A trailing tunneling machine pose detection system and pose detection method

Abstract

This invention discloses a follow-type tunneling machine pose detection system and method, relating to the field of pose recognition and detection technology. It includes auxiliary sensors, a camera, a laser target, a traction rod, and a laser platform. The auxiliary sensors include a magnetostrictive displacement sensor, an angle sensor, and an odometer, used to detect the cutting head pose and measure the distance traveled, respectively. The laser platform, the camera, and the laser target are used to perform tunneling machine pose detection and cutting head trajectory planning. The traction rod is used to guide the laser platform to follow the tunneling machine. In follow-up mode, the laser platform can move forward with the tunneling machine. In working mode, the laser platform can automatically adjust its own pose, serving to detect tunneling machine pose and provide auxiliary markers for cutting head trajectory planning, avoiding the problem of frequent laser position adjustments required by laser-based pose detection methods.

Description

Technical Field

[0001] This invention relates to the field of image recognition and detection technology, and in particular to a follow-up tunneling machine pose detection system and pose detection method. Background Technology

[0002] With the advent of the intelligent era, the concept of smart mines has been proposed. As the only roadway excavating machine in coal mining, the automatic detection of the excavator's position and posture is of great significance for realizing unmanned operation of the excavator and thus promoting the construction of smart mines. The methods currently used on-site and the proposed solutions all have shortcomings. For example, the commonly used laser pointing method requires on-site worker assistance, cannot achieve automated excavation, and the excavation quality is difficult to guarantee; strapdown inertial navigation systems have accumulated errors; image recognition is difficult to accurately detect in high-dust environments; although the proposed cross laser and laser plane methods comprehensively consider the underground environment and have strong applicability, they still require manual adjustment of the laser position during the excavation process, and cannot truly achieve unmanned operation. Summary of the Invention

[0003] This invention provides a follow-type tunneling machine pose detection system and method, aiming to solve the problem that laser pose detection methods require frequent adjustment of the laser position.

[0004] The specific technical solution provided by this invention is as follows:

[0005] In a first aspect, the present invention provides a follow-up tunneling machine posture detection system comprising auxiliary sensors, a camera, a laser target, a traction rod, and a laser platform. The auxiliary sensors include a magnetostrictive displacement sensor, an angle sensor, and an odometer, which are used to detect the posture of the cutting head and measure the distance traveled, respectively. The laser platform, the camera, and the laser target are used to complete the posture detection of the tunneling machine and the trajectory planning of the cutting head. The traction rod is used to pull the laser platform to follow the tunneling machine.

[0006] Optionally, the magnetostrictive displacement sensors are respectively installed in the six drive cylinders of the cutting head of the tunneling machine. The magnetostrictive displacement sensors are used to detect the extension length of each hydraulic rod. The angle sensor is installed on the cutting arm shaft and is used to detect the rotation angle of the cutting arm. The odometer is installed on the side of the control panel.

[0007] Optionally, the laser platform includes five ultrasonic ranging sensors, one dual-axis tilt sensor, four hydraulic supports, four moving wheels, four lateral rollers, five horizontal rollers, two tracks, two rope winding motors, and two multi-source lasers.

[0008] Optionally, the first multi-source laser and the laser target mounted on the tunneling machine work together to complete the tunneling machine body posture detection and the posture confirmation after the laser platform moves. The second multi-source laser and the camera work together to determine the trajectory planning and marking points of the cutting head.

[0009] Optionally, the first, second, third, and fourth ultrasonic ranging sensors are respectively installed at the four corners of the laser platform. The first, second, third, and fourth ultrasonic ranging sensors are used to measure the horizontal distance between the laser platform and the left and right sidewalls. The dual-axis tilt sensor is installed on the laser platform and is used to detect the platform's pitch and roll angles.

[0010] Optionally, in the working mode, the tracks of the laser platform adjust the platform's heading angle based on the data and corresponding angles measured by the first, second, third, and fourth ultrasonic ranging sensors. The hydraulic support adjusts the extension length of the support and the platform's pitch and roll angles based on the data measured by the dual-axis tilt sensors. The overall height of the laser platform is measured by the fifth ultrasonic ranging sensor.

[0011] Optionally, the first multi-source laser source emits a laser beam that irradiates a laser target. The target surface of the laser target is composed of several squares, and each square is equipped with a photosensitive element.

[0012] Optionally, a second multi-source laser emitter emits a laser to illuminate the rock wall, and the laser landing point is captured by a camera to plan the trajectory of the cutting head. The shape of the tunnel can be changed by changing the position of the laser landing point.

[0013] Secondly, the present invention also provides a method for detecting the pose of a following tunneling machine, wherein the method employs the following tunneling machine pose detection system described in the first aspect, and the method includes:

[0014] When the distance between the laser platform and the tunneling machine is greater than the preset distance, the position of the tunneling machine body is corrected by the first multi-source laser emitter of the laser platform and the target on the body of the tunneling machine, so that the laser landing point falls near the center of the target surface.

[0015] After adjusting the tunneling machine, the hydraulic support of the laser platform extends, the tracks lift off the ground, the rope retraction motor starts working, and the laser platform is pulled closer to the tunneling machine;

[0016] When the distance between the laser platform and the tunneling machine is equal to or less than the preset distance, the hydraulic support retracts, the tracks touch the ground, and with the assistance of the various sensors on the laser platform, the laser platform is moved to a different position by the tracks. The hydraulic support compensates for the platform's tilt angle, so that the laser landing point still falls on the original position of the target surface.

[0017] The second multi-source laser is controlled to emit laser light to illuminate the rock wall, and the camera identifies the location of the laser impact point to plan the trajectory of the cutting head.

[0018] The rock wall cutting work is completed under the monitoring of the magnetostrictive distance sensor and angle sensor in the hydraulic cylinder of the cutting head;

[0019] The tunneling machine continues to advance under the detection of the laser platform. It achieves posture detection and positioning through the first multi-source laser and odometer. After reaching the preset position, the tunneling machine stops tunneling again and performs posture correction. After the laser point of the first multi-source laser falls near the center position, it continues to pull the laser platform and repeats the previous process.

[0020] This invention provides a follow-up tunneling machine posture detection system and method. In follow mode, the laser platform can follow the tunneling machine forward. In working mode, the laser platform can automatically adjust its own posture, which can perform tunneling machine posture detection and provide auxiliary markers for cutting head trajectory planning, thus avoiding the problem of frequent laser position adjustment required by laser-based posture detection methods. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in 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.

[0022] Figure 1 This is a schematic diagram of the structure of a follow-type tunneling machine posture detection system according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the installation position of the auxiliary sensor according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of the structure of a laser platform according to an embodiment of the present invention;

[0025] Figure 4 This is a diagram illustrating the working effect of the second multi-source laser according to an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the laser landing point of the first multi-source laser in the initial state of an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the support of the laser platform in a slope state according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the traction process of the laser platform according to an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0030] The following will combine Figures 1 to 7 A detailed description is provided of a follow-type tunneling machine posture detection system and posture detection method according to an embodiment of the present invention.

[0031] To address the drawback of laser-based detection methods requiring constant manual adjustment of the laser emitter's position, this invention provides a laser platform that can follow the movement of a tunneling machine (TBM). It also proposes a TBM body pose detection system and method based on this platform, enabling TBM body pose detection, TBM positioning, and cutter head pose detection and positioning. The laser platform of this invention has two operating modes: a follow-up mode that moves with the TBM, and a mode that adjusts its own pose to assist in pose detection.

[0032] refer to Figures 1 to 7 As shown, the following tunneling machine posture detection system provided in this embodiment of the invention includes an auxiliary sensor 1, a camera 2, a laser target 3, a traction rod 4, and a laser platform 5. The auxiliary sensor 5 includes a magnetostrictive displacement sensor, an angle sensor, and an odometer, which are used to detect the posture of the cutting head and measure the distance traveled, respectively. The laser platform 5, camera 2, and laser target 3 are used to complete the posture detection of the tunneling machine and the trajectory planning of the cutting head. The traction rod 4 is used to pull the laser platform 3 to follow the tunneling machine.

[0033] Magnetostrictive displacement sensors are installed in the six drive cylinders of the tunneling machine's cutting head. These sensors detect the extension length of each hydraulic rod. An angle sensor is installed on the cutting arm's rotating shaft to detect the rotation angle of the cutting arm. The odometer is installed on the side of the control panel. In other words, auxiliary sensor 1 includes a magnetostrictive displacement sensor installed in the primary cylinder 101, secondary cylinder 102, and tertiary cylinder 105; an angle sensor 103 installed on the cutting arm's rotating shaft; and an odometer 104 on the control panel. The magnetostrictive and angle sensors detect the cutting head's pose and position it, while the odometer measures the distance traveled by the tunneling machine.

[0034] refer to Figures 1 to 7 As shown, camera 2 is used to detect the laser beams from the second multi-source laser 504 on the laser platform 1 striking the rock wall. It uses image recognition technology to obtain the location of the laser beam's impact point for subsequent cutting head trajectory planning. The laser target 3 has a target surface composed of multiple squares, each containing a photosensitive element, used to sense the four laser beams emitted by the first multi-source laser 503 on the platform. Figure 5 As shown, four laser points form a rectangle. The position and attitude changes of the tunneling machine can be determined by the offset of the four laser points on the laser target 3. For example, if the four laser points move up and down in unison, it indicates a change in the pitch angle of the machine; if they shift in the horizontal direction in unison, it indicates a change in the heading angle of the machine; and if they shift in a rotational direction, it indicates a change in the roll angle of the machine.

[0035] refer to Figures 1 to 7 As shown, the laser platform includes five ultrasonic ranging sensors, one dual-axis tilt sensor, four hydraulic supports, four moving wheels, four lateral rollers, five horizontal rollers, two tracks, two rope-retracting motors, and two multi-source lasers. Specifically, the laser platform 5 includes a first ultrasonic ranging sensor 501, a power supply 502, a first multi-source laser 503, a second multi-source laser 504, an emulsion pump station 505, a second ultrasonic ranging sensor 506, a dual-axis tilt sensor 507, a third ultrasonic ranging sensor 508, a fifth ultrasonic ranging sensor 509, a hydraulic support 510, moving wheels 511, tracks 512, horizontal rollers 513, rope-retracting motors 514, lateral rollers 515, and a fourth ultrasonic ranging sensor 516. The first ultrasonic ranging sensor 501, the second ultrasonic ranging sensor 506, the third ultrasonic ranging sensor 508, and the fourth ultrasonic sensor 516 are respectively installed at the four corners of the laser platform 5. These sensors are used to detect the distance between each endpoint of the laser platform and the sidewall of the tunnel, and to calculate the heading angle of the laser platform using the measured parameters. The pitch and roll angles of the laser platform are measured by the dual-axis tilt sensor 507 to achieve pose detection. The distance from the laser platform to the tunnel floor is measured by the fifth ultrasonic ranging sensor 509.

[0036] In follow-up mode, the support hydraulic pressure rises, the moving wheels touch the ground, and the tracks leave the ground. Driven by the rope-retracting motor, the platform moves towards the tunneling machine. Because the accuracy of long-distance laser detection decreases, the distance between the platform and the tunneling machine is not far, and the rope-retracting process is slow. The platform's movement distance can be estimated by measuring the number of motor rotations using the motor's built-in encoder. Once the laser-guided platform has moved close to the tunneling machine, the support hydraulic pressure decreases, the tracks touch the ground, and the platform enters working mode.

[0037] Furthermore, in operating mode, the tracks of the laser platform adjust the platform's heading angle based on data and corresponding angles measured by the first, second, third, and fourth ultrasonic ranging sensors. The hydraulic support adjusts the extension length of the support and the platform's pitch and roll angles based on data measured by the dual-axis tilt sensors. The overall height of the laser platform is measured by the fifth ultrasonic ranging sensor. A first multi-source laser emitter emits laser light onto a laser target. The target surface is composed of several squares, each containing a photosensitive element. A second multi-source laser emitter emits laser light onto the rock wall. The trajectory of the cutting head is planned by capturing the laser's impact point using a camera, and the shape of the tunnel is changed by altering the laser's impact point.

[0038] Furthermore, when the distance between the tunneling machine and the laser platform 5 increases to a certain extent, in order to ensure the accuracy of laser detection, the laser platform is lifted off the ground by the hydraulic support 510, and the rope retraction motor 514 retracts the steel cable, pulling the laser platform towards the tunneling machine. After the laser platform 5 changes position, with the help of various sensors on the platform, the laser platform's posture is adjusted by the tracks 512 and hydraulic support 510 installed at the bottom of the platform. When the platform is on a slope, the adjustment effect is as follows: Figure 6 As shown, the four laser beams of the first multi-source laser 503 remain on the laser target, and at the same positions as before the platform moved. During this process, the power supply 502 provides energy to the motor, and the emulsion pump station 505 drives the platform to support hydraulic movements.

[0039] Based on the same inventive concept, embodiments of the present invention also provide a method for detecting the pose of a following tunneling machine applied to the above-mentioned following tunneling machine pose detection system, the following method comprising:

[0040] When the distance between the laser platform and the tunneling machine is greater than the preset distance, the position of the tunneling machine body is corrected by the first multi-source laser emitter of the laser platform and the target on the body of the tunneling machine, so that the laser landing point falls near the center of the target surface.

[0041] After adjusting the tunneling machine, the hydraulic support of the laser platform extends, the tracks lift off the ground, the rope retraction motor starts working, and the laser platform is pulled closer to the tunneling machine;

[0042] When the distance between the laser platform and the tunneling machine is equal to or less than the preset distance, the hydraulic support retracts, the tracks touch the ground, and with the assistance of the various sensors on the laser platform, the laser platform is moved to a different position by the tracks. The hydraulic support compensates for the platform's tilt angle, so that the laser landing point still falls on the original position of the target surface.

[0043] The second multi-source laser is controlled to emit laser light to illuminate the rock wall, and the camera identifies the location of the laser impact point to plan the trajectory of the cutting head.

[0044] The rock wall cutting work is completed under the monitoring of the magnetostrictive distance sensor and angle sensor in the hydraulic cylinder of the cutting head;

[0045] The tunneling machine continues to advance under the detection of the laser platform. It achieves posture detection and positioning through the first multi-source laser and odometer. After reaching the preset position, the tunneling machine stops tunneling again and performs posture correction. After the laser point of the first multi-source laser falls near the center position, it continues to pull the laser platform and repeats the previous process.

[0046] like Figure 7 As shown, when the laser platform 5 lags far behind the tunneling machine, it first adjusts the machine's posture using the platform's first multi-source laser emitter 503 and the target on the tunneling machine's body, ensuring the laser impact point is centered on the laser target 3. After adjusting the tunneling machine, the hydraulic support 510 extends, the tracks 512 lift off the ground, and the rope retraction motor 514 operates, pulling the laser platform 5 closer to the tunneling machine. Once the platform reaches the vicinity of the tunneling machine, the hydraulic support 510 retracts, the tracks 512 touch the ground, and with the assistance of various sensors on the platform, the tracks move the platform's position, while the hydraulic support 510 compensates for the platform's tilt angle, ensuring the laser impact point remains centered on the target. The second multi-source laser 504 is then controlled to emit laser light onto the rock wall, and a camera identifies the laser impact point position, planning the trajectory for the cutting head. Under the monitoring of the magnetostrictive distance sensor and angle sensor in the cutting head's drive hydraulic cylinder, the rock wall cutting operation is completed. The tunneling machine continues to advance under the detection of the laser platform. Odometer 104 records the distance the machine travels. The second multi-source laser 504 continuously changes its emission angle as the machine moves further, ensuring the tunnel shape remains constant. Position detection and positioning are achieved through the first multi-source laser 503 and odometer 104. Once a certain position is reached, the tunneling machine stops its excavation work to correct its position. After correction, rock wall cutting begins. After rock wall cutting is completed, the laser platform 5 continues to be pulled, repeating the previous process.

[0047] This invention provides a follow-up tunneling machine posture detection system and method. In follow mode, the laser platform can follow the tunneling machine forward. In working mode, the laser platform can automatically adjust its own posture, which can perform tunneling machine posture detection and provide auxiliary markers for cutting head trajectory planning, thus avoiding the problem of frequent laser position adjustment required by laser-based posture detection methods.

[0048] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0049] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations to the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A follow-type tunneling machine position and posture detection system, characterized in that, The following tunneling machine posture detection system includes auxiliary sensors, a camera, a laser target, a traction rod, and a laser platform. The auxiliary sensors include a magnetostrictive displacement sensor, an angle sensor, and an odometer, which are used to detect the cutting head posture and measure the distance traveled, respectively. The laser platform, the camera, and the laser target are used to complete the tunneling machine posture detection and cutting head trajectory planning. The traction rod is used to guide the laser platform to follow the tunneling machine. The laser platform includes five ultrasonic ranging sensors, one dual-axis tilt sensor, four hydraulic supports, four moving wheels, four lateral rollers, five horizontal rollers, two tracks, two rope winding motors, and two multi-source lasers. The first multi-source laser works in conjunction with the laser target mounted on the tunneling machine to complete the tunneling machine body posture detection and the posture confirmation after the laser platform moves. The second multi-source laser works in conjunction with the camera to determine the trajectory planning and marking points of the cutting head. The first, second, third, and fourth ultrasonic ranging sensors are respectively installed at the four corners of the laser platform. These sensors are used to measure the horizontal distance between the laser platform and the left and right sidewalls. The dual-axis tilt sensor is installed on the laser platform and is used to detect the platform's pitch and roll angles. In follow-up mode, the hydraulic support rises, the moving wheels touch the ground, the tracks leave the ground, and the laser platform moves toward the tunneling machine under the drag of the rope winding motor; as the laser platform moves closer to the tunneling machine, the hydraulic support lowers, the tracks touch the ground, and the laser platform enters working mode. In the working mode, the tracks of the laser platform adjust the platform's heading angle based on the data and corresponding angles measured by the first, second, third, and fourth ultrasonic ranging sensors. The hydraulic support adjusts the extension length of the support and the platform's pitch and roll angles based on the data measured by the dual-axis tilt sensor. The overall height of the laser platform is measured by the fifth ultrasonic ranging sensor.

2. The follow-type tunneling machine posture detection system according to claim 1, characterized in that, The magnetostrictive displacement sensors are respectively installed in the six drive cylinders of the cutting head of the tunneling machine. The magnetostrictive displacement sensors are used to detect the extension length of each hydraulic rod. The angle sensor is installed on the cutting arm shaft. The angle sensor is used to detect the rotation angle of the cutting arm. The odometer is installed on the side of the operating table.

3. The follow-type tunneling machine posture detection system according to claim 1, characterized in that, The first multi-source laser emits a laser beam that illuminates a laser target. The target surface of the laser target is composed of several squares, and each square is equipped with a photosensitive element.

4. The follow-type tunneling machine posture detection system according to claim 1, characterized in that, The second multi-source laser emitter emits laser light to illuminate the rock wall. The laser's landing point is captured by a camera to plan the cutting head's trajectory. By changing the laser's landing point, the shape of the tunnel can be altered.

5. A method for detecting the position and posture of a follow-up tunneling machine, characterized in that, The following tunneling machine pose detection method employs the following tunneling machine pose detection system according to any one of claims 1 to 4, and the following tunneling machine pose detection method includes: When the distance between the laser platform and the tunneling machine is greater than the preset distance, the position of the tunneling machine body is corrected by the first multi-source laser emitter of the laser platform and the target on the body of the tunneling machine, so that the laser landing point falls near the center of the target surface. After adjusting the tunneling machine, the hydraulic support of the laser platform extends, the tracks lift off the ground, the rope winding motor starts working, and the laser platform is pulled closer to the tunneling machine; When the distance between the laser platform and the tunneling machine is equal to or less than the preset distance, the hydraulic support retracts, the tracks touch the ground, and with the assistance of the various sensors on the laser platform, the laser platform is moved to a different position by the tracks. The hydraulic support compensates for the platform's tilt angle, so that the laser landing point still falls on the original position of the target surface. The second multi-source laser is controlled to emit laser light to illuminate the rock wall, and the camera identifies the location of the laser impact point to plan the trajectory of the cutting head. The rock wall cutting work is completed under the monitoring of the magnetostrictive distance sensor and angle sensor in the hydraulic cylinder of the cutting head; The tunneling machine continues to advance under the detection of the laser platform. It achieves posture detection and positioning through the first multi-source laser and odometer. After reaching the preset position, the tunneling machine stops tunneling again and performs posture correction. After the laser point of the first multi-source laser falls near the center position, it continues to pull the laser platform and repeats the previous process.

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