Cantilevered tunneling machine overbreakage early warning device, method, system, apparatus, and medium

Abstract

The present application relates to a kind of overbreak early warning device, method, system, equipment and medium of boom-type tunneling machine, belong to tunneling machine intelligent control field.Method includes: obtaining infrared target image and laser pointing instrument image;According to the infrared target image, the pose of cutting head relative to tunneling machine body is determined;According to the laser pointing instrument image, the pose of tunneling machine body relative to roadway is determined;According to the pose of cutting head relative to tunneling machine body and the pose of tunneling machine body relative to roadway, the pose of cutting head relative to roadway is determined;According to the pose of cutting head relative to roadway, it is judged whether the cutting head of tunneling machine overbreak, and overbreak early warning is carried out.The present application detects the position of cutting head in roadway in real time, and makes decision to real-time feedback to explosion-proof computer, greatly improves work efficiency and roadway forming quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent control of heading machine, and particularly relates to a kind of cantilever heading machine overbreak early warning device, method, system, equipment and medium. BACKGROUND

[0002] Chinese coal mine is mostly used cantilever heading machine (hereinafter referred to as heading machine) to complete the non-full section roadway forming cutting, due to the narrow underground heading face, combined with high dust, high water mist, low visibility and other factors when heading machine cutting operation, the shape, direction and size of section are guaranteed by experience or through artificial measurement, which is easy to cause roadway overbreak or underbreak phenomenon.

[0003] With the development of science and technology and the guidance of national policy, the pace of intelligent construction of coal mine is gradually accelerated, and the degree of automation of heading machine is higher and higher. Automatic cutting control is the key technology of intelligent cutting control of heading machine. However, in the actual cutting process, due to the influence of body sliding and other disturbance factors, the heading machine cannot cut according to the planned path, resulting in section overbreak or underbreak phenomenon, which seriously affects the quality of roadway forming. SUMMARY

[0004] The purpose of the present application is to provide a kind of cantilever heading machine overbreak early warning device, method, system, equipment and medium, to solve the current heading machine cutting control technology due to the influence of body sliding and other disturbance factors, resulting in section overbreak or underbreak phenomenon, poor quality of roadway forming.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A kind of cantilever heading machine overbreak early warning device, comprising: laser pointing instrument, infrared target, explosion-proof camera and explosion-proof computer;

[0007] The infrared target is arranged on the cutting arm of the heading machine;The laser pointing instrument is arranged on the top of the roadway behind the heading machine;The explosion-proof camera is used for shooting the infrared target and the laser pointing instrument, to obtain infrared target image and laser pointing instrument image;

[0008] The explosion-proof computer is connected with the explosion-proof camera, and is used for:

[0009] Image processing is performed on the infrared target image and the laser pointing instrument image to obtain processed infrared target image and processed laser pointing instrument image;

[0010] The processed infrared target image is combined with a heading machine cutting head pose solving model to determine the pose of the cutting head relative to the heading machine body;

[0011] The processed laser pointer instrument image is combined with a heading machine body pose solving model to determine the pose of the heading machine body relative to the roadway.

[0012] According to the pose of the cutting head relative to the heading machine body and the pose of the heading machine body relative to the roadway, the pose of the cutting head relative to the roadway is determined.

[0013] According to the pose of the cutting head relative to the roadway, overbreakage early warning is performed.

[0014] Optionally, the explosion-proof camera comprises: a front explosion-proof camera and a rear explosion-proof camera; the front explosion-proof camera and the rear explosion-proof camera are connected with the explosion-proof computer.

[0015] The front explosion-proof camera is configured to capture the infrared target to obtain an infrared target image.

[0016] The rear explosion-proof camera is configured to capture the laser pointer instrument to obtain a laser pointer instrument image.

[0017] A kind of overbreakage early warning method of cantilever heading machine, the overbreakage early warning method of heading machine is applied to above-mentioned heading machine overbreakage early warning device, the overbreakage early warning method of heading machine comprises:

[0018] Obtain infrared target image and laser pointer instrument image;

[0019] According to the infrared target image, the pose of the cutting head relative to the heading machine body is determined.

[0020] According to the laser pointer instrument image, the pose of the heading machine body relative to the roadway is determined.

[0021] According to the pose of the cutting head relative to the heading machine body and the pose of the heading machine body relative to the roadway, the pose of the cutting head relative to the roadway is determined.

[0022] According to the pose of the cutting head relative to the roadway, it is judged whether the cutting head of heading machine overbreaks, and overbreakage early warning is performed.

[0023] Optionally, according to the infrared target image, the pose of the cutting head relative to the heading machine body is determined, and specifically includes:

[0024] The infrared target image is processed to obtain a processed infrared target image;

[0025] The processed infrared target image is combined with a heading machine cutting head pose solving model to determine the rotation angle and the lifting angle of the cutting head relative to the heading machine body.

