heading machine.
Description
Technical Field
The invention provides a heading machine pose measurement device and method based on laser positioning, and belongs to the technical field of heading machine pose measurement.
Background
The construction of various major engineering projects is continuously promoted and innovated by the high-speed development of national economy of China in the twenty-first century, and the development method is widely applied to pose measurement systems in a plurality of fields, such as automatic butt joint engineering of large equipment, ship port and ocean engineering, tunnel engineering and the like, and has important significance on whether a heading machine can accurately orient in a roadway and calculate the gradient. In the traditional manual driving tunneling machine tunneling process, a driver needs to refer to tunneling according to a laser direction indicator placed in advance by a ground measuring department, the error of the tunneling direction is easily influenced by experience of the tunneling machine driver, and along with the development of the automatic tunneling technology of the tunneling machine, the accurate automatic pose detection of the tunneling machine is more required. The heading machine needs to determine the coordinates of the heading machine, and the automatic heading system carries out corresponding navigation according to the pose of the heading machine so as to carry out action and adjustment.
The main methods of pose measurement in engineering application at present are an image vision method, an inertial measurement method, a prism method and a laser target method, wherein the laser target method uses a single laser target matched with a laser pointing instrument, can realize pose measurement of a target object, and the laser target measurement method uses a photosensitive device to acquire and process laser data to realize mathematical operation of a heading machine model, but the specific measurement schemes are quite different, and the measurement algorithms are quite different.
The laser target guiding system with more engineering applications at present comprises an British ZED automatic guiding system, a German VMT guiding system and a TACS guiding system, wherein the measuring principle of the guiding system is that a double-shaft inclinometer built in a target is used for measuring the pitch angle and the roll angle of a target object, a collimating laser is additionally arranged on a total station for measuring the horizontal azimuth angle, and the axis of the collimating laser is parallel to the axis of a range finder built in the total station; in terms of precision, the nominal three angle measurement precision of foreign manufacturers is within 1mrad, when the measuring point is 4-6m away from the laser target, the overall guiding precision is better than 10mm, the total station laser target based on the biaxial inclinometer and the digital camera is developed in China, and the nominal overall measuring precision can not exceed 3mm; however, the guiding total station laser targets produced at home and abroad at present have large volume and weight, poor use convenience and lower precision, and the VMT laser targets with the widest market application at present have the weight of 16kg and the volume of 430 multiplied by 180 multiplied by 150mm.
Disclosure of Invention
The invention provides a heading machine pose measuring device and method based on laser positioning, which aims to solve the problems of low measuring precision, poor convenience, heavy volume and the like of the existing laser target guiding system.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a tunneller pose measurement device based on laser positioning, includes the laser emitter that sets up at the tunneller rear and sets up two movable laser receiving arrangement on the tunneller body, wherein two laser receiving arrangement parallel arrangement, and two laser receiving arrangement gather the illumination luminance of same bundle of laser according to certain interval, and two laser receiving arrangement link to each other with tunneller pose measurement master controller respectively, tunneller pose measurement master controller communicates with data storage device and control computer through data transmission module;
the heading machine pose measurement master controller receives illumination brightness digital quantity signals acquired by the two laser receiving devices, performs data arrangement and summarization, fills columns by columns, forms a brightness array for acquiring one period, performs data processing, performs boundary extraction, determines boundary points of an image, then uses a fitting algorithm to fit laser point center coordinates through the boundary points, and transmits the calculated laser point center coordinate data to the data storage equipment and the control computer through the data transmission module;
and the control computer calculates the pitch angle and the course angle of the heading machine through the central coordinates of the laser points.
The laser receiving device specifically adopts a laser target, the laser target comprises a movable receiving plate, the receiving plate comprises a row of phototriodes and a control chip, laser emitted by a laser emitter irradiates the phototriodes of the receiving plate, and laser light formed by laser beams emitted by the laser emitter is collected through the phototriodes.
