阅读说明：本技术 一种悬臂式掘进机位姿识别系统及方法 (boom-type roadheader pose identification system and method ) 是由 段清娟 张世雄 郭宁博 王天乐 于 2019-10-28 设计创作，主要内容包括：本发明提出一种悬臂式掘进机位姿识别系统及方法,用于解决现有技术中存在的远距离掘进时位姿识别误差较大以及可测工作空间小的技术问题,实现步骤为：设定基本参数；建立三个参考坐标系；对悬臂式掘进机的初始位置进行调整；两台防爆摄像机采集标定图像并上传；两台防爆摄像机采集激光标靶表面图像并上传；本安型倾角传感器采集自身的测量轴相对于水平面的倾角数据并上传；工控计算机对悬臂式掘进机的位姿逆解程序进行解算；本发明使用激光指向仪结合长方体结构激光标靶,降低了远距离掘进时两台十字激光发射器导致的位姿识别误差,长方体结构的激光标靶的六个面均可以用来接收激光指向仪的激光投影,增大了悬臂式掘进机的可测工作空间。(The invention provides a posture identification system and method of boom-type roadheader, which are used for solving the technical problems of large posture identification error and small measurable working space in the prior art during long-distance tunneling.)

The boom-type excavator position and posture identification system comprises a laser pointing device, a laser target, an explosion-proof camera and an industrial control computer, wherein the laser pointing device is fixed at the top of a roadway and used for emitting laser to the excavation direction of the boom-type excavator, the laser target is used for receiving laser beams emitted by the laser pointing device, the explosion-proof camera is used for collecting surface images of the laser target, and the industrial control computer is used for obtaining space position and posture parameters of the boom-type excavator, and is characterized in that:

the laser pointing device adopts a laser pointing instrument, and the emitted laser is single-beam point laser;

the laser target is of a hollow cuboid structure formed by splicing six rectangular transparent plates and is fixed right above a forward axis of a machine body of the cantilever type tunneling machine, the upper surface and the lower surface of the laser target are parallel to the top plane of the cantilever type tunneling machine, the front side and the rear side are parallel to the tail plane of the cantilever type tunneling machine, and the left side and the right side are parallel to the side plane of the cantilever type tunneling machine;

the number of the explosion-proof cameras is two, the two explosion-proof cameras are oppositely arranged above the body of the cantilever type excavator, the shooting range of each explosion-proof camera comprises three surfaces of the laser target, and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras are not overlapped with each other;

an intrinsic safety type inclination angle sensor is fixed on a machine body of the cantilever type tunneling machine, a measuring shaft of the intrinsic safety type inclination angle sensor is coplanar with a tail plane of the cantilever type tunneling machine and is parallel to a top plane of the cantilever type tunneling machine, and the intrinsic safety type inclination angle sensor is used for acquiring inclination angle data of the measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time;

the industrial control computer is fixed in the body of the cantilever type tunneling machine, and the acquired space pose parameters of the cantilever type tunneling machine are obtained by receiving laser target surface images acquired by the two anti-explosion cameras and inclination angle data of a measuring shaft of the self-safety type inclination angle sensor relative to a horizontal plane and resolving a pose inverse solution program of the cantilever type tunneling machine.

2. The boom miner position and posture identification system of claim 1, wherein the laser target is made of organic glass, acrylic material or other light transparent material.

3. The boom miner position and orientation recognition system of claim 1 wherein the connection line of the two anti-explosion camera mounting points is collinear with the body diagonal of the laser target, wherein anti-explosion camera mounting locations are above the upper surface of the laser target and further anti-explosion camera mounting locations are below the lower surface of the laser target.

4, boom-type roadheader position and posture identification method, which is characterized by comprising the following steps:

(1) setting basic parameters:

setting the installation distance of the centroid of the laser target relative to the centroid of the cantilever type tunneling machine in the forward axis direction of the cantilever type tunneling machine to be X_M2CThe mounting distance in the horizontal axis direction is Y_M2CThe mounting distance in the upward axial direction being Z_M2C(ii) a Setting the front side face of the laser target as f and the rear side face as b, and respectively labeling six surfaces of the laser target;

(2) three reference coordinate systems are established:

establishing a height (M) from the ground centered on the roadway width_Z+C_ZPoint O of/2)_bTaking the designed driving direction of the tunnel as X_bThe axis points forward and takes the vertical upward direction as Z_bWith the axis pointing forwardly to pass through the right-hand gaugeThen determined Y_bGeodetic coordinate system O with axis pointing in the forward direction_b-X_bY_bZ_bWherein M is_ZHeight of boom-type roadheader body, C_ZIs the height of the laser target;

ii, establishing a geometric centroid O of the cantilever type tunneling machine_mAs the origin, with the forward axis of the boom-type roadheader as X_mThe shaft points forward and takes the upward axis of the cantilever type development machine as Z_mY with axis pointing in forward direction and determined by right-hand rule_mHeading machine coordinate system O with forward-directed shaft_m-X_mY_mZ_m；

Iii, establishing a laser target centroid O_cAs origin, with X_mAxial forward direction is X_cThe axis pointing in the forward direction, in Z_mAxial forward direction is Z_cThe axis pointing in the forward direction, in Z_mAxial forward direction is Z_cAxis forward pointing target coordinate system O_c-X_cY_cZ_c；

(3) Adjusting the initial position of the cantilever type tunneling machine:

adjusting the initial position of the cantilever type tunneling machine, so that when the beam direction of a single-beam point laser emitted by a laser direction indicator is parallel to the designed tunneling direction of a roadway, the laser is emitted from the center of the rear side surface of a laser target, penetrates through the geometric centroid of the laser target and is emitted from the center of the front side surface of the laser target, and light spots are reserved in the center of the rear side surface and the center of the front side surface of the laser target respectively;

(4) the two anti-explosion cameras collect and upload calibration images:

before the boom-type excavator starts to work, fixing chessboard pattern calibration plates on surfaces of a laser target each time, shooting the surfaces by an explosion-proof camera with a shooting range including the surfaces of the chessboard pattern calibration plates for six times, and uploading six calibration images to an industrial personal computer;

(5) two anti-explosion cameras collect and upload laser target surface images:

removing the checkerboard calibration plate in the working process of the cantilever type tunneling machine, shooting six surfaces of the laser target in real time when laser beams emitted by the laser direction indicator penetrate through two surfaces of the six surfaces of the laser target by the two explosion-proof cameras, and continuously uploading shot surface images of the laser target to an industrial control computer;

(6) the intrinsic safety type inclination angle sensor collects inclination angle data of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane and uploads the data:

in the working process of the cantilever type heading machine, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time and transmits the inclination angle data sensor _ h to an industrial control computer;

(7) resolving a pose inverse solution program of the cantilever type tunneling machine by the industrial control computer:

(7a) the industrial control computer identifies a label on the surface where the light spot on the incident surface of the laser target is located and a label on the surface where the light spot on the emergent surface is located, and calculates the actual distance from the light spot on the incident surface of the laser target to the four sides of the incident surface and the actual distance from the light spot on the emergent surface of the laser target to the four sides of the emergent surface to obtain an actual distance value set Q;

(7b) the industrial control computer determines the light spots on the incident surface and the light spots on the emergent surface in a target coordinate system O through the actual distance value set Q and the label of the surface where the light spots on the incident surface and the label of the surface where the light spots on the emergent surface are located_c-X_cY_cZ_cCoordinates of lower^cE₁And^cE₂and establish^cE₁And^cE₂the straight line k is in the target coordinate system O_c-X_cY_cZ_cA lower linear equation;

(7c) the industrial control computer establishes a linear equation about a straight line k and the front side face f in a target coordinate system O_c-X_cY_cZ_cLower plane equation and back side b in target coordinate system O_c-X_cY_cZ_cSolving the equation set of the plane equation to obtain the target coordinate system O of the intersection point of the straight line k and the plane where the front side face f of the laser target is located_c-X_cY_cZ_cCoordinates of lower^cE_fAnd the intersection point with the plane of the back side b is in the target coordinate system O_c-X_cY_cZ_cCoordinates of lower^cE_b；

(7d) Industrial control computer pass^cE_fAnd^cE_bthe difference between the measured values is formed into a laser light path vector v, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time, and the pitch angle f of the cantilever type tunneling machine is calculated_invAngle of deflection p_invTransverse rolling angle h_invAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal direction_invAnd an offset distance z in the vertical direction_invWherein v ═^cE_f-^cE_b。

5. The boom miner position and posture identification method of claim 4, wherein the actual distance value set Q in step (7a) is implemented by a machine vision technique, and the specific steps are as follows:

(7a1) the industrial control computer generates six calibration files by using calibration pictures intercepted from six calibration images uploaded by two explosion-proof cameras;

(7a1) the industrial control computer adopts an image enhancement algorithm to adjust the brightness of the laser target surface images continuously uploaded by the two anti-explosion cameras to obtain the laser target surface images continuously subjected to brightness enhancement;

(7a2) the industrial control computer adopts a characteristic matching method, and respectively performs characteristic matching on continuous laser target surface images with enhanced brightness through six laser target single surface characteristic templates and laser spot characteristic templates to obtain six corresponding surface matching areas of the laser target and two corresponding laser spot matching areas;

(7a3) the industrial control computer detects straight lines in matching areas corresponding to the six surfaces of the laser target by adopting a straight line detection method to obtain straight lines corresponding to four edges of each surface of the laser target;

(7a4) the industrial control computer measures the pixel distances of straight lines from the center points of the matching areas corresponding to the two laser spots to the four sides of each surface of the laser target by adopting a point-line measuring method to obtain a set of pixel distances from the center points of the matching areas corresponding to the two laser spots to the straight lines from the four sides of each surface of the laser target;

(7a5) the industrial control computer identifies surface labels corresponding to the two laser light spots through the measured pixel distance set of straight lines from the center points of the corresponding matching areas of the two laser light spots to the four edges of each surface of the laser target, and determines the incident surface and the emergent surface of the laser target according to the identification result;

(7a6) the industrial control computer selects a calibration file of the incident surface and a calibration file of the exit surface of the laser target, finds out the pixel distances from the light spots on the incident surface to the four sides of the incident surface and the pixel distances from the light spots on the exit surface to the four sides of the exit surface from the pixel distance sets of the straight lines of the center points of the corresponding matching areas of the two laser light spots from the four sides of each surface of the laser target, then carries out calibration conversion on the pixel distances from the light spots on the incident surface of the laser target to the four sides of the incident surface by using the calibration file of the incident surface to obtain the actual distances from the light spots on the incident surface of the laser target to the four sides of the incident surface, and carries out calibration conversion on the pixel distances from the light spots on the exit surface of the laser target to the four sides of the exit surface by using the calibration file of the exit surface to obtain the actual distances from the light spots on the exit surface, these eight actual distance values are combined into an actual distance value set Q.

6. The boom miner position and orientation recognition method of claim 4, wherein said step (7d) of calculating the pitch angle f of the boom miner_invAngle of deflection p_invTransverse rolling angle h_invAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal direction_invAnd an offset distance z in the vertical direction_invThe method comprises the following implementation steps:

(7d1) the industrial control computer calculates the vector v through the laser light pathDeflection angle p of boom-type roadheader_inv：

Wherein v is_xIndicating that the laser light path vector v is at X_cComponent on the axis, v_yIndicating that the laser light path vector v is in Y_cAn on-axis component;

(7d2) the industrial control computer passes through the laser light path vector v and the deflection angle p of the cantilever type tunneling machine_invCalculating the pitching angle f of a boom-type roadheader_inv：

Wherein v is_zIndicating the laser light path vector v at Z_cAn on-axis component;

(7d3) industrial control computer selection heading machine coordinate system O_m-X_mY_mZ_mY of (A) is_mTaking the unit vector u in the negative direction of the axis as a characteristic vector, and calculating the characteristic vector u around Z in the rotating process according to a fixed coordinate system_mRotation of the shaft p_invAngle, rewind Y_mRotation of the shaft f_invU obtained after Angle₂Vector:

u₂＝(T_XYZ(0,0,0)R_X(0)R_Y(f_inv)R_Z(p_inv))·u₁

wherein, T_XYZRepresenting a coordinate transformation translation matrix, R_X、R_Y、R_ZRepresenting a coordinate transformation rotation matrix;

(7d4) in the process that the industrial control computer calculates and rotates according to the fixed coordinate system, u₂Vector end point at u₂Vector end point is located with X_mRadius of rotation R, u in plane parallel to axis₂Vector end point to X_mO_mY_mProjected height H of plane₂，u₂Vector winding X_mRotation of the shaft h_invAngle derived u₃Vector end point of vector to X_mO_mY_mProjected height H of plane₃：

H₂＝|u_2z|

H₃＝||u₃||sin(|sensor_h|)

Wherein u is_2yRepresents u₂Vector is in Y_mComponent on the axis, u_2zRepresents u₂Vector at Z_mAn on-axis component;

(7d5) the industrial control computer controls the projection height H according to the rotation radius R₂And H₃Calculating the roll angle h_inv：

(7d6) The origin O of the target coordinate system is calculated by the industrial control computer under the state of no offset distance_cIn the heading machine coordinate system O_m-X_mY_mZ_mCoordinates of lower^mO_cAt a passing pitch angle f_invAngle of deflection p_invTransverse rolling angle h_invAfter rotation in the earth's coordinate system O_b-X_bY_bZ_bCoordinates of lower^bO_c：

^bO_c＝(T_XYZ(0,0,0)R_X(h_inv)R_Y(f_inv)R_Z(p_inv))·^mO_c

Wherein, the origin O of the target coordinate system_cIn the heading machine coordinate system O_m-X_mY_mZ_mCoordinates of lower^mO_cIs [ X ]_M2C,Y_M2C,Z_M2C,1]^T；

(7d7) The industrial control computer calculates the point of the middle point of the laser segment of the laser path intercepted by the laser target to the origin O of the coordinate system of the target_bVector of (2)^cd in the geodetic coordinate system O_b-X_bY_bZ_bVector of^bd：

^cd＝O_b-(^cE_f+^cE_b)/2

^bd＝(T_XYZ(0,0,0)R_X(h_inv)R_Y(f_inv)R_Z(p_inv))·^cd；

(7d8) Industrial control computer calculates that the cantilever type heading machine is at Y_bDirection and Z_bDeviation y of movement in direction_invAnd z_inv：

y_inv＝^bd_Y-^bO_cY

z_inv＝^bd_Z-^bO_cZ

Wherein the content of the first and second substances,^bd_Yrepresenting vectors^bd is at Y_bThe component on the axis of the light beam,^bd_Zrepresenting vectors^bd is at Z_bThe component on the axis of the light beam,^bO_cYrepresenting coordinates^bO_cThe value of (a) is determined,^bO_cZrepresenting coordinates^bO_cThe value of z.

Technical Field

The invention belongs to the technical field of mining equipment application and machine vision application, and relates to cantilever type heading machine position and posture identification systems and methods.

Background

The cantilever type excavator is kinds of excavating equipment, and is widely applied to underground coal mine roadway construction by .

The method is characterized in that operators are high in labor intensity and high in danger degree, and the phenomena of over-excavation and under-excavation are caused by interference of human factors, so that the production efficiency of enterprises is reduced.

The scheme of adopting laser targets in the prior various methods for detecting the attitude of the cantilever excavator based on the machine vision technology needs to consider the occurrence of miss-target, increase the identification limit ranges of the deflection angle, the pitch angle, the roll angle, the vertical offset and the horizontal offset of the cantilever excavator under the condition of no miss-target, namely increase the area of a laser target, but the space in an underground tunnel is limited, the area of the laser target cannot be increased infinitely, and the measurable working space of the cantilever excavator under the condition of miss-target is limited.

The method for detecting the spatial pose of the cantilever type heading machine in real time comprises the steps of projecting two cross lasers fixed on a roadway to corresponding laser targets, then acquiring images of the two laser targets in real time when the heading machine works through two network cameras fixed on a machine body of the heading machine, then processing acquired video signals through an image processing method of a Rentinex image enhancement algorithm, image distortion correction and linear detection, and finally obtaining a yaw angle, a pitch angle and a roll angle of the heading machine in the advancing process and offset of a fixed point on the machine body on the section of the roadway by using an established pose resolving model.

The invention has the disadvantages that firstly, two cross-shaped light emitters are adopted by a laser pointing device, laser beams emitted by the two cross-shaped laser emitters are required to be parallel to each other and to be consistent with the designed axial direction of a roadway, but in the actual operation process, the installation errors of the two cross-shaped laser emitters can cause parallelism errors of the two emitted laser beams, under the condition of long-distance tunneling, the distance between the cross-shaped laser emitters and a laser target is very long, at the moment, the influence of the parallelism errors of the laser beams caused by the installation errors in a pose calculation model established by an industrial control computer can be amplified, finally, the drift angle, the pitch angle, the roll angle and the offset of a fixed point on the body on the roadway section are greatly deviated from the actual condition in the process of traveling of the tunneling machine, the system identification precision is reduced, two frosted surface tunneling PC boards are adopted by the laser, the laser pointing device is fixedly arranged at the left front and the right sides of a horizontal panel of the tunneling machine body of the tunneling machine, the tunneling machine can only receive laser projection by , when the drift angle, the fixed roll angle and the drift angle on the tunneling machine body are greatly deviated from the roadway section of the roadway, and the drift angle, the drift angle of the fixed point on the tunneling machine, and the drift angle are easily adjusted by the measurable target, so that the measurable target can be frequently received by the laser target, when the laser target in the working plane, the.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides boom-type roadheader position and posture identification systems and methods, and aims to reduce the error of position and posture identification during remote tunneling and enlarge the measurable working space of the boom-type roadheader.

In order to achieve the purpose, the invention adopts the technical scheme that:

kinds of boom-type roadheader position and posture identification systems comprise a laser pointing device, a laser target, an explosion-proof camera and an industrial control computer, wherein the laser pointing device is fixed at the top of a roadway and used for emitting laser to the excavation direction of the boom-type roadheader;

the laser pointing device adopts a laser pointing instrument, and the emitted laser is single-beam point laser;

the laser target is of a hollow cuboid structure formed by splicing six rectangular transparent plates and is fixed right above a forward axis of a machine body of the cantilever type tunneling machine, the upper surface and the lower surface of the laser target are parallel to the top plane of the cantilever type tunneling machine, the front side and the rear side are parallel to the tail plane of the cantilever type tunneling machine, and the left side and the right side are parallel to the side plane of the cantilever type tunneling machine;

the number of the explosion-proof cameras is two, the two explosion-proof cameras are oppositely arranged above the body of the cantilever type excavator, the shooting range of each explosion-proof camera comprises three surfaces of the laser target, and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras and the three surfaces of the laser target contained in the shooting range of explosion-proof cameras are not overlapped with each other;

an intrinsic safety type inclination angle sensor is fixed on a machine body of the cantilever type tunneling machine, a measuring shaft of the intrinsic safety type inclination angle sensor is coplanar with a tail plane of the cantilever type tunneling machine and is parallel to a top plane of the cantilever type tunneling machine, and the intrinsic safety type inclination angle sensor is used for acquiring inclination angle data of the measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time;

the industrial control computer is fixed in the body of the cantilever type tunneling machine, and the acquired space pose parameters of the cantilever type tunneling machine are obtained by receiving laser target surface images acquired by the two anti-explosion cameras and inclination angle data of a measuring shaft of the self-safety type inclination angle sensor relative to a horizontal plane and resolving a pose inverse solution program of the cantilever type tunneling machine.

According to the cantilever type heading machine position and posture identification system, the laser target is made of organic glass, acrylic materials or other light-transmitting materials.

In the boom-type roadheader position and posture identification system, the connecting line of the mounting points of the two explosion-proof cameras is collinear with the body diagonal line of the laser target, wherein explosion-proof cameras are mounted on the upper surface of the laser target, and explosion-proof cameras are mounted on the lower surface of the laser target.

A position and posture identification method for a cantilever type heading machine comprises the following steps:

(1) setting basic parameters:

setting the installation distance of the centroid of the laser target relative to the centroid of the cantilever type tunneling machine in the forward axis direction of the cantilever type tunneling machine to be X_M2CThe mounting distance in the horizontal axis direction is Y_M2CThe mounting distance in the upward axial direction being Z_M2C(ii) a Setting the front side face of the laser target as f and the rear side face as b, and respectively labeling six surfaces of the laser target;

(2) three reference coordinate systems are established:

establishing a height (M) from the ground centered on the roadway width_Z+C_ZPoint O of/2)_bTaking the designed driving direction of the tunnel as X_bThe axis points forward and takes the vertical upward direction as Z_bWith axis pointing forward, with Y determined by the right-hand rule_bGeodetic coordinate system O with axis pointing in the forward direction_b-X_bY_bZ_bWherein M is_ZHeight of boom-type roadheader body, C_ZIs the height of the laser target;

ii, establishing a geometric centroid O of the cantilever type tunneling machine_mAs the origin, with the forward axis of the boom-type roadheader as X_mThe shaft points forward and takes the upward axis of the cantilever type development machine as Z_mY with axis pointing in forward direction and determined by right-hand rule_mHeading machine coordinate system O with forward-directed shaft_m-X_mY_mZ_m；

Iii, establishing a laser target centroid O_cAs origin, with X_mAxial forward direction is X_cThe axis pointing in the forward direction, in Z_mAxial forward direction is Z_cThe axis pointing in the forward direction, in Z_mAxial forward direction is Z_cAxis forward pointing target coordinate system O_c-X_cY_cZ_c；

(3) Adjusting the initial position of the cantilever type tunneling machine:

adjusting the initial position of the cantilever type tunneling machine, so that when the beam direction of a single-beam point laser emitted by a laser direction indicator is parallel to the designed tunneling direction of a roadway, the laser is emitted from the center of the rear side surface of a laser target, penetrates through the geometric centroid of the laser target and is emitted from the center of the front side surface of the laser target, and light spots are reserved in the center of the rear side surface and the center of the front side surface of the laser target respectively;

(4) the two anti-explosion cameras collect and upload calibration images:

before the boom-type excavator starts to work, fixing chessboard pattern calibration plates on surfaces of a laser target each time, shooting the surfaces by an explosion-proof camera with a shooting range including the surfaces of the chessboard pattern calibration plates for six times, and uploading six calibration images to an industrial personal computer;

(5) two anti-explosion cameras collect and upload laser target surface images:

removing the checkerboard calibration plate in the working process of the cantilever type tunneling machine, shooting six surfaces of the laser target in real time when laser beams emitted by the laser direction indicator penetrate through two surfaces of the six surfaces of the laser target by the two explosion-proof cameras, and continuously uploading shot surface images of the laser target to an industrial control computer;

(6) the intrinsic safety type inclination angle sensor collects inclination angle data of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane and uploads the data:

in the working process of the cantilever type heading machine, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time and transmits the inclination angle data sensor _ h to an industrial control computer;

(7) resolving a pose inverse solution program of the cantilever type tunneling machine by the industrial control computer:

(7a) the industrial control computer identifies a label on the surface where the light spot on the incident surface of the laser target is located and a label on the surface where the light spot on the emergent surface is located, and calculates the actual distance from the light spot on the incident surface of the laser target to the four sides of the incident surface and the actual distance from the light spot on the emergent surface of the laser target to the four sides of the emergent surface to obtain an actual distance value set Q;

(7b) the industrial control computer determines an incident table according to the actual distance value set Q and the label of the surface where the light spot on the incident surface of the laser target is positioned and the label of the surface where the light spot on the emergent surface is positionedSpot on surface and spot on exit surface in target coordinate system O_c-X_cY_cZ_cCoordinates of lower^cE₁And^cE₂and establish^cE₁And^cE₂the straight line k is in the target coordinate system O_c-X_cY_cZ_cA lower linear equation;

(7c) the industrial control computer establishes a linear equation about a straight line k and the front side face f in a target coordinate system O_c-X_cY_cZ_cLower plane equation and back side b in target coordinate system O_c-X_cY_cZ_cSolving the equation set of the plane equation to obtain the target coordinate system O of the intersection point of the straight line k and the plane where the front side face f of the laser target is located_c-X_cY_cZ_cCoordinates of lower^cE_fAnd the intersection point with the plane of the back side b is in the target coordinate system O_c-X_cY_cZ_cCoordinates of lower^cE_b；

(7d) Industrial control computer pass^cE_fAnd^cE_bthe difference between the measured values is formed into a laser light path vector v, the intrinsic safety type inclination angle sensor acquires inclination angle data sensor _ h of a measuring shaft of the intrinsic safety type inclination angle sensor relative to a horizontal plane in real time, and the pitch angle f of the cantilever type tunneling machine is calculated_invAngle of deflection p_invTransverse rolling angle h_invAnd the offset distance y of the geometric centroid of the boom-type roadheader in the horizontal direction_invAnd an offset distance z in the vertical direction_invWherein v ═^cE_f-^cE_b。

Compared with the prior art, the invention has the following advantages:

1. the image signal input received by the industrial control computer in the invention is derived from the surface image of two laser light spots left after a single-beam point laser emitted by an explosion-proof camera and transmitted by laser pointing devices and transmitted by the same laser pointing device, the theoretical calculation of a pose inverse solution program is still established during remote tunneling, while the image signal input received by the industrial control computer in the prior art is derived from the explosion-proof camera and used for acquiring cross laser projection images of two cross laser emitters on two frosted surface semi-transparent PC boards respectively, the two cross laser projections are emitted by different laser pointing devices, and during remote tunneling, the installation error of the two cross laser emitters can cause the premise that two laser light paths of a pose solution model are parallel to each other to be not established, and the theoretical calculation can generate errors.

2. The laser target in the invention adopts a hollow light-transmitting cuboid structure, six surfaces of the laser target can be used for receiving laser projection of a laser direction indicator, the laser target in the prior art adopts two frosted surface semitransparent PC boards, only two surfaces can be used for receiving laser projection, and compared with the prior art, the invention can directly increase measurable space pose parameter set of the cantilever type tunneling machine by increasing the receivable laser projection area, thereby effectively expanding the measurable working space of the cantilever type tunneling machine.

Drawings

FIG. 1 is a schematic diagram of an identification system according to the present invention;

FIG. 2 is a flow chart of an implementation of the identification method of the present invention;

FIG. 3 is a model diagram of a reference coordinate system of the recognition method of the present invention;

FIG. 4 is a flowchart of a pose inverse solution routine of the present invention;

FIG. 5 is a schematic diagram of the pose resolving principle of the present invention according to the rotation process of a motion coordinate system;

FIG. 6 is a schematic diagram of the pose resolving principle of the present invention according to the rotation process of a fixed coordinate system;

fig. 7 is a schematic view of the deviation due to rotation.

Detailed Description

The invention is described in further detail with reference to the figures and the specific embodiments.