[0026] According to the rotation angle and the lifting angle of the cutting head relative to the heading machine body, the formula determine the pose of the cutting head relative to the machine body of the tunneling machine; wherein, represents the pose of the cutting head relative to the machine body of the tunneling machine; θ1 is the rotation angle of the cutting head relative to the machine body of the tunneling machine; θ2 is the lifting angle of the cutting head relative to the machine body of the tunneling machine; d is the telescopic distance of the oil cylinder; b1 is the vertical distance from the ground to the center of the machine body of the tunneling machine; b2 is the vertical distance from the center of the machine body of the tunneling machine to the lifting joint of the tunneling machine; b3 is the height difference between the lifting joint and the telescopic joint of the tunneling machine; a1 is the horizontal distance from the center of the machine body of the tunneling machine to the center of the rotating table; a2 is the horizontal distance between the center of the rotating table and the lifting joint of the tunneling machine; a3 is the distance between the lifting joint and the telescopic joint of the tunneling machine; a4 is the horizontal distance between the telescopic joint of the tunneling machine and the cutting head.

[0027] Optionally, the determining the pose of the tunneling machine relative to the tunnel according to the laser pointer image specifically comprises:

[0028] performing image processing on the laser pointer image to obtain a processed laser pointer image;

[0029] combining the processed laser pointer image with a tunneling machine body pose solving model to determine the pose matrix of the tunneling machine body relative to the tunnel;

[0030] determining the pose of the tunneling machine body in the tunnel coordinate system according to the pose matrix.

[0031] Optionally, the determining the pose of the cutting head relative to the tunnel according to the pose of the cutting head relative to the machine body of the tunneling machine and the pose of the machine body of the tunneling machine relative to the tunnel specifically comprises:

[0032] determining the pose of the cutting head relative to the tunnel according to the pose of the cutting head relative to the machine body of the tunneling machine and the pose of the machine body of the tunneling machine relative to the tunnel by using the formula ; wherein, represents the pose of the cutting head relative to the tunnel; represents the pose of the cutting head relative to the machine body of the tunneling machine; represents the pose of the machine body of the tunneling machine relative to the tunnel.

[0033] Optionally, the judging whether the cutting head of the tunneling machine overbreaks according to the pose of the cutting head relative to the tunnel and performing overbreak warning specifically comprises:

[0034] setting a plurality of key points on the cutting head and determining the coordinate matrix of the plurality of key points in the cutting head coordinate system;

[0035] determining the pose of the cutting head relative to the tunnel according to the pose of the cutting head relative to the tunnel and the coordinate matrix by using the formula determining the pose of the key point on the cutting head in the roadway; o P represents the pose of the key point on the cutting head in the roadway; P represents the pose of the key point on the cutting head in the roadway; n p represents a coordinate matrix;

[0036] determining whether the pose of the key point on the cutting head in the roadway exceeds the set overbreak early warning boundary of the roadway;

[0037] if the pose of the key point on the cutting head in the roadway exceeds the set overbreak early warning boundary of the roadway, overbreak early warning is performed.

[0038] A kind of overbreak early warning system of boom-type roadheader, comprising:

[0039] image acquisition module, for acquiring infrared target image and laser pointing instrument image;The infrared target is set on the cutting arm of the roadheader;The laser pointing instrument is set on the top of the roadway behind the roadheader;

[0040] first pose determination module, for determining the pose of the cutting head relative to the body of the roadheader according to the infrared target image;

[0041] second pose determination module, for determining the pose of the body of the roadheader relative to the roadway according to the laser pointing instrument image;

[0042] third pose determination module, for determining the pose of the cutting head relative to the roadway according to the pose of the cutting head relative to the body of the roadheader and the pose of the body of the roadheader relative to the roadway;

[0043] early warning module, for determining whether the cutting head of the roadheader overbreaks according to the pose of the cutting head relative to the roadway, and performing overbreak early warning.

[0044] An electronic device, comprising: a memory for storing a computer program, and a processor for running the computer program to make the electronic device execute the above-described overbreak early warning method of boom-type roadheader.

[0045] A computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-described overbreak early warning method of boom-type roadheader.

[0046] According to the specific embodiments of the present application, the following technical effects are provided:

[0047] The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0049] Figure 1 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved.

[0050] Figure 2 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved.

[0051] Figure 3 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved.

[0052] Figure 4 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved.

[0053] Figure 5 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved.

[0054] Figure 6 The overbreakage early warning method of the boom-type heading machine provided by the application obtains an infrared target image and a laser pointing instrument image; determines the pose of a cutting head relative to a machine body and the pose of the machine body relative to a roadway and determines the pose of the cutting head relative to the roadway according to the infrared target image and the laser pointing instrument image; and determines whether the cutting head of the heading machine overbreaks according to the pose of the cutting head relative to the roadway and performs overbreakage early warning. The application avoids the problem that the heading machine cannot cut according to the planned path due to the influence of disturbance factors such as body sliding in the actual cutting process of the heading machine, overbreakage phenomenon occurs, and work efficiency and roadway forming quality are greatly improved. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, and other embodiments can be obtained by those skilled in the art without creative labor.

[0056] The application aims to provide a boom-type heading machine overbreak warning device, method, system, equipment and medium to solve the problem of poor roadway forming quality caused by the overbreak or underbreak of the section due to the influence of machine body sliding and other disturbance factors in the current heading machine cutting control technology.