The receiving plate is fixed on the slip table of linear slide rail, the drive end of linear slide rail is hydraulic motor, install incremental rotary encoder on the hydraulic motor, hydraulic motor links to each other with entry driving machine hydraulic power system, entry driving machine hydraulic power system output high pressure hydraulic oil, the hydraulic motor on the two laser targets of drive to convert the rotary motion of hydraulic motor into the linear reciprocating motion of two laser targets, realize the luminance measurement to the laser spot that the laser beam that the laser emitter sent formed.
The receiving plate is built in a hollow transparent plate.
A heading machine pose measuring method based on laser positioning adopts a heading machine pose measuring device based on laser positioning, comprising the following steps:
step one: fixing two laser receiving devices at a preset position of a tunneling machine body, fixing a laser transmitter on a tunnel top plate behind the tunneling machine body, transmitting a laser beam to the two laser receiving devices, and ensuring that a laser point falls on the two laser receiving devices;
step two: the high-pressure hydraulic oil is output through a hydraulic power system of the tunneling machine, a hydraulic motor on the two laser receiving devices is driven, the rotary motion of the hydraulic motor is converted into linear reciprocating motion of the two laser receiving devices, the light brightness of the two laser receiving devices is respectively collected through a phototriode, and data are sent to a pose measurement main controller of the tunneling machine;
step three: after receiving the data, the heading machine pose measurement master controller stores the data into a set C (i, j) according to columns, and the data array in the set C (i, j) is subjected to binarization processing, and the processed data is stored in the set C T (i, j);
step four:for set C T The data in (i, j) is subjected to filtering processing;
step five: concentrating C after filtering T Performing boundary extraction on the data in (i, j);
step six: using a fitting algorithm, and obtaining the central coordinate of the laser point through boundary point fitting;
step seven: and transmitting the circle center coordinates obtained by fitting to a control computer through a data transmission module, and calculating the pitch angle and the course angle of the heading machine.
In the third step, the step of performing binarization processing on the data array in the C (i, j) is as follows:
(1) Setting an initial threshold value T for judging whether the phototriode is triggered or not and setting a preset threshold value difference H;
(2) Dividing the data in the set of C (i, j) into two groups by an initial threshold T, denoted R 1 (m) and R 2 (n)；
(3) Calculating a new threshold
(4) Repeating the steps (2) to (3) until |T-T n |＜H；
(5) Performing binarization processing on the acquired ADC data according to the obtained threshold value, and storing the processing result into a set C T (i, j), then
The fourth pair set C T The step of filtering the data in (i, j) is as follows:
using neighborhood average method to obtain C T The data in (i, j) is filtered and processed in set C T Taking the points in order in (i, j), taking the adjacent points around the points in 8 directions, counting the points into a set F (i), and calculating the average value of the elements in the set F (i)Putting the value greater than AGV in F (i) into the set F (i), the value less than AGVPutting the elements into a set g (i), judging the number of the elements in F (i) and g (i), if the number of the elements in F (i) is larger than g (i), correcting the values of the elements in F (i) to be 1, otherwise correcting the values of the elements in F (i) to be 0, and updating the elements in F (i) to the set C according to the sequence of the elements to be extracted T (i, j).
In the fifth step, the set C T The steps of boundary extraction of the data in (i, j) are as follows:
traversing set C T Each brightness point in (i, j) takes the current brightness point as a reference point, searches the brightness points in four directions, determines whether at least one non-brightness point exists around the reference point, if so, the reference point is a boundary point, and otherwise, the reference point is a non-boundary point.
