CN-116087978-B - Tunnel special equipment trolley scanning measurement system and working method thereof

CN116087978BCN 116087978 BCN116087978 BCN 116087978BCN-116087978-B

Abstract

The invention discloses a trolley scanning and measuring system of tunnel special equipment and a working method thereof, which solve the problem of low measuring efficiency of a three-dimensional scanning device in the prior art. The measuring system comprises a full-computer three-arm drilling trolley, wherein a large arm base for connecting an arm support is arranged on the full-computer three-arm drilling trolley, a measuring device is arranged on the large arm base, the measuring device comprises a double-shaft electric control holder, and a distance measuring module, a main image sensor, a secondary image sensor and a solid-state laser radar are arranged on the double-shaft electric control holder. According to the invention, the solid-state laser radar sensor, the ranging module, the attitude sensor and the image sensor are used for designing the trolley scanning measuring device and the measuring method of the special equipment for the tunnel, the design of the automatic operation flow of the special equipment can be deeply integrated on the basis of satisfying the digital scanning of the tunnel, the real-time support of the target tracking and measuring data at the tail end of the arm support is provided, the closed-loop control is provided for guiding the arm support, and the higher-level tunnel automatic operation is realized.

Inventors

ZHANG ZHIGUO
ZHENG YINGHAO
ZHANG NA
CHEN SHUAI
TAN NA
Sun Senzhen
JING LIUJIE
LI PENGYU
WEI XIAOLONG
JU XIANGYU
WANG YONGSHENG
YANG CHEN
Niu Kongxiao

Assignees

中铁工程装备集团有限公司

Dates

Publication Date: 20260512
Application Date: 20221212

Claims (9)