[0057] In order to solve the overbreak phenomenon in the automatic cutting control process of the heading machine, the pose data of the heading machine cutting head is obtained by using a non-contact visual measurement method, and a boom-type heading machine overbreak warning device, method, system, equipment and medium are proposed.

[0058] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0059] Embodiment one

[0060] The application provides a boom-type heading machine overbreak warning device, which comprises a laser pointing instrument, an infrared target, an explosion-proof camera and an explosion-proof computer.

[0061] The infrared target is arranged on the cutting arm of the heading machine, the laser pointing instrument is arranged on the top of the roadway behind the heading machine, and the explosion-proof camera is used for photographing the infrared target and the laser pointing instrument to obtain infrared target images and laser pointing instrument images.

[0062] The explosion-proof computer is connected with the explosion-proof camera and is used for image processing of the infrared target images and the laser pointing instrument images to obtain processed infrared target images and processed laser pointing instrument images, the processed infrared target images are combined with a heading machine cutting head pose solving model to determine the pose of the cutting head relative to the machine body of the heading machine, the processed laser pointing instrument images are combined with a heading machine body pose solving model to determine the pose of the machine body of the heading machine relative to the roadway, the pose of the cutting head relative to the roadway is determined according to the pose of the cutting head relative to the machine body of the heading machine and the pose of the machine body of the heading machine relative to the roadway, and overbreak warning is performed according to the pose of the cutting head relative to the roadway.

[0063] The pose solving model of the cutting head of the roadheader and the pose solving model of the body of the roadheader are established by using visual measurement principles to obtain the pose information of the cutting head of the roadheader and the body of the roadheader. The pose solving model of the cutting head of the roadheader (i.e. the P4P solving model) uses the front-mounted explosion-proof camera to collect the infrared feature point image on the infrared LED target, and then the pose information of the cutting head relative to the body of the roadheader is obtained through image processing and combining the pose solving model of the cutting head (i.e. the P4P solving model). Similarly, the pose solving model of the body of the roadheader (i.e. the two-point-three-line 2P3L solving model) uses the rear-mounted explosion-proof camera to collect the laser pointing instrument image, and then the pose information of the body of the roadheader relative to the roadway is obtained through image processing and combining the pose solving model of the body of the roadheader (i.e. the two-point-three-line 2P3L solving model).

[0064] In actual applications, the explosion-proof computer is mainly used for image processing, model solving and decision analysis on the pictures collected by the explosion-proof camera.

[0065] Further, the explosion-proof camera comprises a front-mounted explosion-proof camera and a rear-mounted explosion-proof camera; the front-mounted explosion-proof camera and the rear-mounted explosion-proof camera are connected with the explosion-proof computer.

[0066] The front-mounted explosion-proof camera is used for photographing the infrared target to obtain an infrared target image.

[0067] The rear-mounted explosion-proof camera is used for photographing the laser pointing instrument to obtain a laser pointing instrument image.

[0068] Embodiment two

[0069] As shown in Figure 1 The present application also provides a cantilevered roadheader overbreak early warning method, which is applied to the cantilevered roadheader overbreak early warning device of embodiment one, and comprises the following steps:

[0070] Step 101: Obtain infrared target images and laser pointing instrument images. In actual applications, the state information of the roadheader is collected, the image of the infrared target installed on the cutting arm of the roadheader is collected by using the front-mounted camera (front-mounted explosion-proof camera) installed on the body of the roadheader, the image of the laser pointing instrument installed on the top of the roadway behind the roadheader is collected by using the rear-mounted camera (rear-mounted explosion-proof camera), and the distance between the body of the roadheader and the front coal wall is measured by using the millimeter wave radar installed on the front side of the body of the roadheader.

[0071] Step 102: Determine the pose of the cutting head relative to the body of the roadheader according to the infrared target images. In actual applications, the rotation angle θ1 and the lifting angle θ2 of the cutting head relative to the body of the roadheader are obtained through image processing and model solving by using the front-mounted explosion-proof camera to collect the infrared target images; and the pose of the cutting head relative to the body of the roadheader is obtained according to θ1 and θ2

[0072] Further, the step 102 specifically comprises:

[0073] Image processing is performed on the infrared target image to obtain a processed infrared target image.

[0074] The processed infrared target image is combined with a heading machine cutting head pose solving model to determine a rotation angle and a lifting angle of the heading machine cutting head relative to the heading machine body.

[0075] According to the rotation angle and the lifting angle of the heading machine cutting head relative to the heading machine body, a formula is used to determine the pose of the cutting head relative to the heading machine body.

[0076] determine the pose of the cutting head relative to the heading machine body; wherein, represents the pose of the cutting head relative to the heading machine body; θ1 is the rotation angle (horizontal swing angle of the cutting head) of the heading machine cutting head relative to the heading machine body; θ2 is the lifting angle (vertical swing angle of the cutting head) of the heading machine cutting head relative to the heading machine body; d is the extension distance of the oil cylinder; b1 is the vertical distance from the ground to the center of the heading machine body; b2 is the vertical distance from the center of the heading machine body to the lifting joint of the heading machine; b3 is the height difference between the lifting joint and the extension joint of the heading machine; a1 is the horizontal distance from the center of the heading machine body to the center of the rotation table; a2 is the horizontal distance between the center of the rotation table and the lifting joint of the heading machine; a3 is the distance between the lifting joint and the extension joint of the heading machine; and a4 is the horizontal distance between the extension joint of the heading machine and the cutting head.

