Tunnel special equipment trolley scanning measurement system and working method thereof

Abstract

The application discloses a tunnel special equipment trolley scanning measurement system and a working method thereof, and solves the problem of low measurement efficiency of a three-dimensional scanning device in the prior art. The measurement system comprises a full-computer three-arm rock drilling trolley, a large-arm base for connecting an arm support is arranged on the full-computer three-arm rock drilling trolley, and 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, a secondary image sensor and a solid-state laser radar are arranged on the double-shaft electric control holder. The tunnel special equipment trolley scanning measurement device and the measurement method are designed by using a solid-state laser radar sensor, a distance measuring module, a posture sensor and an image sensor, on the basis of meeting tunnel digitization scanning, the tunnel special equipment trolley scanning measurement device and the measurement method can be deeply integrated into special equipment automatic operation process design, real-time arm support terminal target tracking measurement data support is provided, closed-loop control is provided for arm support guidance, and higher level tunnel automatic operation is realized.

Description

Technical Field

[0001] This invention relates to the field of tunnel-specific equipment trolley technology, and in particular to a tunnel-specific equipment trolley scanning and measurement system and its working method. Background Technology

[0002] Positioning, navigation, and spatial environment perception measurement are key technologies for intelligent tunnel trolleys. Currently, intelligent trolley positioning, navigation, and 3D scanning mainly rely on surveying instruments, which increases the number of steps and results in a low degree of automation.

[0003] In recent years, intelligent special-purpose equipment trolleys have begun to be equipped with 3D scanning devices for trolley positioning, navigation, and tunnel scanning. The most common method uses a mechanical 3D laser scanning device composed of a line-scanning LiDAR and an electric turntable, as described in Chinese patent application number CN202110316138.2. While mechanical 3D scanners can achieve large-angle scanning, they suffer from long scanning cycles and limited sensor lifespan. With the development of LiDAR sensor technology, solid-state LiDAR technology has emerged, capable of acquiring dense point clouds of a region in real time. Compared to mechanical line-scanning LiDAR, solid-state LiDAR offers higher scanning efficiency and longer lifespan, making it more suitable as a sensor for 3D scanning devices. To address the issue of the small field of view of solid-state LiDAR, Chinese patent CN114814870A proposes combining a rotating gimbal to achieve 360-degree point cloud data acquisition. However, the current point scanning accuracy of solid-state LiDAR is only at the centimeter level, which is insufficient to meet the high-precision positioning and navigation requirements of tunnel trolleys. In summary, existing 3D scanning devices suffer from problems such as large structural size, long scanning cycles, poor real-time measurement capabilities, and low integration. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this invention proposes a tunnel-specific equipment trolley scanning measurement system and its working method, which solves the problems of low measurement accuracy and efficiency of existing three-dimensional scanning devices.

[0005] The technical solution of the present invention is implemented as follows: a tunnel-specific equipment trolley scanning and measurement system includes a fully computerized three-arm drilling trolley, on which a boom base for connecting the boom is provided, and a measuring device is provided on the boom base; the measuring device includes a dual-axis electrically controlled pan-tilt unit, on which a ranging module, a main image sensor, a secondary image sensor and a solid-state lidar are provided; the main image sensor and the secondary image sensor are located on both sides of the ranging module.

[0006] Furthermore, the dual-axis electronically controlled gimbal includes a gimbal base, on which a horizontal rotation part and a pitch rotation part are provided. The pitch rotation part is located above the horizontal rotation part and the two are connected by an electric slip ring. The pitch rotation part is provided with a pitch cantilever that can perform pitching motion relative to the pitch rotation part. The pitch cantilever is provided with a support shell. The ranging module, the main image sensor, the secondary image sensor, and the solid-state lidar are all located inside the support shell.

[0007] Furthermore, the horizontal rotation section is equipped with an angle sensor capable of measuring its horizontal rotation angle, and the pitch rotation section is equipped with an angle sensor capable of measuring the pitch angle of the pitch cantilever. The support housing contains an attitude sensor and a support and protective frame for supporting and fixing the ranging module, the main image sensor, and the secondary image sensor.

[0008] Furthermore, the supporting shell has a power supply inlet I on one side and a data output outlet I on the other side; the pitch rotation part has a data inlet and a power supply and data output outlet; and the horizontal rotation part has a power supply inlet II and a data output outlet II.

[0009] A working method for a tunnel-specific equipment trolley scanning and measurement system includes three-dimensional tunnel scanning, trolley navigation, and boom end positioning measurement;

[0010] The tunnel 3D scanning process is as follows: The measuring device is adjusted to a suitable state, ensuring that the ranging module, main image sensor, secondary image sensor, and solid-state LiDAR are all facing the target tunnel. The ranging module measures the distance to the target, while the secondary image sensor assists the ranging module in aiming at the target. Simultaneously, the main image sensor, in conjunction with the solid-state LiDAR, acquires the RGB point cloud of the area where the target is located. Then, using the rotation and pitch changes of the dual-axis electronically controlled pan-tilt unit, the entire tunnel's point cloud data is acquired. Finally, the measuring device transmits the data to the backend controller, completing the tunnel 3D scanning.

