Equipment relative positioning method and device and electronic equipment

By constructing multiple coordinate system conversion relationships and real-time inclinometer data on construction equipment, combined with optimization model, the problem of low positioning efficiency of the total station in a narrow space is solved, and the rapid and accurate positioning of construction equipment and working faces is achieved, and construction efficiency is improved.

CN120269561APending Publication Date: 2025-07-08CHINA RAILWAY CONSTR HEAVY IND
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Patent Information

Application Number
CN202510541672.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-04-27
Publication Date
2025-07-08

AI Technical Summary

Technical Problem

In the prior art, the construction efficiency is low, especially in a narrow space, the total station laser is easily blocked, resulting in the need to frequently adjust the position of the total station.

Method used

By constructing the conversion relationship between multiple coordinate systems on construction equipment, combining real-time inclinometer data and robotic arm joint values, an optimization model is established, and the positioning relationship between construction equipment and working surfaces is dynamically adjusted to reduce dependence on the total station.

Benefits of technology

It improves the positioning accuracy and construction efficiency of construction equipment in narrow spaces, reduces frequent adjustment problems caused by obstacles, and improves overall construction efficiency.

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Abstract

The embodiment of the invention provides an equipment relative positioning method and device and electronic equipment, and relates to the technical field of engineering machinery positioning, and the method comprises the steps: obtaining a conversion relation between a preset origin coordinate system and each preset joint coordinate system; after the construction equipment reaches the working area, the working face and the tunnel slope are determined; according to the working face, posture constraint and position constraint are conducted on the mechanical arm so that the mechanical arm can be in a target posture and a target position, and real-time clinometer data and a real-time mechanical arm joint value are obtained; according to the multiple conversion relations, the tunnel gradient, the clinometer data and the mechanical arm joint value, an optimization model is established; and obtaining an initial positioning relationship between the working face and the construction equipment, and inputting the initial positioning relationship into the optimization model to obtain a positioning relationship between the working face and the construction equipment. According to the equipment relative positioning method, the optimization model is used for calculating the real-time positioning relation between the working face and the construction equipment, a total station does not need to be used, and the construction efficiency is improved.
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