[0077] The present application involves the concept of coordinate system transformation in the calculation process, and the specific coordinate system is as shown in Figure 2 The roadway coordinate system (O h X h Y h Z h ), the Z axis is vertically upward, the Y axis coincides with the center line of the roadway along the direction of roadway excavation, and the X axis is along the horizontal direction; the laser pointing instrument coordinate system (O d X d Y d Z d ), the center of the triangle formed by the laser pointing instrument is taken as the coordinate origin, the Z axis is perpendicular to the roadway roof upward, the Y axis is along the direction of roadway excavation, and the X axis is along the horizontal direction; the front camera coordinate system (O c1 X c1 Y c1 Z c1 ), and the rear camera coordinate system (O c2 X c2 Y c2 Z c2), with the camera optical center as the coordinate origin, the Z-axis along the direction of the camera toward the object being photographed, the X-axis along the horizontal direction, and the Y-axis vertically downward perpendicular to the Z-axis; the infrared target coordinate system (O b X b Y b Z b ), with the target center as the coordinate system origin O, the Y-axis direction downward through the right lower corner feature point of the target, and the Z-axis direction coinciding with the cantilever axis direction; the roadheader body coordinate system (O o X o Y o Z o ), the slewing table coordinate system (O1X1Y1Z1), the cutting arm lifting joint coordinate system (O2X2Y2Z2), the cutting arm extension joint coordinate system (O3X3Y3Z3), and the cutting head coordinate system (O4X4Y4Z4).

[0078] Step 103: determining the pose of the roadheader relative to the roadway according to the laser pointing instrument image. In actual application, the pose of the roadheader body relative to the roadway is obtained through image processing and model solving of the laser pointing instrument image collected by the rear-mounted explosion-proof camera

[0079] Further, the step 103 specifically includes:

[0080] performing image processing on the laser pointing instrument image to obtain a processed laser pointing instrument image.

[0081] The processed laser pointing instrument image is combined with a roadheader body pose solving model to determine a pose matrix of the roadheader body relative to the roadway. In actual application, the pose matrix is:

[0082] wherein, represents the pose of the roadheader relative to the roadway; α represents the angle of rotation of the roadheader body about the x-axis in the roadway coordinate system; β represents the angle of rotation of the roadheader body about the y-axis in the roadway coordinate system; γ represents the angle of rotation of the roadheader body about the z-axis in the roadway coordinate system; X represents the distance of translation of the roadheader body along the x-axis in the roadway coordinate system; Y represents the distance of translation of the roadheader body along the y-axis in the roadway coordinate system; and Z represents the distance of translation of the roadheader body along the z-axis in the roadway coordinate system.

[0083] The pose of the roadheader body in the roadway coordinate system is determined according to the pose matrix.

[0084] Step 104: determining the pose of the cutting head relative to the roadway according to the pose of the cutting head relative to the machine body and the pose of the machine body relative to the roadway. In practical applications, the pose of the cutting head relative to the roadway can be obtained according to the pose of the cutting head relative to the machine body obtained in step 102 and the pose of the machine body relative to the roadway obtained in step 103.

[0085] Further, the step 104 specifically comprises:

[0086] According to the pose of the cutting head relative to the machine body and the pose of the machine body relative to the roadway, the pose of the cutting head relative to the roadway is determined by using the formula wherein, represents the pose of the cutting head relative to the roadway; represents the pose of the cutting head relative to the machine body; represents the pose of the machine relative to the roadway.

[0087] Step 105: determining whether the cutting head of the machine overbreaks according to the pose of the cutting head relative to the roadway, and performing overbreak warning.

[0088] Further, the step 105 specifically comprises:

[0089] Step 1051: setting a plurality of key points on the cutting head and determining a coordinate matrix of the plurality of key points in the cutting head coordinate system. In practical applications, as shown in Figure 3 and Figure 4 14 key points (p0, p1…p 13 ) are set on the cutting head of the machine, i.e. the coordinate matrix of the 14 key points in the cutting head coordinate system (O4X4Y4Z4) is n p,

[0090] wherein, 0x p 0y = 0; p 0z = 0

[0091] p 1x = 0; p 1z = 0

[0092] p 2x = 0; p 2z = 0

[0093] p 3y = 0; p 3z = 0

[0094] p 4y =0; p 4z =0

[0095] p 5x =0; p 5y =0; p 5z =-L

[0096] p 6x =0;

[0097] p 7x =0;

[0098] p 8y =0;

[0099] p 9y =0;

[0100] p 10x =0; p 10z =-L

[0101] p 11x =0; p 11z =-L

[0102] p 12y =0; p 12z =-L

[0103] p 13y =0; p 13z =-L

[0104] Where d represents the minimum diameter of the cutting head; D represents the maximum diameter of the cutting head; and L represents the length of the cutting head.