1. The tunnel special equipment trolley scanning measurement system comprises a full-computer three-arm drill trolley (100), wherein a large arm base (300) for connecting an arm support (200) is arranged on the full-computer three-arm drill trolley (100), and is characterized in that a measurement device (400) is arranged on the large arm base (300), the measurement device (400) comprises a double-shaft electric control holder, a distance measuring module (1), a main image sensor (2), a secondary image sensor (3) and a solid-state laser radar (5) are arranged on the double-shaft electric control holder, the main image sensor (2) and the secondary image sensor (3) are arranged on two sides of the distance measuring module (1), the distance measuring module is positioned right above the solid-state laser radar (5), and tunnel target accurate measurement and three-dimensional point cloud scanning can be realized under the control of the double-shaft electric control holder; in the three-dimensional scanning process of the tunnel, the distance measuring module (1) measures the distance of a target to be measured, and the auxiliary image sensor (3) assists the distance measuring module (1) to aim at the target to be measured, and meanwhile, the main image sensor (2) is matched with the solid-state laser radar (5) to collect RGB point cloud of the plane of the area where the target to be measured is located; In the trolley navigation process, a distance measuring module (1) of a measuring device (400) is used for measuring coordinate values of at least 2 target points in a tunnel in a trolley coordinate system, a conversion relation between the trolley coordinate and the tunnel coordinate system is determined by combining the tunnel coordinate values of the at least 2 target points, and then the trolley orientation is adjusted according to the coordinate values of the target points in the tunnel coordinate system, so that the positioning navigation of the trolley is realized.
2. The tunnel special equipment trolley scanning measurement system according to claim 1, wherein the double-shaft electric control tripod head comprises a tripod head base (18), a horizontal rotating part (15) and a pitching rotating part (10) are arranged on the tripod head base (18), the pitching rotating part (10) is positioned on the upper part of the horizontal rotating part (15) and connected with the horizontal rotating part through an electric slip ring (14), a pitching cantilever (11) capable of pitching relative to the pitching rotating part (10) is arranged on the pitching rotating part (10), a supporting shell (9) is arranged on the pitching cantilever (11), and the ranging module (1), the main image sensor (2), the auxiliary image sensor (3) and the solid-state laser radar (5) are all positioned in the supporting shell (9).
3. The tunnel-dedicated equipment trolley scanning measurement system according to claim 2, wherein an angle sensor capable of measuring a horizontal rotation angle of the horizontal rotation part (15) is provided in the horizontal rotation part, and an angle sensor capable of measuring a pitch angle of the pitch cantilever (11) is provided in the pitch rotation part (10).
4. The tunnel-dedicated equipment trolley scanning measurement system according to claim 2 or 3, wherein the support housing (9) is internally provided with an attitude sensor (6) and a support protection frame (4) for supporting and fixing the ranging module (1), the main image sensor (2) and the auxiliary image sensor (3).
5. The tunnel-dedicated equipment trolley scanning measurement system according to claim 4, wherein a power supply access port I (7) is formed in one side of the support housing (9), a data output port I (8) is formed in the other side of the support housing, a data access port (13) and a power supply data output port (12) are formed in the pitching rotation portion (10), and a power supply access port II (17) and a data output port II (16) are formed in the horizontal rotation portion (15).
6. A working method of the trolley scanning and measuring system for the tunnel special equipment as claimed in claim 1, 2 or 5 is characterized by comprising three-dimensional scanning of a tunnel, trolley navigation and arm support tail end positioning measurement; The tunnel three-dimensional scanning process comprises the steps of adjusting a measuring device (400) to a proper state, enabling a ranging module (1), a main image sensor (2), a secondary image sensor (3) and a solid-state laser radar (5) of the measuring device (400) to face a tunnel target to be detected, enabling the ranging module (1) to conduct distance measurement on the target to be detected, enabling the secondary image sensor (3) to assist the ranging module (1) to conduct collimation on the target to be detected, enabling the main image sensor (2) to be matched with the solid-state laser radar (5) to collect RGB point clouds of a plane of an area where the target to be detected is located, then conducting full-view point cloud data collection on the tunnel by means of rotation and pitching change of a double-shaft electric control holder, and then enabling the measuring device (400) to transmit data to a background controller to complete tunnel three-dimensional scanning; The trolley navigation process comprises the steps of measuring coordinate values of at least 2 target points in a tunnel in a trolley coordinate system by using a ranging module (1) of a measuring device (400), determining a conversion relation between the trolley coordinate and the tunnel coordinate system by combining the tunnel coordinate values of the at least 2 target points, and then adjusting the trolley azimuth according to the coordinate values of the target points in the tunnel coordinate system to realize positioning navigation of the trolley; S1, establishing a template point cloud M of an initial pose of a target arm frame of a full-computer three-arm rock drilling trolley in a trolley coordinate system, and marking an arm frame end position characteristic point cloud coordinate P on the template point cloud M; s2, calculating the position T of the tail end of the target arm support in a trolley coordinate system by using a full-computer three-arm rock drilling trolley; s3, recording a point cloud N of the tail end position of the target arm support scanned by the measuring device by using the solid-state laser radar; s4, calculating matching parameters { R, T } from the point cloud M to the point cloud N by using a point cloud ICP matching method, wherein R is a rotation parameter and T is a translation parameter; S5, calculating the current target arm support end point coordinate S according to the arm support end position characteristic point cloud coordinate P marked in the step S1 and the { R, T } parameters calculated in the step S4, wherein the current target arm support end point coordinate S is as follows: (6) and S6, correcting the calculation error of the boom tail end position caused by the boom disturbance deformation, the sensor data of each joint of the boom and DH parameter model errors according to the current target boom tail end point coordinate S.
7. The method for operating the trolley scanning and measuring system for the tunnel special equipment according to claim 6, wherein the trolley navigation process is specifically as follows: A1, defining a coordinate system of a measuring device as a three-dimensional space coordinate system by taking an intersection point of a pitching cantilever rotation axis and a horizontal rotation axis as a coordinate system origin O, setting a rotation angle alpha of a cradle head, a pitch angle theta, and measuring a distance from a target point Pt by a distance measuring module as D; let a=l 2 ,b=D-D 2 , establish a plane rectangular coordinate system on the plane where the target point Pt and the rotation axis of the pan-tilt are located, define the pitch angle θ as negative at this time, calculate the coordinates of the point Pt: (1) Wherein x t is the x coordinate of Pt, y t is the y coordinate of Pt, L 2 is the distance from the center point S 2 of the ranging module to the center of the pitching rotation shaft, and D 2 is the distance from the center point S 2 of the ranging module to the horizontal rotation axis of the cradle head; A3, combining the rotation angle of the cradle head to be alpha, and then the three-dimensional coordinates of the target point Pt are as follows: (2) A4, scanning point cloud coordinates of solid-state laser radar Conversion to the lower coordinate of the tripod head coordinate system The method comprises the following steps: (3) Wherein the method comprises the steps of L 1 is the distance from the solid-state laser radar measurement center point S1 to the center of the pitching rotation shaft, D 1 is the distance from the solid-state laser radar measurement center point S1 to the horizontal rotation axis of the holder; for the rotation matrix: , a5, establishing a trolley coordinate system by taking the plane of the large arm base (300) where the measuring device (400) is positioned as an xy plane, defining that the trolley coordinate system coincides with the measuring device coordinate system, and directly measuring the space coordinate of the target point in the trolley coordinate system by the trolley through the measuring device; A6, judging the horizontal state of the measuring device according to the numerical value of the attitude sensor in the measuring device, adjusting the trolley to enable the measuring device to be in the horizontal state, controlling the cradle head to enable the ranging module to aim at the target point, and calculating the space coordinate of the target point under the trolley coordinate system; A7 according to (4), Wherein, the The rotation angle parameters converted from the trolley coordinate system and the tunnel measurement coordinate system are (dx, dy) the horizontal translation parameters of the trolley coordinate system and the tunnel measurement coordinate system , ) The coordinates of a common measuring point under the trolley coordinate system are calculated , ) The coordinates of the common measurement points in the tunnel coordinate system; establishing a relation between a trolley coordinate system and a tunnel measurement coordinate system under plane coordinates, and calculating plane conversion parameters of the trolley measurement coordinate system and the tunnel coordinate system through at least 2 target points; a8, calculating the elevation of the origin of the trolley coordinate system in the tunnel according to the elevation of the target point: (5) For the elevation of the origin of the trolley coordinate system in the tunnel coordinate system, Is the elevation of the target point, The height value of the target point in the trolley coordinate system is set; And A9, obtaining the conversion relation between the trolley coordinate system and the tunnel measurement coordinate system according to the steps A7 and A8, and then adjusting the trolley azimuth according to the coordinate value of the target point in the tunnel coordinate system to realize the positioning navigation of the trolley.
8. The method of claim 7 wherein step A9 further controls the cradle head to scan the tunnel panoramic spot cloud data by using the solid-state laser radar after determining the conversion relation between the trolley coordinate system and the tunnel measurement coordinate system, and simultaneously synchronously collects the tunnel panoramic image information by using the main image sensor, thereby realizing the tunnel spot cloud data collection containing RGB information for digital tunnel measurement analysis.
9. The method of claim 7 wherein step S3 is performed by calculating tilt and rotation parameters of the target boom by the measuring device according to the position of the end of the target boom in the trolley coordinate system, controlling the tilt and rotation parameters according to the tilt and rotation parameters, and recording the point cloud N of the end position of the target boom scanned by the measuring device using the solid-state laser radar.