In the sixth step, a fitting algorithm is used, and the step of calculating the center coordinates of the laser points through boundary point fitting is as follows:
let the lower left corner of two laser targets be the origin of the coordinate system where the two laser targets are located, let the travel length of the laser target collecting laser spot intensity be L, the width be W, the distance between the laser target collecting signal rows be x, the installation distance of the phototransistor be y, calculate the set C T Coordinates corresponding to each luminance point in (i, j):
will set C T The x, y coordinates corresponding to each point in (i, j) are calculated and stored in the point set P (x) i ，y i ) In the method, the number of elements in the set is recorded as N;
fitting the point set P (x) using least squares i ，y i ) The coordinates of the center points of the laser beams emitted by the laser transmitters and irradiated to the two laser targets are respectively calculated, and the fitting steps are as follows:
let the round equation be: (x-x) c ) 2 +(y-y c ) 2 ＝R 2 Wherein the midpoint (x c ，y c ) Is the center coordinates, points (x i ，y i ) For fitting point coordinates, define: g (x, y) = ((x) i -x c ) 2 +(y i -y c ) 2 -R 2 )) 2 ，f(x，y)＝Σg(x i ，y i ) 2 So thatDeducing: Σg (x) i ，y i )＝0；
Setting:wherein: />And (3) obtaining center coordinates: />
In the seventh step, the calculation formula of the pitch angle alpha of the heading machine is as follows:
in the above formula: p represents the distance between the vertical projection of the laser beam emitted by the laser transmitter and the central axis of the heading machine, and l represents the horizontal distance between the two laser targets;
the heading angle beta of the heading machine is calculated as follows:
in the above formula: q is the vertical difference of the coordinates of the projection of the intersection point of the laser beam emitted by the laser emitter and the two laser targets on the horizontal plane.
Compared with the prior art, the invention has the following beneficial effects: the position and pose measuring device of the heading machine provided by the invention irradiates on two laser targets in a time-sharing way through the fixed laser direction indicator, respectively obtains point coordinates, calculates the position and pose parameters of the heading machine through the processing of the position measuring main controller of the heading machine, and uploads the calculated position and pose parameters to the control computer through the data transmission module for angle correction and compensation.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a view of a projection of the pitch angle of the pose measurement device;
FIG. 3 is a view of a heading angle projection of the pose measurement device;
FIG. 4 is a schematic circuit diagram of a pose measurement device;
FIG. 5 is a data processing flow chart of the pose measurement method of the present invention;
FIG. 6 is a schematic diagram of a domain averaging process;
FIG. 7 is a schematic diagram of boundary extraction points;
FIG. 8 is an effect diagram of boundary extraction;
FIG. 9 is a schematic diagram of a least squares fit;
in the figure: the system comprises a laser direction indicator 1, a laser target 2, a laser target two, a phototriode 4, a heading machine position measurement main controller 5, a data transmission module 6, a heading machine hydraulic power system 7, a hydraulic motor 8, an incremental rotary encoder 9, a data storage device 10 and a control computer 11.
Detailed Description
As shown in fig. 1 to 9, the invention provides a heading machine pose measuring device based on laser positioning, which comprises a laser emitter arranged at the rear of a heading machine body, wherein the laser emitter can adopt a laser direction indicator 1 meeting the requirements, the heading machine body is provided with two laser receiving devices in the form of laser targets, namely a first laser target 2 and a second laser target 3, the laser direction indicator 1 is fixed on a roadway roof, a laser beam is emitted at the rear of the heading machine body and at the front of the heading machine body, and the laser beam falls on the first laser target 2 and the second laser target 3; the first laser target 2 and the second laser target 3 are arranged in parallel at the upper rear part of the tunneling machine, each laser target is vertically fixed on the tunneling machine body, the direction of a laser beam emitted by the laser direction indicator 1 intersects with the laser capturing planes of the first laser target 2 and the second laser target 3, namely, one laser beam can leave laser spots on the collecting surfaces of the two laser targets; the first laser target 2 and the second laser target 3 are connected to the heading machine pose measurement master controller 5 in a wired manner, the heading machine pose measurement master controller 5 is connected to the data transmission module 6 in a wired manner, and the data transmission module 6 transmits data to the data storage device 10 and the control computer 11 through wires (communication wires, network wires) or wireless (WIFI, wireless transparent transmission).