[0105] Step 1052: Based on the pose of the cutting head relative to the roadway and the coordinate matrix, use the formula... Determine the position of key points on the cutting head within the roadway; among which... o P represents the position of the key point on the cutting head in the tunnel; Indicates the position of the cutting head relative to the roadway; n p represents the coordinate matrix.

[0106] Taking p0 as an example, the position of p0 in the roadway is obtained as oP0=(X0,Y0,Z0), that is:

[0107] X0 = P0x [(cos γ cos β cos θ1 cos θ2 + (cos γ sin β sin α - sin γ cos α) sin θ1 cos θ2 - (cos γ sin β cos α + sin γ sin α) sin θ2)] + P 0y [cos γ cos β sin θ1 - (cos γ sin β sin α - sin γ cos α) cos θ1]

[0108] + P 0z [-cos γ cos β cos θ1 sin θ2 - (cos γ sin β sin α - sin γ cos α) sin θ1 sin θ2 - (cos γ sin β cos α + sin γ sin α) cos θ2] + cos γ cos β (b3 cos θ1 cos θ2 - (a3 + a4 + d) cos θ1 sin θ2 + a2 cos θ1 + a1) + (cos γ sin β sin α - sin γ cos α) (b3 sin θ1 cos θ2 - (a3 + a4 + d) sin θ1 sin θ2 + a2 sin θ1) + (cos γ sin β cos α + sin γ sin α) (-b3 sin θ2 - (a3 + a4 + d) cos θ2 + b2) + X

[0109] Y0 = P 0x [sin γ cos β cos θ1 cos θ2 + (sin γ sin β sin α + cos γ cos α) sin θ1 cos θ2 - (sin γ sin β cos α - cos γ sin α) sin θ2] + P 0y [sin γ cos β sin θ1 - (sin γ sin β sin α + cos γ cos α) cos θ1] + P 0z [-sin γ cos β cos θ1 sin θ2 - (sin γ sin β sin α + cos γ cos α) sin θ1 sin θ2 - (sin γ sin β cos α - cos γ sin α) cos θ2] sin γ cos β (b3 cos θ1 cos θ2 - (a3 + a4 + d) cos θ1 sin θ2 + a2 cos θ1 + a1) + (sin γ sin β sin α + cos γ cos α) (b3 sin θ1 cos θ2 - (a3 + a4 + d) sin θ1 sin θ2 + a2 sin θ1) + (sin γ sin β cos α - cos γ sin α) (-b3 sin θ2 - (a3 + a4 + d) cos θ2 + b2) + Y

[0110] Z0 = P 0x[-sinβcosθ1 cosθ2+cosβsinαsinθ1 cosθ2-cosαcosβsinθ2]+P 0y [-sinβsinθ1-cosβsinαcosθ1]+

[0111] P 0z [sinβcosθ1sinθ2-cosβsinαsinθ1sinθ2-cosαcosβcosθ2]+[-sinβ(-cosθ1sinθ2a4+cosθ1cosθ2b3-cosθ1sinθ2(a3+d)+cosθ1a2+a1)+cosβsinα(-sinθ1sinθ2a4+sinθ1cosθ2b3-sinθ1sinθ2(a3+d)+sinθ1a2)+cosαcosβ(-cosθ2a4-sinθ2b3-cosθ2(a3+d)+b2)+Z]。

[0112] Similarly, the coordinates of the remaining key points o P1, o P2… o P 13 are obtained.

[0113] Step 1053: Determine whether the pose of the key point on the cutting head in the roadway exceeds the set roadway overbreak warning boundary.

[0114] As shown in Figure 5 , a section coordinate system is established with the center point of the roadway floor as the origin O, the Z axis vertically upward, the Y axis coinciding with the roadway centerline along the roadway excavation direction, and the X axis along the horizontal direction. Assuming that the roadway width is W and the height is H, a distance of h, the height of the cutting pick, is set inward from the roadway boundary. Therefore, the overbreak left and right boundaries are [-W / 2+h, W / 2-h], and the overbreak upper and lower boundaries are [h, H-h].

[0115] Step 1054: If the pose of the key point on the cutting head in the roadway exceeds the set roadway overbreak warning boundary, overbreak warning is performed.

[0116] In actual applications, when the cutting head swings while cutting on the roadway section, o P 6x is less than or equal to -W / 2+h, left overbreak occurs, o P 7x is greater than or equal to W / 2-h, right overbreak warning occurs, o P 8z is greater than or equal to H-h, upper overbreak warning occurs, o P 9z is less than or equal to h, lower overbreak warning occurs.

[0117] When overbreakage occurs, the system feeds back the overbreakage condition to the upper computer (explosion-proof computer) as the basis for control decision, thereby judging in real time until the entire section is completed.

[0118] The present application has the following beneficial effects:

[0119] The present application provides a cantilevered tunneling machine overbreakage early warning device, method, system, equipment and medium, which can solve the problem of overbreakage caused by the influence of machine body sliding and other disturbance factors in the actual cutting process of the tunneling machine, so that the tunneling machine cannot cut according to the planned path.

