CN114509075A - Method for dynamically calculating positioning of vehicle body in tunnel based on Cartesian plane direction angle - Google Patents
Method for dynamically calculating positioning of vehicle body in tunnel based on Cartesian plane direction angle Download PDFInfo
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Abstract
The invention provides a method for dynamically calculating the positioning of a vehicle body in a tunnel based on a Cartesian plane direction angle. The calculation method provided by the invention calculates the position coordinates of the geodetic coordinate system of the vehicle body and the direction angle of the vehicle body according to the prism coordinates of the vehicle body of the geodetic coordinate system, and calculates the opening direction of the vehicle body according to the direction angle of the vehicle body and the direction angle in the effective section of the tunnel. Analyzing data such as a pitch angle, a deflection angle, an inclination angle and the like of the mechanical arm of the car body in real time according to a CAN message sent by the mechanical arm sensor of the rock drilling rig, and finally realizing accurate punching operation according to a design drawing.
Description
Technical Field
The invention relates to an operation guide system in the engineering machinery industry, in particular to a plane-based coordinate calculation method and a space coordinate attitude calculation method based on CAN message data.
Background
With the steady construction of national foundation engineering, a tunnel drilling and blasting method is required to be used for tunneling in the tunneling construction of tunnel engineering such as railways, highways, water conservancy, mine roadways and the like, and a rock drilling jumbo is one of construction machines which are commonly used in the tunnel drilling and blasting method construction. The rock drilling jumbo is a tunnel rock drilling device constructed by adopting a drilling and blasting method, and mainly comprises a rock drill, a drill boom, a travelling mechanism and other necessary accessory equipment. The drilling and blasting method is a traditional tunnel construction method, and achieves the aim of excavation by drilling blastholes on rock mass and charging and blasting. The traditional drilling and blasting method has the advantages of lower safety factor, heavy environmental pollution, high labor intensity of workers, flexible construction, variable cross-section shape and size of the tunnel, strong geological adaptability and relatively low equipment cost, thereby occupying a leading position in mountain tunnels and underground space development in China. The rock drill takes the drilling position, size, depth, angle and other parameters designed by a drilling planning map as input, and high-precision automatic drilling operation is assisted by a computer.
At present, the traditional construction operation needs a designer to design a construction scheme on site, and then an operator operates the construction on site, the construction method is slow in progress, time-consuming and labor-consuming, and the drilling method of the blast hole is controlled by experience. The error of the existing numerical control computer auxiliary systems is too high, so that the deviation of the drilling position and the design position is more than 4 cm; the mechanical arm cannot be resolved in real time in terms of spatial attitude, and construction errors are easily caused. Therefore, an algorithm for accurately positioning and dynamically calculating space coordinates and space postures in real time is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a method for dynamically calculating the positioning of a vehicle body tunnel based on the direction angle of a Cartesian plane, which aims to solve the defects in the prior art and can accurately position the vehicle body, position the pile number, quickly calculate the position coordinate in real time and dynamically display the space attitude angle of a mechanical arm.
The invention is realized according to the following technical scheme:
a method for dynamically calculating the positioning in a vehicle body tunnel based on the direction angle of a Cartesian plane comprises the following steps:
firstly, reading coordinates of a geodetic coordinate system of a left prism and a right prism of a vehicle body;
secondly, preprocessing tunnel axis data;
step three, calculating the geodetic coordinate system coordinates and the vehicle body direction angles of the vehicle body;
step four, analyzing CAN message data dynamically in real time;
and step five, resolving the space attitude of the vehicle body in real time.
Preferably, the method specifically comprises the following steps:
step one, establishing a geodetic coordinate system station according to a total station, and measuring a vehicle body prism central point space coordinate by using the total station;
reading the coordinates of the intersection point of the section number of the tunnel axis and the axis, calculating effective sections of the tunnel axis, and solving the inclination angle of each effective section line segment;
calculating the coordinates of the O point of the vehicle body and the direction angle of the vehicle body in a geodetic coordinate system through vectors of the left prism, the right prism and the O point of the vehicle body;
reading CAN message data, and analyzing a pitch angle, a deflection angle, a turnover angle and a stretching amount measured by the vehicle-mounted sensor in real time by using a timer thread;
and fifthly, constructing a three-dimensional geometric structure model of the vehicle body, and resolving the coordinates of the tail point of the telescopic rod of the vehicle body and the space attitude according to the resolved angle values of the joint arms.
Preferably, the second step is specifically:
step a: reading all pile numbers (namely section numbers) of a tunnel line and intersection point space coordinates of each section and a tunnel axis, wherein the forward direction of the tunnel is marked from the first pile number to the last pile number, and the reverse direction of the tunnel is opposite to the first pile number;
step b: calculating the inclination angle of the axis section between two adjacent pile numbers, sequentially comparing the inclination angles of the connecting line of the next pile number on the basis of the inclination angle between the first pile number and the second pile number, if the difference is less than 0.05 degrees, determining that the pile numbers are in the same effective interval, and if the difference is more than 0.05 degrees, determining that the pile numbers start in the next effective interval;
step c: and marking effective intervals in which line segments between every two stake numbers are located, wherein the effective intervals are represented by initial stake numbers and terminal stake numbers of the intervals.
Preferably, in step b: firstly, the inclination angle of the line segment on the XOY plane is obtained according to X, Y coordinates of the intersection points of the two stake marks and the axis, and the direction of the line segment is that the first stake mark points to the second stake mark.
Preferably, the third step is specifically:
step a: x, Y coordinate calculation based on two prisms
Vector and calculate
And
(prism calibration vector, calibration when the vehicle body leaves factory) to obtain an included angle between the axis of the trolley and the X + axis;
step b: and calculating the coordinates of the O point of the trolley after rotation according to the deflection angle of the trolley.
Preferably, the step b specifically comprises: the deviation angle between the axis of the trolley and the X + axis is used as the axis of the trolley to rotate around the X + axis by a certain angle, according to a rotation formula, the O point coordinate after rotation can be solved according to the left prism, the O point coordinate can be solved according to the right prism in the same way, and the average value of the two O point coordinates is used as the final O point coordinate, so that the deviation of the solved coordinate is reduced.
Preferably, the fourth step is specifically: the message type mainly comprises two parts, namely a CAN frame ID and two byte CAN numerical values; reading all CAN message data of the CAN bus, determining a sensor corresponding to the variable according to the message ID, and analyzing a specific angle value according to a specific message protocol. The left-hand coordinate system conforms to the left-negative-right-positive principle, and the right-hand coordinate system conforms to the left-positive-right-negative principle.
Preferably, the step five specifically includes:
step a: taking the O point as a starting point, constructing a geometric arm model of the vehicle body, solving the coordinate of the next node through the rotation angle of each arm section, continuously solving by taking the next node as the starting point, knowing the coordinate of the final point, and judging whether the position of the designed blast hole coordinate is reached according to the coordinate of the final point;
step b: the drilling azimuth of the blast hole is controlled by the spatial attitude angle (pitch angle and azimuth angle) of the last arm.
The invention has the beneficial effects that:
1. the vehicle body positioning method based on the biprism coordinate calculation can accurately position the coordinates of the vehicle body in a geodetic coordinate system and the axis direction angle of the trolley;
2. the space coordinate calculation method based on the robot coordinate system can accurately calculate the tail point coordinate and the space attitude angle of the mechanical arm;
3. to the condition of tunnel two-way construction, through judging the contained angle of platform truck axis and X + axle, the driving direction of platform truck is judged to intelligence, reduces personnel's operation.
3. The timer thread is adopted to refresh CAN message data in real time, implement analysis and settlement, and the construction working condition CAN be responded quickly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
FIG. 1 is a schematic diagram of a method for dynamically resolving vehicle body tunnel positioning based on Cartesian plane bearing angles according to the invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
The invention is further described by the following specific embodiments with reference to the attached drawings. Some of which are explained herein. Geodetic coordinate system: a coordinate system with the north direction as an X + axis and the east direction as a Y + axis; robot coordinate system: the origin establishes a coordinate system. Pile number: and the mileage point of the tunnel axis is provided by engineering designers.
CAN message protocol related concept interpretation
The protocol mainly aims at the type information of a vehicle body mechanical arm and a double-shaft dip angle belt message, and the message type mainly comprises two parts: CAN frame ID; 2. two bytes CAN value (resolved by big end). The CAN frame ID contains the following parts:
second, rotating matrix around X, Y, Z axis
X-axis rotation matrix:
y-axis rotation matrix:
z-axis rotation matrix:
thirdly, the overall process of the settlement algorithm for vehicle body positioning (as shown in figure 1)
The rock drilling jumbo in the engineering machinery needs auxiliary support of an operation guide system in construction operation, and has accurate requirements on position coordinates, deflection angles and the like of a vehicle body in a tunnel during drilling operation. As shown in FIG. 1, the invention provides a method for dynamically calculating the positioning in a vehicle body tunnel based on the direction angle of a Cartesian plane, which comprises the steps of firstly reading the coordinate L of a left prism of a vehicle body0Right prism coordinate R0And obtaining left and right prism vectors
According to the vector
And solving an included angle (a vehicle body deflection angle) between the vehicle body axis and X + and an included angle (a vehicle body yaw angle) between the vehicle body axis and the tunnel axis with the included angle of the calibration vector. If the included angle between the axis of the vehicle body and the positive direction of the axis of the tunnel is less than 90 degrees, the driving direction of the vehicle body is the positive direction of the tunnel line (the pile number mileage is increased), otherwise, the driving direction is the reverse direction (the pile number mileage is reduced).
According to the deflection angle, the O coordinates of the left prism and the right prism after respective rotation are obtained by utilizing the rotation principle of the vector in a two-dimensional plane, and the average value is obtained to represent the final accurate vehicle body coordinate, and the final accurate vehicle body coordinate is used as the coordinate of the center point of the base of the mechanical arm, namely the origin of the coordinate system of the robot.
And reading CAN data from the CAN bus, analyzing the numerical value of each sensor according to the CAN frame ID in the protocol, and corresponding to parameters such as a large arm swing angle, a large arm pitch angle, a propulsion beam rotation angle, a propulsion beam pitch angle, a propulsion beam left-right rotation angle, large arm extension, propulsion beam extension, rock drill forward and backward, a wing type arm angle, a vehicle body roll angle, a vehicle body pitch angle and the like. And a timer thread is used, analytic data are acquired at fixed time intervals, and the real-time performance of the sensor value is ensured.
And assigning the analyzed numerical value to a corresponding global variable, and calling when the numerical value needs to be used. The analyzed numerical values are displayed on a parameter page at the same time, and simultaneously accord with the right positive left negative, up negative and down positive principles in the robot coordinate system, if the actual symbols are contrary to the principles, the symbols need to be added manually.
The method comprises the steps of constructing a geometric model for seven sections of mechanical arms of a vehicle body by taking the central point of a base as an original point, measuring the length of the mechanical arm between every two joints, and determining the rotating central shaft of the unconnected mechanical arm, namely rotating around an X, Y, Z shaft. And solving the end point coordinates of each joint arm by respectively substituting the end point coordinates into the corresponding rotation matrix in one step. And (3) solving the coordinates of the tail point of the drill boom relative to the vehicle body through the transformation of the robot coordinate system and the geodetic coordinate system, wherein the coordinates of the tail point of the drill boom and the coordinates of the O point of the vehicle body are the geodetic coordinate system coordinates of the tail point.
For the solution of the section number, an interpolation method is needed to be positioned on the corresponding tunnel axis, and meanwhile, the effective interval where the end point coordinate section is located is judged.
The invention constructs a set of multi-thread resolving framework based on a coordinate system, the framework supports asynchronous multi-thread, the data processing speed is high, and the data instantaneity is strong. For any vehicle body in the tunnel, the driving direction of the vehicle body can be automatically judged, and the section number and the effective section interval are solved. For the end point coordinates, the three-dimensional geometric model constructed by the framework can solve the mechanical arm coordinates with high precision, and the error is controlled within 4 cm. The method can effectively assist the operation of personnel, and the intelligent level can be effectively improved.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are also meant to be within the scope of the invention and form different embodiments. For example, in the above embodiments, those skilled in the art can use the combination according to the known technical solutions and technical problems to be solved by the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The method for dynamically calculating the positioning in the vehicle body tunnel based on the direction angle of the Cartesian plane is characterized by comprising the following steps of:
firstly, reading coordinates of a geodetic coordinate system of a left prism and a right prism of a vehicle body;
secondly, preprocessing tunnel axis data;
step three, calculating the geodetic coordinate system coordinates and the vehicle body direction angles of the vehicle body;
step four, analyzing CAN message data dynamically in real time;
and step five, resolving the space attitude of the vehicle body in real time.
2. The method for dynamically calculating the positioning in the tunnel of the vehicle body based on the direction angle of the Cartesian plane according to claim 1 is characterized by comprising the following steps:
step one, establishing a geodetic coordinate system station according to a total station, and measuring a vehicle body prism central point space coordinate by using the total station;
reading the coordinates of the intersection points of the section numbers and the axes of the tunnel axes, calculating effective sections of the tunnel axes, and solving the inclination angle of each effective section;
calculating the coordinates of the O point of the vehicle body and the direction angle of the vehicle body in a geodetic coordinate system through vectors of the left prism, the right prism and the O point of the vehicle body;
reading CAN message data, and analyzing a pitch angle, a deflection angle, a turnover angle and a stretching amount measured by the vehicle-mounted sensor in real time by using a timer thread;
and fifthly, constructing a three-dimensional geometric structure model of the vehicle body, and resolving the coordinates of the tail point of the telescopic rod of the vehicle body and the space attitude according to the resolved angle values of the joint arms.