The first laser target 2 and the second laser target 3 have the same structure, and are specifically as follows: the laser target comprises a hollow transparent plate and a movable receiving plate arranged in the transparent plate, a row of phototriodes 4 and a control chip are arranged on the receiving plate, laser emitted by the laser direction indicator 1 can penetrate through the transparent plate and irradiate on the phototriodes 4 of the receiving plate, and laser lighting intensity formed by laser beams emitted by the laser direction indicator 1 is collected through the phototriodes 4; the receiving plate is fixed on the slip table of linear slide rail, the drive end of linear slide rail is hydraulic motor 8, install incremental rotary encoder 9 on the hydraulic motor 8, hydraulic motor 8 links to each other with entry driving machine hydraulic power system 7, entry driving machine hydraulic power system 7 output high pressure hydraulic oil, drive the hydraulic motor 8 on laser target one 2 and the laser target two 3 to convert the rotary motion of hydraulic motor 8 into the linear reciprocating motion of laser target one 2 and laser target two 3, realize the luminance measurement to the laser spot that the laser pencil that the laser director 1 sent formed.
The hydraulic motors 8 on the first laser target 2 and the second laser target 3 are respectively driven by the hydraulic power system 7 of the development machine to respectively drive the incremental rotary encoders 9 to synchronously rotate, the moving distance (namely X coordinates) of the first laser target 2 and the second laser target 3 is obtained, the phototriodes 4 on the first laser target 2 and the second laser target 3 are controlled to collect illumination brightness row by row according to fixed intervals (such as 5mm or 10mm, and the like), the two phototriodes 4 on the second laser target collect illumination brightness of laser at a time interval by controlling on-off of an electromagnetic valve, the collected illumination brightness is converted into digital signals from analog signals and then sent to the position and posture measuring master controller 5 of the development machine, the position and posture measuring master controller 5 receives the illumination brightness digital signals collected by the phototriodes 4 on the first laser target 2 and the second laser target 3, data arrangement summarization is carried out, the row by row are filled, after a brightness array of one period is collected, data processing is carried out, and coordinate data after calculation is transmitted to the data storage equipment 10 and the control computer 11 through the data transmission module 6.
The receiving plates on the first laser target 2 and the second laser target 3 are particularly a row of receiving plates consisting of 160 laser photosensitive receivers and control chips, the receiving plates are regularly moved, scanning is performed row by row (the acquisition points in the row direction are used for calculating Y-axis coordinates according to the triggered serial numbers of 160 phototriodes), and finally each row of data form a whole image, the current design is 400 x 160 resolution, and the resolution can be particularly spliced or prolonged according to the needs.
The invention also provides a pose measuring method, which adopts the pose measuring device and comprises the following steps:
step one: fixing the first laser target 2 and the second laser target 3 at a predetermined position of a heading machine body, fixing the laser directors 1 at fixed distance positions at the rear parts of the first laser target 2 and the second laser target 3, emitting laser beams to the first laser target 2 and the second laser target 3, and ensuring that laser points fall on the first laser target 2 and the second laser target 3;
step two: the high-pressure hydraulic oil is output through a heading machine hydraulic power system 7, a hydraulic motor 8 on a first laser target 2 and a second laser target 3 is driven, the rotary motion of the hydraulic motor 8 is converted into linear reciprocating motion of the first laser target 2 and the second laser target 3, the light brightness of the first laser target 2 and the light brightness of the second laser target 3 are respectively collected through the phototriodes 4, the number of each row of the phototriodes 4 on the laser target is set to be n, the collected analog quantity signals are converted into digital quantity signals through an ADC (analog-to-digital converter), and the digital quantity signals are sequentially stored in a set S 1 (i) And S is 2 (i) (i=n), and then sent to the heading machine pose measurement master 5;