Description

Tunnel special equipment trolley scanning measurement system and working method thereof Technical Field The invention relates to the technical field of special equipment trolleys for tunnels, in particular to a special equipment trolley scanning and measuring system for tunnels and a working method thereof. Background Positioning navigation and space environment sensing measurement are key requisite technologies of intelligent tunnel special equipment trolleys, and the positioning navigation and three-dimensional scanning of the intelligent trolleys are mainly assisted by surveying and mapping instruments at present, so that procedures are increased, and the degree of automation is low. In recent years, intelligent special equipment trolleys are added with a three-dimensional scanning device for trolley positioning navigation and tunnel scanning, and the most common use utilizes a linear laser radar and an electric turntable to form a mechanical three-dimensional laser scanning device, such as the description of China patent with the application number of CN202110316138.2, the mechanical three-dimensional scanning device can realize larger-angle scanning, but has long scanning period and limited service life of a sensor. With the development of laser radar sensor technology, a solid-state laser radar technology capable of acquiring regional area array dense point cloud in real time appears, and compared with a mechanical line scanning radar solid-state laser radar, the laser radar has high scanning efficiency and long service life, and is more suitable for being used as a sensor of a three-dimensional scanning device. Aiming at the problem of small field angle of the solid-state laser radar, chinese patent CN114814870A proposes to combine a rotary tripod head to realize 360-degree point cloud data acquisition. However, the current spot scanning precision of the solid-state laser radar is in the centimeter level, and the high-precision positioning navigation requirement of the tunnel trolley is difficult to meet. In conclusion, the existing three-dimensional scanning device has the problems of large structural size, long scanning period, poor real-time measurement capability, low integration level and the like. Disclosure of Invention Aiming at the defects in the background technology, the invention provides a trolley scanning and measuring system of special equipment for tunnels and a working method thereof, which solve the problems of low measuring precision and low measuring efficiency of a three-dimensional scanning device in the prior art. The technical scheme is that the tunnel special equipment trolley scanning measurement system comprises a full-computer three-arm drilling trolley, wherein a large arm base for connecting an arm support is arranged on the full-computer three-arm drilling trolley, a measurement device is arranged on the large arm base, the measurement device comprises a double-shaft electric control holder, a distance measuring module, a main image sensor, an auxiliary image sensor and a solid-state laser radar are arranged on the double-shaft electric control holder, and the main image sensor and the auxiliary image sensor are arranged on two sides of the distance measuring module. Further, the automatically controlled cloud platform of biax includes the cloud platform base, is equipped with horizontal rotation portion and every single move rotation portion on the cloud platform base, and every single move rotation portion is located horizontal rotation portion upper portion and is connected through electric sliding ring between the two, be equipped with the every single move cantilever that can pitch the rotation portion relatively on the every single move rotation portion, be equipped with the support shell on the every single move cantilever, range finding module, main image sensor, auxiliary image sensor and solid-state laser radar all are located the support shell. Further, an angle sensor capable of measuring the horizontal rotation angle is arranged in the horizontal rotation part, and an angle sensor capable of measuring the pitching angle of the pitching cantilever is arranged in the pitching rotation part. And an attitude sensor and a supporting and protecting frame used for supporting and fixing the ranging module, the main image sensor and the auxiliary image sensor are arranged in the supporting shell. Furthermore, a power supply access port I is arranged on one side of the support shell, a data output port I is arranged on the other side of the support shell, a data access port and a power supply data output port are arranged on the pitching rotating part, and a power supply access port II and a data output port II are arranged on the horizontal rotating part. The working method of the trolley scanning and measuring system of the tunnel special equipment comprises three-dimensional scanning of a tunnel, trolley navigation and positioning and measuring of the tail end of