3. The method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 2, wherein the second step is specifically as follows:
step a: reading all pile numbers of a tunnel line and intersection point space coordinates of each section and a tunnel axis, wherein the forward direction of the tunnel is marked from the first pile number to the last pile number, and the reverse direction of the tunnel is opposite to the first pile number;
step b: calculating the line segment inclination angle between two adjacent pile numbers, sequentially comparing the inclination angles of the connecting line of the next pile number on the basis of the inclination angle between the first pile number and the second pile number, if the difference is less than 0.05 degrees, determining that the connecting line of the next pile numbers is in the same effective interval, and if the difference is more than 0.05 degrees, determining that the connecting line of the next pile numbers is started;
step c: and marking the effective interval where the line segment between every two stake numbers is located, wherein the effective interval is represented by the initial stake number and the terminal stake number of the interval.
4. The method for dynamically calculating the positioning in the tunnel of the car body based on the Cartesian plane direction angles according to claim 3, wherein the method comprises the following steps of:
in step b, firstly, the inclination angle of the line segment in the XOY plane is obtained according to X, Y coordinates of the intersection points of the two stake marks and the axis, and the direction of the line segment is that the first stake mark points to the second stake mark.
5. The method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 2, wherein the third step is specifically as follows:
step a: x, Y coordinate calculation based on two prisms
Vectors and calculates
And
the included angle between the axis of the trolley and the axis X + is obtained, wherein the prism is used for calibrating the vector, and the vehicle body is calibrated when leaving the factory;
step b: and calculating the coordinates of the O point of the trolley after rotation according to the deflection angle of the trolley.
6. The method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 5, wherein the step b specifically comprises the following steps:
the deviation angle between the axis of the trolley and the X + axis is used as the axis of the trolley to rotate around the X + axis by a certain angle, according to a rotation formula, the O-point coordinate after rotation can be solved according to the left prism, the O-point coordinate can be solved according to the right prism in the same way, and the average value of the two O-point coordinates is taken as the final O-point coordinate, so that the deviation of the solved coordinate is reduced.
7. The method for dynamically calculating the positioning in the tunnel of the car body based on the Cartesian plane direction angles according to claim 6, wherein the rotation formula is as follows:
x-axis rotation matrix:
y-axis rotation matrix:
z-axis rotation matrix:
8. the method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 2, wherein the fourth step is specifically as follows:
the message type mainly comprises two parts, namely a CAN frame ID and two byte CAN numerical values;
reading all CAN message data of the CAN bus, determining a sensor corresponding to a variable according to a message ID, analyzing a specific angle value according to a specific message protocol, wherein a left-hand coordinate system accords with a left-negative-right positive principle, and a right-hand coordinate system accords with a left-positive-right negative principle.
9. The method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 2, wherein the fifth step is specifically as follows:
step a: taking the O point as a starting point, constructing a geometric arm model of the vehicle body, solving the coordinates of the nodes through the rotation angle of each section of arm, continuously solving by taking the next node as the starting point, knowing the coordinates of the final point, and judging whether the position of the designed blast hole coordinate is reached according to the coordinates;
step b: the drilling direction angle of the blast hole is controlled by the space attitude angle of the last arm.
10. The method for dynamically calculating the positioning in the vehicle body tunnel based on the Cartesian plane direction angle according to claim 2, wherein the method comprises the following steps:
in step one, the geodetic coordinate system: and a coordinate system with the north direction as an X + axis and the east direction as a Y + axis.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117710585A (en) * | 2023-12-22 | 2024-03-15 | 昆明安泰得软件股份有限公司 | Three-dimensional modeling method for long and large tunnel engineering by fusing ellipsoid system and Cartesian coordinate system |
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| CN112282781A (en) * | 2020-10-27 | 2021-01-29 | 上海米度测量技术有限公司 | Rock drilling equipment attitude measurement system and method |
| CN113601505A (en) * | 2021-08-05 | 2021-11-05 | 中铁工程装备集团有限公司 | Intelligent control method and system for multifunctional installation trolley |
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| CN110530358A (en) * | 2019-09-20 | 2019-12-03 | 中铁工程装备集团隧道设备制造有限公司 | Car body navigation positional device and navigation system and method |
| CN112282781A (en) * | 2020-10-27 | 2021-01-29 | 上海米度测量技术有限公司 | Rock drilling equipment attitude measurement system and method |
| CN113601505A (en) * | 2021-08-05 | 2021-11-05 | 中铁工程装备集团有限公司 | Intelligent control method and system for multifunctional installation trolley |
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| CN117710585A (en) * | 2023-12-22 | 2024-03-15 | 昆明安泰得软件股份有限公司 | Three-dimensional modeling method for long and large tunnel engineering by fusing ellipsoid system and Cartesian coordinate system |
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