step three: given a laser target acquisition signal travel of L (i.e., the length of the transparent plate), a laser target acquisition signal column spacing of x (i.e., the spacing between two columns of photosensitive receivers 4 on two laser targets), a length of the cumulative acquisition data set requiredAfter the heading machine pose measurement master controller 5 receives the data, the data are stored in the set C (i, j) according to columns until the length of the set reaches the requirement, and in order to improve the data processing speed, the data array in the set C (i, j) is subjected to binarization processing firstly, wherein the implementation steps are as follows:
(1) Setting an initial threshold value T for judging whether the phototriode is triggered or not and setting a preset threshold value difference H;
(2) Dividing the data in the set of C (i, j) into two groups by an initial threshold T, denoted R 1 (m) and R 2 (n)；
(3) Calculating a new threshold
(4) Repeating the steps (2) to (3) until |T-T n |＜H；
(5) Performing binarization processing on the acquired ADC data according to the obtained threshold value, and storing the processing result into a set C T (i, j), then
Step four: because the first laser target 2 and the second laser target 3 are easy to be interfered by external light when collecting the illumination brightness of the laser points, and the interference points are often isolated brightness points and are mixed in an array for normally capturing the illumination brightness of the laser, the C is needed to be detected T The data filtering processing in (i, j) filters the interference brightness points, and the specific implementation method is as follows:
normally, set C T The values in (i, j) should be continuous, free of abrupt points, and have interference pointsWill be significantly different from the normal value, so that the neighborhood average method is adopted for C T The data in (i, j) is filtered and processed in set C T Taking the points in order in (i, j), taking the adjacent points around the points in 8 directions, counting the points into a set F (i), and calculating the average value of the elements in the set F (i)The value of F (i) larger than AGV is put into a set F (i), the value smaller than AGV is put into a set g (i), the number of elements in F (i) and g (i) is judged, if the number of elements in F (i) is larger than g (i), the values of the elements in F (i) are corrected to be 1, otherwise, the values of the elements in F (i) are corrected to be 0, and the elements in F (i) are updated to a set C according to the sequence of elements taken out T (i, j). As shown in fig. 6, white circle points are interference points, and are corrected to normal brightness points after being processed by the domain averaging method.
Step five: for set C T The boundary extraction is carried out on the data in the (i, j), and the specific implementation method is as follows:
traversing set C T And (3) each brightness point in (i, j) (the brightness point value is 1, otherwise, the value is 0), searching the brightness points in four directions by taking the current brightness point as a reference point, determining whether at least one non-brightness point exists around the reference point, if so, the reference point is a boundary point, and otherwise, the reference point is a non-boundary point. The circle with "X" as shown in FIG. 8 is a boundary point of the graph.
Step six: and using a fitting algorithm to calculate the central coordinate of the laser point through boundary point fitting, wherein the implementation mode is as follows:
let the lower left corners of the first laser target 2 and the second laser target 3 be the origin of the coordinate system where the first laser target 2 and the second laser target 3 are located, knowing that the stroke length of the laser target for collecting the laser spot intensity is L, the width is W (i.e. the width of the phototransistor 4), the distance between the laser target collecting signal columns is x, the installation distance between the phototransistor 4 is y (i.e. the distance between the upper and lower phototransistors), the set C is calculated T Coordinates corresponding to each luminance point in (i, j):
will set C T The x, y coordinates corresponding to each point in (i, j) are calculated and stored in the point set P (x) i ，y i ) The number of elements in the set is denoted as N.
Fitting the point set P (x) using least squares i ，y i ) The coordinates of the center points of the laser beams emitted by the laser direction indicator 1 and irradiated to the first laser target 2 and the second laser target 3 are respectively calculated, and the fitting steps are as follows:
let the round equation be: (x-x) c ) 2 +(y-y c ) 2 ＝R 2 Wherein the midpoint (x c ，y c ) Is the center coordinates, points (x i ，y i ) Fitting point coordinates.
