A pose detection device and method based on cross-pulse laser

Abstract

This invention provides a tunnel boring machine (TBM) pose detection system based on a cross-pulse laser, comprising two horizontal spot center detection devices and two vertical spot center detection devices. Utilizing the characteristic of maximum illuminance at the center of the laser spot, a spatial coordinate system is formed by detecting the center positions of the four spots illuminated by the cross-pulse laser on the system. When the TBM pose changes, the position of the cross-pulse laser illuminating the system also changes, forming a new spatial coordinate system, achieving real-time measurement. This system uses a cross-pulse laser and employs a differential method with and without illumination to filter out external interference, enhancing the system's anti-interference capability. Post-processing uses Kalman filtering to improve the accuracy of the detection system. This invention has a simple structure, strong anti-interference capability, and high detection accuracy, making it suitable for use in harsh environments.

Description

Technical Field

[0001] This invention belongs to the field of directional tunneling automation technology, specifically a method for detecting the center of a laser spot and a spatial pose positioning method based on a cross-pulse laser. Background Technology

[0002] Currently, the coal industry occupies an extremely important position in my country's production and daily life, and is the most important component of my country's energy structure. Intelligent coal mining is the core technological support for the high-quality development of the coal industry. Taking tunnel excavation as an example, operations are often carried out manually, which, in complex geological conditions, severely tests the operators' experience in operating the excavation equipment. Moreover, safety accidents such as water, gas, dust, and roof collapses are prone to occur during excavation, causing significant harm to the health of workers engaged in long-term mining work. Therefore, in recent years, the demand for intelligent and unmanned coal mine tunneling faces has become increasingly urgent, with precise directional tunneling being the most critical aspect. Real-time and accurate perception of the position and posture information of underground mining tunneling equipment is the foundation for autonomous walking control of the tunneling machine and compensation for cutting section errors, and is a prerequisite for directional tunneling. Summary of the Invention

[0003] To improve the accuracy and speed of directional drilling, this invention provides a receiving device capable of locating lasers with wavelengths of 430~800nm, which can accurately detect the center position of the laser in real time.

[0004] This invention provides a real-time pose detection system for realizing directional automatic tunneling of tunneling machines. The specific technical solution is as follows: Cross-pulse laser emitter; The top spot center detection device includes: a top cylindrical shell, explosion-proof glass, two circular sealing covers on both sides, a circuit board, a circuit board support column, and a circuit board support beam; The bottom spot center detection device includes: a bottom square shell, explosion-proof glass, a photocell, two square sealing covers on both sides, a circuit board, a circuit board support column, and a front cover plate; The left-side spot center detection device includes: a left-side cylindrical outer shell, explosion-proof glass, a rubber pad, a circuit board, and a circuit board support column; The right-side spot center detection device includes: a right-side cylindrical outer shell, explosion-proof glass, a rubber pad, a circuit board, and a circuit board support column; The supporting structure includes: two short support columns, a long support column, and a right-side support connecting column.

[0005] The cross-pulse laser emitter is placed behind the tunneling machine in the tunneling direction, and the laser beam is directed in the tunneling direction, serving as a reference for guiding the tunneling machine's directional tunneling.

[0006] The bottom left side of the top spot detection device is connected to the long support column by four bolts, and the bottom right side is connected to the right spot center detection system by bolts.

[0007] The top cylindrical outer shell is hollow in the middle, with four through holes on each of the bottom two sides. A rectangular surface is cut out facing the pulsed laser emitter, allowing the laser to irradiate the circuit board while protecting the internal circuitry. Six threaded holes are arranged in a circular array on the left and right sides of the outer shell, corresponding to the circular sealing caps on both sides, and are connected by screws. During installation, sealant must be applied inside to ensure the airtightness of the top laser spot detection device and prevent mine explosions caused by electrical sparks.

[0008] The two circular sealing caps are located on the left and right sides of the cylindrical outer shell. The sealing caps are cylindrical, with six threaded holes arranged in a circular array near the edge of the circle, corresponding to the top cylindrical outer shell. Near the center of the circle, there are two through holes, corresponding to the circuit board support beam.