[0011] The trolley navigation process is as follows: The ranging module of the measuring device is used to measure the coordinate values ​​of at least two target points in the tunnel in the trolley coordinate system. The transformation relationship between the trolley coordinate system and the tunnel coordinate system is determined by combining the tunnel coordinate values ​​of at least two target points. Then, the trolley orientation is adjusted according to the coordinate values ​​of the target points in the tunnel coordinate system to achieve the positioning and navigation of the trolley.

[0012] The boom end positioning measurement process is as follows: S1: Establish the template point cloud M of the initial pose of the target boom of the fully computerized three-arm rock drilling rig in the trolley coordinate system, and mark the feature point cloud coordinates P of the boom end position in the template point cloud M;

[0013] S2: The fully computerized three-arm drilling rig calculates the position T of the target boom end in the rig coordinate system;

[0014] S3: Record the point cloud N of the target boom end position scanned by the solid-state lidar using the measuring device;

[0015] S4: Use the point cloud ICP matching method to calculate the matching parameters {R, T} from point cloud M to point cloud N; R is the rotation parameter and T is the translation parameter;

[0016] S5: Based on the feature point cloud coordinates P of the boom end position marked in step S1 and the {R, T} parameters calculated in step S4, calculate the current target boom end point coordinates S, as shown below:

[0017] S = RP + T (6)

[0018] S6: Based on the current target boom end point coordinates S, correct the boom end position calculation error caused by boom deflection deformation, sensor data of each boom joint, and DH parameter model error.

[0019] The trolley navigation process is as follows:

[0020] A1: Define the coordinate system of the measuring device as a three-dimensional spatial coordinate system with the intersection of the pitch cantilever rotation axis and the horizontal rotation axis as the origin O; let the gimbal rotation angle be α and the pitch angle be θ; let the distance to the target point Pt measured by the ranging module be D;

[0021] A2: Let a = L2, b = D - D2, establish a Cartesian coordinate system on the plane containing the target point Pt and the gimbal rotation axis. Define the pitch angle θ as negative, and calculate the coordinates of point Pt:

[0022]

[0023] Where, x t Let Pt be the x-coordinate and y-coordinate. t Let S2 be the y-coordinate of Pt; L2 be the distance from the center point S2 of the ranging module to the center of the pitch rotation axis; D2 be the distance from the center point S2 of the ranging module to the horizontal rotation axis of the gimbal; A3: Combining the gimbal rotation angle as α, the three-dimensional coordinates of the target point Pt are:

[0024]

[0025] A4: Point cloud coordinates M of solid-state lidar scanning i =(x i ,y i ,z i ) T Transform to coordinate N in the gimbal coordinate system i

[0026] For: N i =R(M i +t)(3)

[0027] Where t = (0, -L1, D1) T L1 is the distance from the solid-state lidar measurement center point S1 to the center of the pitch rotation axis; D1 is the distance from the solid-state lidar measurement center point S1 to the horizontal rotation axis of the gimbal; R is the rotation matrix.

[0028]

[0029] A5: Establish a trolley coordinate system with the plane of the boom base where the measuring device is located as the xy plane, and define the trolley coordinate system to coincide with the measuring device coordinate system. Then the trolley can directly measure the spatial coordinates of the target point in the trolley coordinate system through the measuring device.

[0030] A6: Determine the horizontal state of the measuring device based on the values ​​of the attitude sensor in the measuring device, adjust the trolley to make the measuring device horizontal, control the pan-tilt unit to make the ranging module aim at the target point, and calculate the spatial coordinates of the target point in the trolley coordinate system.

[0031] A7: According to

[0032]

[0033] Where β is the rotation angle parameter for the transformation between the trolley coordinate system and the tunnel measurement coordinate system; (dx,dy) is the horizontal translation parameter for the transformation between the trolley coordinate system and the tunnel measurement coordinate system; (x t ,y t (X) represents the coordinates of the common measurement point in the trolley coordinate system. w Y w () represents the coordinates of a common measurement point in the tunnel coordinate system;

[0034] Establish the relationship between the trolley coordinate system and the tunnel measurement coordinate system in planar coordinates. The planar transformation parameters between the trolley measurement coordinate system and the tunnel coordinate system can be calculated using at least two target points.