Definition: g (x, y) = ((x) i -x c ) 2 +(y i -y c ) 2 -R 2 )) 2 ，f(x，y)＝∑g(x i ，y i ) 2 So thatDeducing: sigma g (x) i ，y i )＝0。
Setting:wherein: />And (3) obtaining center coordinates: />
Step seven: transmitting the fitted center coordinates to a control computer 11 through a data transmission module 6, setting p to represent the distance between the vertical projection of a laser beam emitted by the laser director 1 and the central axis of the heading machine, wherein the vertical projection is formed by connecting the intersection point of the first laser target 2 and the second laser target 3 into a straight line, l to represent the horizontal distance between the first laser target 2 and the second laser target 3, and calculating to obtain a pitch angle alpha to be:
let q be the perpendicular difference of the projected coordinates of laser beam and laser target one 2 and laser target two 3 crossing point at the horizontal plane that laser director 1 launched, then calculate out course angle beta and be:
finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. Heading machine pose measurement device based on laser positioning, its characterized in that: the system comprises a laser transmitter arranged at the rear of a heading machine and two movable laser receiving devices arranged on the heading machine body, wherein the two laser receiving devices are arranged in parallel, the two laser receiving devices collect illumination brightness of the same beam of laser at certain intervals, the two laser receiving devices are respectively connected with a heading machine pose measurement main controller, and the heading machine pose measurement main controller is communicated with a data storage device and a control computer through a data transmission module;
the heading machine pose measurement master controller receives illumination brightness digital quantity signals acquired by the two laser receiving devices, performs data arrangement and summarization, fills columns by columns, forms a brightness array for acquiring one period, performs data processing, performs boundary extraction, determines boundary points of an image, then uses a fitting algorithm to fit laser point center coordinates through the boundary points, and transmits the calculated laser point center coordinate data to the data storage equipment and the control computer through the data transmission module;
and the control computer calculates the pitch angle and the course angle of the heading machine through the central coordinates of the laser points.
2. The heading machine pose measurement device based on laser positioning according to claim 1, wherein: the laser receiving device specifically adopts a laser target, the laser target comprises a movable receiving plate, the receiving plate comprises a row of phototriodes and a control chip, laser emitted by a laser emitter irradiates the phototriodes of the receiving plate, and laser light formed by laser beams emitted by the laser emitter is collected through the phototriodes.
3. The heading machine pose measurement device based on laser positioning according to claim 2, wherein: the receiving plate is fixed on the slip table of linear slide rail, the drive end of linear slide rail is hydraulic motor, install incremental rotary encoder on the hydraulic motor, hydraulic motor links to each other with entry driving machine hydraulic power system, entry driving machine hydraulic power system output high pressure hydraulic oil, the hydraulic motor on the two laser targets of drive to convert the rotary motion of hydraulic motor into the linear reciprocating motion of two laser targets, realize the luminance measurement to the laser spot that the laser beam that the laser emitter sent formed.
4. A heading machine pose measurement device based on laser positioning according to claim 3, characterized in that: the receiving plate is built in a hollow transparent plate.
5. A heading machine pose measurement method based on laser positioning, which adopts the heading machine pose measurement device based on laser positioning as claimed in any one of claims 1-4, and is characterized in that: the method comprises the following steps:
step one: fixing two laser receiving devices at a preset position of a tunneling machine body, fixing a laser transmitter on a tunnel top plate behind the tunneling machine body, transmitting a laser beam to the two laser receiving devices, and ensuring that a laser point falls on the two laser receiving devices;
step two: the high-pressure hydraulic oil is output through a hydraulic power system of the tunneling machine, a hydraulic motor on the two laser receiving devices is driven, the rotary motion of the hydraulic motor is converted into linear reciprocating motion of the two laser receiving devices, the light brightness of the two laser receiving devices is respectively collected through a phototriode, and data are sent to a pose measurement main controller of the tunneling machine;
step three: after receiving the data, the heading machine pose measurement master controller stores the data into a set C (i, j) according to columns, and the data array in the set C (i, j) is subjected to binarization processing, and the processed data is stored in the set C T (i, j);
step four: for set C T The data in (i, j) is subjected to filtering processing;
step five: concentrating C after filtering T Performing boundary extraction on the data in (i, j);
step six: using a fitting algorithm, and obtaining the central coordinate of the laser point through boundary point fitting;
step seven: and transmitting the circle center coordinates obtained by fitting to a control computer through a data transmission module, and calculating the pitch angle and the course angle of the heading machine.