[0120] By real-time detection of the position of the cutting head in the roadway and real-time feedback to the upper computer for decision-making, the misjudgment caused by manual observation is avoided, the operation difficulty is reduced, and the work efficiency and roadway forming quality are greatly improved.

[0121] Embodiment three

[0122] In order to perform the method corresponding to the above-mentioned embodiment two to realize the corresponding functions and technical effects, the present application further provides a cantilevered tunneling machine overbreakage early warning system, as shown in Figure 6 The system comprises:

[0123] An image acquisition module 601 is configured to acquire an infrared target image and a laser pointing instrument image.

[0124] A first pose determination module 602 is configured to determine the pose of the cutting head relative to the tunneling machine body according to the infrared target image.

[0125] A second pose determination module 603 is configured to determine the pose of the tunneling machine body relative to the roadway according to the laser pointing instrument image.

[0126] A third pose determination module 604 is configured to determine the pose of the cutting head relative to the roadway according to the pose of the cutting head relative to the tunneling machine body and the pose of the tunneling machine body relative to the roadway.

[0127] An early warning module 605 is configured to determine whether the cutting head of the tunneling machine overbreaks according to the pose of the cutting head relative to the roadway, and to perform overbreakage early warning.

[0128] Embodiment four

[0129] The present application further provides an electronic device comprising a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to run the computer program to enable the electronic device to perform the cantilevered tunneling machine overbreakage early warning method of embodiment two.

[0130] Embodiment five

[0131] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the over-dig early warning method of the boom-type tunneling machine according to the second embodiment.

[0132] The various embodiments are described in a progressive manner in the specification, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0133] The principles and implementation manners of the application are described by using specific examples in the specification, and the above embodiment description is only used to help understand the method and core idea of the application; meanwhile, for the general technical personnel in the field, the specific implementation manners and application ranges can be changed according to the idea of the application. In conclusion, the content of the specification should not be understood as the limitation of the application.

Claims

1. An over-excavation early warning device for a cantilever tunneling machine, characterized in that, include: Laser pointer, infrared target, explosion-proof camera and explosion-proof computer; The infrared target is mounted on the cutting arm of the tunneling machine; The laser pointer is installed on the top of the tunnel behind the tunneling machine; the explosion-proof camera is used to capture images of the infrared target and the laser pointer to obtain images of the infrared target and the laser pointer. The explosion-proof computer, connected to the explosion-proof camera, is used for: Image processing is performed on the infrared target image and the laser pointer image to obtain the processed infrared target image and the processed laser pointer image; The processed infrared target image is combined with the tunneling machine cutter head pose calculation model to determine the pose of the cutter head relative to the tunneling machine body. The processed laser pointer image is combined with the tunneling machine body pose calculation model to determine the pose of the tunneling machine body relative to the roadway; The position of the cutting head relative to the roadway is determined based on the position of the cutting head relative to the tunneling machine body and the position of the tunneling machine body relative to the roadway. Over-excavation warning is given based on the position of the cutting head relative to the roadway; Over-excavation warning is generated based on the position of the cutting head relative to the roadway, specifically including: Multiple key points are set on the cutting head, and the coordinate matrix of the multiple key points in the cutting head coordinate system is determined; 14 key points (p0, p1…p…p…) are set on the cutting head of the tunneling machine. 13 The coordinate matrix of the 14 key points in the cutting head coordinate system (O4X4Y4Z4) is as follows: n p, Where, p 0x =0; p 0y =0; p 0z =0; p 1x =0; p 1z =0; p 2x =0; p 2z =0; p 3y =0;p 3z =0; p 4y =0;p 4z =0; p 5x =0;p 5y =0;p 5z =-L; p 6x ＝0； p 7x ＝0； p 8y ＝0； p 9y ＝0； p 10x =0; p 10z =-L; p 11x =0; p 11z =-L; p 12y =0;p 12z =-L; p 13y =0;p 13z =-L; Where d represents the minimum diameter of the cutting head; D represents the maximum diameter of the cutting head; and L represents the length of the cutting head. Based on the pose of the cutting head relative to the roadway and the coordinate matrix, the formula is used... Determine the position of key points on the cutting head within the roadway; among which... o P represents the pose of the key point on the cut head in the tunnel, including o P 6x , o P 7x , o P 8z and o P 9z ; Indicates the position of the cutting head relative to the roadway; n p represents the coordinate matrix; Determining whether the pose of the key points on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary specifically includes: With the center point of the tunnel floor as the origin O, the Z-axis is vertically upward, the Y-axis is along the tunnel excavation direction and coincides with the tunnel centerline, and the X-axis is horizontal, a cross-sectional coordinate system is established. Let the tunnel width be W and the height be H. Set a distance h, the height of the cutting head tooth, inward from the tunnel boundary. The left and right over-excavation boundaries are [-W / 2+h, W / 2-h], and the upper and lower over-excavation boundaries are [h, Hh]. If the pose of the key point on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary, an over-excavation warning is issued, specifically including: When the cutting head swings and cuts across the tunnel cross-section o P 6x When the value is less than or equal to -W / 2+h, a left over-excavation warning is issued. o P 7x When the over-excavation is greater than or equal to W / 2-h, a right over-excavation warning is issued. o P 8z An over-excavation warning will be issued when the over-excavation level is greater than or equal to Hh. o P 9z An over-excavation warning will be issued when the value is less than or equal to h.

2. The over-excavation early warning device for cantilever tunneling machines according to claim 1, characterized in that, The explosion-proof camera includes a front-facing explosion-proof camera and a rear-facing explosion-proof camera; both the front-facing explosion-proof camera and the rear-facing explosion-proof camera are connected to the explosion-proof computer. The front-mounted explosion-proof camera is used to capture images of the infrared target to obtain infrared target images; The rear-mounted explosion-proof camera is used to capture images of the laser pointer to obtain an image of the laser pointer.

3. A method for early warning of over-excavation in a cantilever tunneling machine, characterized in that, The over-excavation early warning method for tunneling machines is applied to the over-excavation early warning device for cantilever tunneling machines according to any one of claims 1-2, and the over-excavation early warning method for tunneling machines includes: Acquire infrared target images and laser pointer images; Based on the infrared target image, the position and orientation of the cutting head relative to the tunneling machine body are determined; Based on the laser pointer image, the position of the tunneling machine body relative to the roadway is determined; The position of the cutting head relative to the roadway is determined based on the position of the cutting head relative to the tunneling machine body and the position of the tunneling machine body relative to the roadway. Based on the position of the cutting head relative to the roadway, determine whether the cutting head of the tunneling machine is over-excavating and issue an over-excavation warning. Based on the position of the cutting head relative to the roadway, determine whether the cutting head of the tunneling machine is over-excavating and issue an over-excavation warning, specifically including: Multiple key points are set on the cutting head, and the coordinate matrix of the multiple key points in the cutting head coordinate system is determined; 14 key points (p0, p1…p…p…) are set on the cutting head of the tunneling machine. 13 The coordinate matrix of the 14 key points in the cutting head coordinate system (O4X4Y4Z4) is as follows: n p, Where, p 0x =0; p 0y =0; p 0z =0; p 1x =0; p 1z =0; p 2x =0; p 2z =0; p 3y =0;p 3z =0; p 4y =0;p 4z =0; p 5x =0;p 5y =0;p 5z =-L; p 6x ＝0； p 7x ＝0； p 8y ＝0； p 9y ＝0； p 10x =0; p 10z =-L; p 11x =0; p 11z =-L; p 12y =0;p 12z =-L; p 13y =0;p 13z =-L; Where d represents the minimum diameter of the cutting head; D represents the maximum diameter of the cutting head; and L represents the length of the cutting head. Based on the pose of the cutting head relative to the roadway and the coordinate matrix, the formula is used... Determine the position of key points on the cutting head within the roadway; among which... o P represents the pose of the key point on the cut head in the tunnel, including o P 6x , o P 7x , o P 8z and o P 9z ; Indicates the position of the cutting head relative to the roadway; n p represents the coordinate matrix; Determining whether the pose of the key points on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary specifically includes: With the center point of the tunnel floor as the origin O, the Z-axis is vertically upward, the Y-axis is along the tunnel excavation direction and coincides with the tunnel centerline, and the X-axis is horizontal, a cross-sectional coordinate system is established. Let the tunnel width be W and the height be H. Set a distance h, the height of the cutting head tooth, inward from the tunnel boundary. The left and right over-excavation boundaries are [-W / 2+h, W / 2-h], and the upper and lower over-excavation boundaries are [h, Hh]. If the pose of the key point on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary, an over-excavation warning is issued, specifically including: When the cutting head swings and cuts across the tunnel cross-section o P 6x When the value is less than or equal to -W / 2+h, a left over-excavation warning is issued. o P 7x When the over-excavation is greater than or equal to W / 2-h, a right over-excavation warning is issued. o P 8z An over-excavation warning will be issued when the over-excavation level is greater than or equal to Hh. o P 9z An over-excavation warning will be issued when the value is less than or equal to h.

4. The over-excavation early warning method for cantilever tunneling machines according to claim 3, characterized in that, Determining the position and orientation of the cutting head relative to the tunneling machine body based on the infrared target image specifically includes: The infrared target image is processed to obtain a processed infrared target image; The processed infrared target image is combined with the tunneling machine cutter head pose calculation model to determine the rotation angle and lifting angle of the tunneling machine cutter head relative to the tunneling machine body; Based on the rotation angle and lifting angle of the cutting arm relative to the tunneling machine body, using the formula... , Determine the position and orientation of the cutting head relative to the tunneling machine body; among which, The following parameters represent the orientation of the cutting head relative to the tunneling machine body: θ1 is the rotation angle of the tunneling machine cutting arm relative to the tunneling machine body; θ2 is the lifting angle of the tunneling machine cutting arm relative to the tunneling machine body; d is the extension / retraction distance of the hydraulic cylinder; b1 is the vertical distance from the ground to the center of the tunneling machine body; b2 is the vertical distance from the center of the tunneling machine body to the lifting joint of the tunneling machine; b3 is the height difference between the lifting joint and the telescopic joint of the tunneling machine; a1 is the horizontal distance from the center of the tunneling machine body to the center of the rotary table; a2 is the horizontal distance between the center of the rotary table and the lifting joint of the tunneling machine; a3 is the distance between the lifting joint and the telescopic joint of the tunneling machine; a4 is the horizontal distance between the telescopic joint and the cutting head of the tunneling machine.

5. The over-excavation early warning method for cantilever tunneling machines according to claim 3, characterized in that, Determining the position and orientation of the tunneling machine relative to the roadway based on the laser pointer image specifically includes: The laser pointer image is processed to obtain a processed laser pointer image; The processed laser pointer image is combined with the tunneling machine body pose calculation model to determine the pose matrix of the tunneling machine body relative to the roadway; The pose of the tunnel boring machine body relative to the roadway is determined based on the pose matrix.

6. The over-excavation early warning method for cantilever tunneling machines according to claim 3, characterized in that, Determining the position of the cutting head relative to the roadway based on the position of the cutting head relative to the tunneling machine body and the position of the tunneling machine body relative to the roadway specifically includes: Based on the pose of the cutting head relative to the tunneling machine body and the pose of the tunneling machine body relative to the roadway, using the formula... Determine the orientation of the cutting head relative to the roadway; whereby, Indicates the position of the cutting head relative to the roadway; This indicates the position and orientation of the cutting head relative to the tunneling machine body; This indicates the position of the tunneling machine body relative to the tunnel.

7. An over-excavation early warning system for a cantilever tunneling machine, characterized in that, include: An image acquisition module is used to acquire images of an infrared target and a laser pointer; the infrared target is mounted on the cutting arm of the tunneling machine. The laser pointer is located on the top of the tunnel behind the tunneling machine; The first pose determination module is used to determine the pose of the cutting head relative to the tunneling machine body based on the infrared target image; The second pose determination module is used to determine the pose of the tunneling machine body relative to the roadway based on the laser pointer image. The third pose determination module is used to determine the pose of the cutting head relative to the roadway based on the pose of the cutting head relative to the tunneling machine body and the pose of the tunneling machine body relative to the roadway. The early warning module is used to determine whether the cutting head of the tunneling machine is over-excavating based on the position of the cutting head relative to the roadway, and to issue an over-excavation warning. Based on the position of the cutting head relative to the roadway, determine whether the cutting head of the tunneling machine is over-excavating and issue an over-excavation warning, specifically including: Multiple key points are set on the cutting head, and the coordinate matrix of the multiple key points in the cutting head coordinate system is determined; 14 key points (p0, p1…p…p…) are set on the cutting head of the tunneling machine. 13 The coordinate matrix of the 14 key points in the cutting head coordinate system (O4X4Y4Z4) is as follows: n p, Where, p 0x =0; p 0y =0; p 0z =0; p 1x =0; p 1z =0; p 2x =0; p 2z =0; p 3y =0;p 3z =0; p 4y =0;p 4z =0; p 5x =0;p 5y =0;p 5z =-L; p 6x ＝0； p 7x ＝0； p 8y ＝0； p 9y ＝0； p 10x =0; p 10z =-L; p 11x =0; p 11z =-L; p 12y =0;p 12z =-L; p 13y =0;p 13z =-L; Where d represents the minimum diameter of the cutting head; D represents the maximum diameter of the cutting head; and L represents the length of the cutting head. Based on the pose of the cutting head relative to the roadway and the coordinate matrix, the formula is used... Determine the position of key points on the cutting head within the roadway; among which... o P represents the pose of the key point on the cut head in the tunnel, including o P 6x , o P 7x , o P 8z and o P 9z ; Indicates the position of the cutting head relative to the roadway; n p represents the coordinate matrix; Determining whether the pose of the key points on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary specifically includes: With the center point of the tunnel floor as the origin O, the Z-axis is vertically upward, the Y-axis is along the tunnel excavation direction and coincides with the tunnel centerline, and the X-axis is horizontal, a cross-sectional coordinate system is established. Let the tunnel width be W and the height be H. Set a distance h, the height of the cutting head tooth, inward from the tunnel boundary. The left and right over-excavation boundaries are [-W / 2+h, W / 2-h], and the upper and lower over-excavation boundaries are [h, Hh]. If the pose of the key point on the cutting head in the roadway exceeds the set roadway over-excavation warning boundary, an over-excavation warning is issued, specifically including: When the cutting head swings and cuts across the tunnel cross-section o P 6x When the value is less than or equal to -W / 2+h, a left over-excavation warning is issued. o P 7x When the over-excavation is greater than or equal to W / 2-h, a right over-excavation warning is issued. o P 8z An over-excavation warning will be issued when the over-excavation level is greater than or equal to Hh. o P 9z An over-excavation warning will be issued when the value is less than or equal to h.

8. An electronic device, characterized in that, include: A memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to perform the over-excavation early warning method for a cantilever tunneling machine according to any one of claims 3-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the over-excavation early warning method for cantilever tunneling machines according to any one of claims 3-6.

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