[0035] A8: Calculate the elevation of the origin of the trolley coordinate system in the tunnel based on the elevation of the target point:

[0036] H t =Z w -z t (5)

[0037] H t Let Z be the elevation of the origin of the trolley coordinate system in the tunnel coordinate system. w Let z be the elevation of the target point. t This represents the height of the target point in the trolley coordinate system.

[0038] A9: Based on steps A7 and A8, obtain the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system. Then, based on the coordinate values ​​of the target point in the tunnel coordinate system, adjust the trolley's orientation to achieve trolley positioning and navigation.

[0039] After determining the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system, step A9 further controls the pan-tilt unit to scan the tunnel's panoramic point cloud data using a solid-state lidar, while simultaneously using the main camera sensor to collect panoramic tunnel image information, thereby acquiring tunnel point cloud data containing RGB information for digital tunnel measurement and analysis.

[0040] Before step S3, the pitch and rotation parameters of the gimbal used by the measuring device to aim at the target boom are calculated according to the position of the target boom end in the trolley coordinate system using formula (2). The gimbal is then controlled to aim at the target position according to the above gimbal pitch and rotation parameters, and then the point cloud N of the target boom end position scanned by the measuring device using solid-state lidar is recorded.

[0041] The beneficial effects of this invention are as follows: This invention uses a solid-state lidar sensor, combined with a ranging module, attitude sensor, and image sensor to design a scanning and measuring device and method for a tunnel-specific equipment trolley. While meeting the requirements of digital tunnel scanning, it can be deeply integrated into the automated operation process design of specialized equipment, providing real-time, accurate measurement data support for target tracking at the boom end, and providing closed-loop control for boom guidance, thus achieving a higher level of automated tunnel operation. This tunnel-specific equipment trolley scanning and measuring device is typically used in a fully computerized three-arm drilling trolley. Its structure includes a ranging module, two image sensors (main and auxiliary), a solid-state lidar, an attitude sensor, and a dual-axis electrically controlled gimbal with an electric slip ring structure. The main sensor has a fixed focal length for acquiring panoramic views, while the auxiliary imaging sensor has a zoom function to determine whether the ranging module is pointing at the target. The attitude sensor determines whether the scanning device is in a horizontal state. The ranging module is located directly above the lidar, and with the angle control of the dual-axis gimbal, it can achieve accurate measurement of tunnel targets and three-dimensional point cloud scanning. The present invention integrates a solid-state lidar, a ranging module, an imaging sensor, an attitude sensor, and a dual-axis electronically controlled gimbal on the trolley to realize the functions of trolley navigation and positioning, digital three-dimensional scanning of tunnels, and measurement of the boom end; at the same time, it solves the problems of large structural size, long scanning cycle, and poor real-time measurement capability. Attached Figure Description

[0042] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a front view schematic diagram of the measuring device of the present invention.

[0044] Figure 2 This is a side view schematic diagram of the measuring device of the present invention.

[0045] Figure 3 This is a schematic diagram of the plane coordinates of the measurement state of the measuring device of the present invention.

[0046] Figure 4 This is a schematic diagram of the overall structural layout of the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] like Figure 4 As shown in Embodiment 1, a tunnel-specific equipment trolley scanning and measurement system includes a fully computerized three-arm drilling trolley 100, with a built-in computer control and display on the boom of the trolley 100. The trolley 100 is equipped with a boom base 300 for connecting booms 200, and 1 to 3 booms can be connected to the boom base as needed. A measuring device 400 is mounted on the boom base 300. Specifically, the measuring device 400 includes a dual-axis electrically controlled pan-tilt unit, which consists of two parts and can achieve rotation in the horizontal plane and pitch swing in the vertical plane. The dual-axis electrically controlled pan-tilt unit is equipped with a ranging module 1, a main image sensor 2, a secondary image sensor 3, and a solid-state LiDAR 5. The main image sensor 2 and the secondary image sensor 3 are symmetrically arranged on both sides of the ranging module 1, with their imaging centers facing the same direction as the ranging module's distance measurement. The main image sensor has a fixed focal length and is used to acquire environmental images, while the secondary image sensor has an autofocus function and is used to image the target indicated by the laser from the ranging module, confirming the accuracy of the laser indication position. The ranging module, a core component of the measurement section, has a laser indication function; it uses laser light to measure distance. The solid-state LiDAR 5 is located below the ranging module 1, mounted directly below it, as shown in the diagram. Figure 2The laser ranging direction is parallel to the center line of the solid-state lidar. The center line of the solid-state lidar is directly below the center line of the ranging module 1, and their orientations are the same. The main image sensor 2 is used in conjunction with the solid-state lidar 5 to acquire RGB point clouds, and the secondary image sensor 3 is used to assist the ranging module 1 in aiming at the target. This measuring device is a tunnel scanning and measuring equipment integrating a solid-state lidar, a dual-axis electrically controlled gimbal, a laser rangefinder, an attitude sensor, and an imaging sensor. It can be used for vehicle navigation of tunnel-specific equipment, 3D tunnel scanning, and boom end positioning measurement.