6. The heading machine pose measurement method based on laser positioning according to claim 5, wherein the method comprises the following steps: in the third step, the step of performing binarization processing on the data array in the C (i, j) is as follows:
(1) Setting an initial threshold value T for judging whether the phototriode is triggered or not and setting a preset threshold value difference H;
(2) Dividing the data in the set of C (i, j) into two groups by an initial threshold T, denoted R 1 (m) and R 2 (n)；
(3) Calculating a new threshold
(4) Repeating the steps (2) to (3) until |T-T n |＜H；
(5) Performing binarization processing on the acquired ADC data according to the obtained threshold value, and storing the processing result into a set C T (i, j), then
7. The heading machine pose measurement method based on laser positioning according to claim 6, wherein the method comprises the following steps: the fourth pair set C T The step of filtering the data in (i, j) is as follows:
using neighborhood average method to obtain C T The data in (i, j) is filtered and processed in set C T Taking the points in order in (i, j), taking the adjacent points around the points in 8 directions, counting the points into a set F (i), and calculating the average value of the elements in the set F (i)The value of F (i) larger than AGV is put into a set F (i), the value smaller than AGV is put into a set g (i), the number of elements in F (i) and g (i) is judged, if the number of elements in F (i) is larger than g (i), the values of the elements in F (i) are corrected to be 1, otherwise, the values of the elements in F (i) are corrected to be 0, and the elements in F (i) are updated to a set C according to the sequence of elements taken out T (i, j).
8. The heading machine pose measurement method based on laser positioning according to claim 7, wherein the method comprises the following steps: in the fifth step, the set C T The steps of boundary extraction of the data in (i, j) are as follows:
traversing set C T Each brightness point in (i, j) takes the current brightness point as a reference point, searches brightness points in four directions, determines whether at least one non-brightness point exists around the reference point, if so, the reference point is a boundary point, otherwiseIs a non-boundary point.
9. The heading machine pose measurement method based on laser positioning according to claim 8, wherein the method comprises the following steps: in the sixth step, a fitting algorithm is used, and the step of calculating the center coordinates of the laser points through boundary point fitting is as follows:
let the lower left corner of two laser targets be the origin of the coordinate system where the two laser targets are located, let the travel length of the laser target collecting laser spot intensity be L, the width be W, the distance between the laser target collecting signal rows be x, the installation distance of the phototransistor be y, calculate the set C T Coordinates corresponding to each luminance point in (i, j):
will set C T The x, y coordinates corresponding to each point in (i, j) are calculated and stored in the point set P (x) i ，y i ) In the method, the number of elements in the set is recorded as N;
fitting the point set P (x) using least squares i ，y i ) The coordinates of the center points of the laser beams emitted by the laser transmitters and irradiated to the two laser targets are respectively calculated, and the fitting steps are as follows:
let the round equation be: (x-x) c ) 2 +(y-y c ) 2 ＝R 2 Wherein the midpoint (x c ，y c ) Is the center coordinates, points (x i ，y i ) For fitting point coordinates, define: g (x, y) = ((x) i -x c ) 2 +(y i -y c ) 2 -R 2 )) 2 ，f(x，y)＝Σg(x i ，y i ) 1 So thatDeducing: sigma g (x) i ，y i )＝0；
Setting:wherein: />And (3) obtaining center coordinates: />
10. The heading machine pose measurement method based on laser positioning according to claim 9, wherein the method comprises the following steps: in the seventh step, the calculation formula of the pitch angle alpha of the heading machine is as follows:
in the above formula: p represents the distance between the vertical projection of the laser beam emitted by the laser transmitter and the central axis of the heading machine, and l represents the horizontal distance between the two laser targets;
the heading angle beta of the heading machine is calculated as follows:
in the above formula: g is the vertical difference of the coordinates of the projection of the intersection point of the laser beam emitted by the laser emitter and the two laser targets on the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410007457.9A CN117804341B (en) | 2024-01-03 | 2024-01-03 | Heading machine pose measuring device and method based on laser positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410007457.9A CN117804341B (en) | 2024-01-03 | 2024-01-03 | Heading machine pose measuring device and method based on laser positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117804341A true CN117804341A (en) | 2024-04-02 |
| CN117804341B CN117804341B (en) | 2024-08-02 |
Family