[0009] The explosion-proof glass is a hollow cylinder with a clearance fit between its outer surface and the inner surface of the top cylindrical outer shell. This prevents the glass surface from being scratched by the vibration of the tunneling machine during operation, thus reducing the glass's light transmittance. The explosion-proof glass is axially fixed on both sides by circular sealing caps to prevent axial movement.

[0010] The circuit board support beam is a solid strip with two threaded holes on each side, and is fixed to the circular sealing caps on both sides by screws. The beam has four threaded holes, which connect it to the circuit board via circuit board support pillars to prevent short circuits and malfunctions caused by contact between certain components on the circuit board and the support beam.

[0011] The circuit board uses linear array photodiodes as sensing elements. Under laser irradiation, the voltage across each photodiode varies due to different illuminance at different locations of the laser spot. To collect the voltages of multiple photodiodes, this invention designs a multi-channel A / D conversion circuit, where multiple multi-channel A / D converters sequentially convert the voltage of each photodiode. The specific process is as follows: When the laser shines on the photovoltaic panel, the microcontroller receives an interrupt signal and sends a command to the bidirectional bus transceiver, enabling data reception. The microcontroller sends an address command via a pin, which is decoded by a 3 / 8 decoder. From multiple A / D conversion chips, the microcontroller selects the required conversion channel. The A / D chip's CS pin is selected, and the measurement of the photodiode voltage begins. When the A / D converter completes the conversion, it sets the EOC pin high. When the microcontroller detects the change in the EOC signal, it begins reading data. The communication between the microcontroller and the A / D chip uses the SPI protocol; each pulse signal reads one bit of data. Once all bits have been read, the EOC signal returns to its initial state. The microcontroller stores the read data in its ROM. Then, the microcontroller sends the address of another channel to measure the voltage of the second photodiode. When the voltage measurements of all photodiodes are complete, the microcontroller sends all the stored data to the host computer via the RS-485 communication protocol.

[0012] The greater the surface illuminance (I) of a photodiode, the greater the potential difference across it. The closer the laser spot is to the center, the greater the light intensity (E). The formula relating light intensity and illuminance is as follows: (1) It can be seen that the closer the photodiode is to the center of the light spot, the greater the voltage difference between its two ends. By miniaturizing the light-receiving surface of the photodiode, the voltage at its centroid can be fitted into a curve, and the position corresponding to the maximum value of the curve is the center of the light spot. The center position measured by the top horizontal light spot center detection device is A(Xt,Yt,Zt).

[0013] The bottom of the light spot center detection device is bolted to two short support columns. The top left side is bolted to the left side light spot detection device.

[0014] The bottom square outer shell is hollow in the center, with four through holes on each of the two bottom sides. A rectangular section is cut out from the side facing the cross-pulse laser emitter, with a threaded hole at each of the four corners for securing the front cover. A boss is present in the cut-out portion of the shell for securing the explosion-proof glass and photovoltaic cells. The front shell wall is thin, while the rear shell wall is thick. Four threaded holes are located on the inner rear wall of the shell for mounting and securing the circuit board. Each of the four sides of the left and right sides of the shell has a threaded hole corresponding to the square sealing covers on both sides, connected by screws. During installation, sealant must be applied inside to ensure the airtightness of the top light spot detection device and prevent mine explosions caused by electrical sparks.

[0015] The explosion-proof glass is installed at the bottom of the cut-out shell. The explosion-proof glass is a cuboid, with its short sides axially fixed to the outer edge of the square shell boss, its bottom long side fixed by the square shell, and its top long side fixed by the front cover plate.

[0016] The photovoltaic cell can output a high level when illuminated by laser light and a low level under no light or low light conditions. The photovoltaic cell is installed in a square, externally cut-out groove. The sides and top of the photovoltaic cell are fixed by a square outer shell, and the bottom is fixed by a front cover plate.

[0017] The two rectangular sealing caps are located on the left and right sides of the rectangular outer shell. The sealing caps are rectangular and have a threaded hole near each edge that corresponds to the bottom rectangular outer shell.

[0018] The front cover is rectangular and installed on the front of the square outer casing. Two parallel rectangles are cut out from the middle of the front cover; the upper rectangle is narrower, and the lower rectangle is wider. Each of the four corners of the front cover has a threaded through hole, corresponding to the threaded holes on the front of the square outer casing.

[0019] The circuit board principle, width, and length of the bottom spot center detection system are the same as those of the top circuit board. The measured spot center position is B(X). b ,Y b Z b ).

[0020] The bottom of the left-side spot center detection device is connected to the bottom spot center detection device by four bolts. The bulletproof glass side of the left-side spot detection device faces the cross-pulse laser emitter.

[0021] The left-side cylindrical outer casing has a cylindrical top and a cylindrical boss at the bottom with four through holes for fixing the column and preventing rotation caused by vibration, which would prevent it from receiving the cross-pulse laser. A rectangular slot faces the cross-pulse laser emitter. A fan-shaped groove is cut out at the bottom for installing bulletproof glass. A cylindrical through hole is located at the center of the bottom for wires to pass through.

[0022] The explosion-proof glass is fan-shaped and installed in the left columnar outer shell, with a rubber gasket at the bottom for fixation and sealing.

[0023] The rubber pad is fan-shaped and used to fix the explosion-proof glass, with a square outer shell at the bottom for fixation.

[0024] The circuit board described above operates on the same principle as the top circuit, and the measured center position of the light spot is C(X). l ,Y l Z l ).

[0025] The top of the right-side spot center detection system is connected to the top spot center detection device by four bolts, and the bottom is connected to the right-side support column. After the right-side spot center detection system is connected to the right-side support column, it is the same length as the long support column, making the top spot center detection system parallel to the upper surface of the tunneling machine. The position of the spot center measured by the right-side spot center detection system is D(X). r ,Y r Z r ).

[0026] The right-side columnar outer shell has a fan-shaped ring at the top that is stretched and connected to the columnar outer shell, and a cylindrical boss at the bottom with four through holes that correspond to the through holes of the right-side support column.

[0027] The explosion-proof glass, rubber pad, circuit board structure, and principle are all the same as those of the left-side light spot center detection device.

[0028] The aforementioned short support columns have cuboid upper and lower bosses, each with a through hole near one of the four corners, and a solid central section. The upper surfaces of the two short support columns are connected to the bottom light spot detection device, ensuring that the bottom light spot detection system is parallel to the upper surface of the tunneling machine.

[0029] The host computer uses the data from the four detection devices and the microcontroller to fit a curve to determine the center position. Taking the data measured by the top horizontal light spot center detection device as an example, there are m photodiodes, and the center position of each photodiode is x. i The step size is equal to the width of the photodiode. The voltage measured for each photodiode is y. i The data is [(x0,y0),(x1,y1),…,(x i ,y i The voltage and the arrangement of the photodiodes follow a Gaussian distribution. The probability density function of the Gaussian distribution is... (2) To simplify calculations, take the logarithm on both sides of the Gaussian distribution. (3) Transforming into a polynomial yields (4) in (5) According to the least squares method, the normal equation of the fitted curve is obtained. (6) Calculate the values ​​of a0, a1, and a2 to find the maximum point. The x-value corresponding to the maximum point is the center position of the light spot.

[0030] The host computer post-processing uses Kalman filtering to improve measurement accuracy and establishes a system state equation for each spot center detection device. (7) x t-1 It is the center position of the light spot at the previous moment, u t w is the control input given to the system at time t. t The predicted Gaussian white noise follows a normal distribution.

[0031] The system's observation equation is (8) v t It is observation noise, and its distribution follows a Gaussian distribution.

[0032] Kalman filtering prediction process (9) Kalman filter correction process (10) The position information measured by the spot center detection device and the state estimate value from the Kalman filter are substituted into the equation to obtain the relative center position of the spot. Finally, the host computer generates a spatial coordinate system from the four calculated relative center positions to obtain the pose information of the tunneling machine.

[0033] The x-axis displacement of the host computer is measured by the top horizontal spot center detection device; the z-axis displacement is measured by the left vertical spot center detection device; the y-axis displacement is measured by the bottom horizontal spot center detection device; the yaw angle is... (11) The roll angle is (12) pitch angle is (13) The final six pose measurements were displayed on the host computer. Attached Figure Description

[0034] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with examples of the invention to explain the invention and do not constitute a limitation thereof.

[0035] Figure 1 This is an isometric test diagram of the tunneling machine of this invention installed in a tunnel.

[0036] Figure 2 It refers to the vertical position that can be illuminated by the cross-pulse laser in the tunnel.

[0037] Figure 3It refers to the horizontal position that can be illuminated by a cross-pulse laser in the tunnel.

[0038] Figure 4 This is a flowchart of the detection system of the present invention.

[0039] Figure 5 This is a flowchart of the measurement circuit of the present invention.

[0040] Figure 6 This is the isometric test diagram of the present invention.

[0041] Figure 7 This is a perspective view of the front of the invention.

[0042] Figure 8 This is a cross-sectional view of the center position of the side of the bottom spot center detection device of the present invention.

[0043] Figure 9 This is a cross-sectional view of the center position of the side of the top spot center detection device of the present invention.

[0044] Figure 10 This is a cross-sectional view of the center position of the left-side light spot center detection device of the present invention.

[0045] Figure 11 This is a cross-sectional view of the center position of the right-side light spot center detection device of the present invention.

[0046] Figure 12 This is a partial cross-sectional view of the front of the present invention.

[0047] Figure 13 This is an isometric test diagram of the long support column of the present invention.

[0048] Figure 14 This is an isoplethysmographic view of the short support column of the present invention.

[0049] Figure 15 This is a bottom view of the right-side light spot center detection device of the present invention.

[0050] Figure 16 This is the detection principle of the circuit board of the present invention.

[0051] Figure 17 This is a schematic diagram of the circuit board of the present invention.

[0052] Figure captions: 1. Cross-shaped pulse laser emitter; 2. Mine roadway; 3. Tunneling machine; 4. Top cylindrical shell; 5. Bottom square shell; 6. Front cover plate; 7. Short support column; 8. Square sealing cover; 9. Left cylindrical shell; 10. Long support column; 11. Circular sealing cover; 12. Circular sealing cover; 13. Right cylindrical shell; 14. Right support connecting column; 15. Square sealing cover; 16. Short support column; 17, 18, 19, 20. Circuit board; 21. Explosion-proof glass; 22. Photovoltaic cell; 23. Circuit board support column; 24. Explosion-proof glass; 25. Circuit board support beam; 26. Circuit board support column; 27. Explosion-proof glass; 28. Rubber pad; 29. ​​Circuit board support column. Detailed Implementation

[0053] 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 and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0054] To improve the accuracy and speed of directional drilling, this invention provides a receiving device capable of locating lasers with wavelengths of 430~800nm, which can accurately detect the center position of the laser in real time.

[0055] like Figure 1 As shown, this invention provides a real-time pose detection system for realizing directional automatic tunneling of the tunneling machine 3. The specific technical solution is as follows: Cross-pulse laser emitter; The top spot center detection device includes: a top cylindrical shell 4, explosion-proof glass 24, two circular sealing covers 11 and 12 on both sides, a circuit board 18, a circuit board support column 26, and a circuit board support beam 25. The bottom spot center detection device includes: a bottom square shell 5, an explosion-proof glass 21, a photocell 22, two side square sealing covers 8 and 15, a circuit board 20, a circuit board support column 23, and a front cover plate 6; The left-side spot center detection device includes: a left-side cylindrical shell 9, explosion-proof glass 27, rubber pad 28, circuit board 17, and circuit board support column 29; The right-side spot center detection device includes: a right-side cylindrical shell 13, explosion-proof glass 27, rubber pad 28, circuit board 19, and circuit board support column 29; The support structure includes: two short support columns 7 and 16, a long support column 10, and a right-side support connecting column 14.

[0056] The cross-pulse laser emitter is placed behind the tunneling machine in the tunneling direction, and the laser beam is directed in the tunneling direction, serving as a reference for guiding the tunneling machine's directional tunneling.

[0057] The bottom left side of the top spot detection device is connected to the long support column by four bolts, and the bottom right side is connected to the right spot center detection system by bolts.

[0058] The top cylindrical outer shell is hollow in the middle, with four through holes on each of the bottom two sides. A rectangular surface is cut out facing the pulsed laser emitter, allowing the laser to irradiate the circuit board while protecting the internal circuitry. Six threaded holes are arranged in a circular array on the left and right sides of the outer shell, corresponding to the circular sealing caps on both sides, and are connected by screws. During installation, sealant must be applied inside to ensure the airtightness of the top laser spot detection device and prevent mine explosions caused by electrical sparks.

[0059] The two circular sealing caps are located on the left and right sides of the cylindrical outer shell. The sealing caps are cylindrical, with six threaded holes arranged in a circular array near the edge of the circle, corresponding to the top cylindrical outer shell. Near the center of the circle, there are two through holes, corresponding to the circuit board support beam.

[0060] The explosion-proof glass is a hollow cylinder with a clearance fit between its outer surface and the inner surface of the top cylindrical outer shell. This prevents the glass surface from being scratched by the vibration of the tunneling machine during operation, thus reducing the glass's light transmittance. The explosion-proof glass is axially fixed on both sides by circular sealing caps to prevent axial movement.

[0061] The circuit board support beam is a solid strip with two threaded holes on each side, and is fixed to the circular sealing caps on both sides by screws. The beam has four threaded holes, which connect it to the circuit board via circuit board support pillars to prevent short circuits and malfunctions caused by contact between certain components on the circuit board and the support beam.

[0062] The circuit board uses linear array photodiodes as sensing elements. Under laser irradiation, the voltage across each photodiode varies due to different illuminance at different locations of the laser spot. To collect the voltages of multiple photodiodes, this invention designs a multi-channel A / D conversion circuit, where multiple multi-channel A / D converters sequentially convert the voltage of each photodiode. The specific process is as follows: When the laser shines on the photovoltaic panel, the microcontroller receives an interrupt signal and sends a command to the bidirectional bus transceiver, enabling data reception. The microcontroller sends an address command via a pin, which is decoded by a 3 / 8 decoder. From multiple A / D conversion chips, the microcontroller selects the required conversion channel. The A / D chip's CS pin is selected, and the measurement of the photodiode voltage begins. When the A / D converter completes the conversion, it sets the EOC pin high. When the microcontroller detects the change in the EOC signal, it begins reading data. The communication between the microcontroller and the A / D chip uses the SPI protocol; each pulse signal reads one bit of data. Once all bits have been read, the EOC signal returns to its initial state. The microcontroller stores the read data in its ROM. Then, the microcontroller sends the address of another channel to measure the voltage of the second photodiode. When the voltage measurements of all photodiodes are complete, the microcontroller sends all the stored data to the host computer via the RS-485 communication protocol.

[0063] The greater the surface illuminance (I) of a photodiode, the greater the potential difference across it. The closer the laser spot is to the center, the greater the light intensity (E). The formula relating light intensity and illuminance is as follows: (1) It can be seen that the closer the photodiode is to the center of the light spot, the greater the voltage difference between its two ends. By miniaturizing the light-receiving surface of the photodiode, the voltage at its centroid can be fitted into a curve, and the position corresponding to the maximum value of the curve is the center of the light spot. The center position measured by the top horizontal light spot center detection device is A(Xt,Yt,Zt).

[0064] The bottom of the light spot center detection device is bolted to two short support columns. The top left side is bolted to the left side light spot detection device.

[0065] The bottom square outer shell is hollow in the center, with four through holes on each of the two bottom sides. A rectangular section is cut out from the side facing the cross-pulse laser emitter, with a threaded hole at each of the four corners for securing the front cover. A boss is present in the cut-out portion of the shell for securing the explosion-proof glass and photovoltaic cells. The front shell wall is thin, while the rear shell wall is thick. Four threaded holes are located on the inner rear wall of the shell for mounting and securing the circuit board. Each of the four sides of the left and right sides of the shell has a threaded hole corresponding to the square sealing covers on both sides, connected by screws. During installation, sealant must be applied inside to ensure the airtightness of the top light spot detection device and prevent mine explosions caused by electrical sparks.

[0066] The explosion-proof glass is installed at the bottom of the cut-out shell. The explosion-proof glass is a cuboid, with its short sides axially fixed to the outer edge of the square shell boss, its bottom long side fixed by the square shell, and its top long side fixed by the front cover plate.

[0067] The photovoltaic cell can output a high level when illuminated by laser light and a low level under no light or low light conditions. The photovoltaic cell is installed in a square, externally cut-out groove. The sides and top of the photovoltaic cell are fixed by a square outer shell, and the bottom is fixed by a front cover plate.

[0068] The two rectangular sealing caps are located on the left and right sides of the rectangular outer shell. The sealing caps are rectangular and have a threaded hole near each edge that corresponds to the bottom rectangular outer shell.

[0069] The front cover is rectangular and installed on the front of the square outer casing. Two parallel rectangles are cut out from the middle of the front cover; the upper rectangle is narrower, and the lower rectangle is wider. Each of the four corners of the front cover has a threaded through hole, corresponding to the threaded holes on the front of the square outer casing.

[0070] The circuit board principle, width, and length of the bottom spot center detection system are the same as those of the top circuit board. The measured spot center position is B(X). b ,Y b Z b ).

[0071] The bottom of the left-side spot center detection device is connected to the bottom spot center detection device by four bolts. The bulletproof glass side of the left-side spot detection device faces the cross-pulse laser emitter.

[0072] The left-side cylindrical outer casing has a cylindrical top and a cylindrical boss at the bottom with four through holes for fixing the column and preventing rotation caused by vibration, which would prevent it from receiving the cross-pulse laser. A rectangular slot faces the cross-pulse laser emitter. A fan-shaped groove is cut out at the bottom for installing bulletproof glass. A cylindrical through hole is located at the center of the bottom for wires to pass through.

[0073] The explosion-proof glass is fan-shaped and installed in the left columnar outer shell, with a rubber gasket at the bottom for fixation and sealing.

[0074] The rubber pad is fan-shaped and used to fix the explosion-proof glass, with a square outer shell at the bottom for fixation.

[0075] The circuit board described above operates on the same principle as the top circuit, and the measured center position of the light spot is C(X). l ,Y l Z l ).

[0076] The top of the right-side spot center detection system is connected to the top spot center detection device by four bolts, and the bottom is connected to the right-side support column. After the right-side spot center detection system is connected to the right-side support column, it is the same length as the long support column, making the top spot center detection system parallel to the upper surface of the tunneling machine. The position of the spot center measured by the right-side spot center detection system is D(X). r ,Y r Z r ).

[0077] The right-side cylindrical outer shell has a fan-shaped ring at the top that is stretched and connected to the cylindrical outer shell, and a cylindrical boss at the bottom with four through holes that correspond to the through holes of the right-side support column.

[0078] The explosion-proof glass, rubber pad, circuit board structure, and principle are all the same as those of the left-side light spot center detection device.

[0079] The aforementioned short support columns have cuboid upper and lower bosses, each with a through hole near one of the four corners, and a solid central section. The upper surfaces of the two short support columns are connected to the bottom light spot detection device, ensuring that the bottom light spot detection system is parallel to the upper surface of the tunneling machine.

[0080] The host computer fits the data measured by the microcontrollers of the four detection devices into a curve to determine the center position. Taking the data measured by the top horizontal light spot center detection device as an example, there are m photodiodes in total, and the center position of each photodiode is x. i The step size is equal to the width of the photodiode. The voltage measured for each photodiode is y. i The data is [(x0,y0),(x1,y1),…,(x i ,y i The voltage and the arrangement of the photodiodes follow a Gaussian distribution. The probability density function of the Gaussian distribution is... (2) To simplify calculations, take the logarithm on both sides of the Gaussian distribution. (3) Transforming into a polynomial yields (4) in (5) According to the least squares method, the normal equation of the fitted curve is obtained. (6) Calculate the values ​​of a0, a1, and a2 to find the maximum point. The x-value corresponding to the maximum point is the center position of the light spot.

[0081] The host computer post-processing uses Kalman filtering to improve measurement accuracy and establishes a system state equation for each spot center detection device. (7) x t-1 It is the center position of the light spot at the previous moment, u t w is the control input given to the system at time t. t The predicted Gaussian white noise follows a normal distribution.

[0082] System observation equations (8) v t The observed noise exhibits a Gaussian distribution.

[0083] Kalman filtering prediction process (9) Kalman filter correction process (10) The position information measured by the spot center detection device and the state estimate value from the Kalman filter are substituted into the equation to obtain the relative center position of the spot. Finally, the host computer generates a spatial coordinate system from the four calculated relative center positions to obtain the pose information of the tunneling machine.

[0084] The x-axis displacement of the host computer is measured by the top horizontal spot center detection device; the z-axis displacement is measured by the left vertical spot center detection device; the y-axis displacement is measured by the bottom horizontal spot center detection device; the yaw angle is... (11) The roll angle is (12) pitch angle is (13) The final six pose measurements were displayed on the host computer.

Claims

1. A tunneling machine pose detection system based on cross-pulse laser, characterized in that: The system includes a cross-pulse laser emitter, a host computer, a top spot center detection device, a bottom spot center detection device, a left spot center detection device, and a right spot center detection device; wherein: The cross-pulse laser emitter is placed behind the tunneling machine in the tunneling direction, and the laser shines in the tunneling direction of the tunneling machine, which is the reference for guiding the tunneling machine to tunnel in a directional manner; There are two horizontal laser spot center detection devices: a top laser spot center detection device and a bottom laser spot center detection device. When the tunneling machine is working, the cross laser spot illuminates the top and bottom laser spot center detection devices, which can measure the horizontal displacement of the tunneling machine in real time. The bottom laser spot center detection device can also measure the distance between the laser emitter and the detection system, thereby calculating the tunneling distance of the tunneling machine. There are two vertical spot center detection devices, namely a left spot center detection device and a right spot center detection device. The left spot center detection device is used to measure the displacement of the tunneling machine in the vertical direction. The host computer converts the position information measured by all detection devices into the spatial coordinate system of the tunneling machine in real time, and finally sends the converted attitude data to the tunneling machine's navigation system.

2. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The aforementioned detection system can measure the position of the center of a cross-pulse laser spot with a wavelength of 430–800 nm by detecting the tunneling machine. x , y , z The system measures displacement in direction, pitch angle, roll angle, and yaw angle. When the cross-pulse laser illuminates the detection system, two horizontal spot center detection devices and two vertical spot center detection devices will form four strip-shaped spots. By detecting the center positions of these four spots, a spatial coordinate system with the tunneling machine's center of mass as the origin is established. o -xyz.

3. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The detection system uses the direction of laser irradiation during tunneling as its reference. y In the positive direction of the axis, with the tunneling machine moving to the right in the horizontal direction as... x The positive direction of the axis is perpendicular to the bottom of the tunnel and upwards. z The positive axis direction; the pitch angle of the tunneling machine is the tunneling machine's angle around the spatial coordinate system. x When the axis rotates with the coordinate plane X n O n Y n The included angle between them is θ The upward rotation of the tunneling machine is positive, and the downward rotation is negative; the roll angle is the angle around which the tunneling machine rotates. y When the axis rotates with the coordinate plane X n O n Y n The angle between γ Clockwise is positive, counterclockwise is negative; yaw angle is the angle around which the tunneling machine rotates. z When the axis rotates with the coordinate plane Z n O n Y n The angle between Φ The tunneling machine rotating to the right is positive, and rotating to the left is negative.

4. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The detection system includes the following steps: The first step is to turn on the cross pulse laser so that the cross pulse laser spot illuminates the detection system; The second step is that when the laser shines on the bottom horizontal spot center detection device, the microcontroller detects that the photocell on the bottom horizontal spot center detection device generates a potential difference due to the photoelectric phenomenon, and sends a signal to the host computer that the detection system has been illuminated by light. The third step is that the host computer receives the signal and sends a start measurement signal to each detection device; In the fourth step, each detection device sequentially sends the data from the sensitive element measuring the high and low levels of the pulsed laser to the host computer; The fifth step involves the host computer using a differential method to calculate the difference between the high-level and the measured voltage, filtering out interference caused by stray light from the outside world, and obtaining accurate data on the center position of the light spot. The sixth step involves the host computer calculating the relative center position using Kalman filtering based on the measured center position data of the light spot. In the seventh step, the host computer uses the center position data of the four light spots to form a spatial coordinate matrix, calculates the changes in the pitch angle, roll angle, and yaw angle of the tunnel boring machine, and finally sends the pose data to the tunnel boring machine's navigation system.

5. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The cross-pulse laser emitter emits a 60Hz cross-pulse laser with a small divergence angle, which can illuminate a long distance. Furthermore, the laser can adjust its height according to the working conditions of the tunnel.

6. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The top spot center detection device uses a linear array of photodiodes as the sensing element. When laser light shines on the photodiodes, the voltage across each photodiode differs due to varying illuminance at different locations on the spot. To collect the voltages of multiple photodiodes, a multiplexer A / D converter circuit is used, where multiple A / D converters sequentially convert the voltage of each photodiode. The specific process is as follows: When the laser shines on the photovoltaic panel of the bottom spot center detection device, the microcontroller receives an interrupt signal and sends a command to the bidirectional bus transceiver to allow data reception. The microcontroller sends an address command via a pin, which is decoded by a 3 / 8 decoder. From multiple A / D conversion chips, the microcontroller selects the conversion channel of the required A / D converter. The microcontroller selects the CS pin of the selected A / D converter and begins measuring the voltage of the photodiode. When the A / D converter completes the conversion, it pulls the EOC pin high. When the microcontroller detects a change in the EOC signal, it begins reading data. The communication between the microcontroller and the A / D converter uses the SPI protocol; each pulse signal reads one bit of data. When all bits have been read, the EOC signal returns to its initial state. The microcontroller stores the read data in its ROM. Then, the microcontroller sends the address of another channel to measure the voltage of the second photodiode. When the voltage measurements of all photodiodes are complete, the microcontroller sends all the stored data to the host computer via the 485 communication protocol. The surface illuminance of the photodiode is then measured. I The larger the value, the greater the potential difference between the two sides; the closer the laser spot is to the center, the greater the light intensity E. The formula between light intensity and illuminance is as follows: (1) It can be seen that the closer the photodiode is to the center of the light spot, the greater the voltage difference across its two ends. By miniaturizing the light-receiving surface of the photodiode, the voltage at its centroid can be fitted into a curve. The position corresponding to the maximum value of the curve is the center of the light spot. The center position measured by the top horizontal light spot center detection device is A( X t ,Y t ,Z t ).

7. The tunneling machine pose detection system based on cross-pulse laser according to claim 1, characterized in that: The center position measured by the bottom horizontal spot center detection device is: B ( X b ,Y b ,Z b The center position of the vertical light spot detected by the detection device on the left is... C ( X l ,Y l ,Z l The center position of the vertical light spot detected by the detection device on the right is... D ( X r ,Y r ,Z r ).

8. The tunneling machine pose detection system based on cross-pulse laser according to claim 4, characterized in that: The host computer fits the data measured by the microcontroller into a curve to determine the center position; the top horizontal light spot center detection device has a total of m photodiodes, and the center position of each photodiode is... x i The step size is the width of the photodiode; the voltage measured by the photodiode is... y i The data is [(x0,y0),(x1,y1),…,(x i ,y i The voltage and the arrangement of the photodiodes exhibit a Gaussian distribution. The probability density function of the Gaussian distribution is: (2) To simplify the calculation, taking the logarithm of both sides of the Gaussian distribution yields: (3) Transforming into a polynomial, we get: (4) in (5) According to the least squares method, the normal equation of the fitted curve is obtained. (6) calculate a 0 ,a 1 ,a 2 Find the maximum point, and the value of the extreme point. x The value represents the center position of the light spot.

9. The tunneling machine pose detection system based on cross-pulse laser according to claim 4, characterized in that: The host computer post-processing uses Kalman filtering to improve measurement accuracy, and establishes a system state equation for each spot center detection device: (7) x t-1 It is the center position of the light spot at the previous moment. u t It is the control input given to the system at time t. w t The predicted Gaussian white noise follows a normal distribution; The system's observation equations: (8) v t The observed noise exhibits a Gaussian distribution; The prediction process of Kalman filtering: (9) Kalman filter correction process: (10) The position information measured by the spot center detection device and the state estimate value of the Kalman filter are substituted into the equation to obtain the relative center position of the spot; finally, the host computer generates a spatial coordinate system from the four calculated relative center positions to obtain the pose information of the tunneling machine.

10. The tunneling machine pose detection system based on a cross-pulse laser according to claim 4, characterized in that: x Axial displacement is measured using a detection device at the center of the top horizontal light spot. z The axial displacement is measured by the detection device at the center of the vertical spot on the left. y Axial displacement is measured using a detection device at the center of the bottom horizontal light spot. The yaw angle is: (11) The roll angle is: (12) The pitch angle is: (13) The final six pose measurements were displayed on the host computer.

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