[0049] like Figure 1 As shown, the gimbal in this embodiment, namely the dual-axis electrically controlled gimbal, includes a gimbal base 18. The gimbal base 18 is provided with a horizontal rotation section 15 and a pitch rotation section 10. The horizontal rotation section of the gimbal can rotate 360 ​​degrees and has a power-off self-locking function. The pitch rotation section 10 is located above the horizontal rotation section 15, and the two are connected by an electric slip ring 4, which has power supply and data transmission functions. The pitch rotation section 10 is provided with a pitch cantilever 11 that can perform pitching relative to the pitch rotation section 10. The pitch cantilever is connected to the pitch rotation section via a pitch pivot. The pitch cantilever can rotate from ±90 degrees and has a power-off self-locking function. The pitch cantilever 11 is provided with a supporting shell 9. The ranging module 1, the main image sensor 2, the secondary image sensor 3, and the solid-state LiDAR 5 are all located inside the supporting shell 9, providing protection.

[0050] In this embodiment, the horizontal rotation unit 15 is equipped with an angle sensor capable of measuring its horizontal rotation angle, and the pitch rotation unit 10 is equipped with an angle sensor capable of measuring the pitch angle of the pitch cantilever 11. The gimbal outputs the current rotation angle and the pitch angle of the pitch cantilever 11 in real time, and transmits the data to the industrial control computer of the tunnel-specific equipment through the data output port of the gimbal rotation unit. Preferably, the support shell 9 is equipped with an attitude sensor 6 and a support protective frame 4 for supporting and fixing the ranging module 1, the main image sensor 2, and the secondary image sensor 3. The main and secondary cameras and the ranging module are installed on the internal fixed protective structure to ensure that the relevant positional relationship of each sensor is fixed and to resist vibration and impact; the attitude sensor is installed on the side of the support protective frame, and the support protective frame is fixedly connected to the protective shell of the measuring part by bolts. The protective shell is installed on the pitch cantilever platform of the gimbal by bolts, keeping the center of the laser ranging module and the solid-state lidar perpendicular to the rotation axis of the gimbal.

[0051] In this embodiment, the supporting housing 9 has a power supply inlet I7 on one side and a data output port I8 on the other side; the pitch rotation unit 10 has a data inlet 13 and a power supply data output port 12; the horizontal rotation unit 15 has a power supply inlet II17 and a data output port II16. The power supply output port of the pitch rotation unit is connected to the power supply inlet on the side of the protective housing of the measurement unit via a wire. Typically, the power supply port uses an aviation plug. Similarly, the data inlet on the gimbal is connected to the data output port on the side of the protective housing of the measurement unit via a data cable, typically using an aviation plug. The data transmission and control information of the laser ranging module, imaging sensor, attitude sensor, and solid-state lidar of the measurement unit is output through the data transmission port of the measurement device housing, connected to the data inlet of the gimbal pitch unit via a transmission line, transmitted to the data output port of the rotation unit via an electric slip ring, and connected to the industrial control computer of the tunnel special equipment trolley. Typically, external power is connected to the power supply port of the gimbal rotation unit, transmitted to the power supply port of the gimbal rotation unit via an electric slip ring, and then connected to the power supply port of the measurement unit via a wire to provide power to the various sensors of the measurement unit.

[0052] Example 2: A working method of the tunnel-specific equipment trolley scanning and measurement system as described in Example 1, including tunnel three-dimensional scanning, trolley navigation and boom end positioning measurement;

[0053] The tunnel 3D scanning process is as follows: The measuring device 400 is adjusted to a suitable state. To meet the requirements of high-precision measurement and clarify the calculation relationships, the measuring part and the pan-tilt part of the device are in the pan-tilt mechanical zero position, as shown below. Figure 2 The relative relationships shown are as follows: the measurement direction of the ranging module is consistent with the measurement direction of the solid-state lidar center. The measurement center point of the solid-state lidar is S1, the distance between point S1 and the horizontal rotation axis of the gimbal is D1, and the distance between point S1 and the center of the pitch rotation axis is L1; the initial ranging position of the ranging module is S2, the distance between point S2 and the horizontal rotation axis of the gimbal is D2, and the distance between point S2 and the center of the pitch rotation axis is L2; ​​the vertical coordinate axis of the 6 attitude sensors is parallel to the horizontal rotation axis of the gimbal. The ranging module 1, main image sensor 2, secondary image sensor 3, and solid-state lidar 5 of the measuring device 400 are all oriented towards the target in the tunnel. The ranging module 1 measures the distance to the target, while the secondary image sensor 3 assists the ranging module 1 in aiming at the target. Simultaneously, the main image sensor 2 and the solid-state lidar 5 cooperate to acquire the RGB point cloud of the area where the target is located. Then, with the help of the rotation and pitch changes of the dual-axis electronically controlled gimbal, the entire tunnel point cloud data is acquired. Finally, the measuring device 400 transmits the data to the backend controller to complete the three-dimensional scanning of the tunnel.