ID=90433191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410007457.9A Active CN117804341B (en) | 2024-01-03 | 2024-01-03 | Heading machine pose measuring device and method based on laser positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117804341B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05172516A (en) * | 1991-12-24 | 1993-07-09 | Hitachi Zosen Corp | Apparatus and method for automatically measuring position and attitude of moving body |
| JPH0875464A (en) * | 1994-09-07 | 1996-03-22 | Fujita Corp | Excavation confirming and measuring method for shield machine |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN102878976A (en) * | 2012-09-26 | 2013-01-16 | 三一重型装备有限公司 | Heading machine position and posture detecting system and heading machine |
| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN110700840A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser target positioning and measuring method thereof |
| CN111156976A (en) * | 2020-02-11 | 2020-05-15 | 北京易联创安科技发展有限公司 | A roadheader position and attitude data measurement system and its measurement method based on a rotating target |
| CN111156975A (en) * | 2020-02-11 | 2020-05-15 | 北京易联创安科技发展有限公司 | A roadheader position and attitude data measurement system based on horizontal moving target and its measurement method |
-
2024
- 2024-01-03 CN CN202410007457.9A patent/CN117804341B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05172516A (en) * | 1991-12-24 | 1993-07-09 | Hitachi Zosen Corp | Apparatus and method for automatically measuring position and attitude of moving body |
| JPH0875464A (en) * | 1994-09-07 | 1996-03-22 | Fujita Corp | Excavation confirming and measuring method for shield machine |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN102878976A (en) * | 2012-09-26 | 2013-01-16 | 三一重型装备有限公司 | Heading machine position and posture detecting system and heading machine |
| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN110700840A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser target positioning and measuring method thereof |
| CN111156976A (en) * | 2020-02-11 | 2020-05-15 | 北京易联创安科技发展有限公司 | A roadheader position and attitude data measurement system and its measurement method based on a rotating target |
| CN111156975A (en) * | 2020-02-11 | 2020-05-15 | 北京易联创安科技发展有限公司 | A roadheader position and attitude data measurement system based on horizontal moving target and its measurement method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117804341B (en) | 2024-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110700840B (en) | Position and posture measuring method of heading machine based on laser target positioning | |
| CN110319792B (en) | Track straightness detection system and method | |
| CN111754638B (en) | Automatic dust suppression and dust fall system in storage yard and dust suppression and dust fall method in storage yard | |
| CN106382917B (en) | The continuous accurate acquisition method of three-dimensional spatial information under a kind of indoor environment | |
| CN1157078A (en) | Intelligent sensor for optical wheel alignment | |
| CN111091076B (en) | Measurement method of tunnel boundary data based on stereo vision | |
| CN103206927A (en) | Object rotating angle measurement system and measurement method | |
| CN112461198A (en) | Device and method for detecting geometric parameters of tunnel section | |
| CN111398309A (en) | Apparent detection system of tunnel lining disease comprehensive detection vehicle | |
| CN106303206A (en) | The camera system localization method of a kind of body-scanner and device | |
| CN113189568A (en) | Laser radar calibration device and method | |
| CN112045682B (en) | Calibration method for solid-state area array laser installation | |
| CN107817003A (en) | A kind of external parameters calibration method of distributed large scale space positioning system | |
| CN117804341B (en) | Heading machine pose measuring device and method based on laser positioning | |
| CN104786227A (en) | Drop type switch replacing control system and method based on high-voltage live working robot | |
| CN107388974B (en) | Photo-electric bidirectional displacement method for measurement | |
| CN103323216A (en) | Device and method for detecting parallax error of collimator | |
| CN114019950A (en) | Tunnel structure apparent disease intelligent inspection robot | |
| RU2556740C1 (en) | Method of check of spatial position of railroad, and system of its implementation | |
| CN106840137B (en) | Automatic positioning and orienting method of four-point type heading machine | |
| CN113238553A (en) | Auxiliary positioning system and positioning method based on four-wheel omnidirectional chassis | |
| CN101865661A (en) | New method for automatically measuring screw pitch of propeller blades | |
| CN111197486A (en) | Push bench guiding method based on machine vision | |
| CN216448810U (en) | Large-scale structure displacement deformation measuring device based on transverse cascade target | |
| CN114842079B (en) | Equipment and method for measuring pose of prefabricated intermediate wall in shield tunnel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |