Method and system for measuring and controlling the end-of-arm error of a tunnel construction apparatus

Abstract

The present disclosure relates to a method and system for measuring and controlling the boom end error of a tunnel construction equipment. The method for measuring the boom end error of a tunnel construction equipment (10) includes a chassis (11) and a boom (12), wherein the method comprises: acquiring an image of an identifiable target (21) on a measuring stake (20) independent of the tunnel construction equipment (10) by an image acquisition unit (30) installed on a boom end (12e) of the boom (12), and determining pose information of the identifiable target (21) relative to the image acquisition unit (30) according to the image of the identifiable target (21); converting the pose information of the identifiable target (21) relative to the image acquisition unit (30) into pose information of the identifiable target (21) relative to the chassis (11); and determining error information of the boom end (12e) according to the pose reference information and the pose information of the identifiable target (21) relative to the chassis (11).

Description

Technical Field

[0001] This disclosure relates to the field of tunnel construction technology, and in particular to a method and system for measuring and controlling the error at the end of the boom of a tunnel construction equipment. Background Technology

[0002] With increasing research into unmanned and intelligent tunnel construction, fully computerized rock drilling rigs have emerged for drill-and-blast methods. Compared to the previous generation of semi-computerized rock drilling rigs, while reducing the number of operators and improving their safety, fully computerized rigs suffer from drawbacks. The longer and heavier booms of these rigs lead to excessive boom deflection and lower positioning accuracy of the end effector. This is particularly problematic when using large mechanical booms like rock drilling rigs for automatic hole alignment, often resulting in significant alignment deviations, under-blasting, and over-blasting after blasting, thus impacting construction efficiency. Summary of the Invention

[0003] The inventors discovered through research that in some technologies related to rock drilling rigs, due to the large overall size of the rigs and their long booms, coupled with the harsh operating environment, ordinary measuring instruments are unable to perform accurate measurements. During construction, it is necessary to frequently use a total station to manually check the end effector position of the robotic arm for error correction, resulting in low construction efficiency. In some robot-related technologies, the position error detection of the end effector of the robotic arm is involved. These technologies are usually used in industrial robot applications, but they are not suitable for application in tunnel construction equipment with large booms.

[0004] In view of this, the present disclosure provides a method and system for measuring and controlling the error at the boom end of a tunnel construction equipment, which can meet the application requirements of tunnel construction equipment in various usage scenarios and improve efficiency.

[0005] In one aspect of this disclosure, a method for measuring the end-of-boom error of a tunnel construction equipment is provided. The tunnel construction equipment includes a chassis and a boom, wherein the method for measuring the end-of-boom error includes:

[0006] An image acquisition unit installed at the end of the boom acquires an image of an identifiable target on a measuring stake independent of the tunnel construction equipment, and determines the pose information of the identifiable target relative to the image acquisition unit based on the image of the identifiable target.

[0007] The pose information of the identifiable target relative to the image acquisition unit is converted into the pose information of the identifiable target relative to the chassis;

[0008] Based on the pose reference information and the pose information of the identifiable target relative to the chassis, the error information of the boom end is determined.

[0009] In some embodiments, the boom end error measurement method further includes:

[0010] The measuring stake with the identifiable target is set in front of the boom;

[0011] The pose information of the identifiable target relative to the chassis is obtained by a surveying device and used as the pose reference information.

[0012] In some embodiments, the step of converting the pose information of the identifiable target relative to the image acquisition unit into the pose information of the identifiable target relative to the chassis includes:

[0013] The pose information of the identifiable target relative to the chassis is calculated based on the pose information of the identifiable target relative to the image acquisition unit, the pose information of the image acquisition unit relative to the boom end, and the pose information of the boom end relative to the chassis.

[0014] In some embodiments, the tunnel construction equipment further includes a boom drive mechanism for driving the boom to move relative to the chassis, wherein the boom end error measurement method further includes:

[0015] The boom is driven by the boom drive mechanism to move the boom to a position where the measuring stake set in front of the boom is within the field of view of the image acquisition unit.

[0016] In some embodiments, when the boom is driven by the boom drive mechanism to move to a position where the measuring stake in front of the boom is within the field of view of the image acquisition unit, the boom end error measurement method further includes:

[0017] Obtain the joint angles of each joint of the boom;

[0018] The pose information of the boom end relative to the chassis is determined based on the joint angles of each joint.

[0019] In some embodiments, the boom end error measurement method further includes:

[0020] The pose information of the image acquisition unit relative to the end of the boom is determined based on the preset installation position of the image acquisition unit on the end of the boom.

[0021] In some embodiments, the step of determining the error information of the boom end based on pose reference information and the pose information of the identifiable target relative to the chassis includes:

[0022] The positional error of the boom end is determined by calculating the difference between the positional information in the pose information of the identifiable target relative to the chassis and the positional information in the pose reference information.

[0023] In some embodiments, the surveying device includes a total station, and the step of obtaining the pose information of the identifiable target relative to the chassis as the pose reference information through the surveying device includes:

[0024] The total station is used to obtain the pose information of the identifiable target relative to the chassis as the pose reference information.

[0025] In some embodiments, the identifiable target is an image code set on the surface of the measuring pile.

[0026] In some embodiments, the image is encoded as a QR code.

[0027] In some embodiments, the image acquisition unit includes a depth camera.