[0054] In the tunnel-specific equipment trolley scanning and measuring device of the present invention, the gimbal has a 360-degree planar rotation and a ±90-degree pitch range. This provides the measurement section with a control structure and azimuth and pitch angle values ​​for point coordinate measurement using the ranging module and for three-dimensional tunnel scanning using solid-state lidar, enabling the calculation of target coordinates. The solid-state lidar can perform real-time point cloud measurement of a region's plane. With the rotation and pitch changes of the gimbal, it can acquire point cloud data from the entire area. The measurement section has two cameras: a main camera (fixed-focus) primarily used to acquire panoramic images to provide color texture information for the point cloud, and a secondary camera (variable-focus) primarily used for image guidance to confirm that the laser emitted by the ranging module is aimed at the target. Attitude sensors are used to measure the pitch and tilt angles of the two sides of the measurement section to determine whether the gimbal is in a horizontal state and as the basis for the device's tilt compensation angle measurement.

[0055] The trolley navigation process is as follows: The ranging module 1 of the measuring device 400 is used to measure the coordinate values ​​of at least two target points in the tunnel in the trolley coordinate system. The transformation relationship between the trolley coordinate system and the tunnel coordinate system is determined by combining the tunnel coordinate values ​​of at least two target points. Then, the trolley orientation is adjusted according to the coordinate values ​​of the target points in the tunnel coordinate system to achieve the positioning and navigation of the trolley. The result is that the coordinates scanned and measured by the scanning and measuring device can be converted to the coordinate system of the special equipment trolley, providing timely tunnel space measurement functions for the special equipment trolley. The ranging module of the device can be used to measure the coordinate values ​​of two or more target points in the tunnel in the trolley coordinate system. By combining the tunnel coordinate values ​​of two or more target points, the conversion relationship between the trolley coordinate system and the tunnel coordinate system can be determined, thereby realizing the positioning and navigation of the tunnel special equipment trolley. Furthermore, the gimbal can be controlled to use solid-state lidar to scan the tunnel's point cloud data, while simultaneously collecting panoramic image information, realizing the acquisition of tunnel point cloud data containing RGB information for digital tunnel measurement and analysis. Furthermore, based on the regional point cloud information collected in real time by solid-state lidar, real-time reference information can be provided for the guidance and control of the special equipment boom. The gimbal can be controlled to track and measure the target to be measured at the end of the boom, providing real-time spatial measurement and perception information support for the automated operation of the special equipment.

[0056] The trolley navigation process is as follows: Figure 3 As shown,

[0057] A1: Define the coordinate system of the measuring device as a three-dimensional spatial coordinate system with the intersection of the pitch cantilever rotation axis and the horizontal rotation axis as the origin O; that is, define the coordinate system of the measuring device with the horizontal rotation axis of the gimbal as the Z-axis of the three-dimensional rectangular coordinate system, pointing upwards; and with the intersection of the pitch cantilever rotation axis and the horizontal rotation axis as the origin O. Figure 1 In the schematic diagram, the mechanical zero position is defined, with the Y-axis pointing vertically outwards, aligned with the orientation of the laser ranging module; the X-axis is... Figure 1 In the illustrated state, the cantilever axis pointing to the left is positive. Let the gimbal rotation angle be α and the pitch angle be θ; let the distance from the target point Pt measured by the ranging module be D; A2: Let a = L2, b = D - D2, establish a Cartesian coordinate system on the plane containing the target point Pt and the gimbal rotation axis. Define the pitch angle θ as negative, and calculate the coordinates of point Pt:

[0058]

[0059] Where, x t Let Pt be the x-coordinate and y-coordinate. t Let S2 be the y-coordinate of Pt; L2 be the distance from the center point S2 of the ranging module to the center of the pitch rotation axis; D2 be the distance from the center point S2 of the ranging module to the horizontal rotation axis of the gimbal; A3: Combining the gimbal rotation angle as α, the three-dimensional coordinates of the target point Pt are:

[0060]

[0061] A4: Point cloud coordinates M of solid-state lidar scanning i =(x i ,y i ,z i ) T Transform to coordinate N in the gimbal coordinate system i

[0062] For: N i =R(M i +t)(3)

[0063] Where t = (0, -L1, D1) T L1 is the distance from the solid-state lidar measurement center point S1 to the center of the pitch rotation axis; D1 is the distance from the solid-state lidar measurement center point S1 to the horizontal rotation axis of the gimbal; R is the rotation matrix.

[0064]

[0065] A5: Establish a trolley coordinate system using the plane of the boom base 300 where the measuring device 400 is located as the xy plane, i.e., establish a left-handed spatial coordinate system, with the x-axis pointing towards the boom, the y-axis pointing towards the right side of the trolley, and the z-axis pointing perpendicularly upwards from the trolley body. Define the trolley coordinate system to coincide with the measuring device coordinate system, so that the trolley can directly measure the spatial coordinates of the target point in the trolley coordinate system through the measuring device;

[0066] A6: Determine the horizontal state of the measuring device based on the values ​​of the attitude sensor in the measuring device, adjust the trolley to make the measuring device horizontal, control the pan-tilt unit to aim the ranging module at the target point, and calculate the spatial coordinates of the target point in the trolley coordinate system. That is, the tunnel trolley navigation and positioning can be achieved by using the scanning measuring device installed on the trolley. Specifically, by using the measuring device to measure two target points in the tunnel with known tunnel coordinates, the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system can be determined. First, determine the horizontal state of the measuring device based on the values ​​of the attitude sensor in the measuring device, adjust the trolley to make the measuring device horizontal, control the pan-tilt unit to aim the ranging module at the target point, and calculate the spatial coordinates of the target point in the trolley coordinate system. Establish the relationship between the trolley measurement coordinate system and the tunnel measurement coordinate system in the plane coordinate system according to formula (4).

[0067] A7: According to

[0068]

[0069] Where β is the rotation angle parameter for the transformation between the trolley coordinate system and the tunnel measurement coordinate system; (dx,dy) is the horizontal translation parameter for the transformation between the trolley coordinate system and the tunnel measurement coordinate system; (x t ,y t (X) represents the coordinates of the common measurement point in the trolley coordinate system. w Y w () represents the coordinates of a common measurement point in the tunnel coordinate system;

[0070] Establish the relationship between the trolley coordinate system and the tunnel measurement coordinate system in planar coordinates. The planar transformation parameters between the trolley measurement coordinate system and the tunnel coordinate system can be calculated using at least two target points.

[0071] A8: Calculate the elevation of the origin of the trolley coordinate system in the tunnel based on the elevation of the target point:

[0072] H t =Z w -z t (5)

[0073] H t Let Z be the elevation of the origin of the trolley coordinate system in the tunnel coordinate system. w Let z be the elevation of the target point. t This represents the height of the target point in the trolley coordinate system.

[0074] A9: Based on steps A7 and A8, obtain the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system. Then, based on the coordinate values ​​of the target point in the tunnel coordinate system, adjust the trolley's orientation to achieve trolley positioning and navigation.

[0075] After determining the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system, step A9 further controls the pan-tilt unit to scan the tunnel's panoramic point cloud data using a solid-state lidar, while simultaneously using the main camera sensor to collect panoramic tunnel image information, thereby acquiring tunnel point cloud data containing RGB information for digital tunnel measurement and analysis.

[0076] The boom end positioning measurement process is as follows:

[0077] S1: Establish a template point cloud M of the initial pose of the target boom of the fully computerized three-arm rock drilling rig in the trolley coordinate system, and mark the feature point cloud coordinate P of the boom end position in the template point cloud M.

[0078] S2: The fully computerized three-arm drilling rig calculates the position T of the target boom end in the rig coordinate system;

[0079] S3: Record the point cloud N of the target boom end position scanned by the solid-state lidar using the measuring device;

[0080] S4: Use the point cloud ICP matching method to calculate the matching parameters {R, T} from point cloud M to point cloud N; R is the rotation parameter and T is the translation parameter; the point cloud ICP algorithm is a commonly used point cloud matching method, which will not be elaborated here.

[0081] S5: Based on the feature point cloud coordinates P of the boom end position marked in step S1 and the {R, T} parameters calculated in step S4, calculate the current target boom end point coordinates S, as shown below:

[0082] S = RP + T (6)

[0083] S6: Based on the current target boom end point coordinates S, correct the boom end position calculation error caused by boom deflection deformation, sensor data of each boom joint and DH parameter model error; provide data support for boom end guidance control.

[0084] Before step S3, the pitch and rotation parameters of the gimbal used by the measuring device to aim at the target boom are calculated according to the position of the target boom end in the trolley coordinate system using formula (2). The gimbal is then controlled to aim at the target position according to the above gimbal pitch and rotation parameters, and then the point cloud N of the target boom end position scanned by the measuring device using solid-state lidar is recorded.

[0085] The above method, while meeting the requirements of digital tunnel scanning, can be deeply integrated into the design of automated operation processes for specialized equipment, providing real-time target tracking and measurement data support for boom end, providing closed-loop control for boom guidance, and achieving a higher level of automated tunnel operation.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tunnel-specific equipment trolley scanning and measurement system, comprising a fully computerized three-arm drilling trolley (100), wherein the fully computerized three-arm drilling trolley (100) is provided with a boom base (300) for connecting the boom (200), characterized in that: The boom base (300) is equipped with a measuring device (400); the measuring device (400) includes a dual-axis electrically controlled gimbal, on which a ranging module (1), a main image sensor (2), a secondary image sensor (3) and a solid-state lidar (5) are mounted; the main image sensor (2) and the secondary image sensor (3) are located on both sides of the ranging module (1); the ranging module is located directly above the solid-state lidar (5), and can achieve accurate measurement of tunnel targets and three-dimensional point cloud scanning under the angle control of the dual-axis electrically controlled gimbal; During the tunnel 3D scanning process, the ranging module (1) measures the distance to the target under test, while the secondary image sensor (3) assists the ranging module (1) in aiming at the target under test; at the same time, the main image sensor (2) cooperates with the solid-state lidar (5) to collect the RGB point cloud of the plane of the area where the target under test is located; then, with the help of the rotation and pitch changes of the dual-axis electronically controlled gimbal, the tunnel is collected with full-view point cloud data. During the trolley navigation process, the ranging module (1) of the measuring device (400) is used to measure the coordinate values ​​of at least two target points in the tunnel in the trolley coordinate system. The transformation relationship between the trolley coordinate system and the tunnel coordinate system is determined by combining the tunnel coordinate values ​​of at least two target points. Then, the trolley orientation is adjusted according to the coordinate values ​​of the target points in the tunnel coordinate system to realize the positioning and navigation of the trolley.

2. The tunnel-specific equipment trolley scanning and measurement system according to claim 1, characterized in that: The dual-axis electronically controlled gimbal includes a gimbal base (18), on which a horizontal rotation part (15) and a pitch rotation part (10) are provided. The pitch rotation part (10) is located above the horizontal rotation part (15) and the two are connected by an electric slip ring (14). The pitch rotation part (10) is provided with a pitch cantilever (11) that can perform pitching action relative to the pitch rotation part (10). The pitch cantilever (11) is provided with a support shell (9). The ranging module (1), the main image sensor (2), the secondary image sensor (3) and the solid-state lidar (5) are all located inside the support shell (9).

3. The tunnel-specific equipment trolley scanning and measurement system according to claim 2, characterized in that: The horizontal rotation part (15) is provided with an angle sensor that can measure its horizontal rotation angle, and the pitch rotation part (10) is provided with an angle sensor that can measure the pitch angle of the pitch cantilever (11).

4. The tunnel-specific equipment trolley scanning and measurement system according to claim 2 or 3, characterized in that: The support housing (9) contains an attitude sensor (6) and a support protective frame (4) for supporting and fixing the ranging module (1), the main image sensor (2) and the secondary image sensor (3).

5. The tunnel-specific equipment trolley scanning and measurement system according to claim 4, characterized in that: The supporting shell (9) has a power supply inlet I (7) on one side and a data output port I (8) on the other side; the pitch rotation part (10) has a data inlet (13) and a power supply and data output port (12); the horizontal rotation part (15) has a power supply inlet II (17) and a data output port II (16).

6. A method for operating the tunnel-specific equipment trolley scanning and measurement system as described in claim 1, 2, or 5, characterized in that: This includes 3D tunnel scanning, trolley navigation, and boom end positioning measurement; The tunnel 3D scanning process is as follows: The measuring device (400) is adjusted to a suitable state so that the ranging module (1), main image sensor (2), secondary image sensor (3) and solid-state lidar (5) of the measuring device (400) are all facing the target to be measured in the tunnel. The ranging module (1) measures the distance to the target to be measured, and the secondary image sensor (3) assists the ranging module (1) in aiming at the target to be measured. At the same time, the main image sensor (2) cooperates with the solid-state lidar (5) to collect the RGB point cloud of the plane of the area where the target to be measured is located. Then, with the help of the rotation and pitch changes of the dual-axis electronically controlled gimbal, the tunnel is collected with full-view point cloud data. Then the measuring device (400) transmits the data to the background controller to complete the tunnel 3D scanning. The trolley navigation process is as follows: The ranging module (1) of the measuring device (400) measures the coordinate values ​​of at least two target points in the tunnel in the trolley coordinate system. The transformation relationship between the trolley coordinate system and the tunnel coordinate system is determined by combining the tunnel coordinate values ​​of at least two target points. Then, the trolley orientation is adjusted according to the coordinate values ​​of the target points in the tunnel coordinate system to realize the positioning and navigation of the trolley. The boom end positioning measurement process is as follows: S1: Establish the template point cloud M of the initial pose of the target boom of the fully computerized three-arm rock drilling rig in the trolley coordinate system, and mark the feature point cloud coordinates P of the boom end position in the template point cloud M; S2: The fully computerized three-arm drilling rig calculates the position T of the target boom end in the rig coordinate system; S3: Record the point cloud N of the target boom end position scanned by the solid-state lidar using the measuring device; S4: Use the point cloud ICP matching method to calculate the matching parameters {R, T} from point cloud M to point cloud N; R is the rotation parameter and T is the translation parameter; S5: Based on the feature point cloud coordinates P of the boom end position marked in step S1 and the {R, T} parameters calculated in step S4, calculate the current target boom end point coordinates S, as shown below: （6） S6: Based on the current target boom end point coordinates S, correct the boom end position calculation error caused by boom deflection deformation, sensor data of each boom joint, and DH parameter model error.

7. The working method of the tunnel-specific equipment trolley scanning and measurement system according to claim 6, characterized in that: The trolley navigation process is as follows: A1: Define the coordinate system of the measuring device as a three-dimensional spatial coordinate system with the intersection of the pitch cantilever rotation axis and the horizontal rotation axis as the origin O; let the gimbal rotation angle be α and the pitch angle be θ; let the distance to the target point Pt measured by the ranging module be D; A2: Let a = L2, b = D - D2, establish a Cartesian coordinate system on the plane containing the target point Pt and the gimbal rotation axis. Define the pitch angle θ as negative, and calculate the coordinates of point Pt: （1） Where, x t Let Pt be the x-coordinate and y-coordinate. t Pt is the y-coordinate; L2 is the distance from the center point S2 of the ranging module to the center of the pitch rotation axis; D2 is the distance from the center point S2 of the ranging module to the horizontal rotation axis of the gimbal. A3: Given the gimbal rotation angle as α, the three-dimensional coordinates of the target point Pt are: （2） A4: Point cloud coordinates scanned by solid-state LiDAR Transform to gimbal coordinate system for: (3) in L1 is the distance from the solid-state lidar measurement center point S1 to the center of the pitch rotation axis; D1 is the distance between the solid-state lidar measurement center point S1 and the horizontal rotation axis of the gimbal. For rotation matrix: ， A5: Establish a trolley coordinate system with the plane of the boom base (300) where the measuring device (400) is located as the xy plane, and define the trolley coordinate system to coincide with the measuring device coordinate system. Then the trolley directly measures the spatial coordinates of the target point in the trolley coordinate system through the measuring device. A6: Determine the horizontal state of the measuring device based on the values ​​of the attitude sensor in the measuring device, adjust the trolley to make the measuring device horizontal, control the pan-tilt unit to make the ranging module aim at the target point, and calculate the spatial coordinates of the target point in the trolley coordinate system. A7: According to （4）， in, dx, dy represents the rotation angle parameter for the transformation between the trolley coordinate system and the tunnel survey coordinate system; (dx, dy) represents the horizontal translation parameter between the trolley coordinate system and the tunnel survey coordinate system; , ) represents the coordinates of the common measurement point in the trolley coordinate system. , () represents the coordinates of a common measurement point in the tunnel coordinate system; Establish the relationship between the trolley coordinate system and the tunnel measurement coordinate system in planar coordinates. The planar transformation parameters between the trolley measurement coordinate system and the tunnel coordinate system can be calculated using at least two target points. A8: Calculate the elevation of the origin of the trolley coordinate system in the tunnel based on the elevation of the target point: （5） Let be the elevation of the origin of the trolley coordinate system in the tunnel coordinate system. The elevation of the target point. This represents the height of the target point in the trolley coordinate system. A9: Based on steps A7 and A8, obtain the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system. Then, based on the coordinate values ​​of the target point in the tunnel coordinate system, adjust the trolley's orientation to achieve trolley positioning and navigation.

8. The working method of the tunnel-specific equipment trolley scanning and measurement system according to claim 7, characterized in that: After determining the transformation relationship between the trolley coordinate system and the tunnel measurement coordinate system, step A9 further controls the pan-tilt unit to scan the tunnel's panoramic point cloud data using a solid-state lidar, while simultaneously using the main image sensor to collect panoramic tunnel image information, thereby acquiring tunnel point cloud data containing RGB information for digital tunnel measurement and analysis.

9. The working method of the tunnel-specific equipment trolley scanning and measurement system according to claim 7, characterized in that: Before step S3, the pitch and rotation parameters of the gimbal used by the measuring device to aim at the target boom are calculated according to the position of the target boom end in the trolley coordinate system using formula (2). The gimbal is then controlled to aim at the target position according to the above gimbal pitch and rotation parameters, and then the point cloud N of the target boom end position scanned by the measuring device using solid-state lidar is recorded.

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