[0028] In one aspect of this disclosure, a method for controlling boom end-of-arm error is provided, comprising:

[0029] The error information of the boom end is determined by the aforementioned boom end error measurement method;

[0030] Error compensation is performed based on the error information at the end of the boom;

[0031] After error compensation, the accuracy of the boom end is verified by the boom end error measurement method.

[0032] In one aspect of this disclosure, a boom end error measurement system is provided for tunnel construction equipment, the tunnel construction equipment including a chassis and a boom, wherein the boom end error measurement system includes:

[0033] An image acquisition unit is installed on the end of the boom;

[0034] The surveying stakes are set up independently of the tunnel construction equipment and have identifiable targets;

[0035] The host computer, connected to the image acquisition unit via signals, is configured as follows:

[0036] The image acquisition unit acquires images of identifiable targets on the measuring stake.

[0037] The pose information of the identifiable target relative to the image acquisition unit is converted into the pose information of the identifiable target relative to the chassis;

[0038] Based on the pose reference information and the pose information of the identifiable target relative to the chassis, the error information of the boom end is determined.

[0039] In some embodiments, the boom end error measurement system further includes:

[0040] The surveying device is connected to the host computer via a signal and is configured to acquire the pose information of the identifiable target relative to the chassis as the pose reference information.

[0041] In some embodiments, the identifiable target is an image code set on the surface of the measuring pile.

[0042] In some embodiments, the image acquisition unit includes a depth camera.

[0043] In some embodiments, the tunnel construction equipment further includes a boom drive mechanism for driving the boom to move relative to the chassis, wherein the host computer is signal-connected to the boom drive mechanism and configured as follows:

[0044] The boom is driven by the boom drive mechanism to move the boom to a position where the measuring stake set in front of the boom is within the field of view of the image acquisition unit.

[0045] In one aspect of this disclosure, a boom end-of-arm error control system is provided, comprising:

[0046] The aforementioned boom end error measurement system;

[0047] An error compensation module, connected to the host computer signal, is configured to perform error compensation based on the error information at the end of the boom.

[0048] The accuracy verification module is connected to the host computer via a signal and is configured to call the boom end error measurement system to perform accuracy verification on the boom end after the error compensation module performs error compensation.

[0049] Therefore, according to the embodiments of this disclosure, an image acquisition unit installed at the end of the boom acquires an image of an identifiable target on a measuring stake independent of the tunnel construction equipment. Based on this image, the pose information of the identifiable target relative to the image acquisition unit is determined. Then, pose transformation is used to obtain the pose information of the identifiable target relative to the chassis. By comparing the pose reference information, the error information at the end of the boom can be determined. In this way, with pose reference information available, the error at the end of the boom can be conveniently measured without the need for frequent measurements using surveying instruments, thereby greatly improving construction efficiency. Compared to related technologies of industrial robots, this embodiment can meet the construction requirements of tunnel construction equipment due to its large overall size, long boom, and relatively harsh operating environment. Attached Figure Description

[0050] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0051] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0052] Figure 1 This is a schematic diagram illustrating an application scenario of a method for measuring the error at the end of a boom of a tunnel construction equipment according to some embodiments of this disclosure;

[0053] Figure 2 This is a flowchart illustrating a method for measuring the error at the boom end of a tunnel construction device according to some embodiments of the present disclosure;

[0054] Figure 3 This is a schematic diagram of the signal relationship of the boom end error measurement system of tunnel construction equipment according to some embodiments of the present disclosure;

[0055] Figure 4 This is a schematic flowchart of a boom end error control method according to some embodiments of the present disclosure;

[0056] Figure 5 This is a schematic diagram of the signal relationships of a boom end error control system according to some embodiments of the present disclosure.

[0057] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0058] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0059] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0060] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0061] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0063] In some technologies related to rock drilling rigs, due to their large overall size and long booms, and the harsh operating environment, ordinary measuring instruments are difficult to use for accurate measurements. During construction, it is necessary to frequently use a total station to manually check the end effector position of the robotic arm for error correction, resulting in low construction efficiency. In some robot-related technologies, the position error detection of the end effector of the robotic arm is involved. These technologies are usually used in industrial robot applications, but they are not suitable for use in tunnel construction equipment with large booms.

[0064] In view of this, the present disclosure provides a method and system for measuring and controlling the error at the boom end of a tunnel construction equipment, which can meet the application requirements of tunnel construction equipment in various usage scenarios and improve efficiency.

[0065] Figure 1 This is a schematic diagram illustrating an application scenario of a method for measuring the error at the end of the boom of a tunnel construction equipment according to some embodiments of this disclosure. Figure 2 This is a flowchart illustrating a method for measuring the error at the end of the boom of a tunnel construction equipment according to some embodiments of the present disclosure.

[0066] refer to Figure 1 This disclosure provides a method for measuring the error at the end of the boom of a tunnel construction equipment 10. The tunnel construction equipment 10 includes a chassis 11 and a boom 12.

[0067] The tunnel construction equipment 10 can be a rock drilling rig, tunnel trolley, etc. The chassis 11 is used for the movement of the tunnel construction equipment 10 and for supporting the upper part of the equipment. The chassis 11 may include a frame, turntable, traveling mechanism, outriggers, etc. The boom 12 includes one or more boom sections; depending on the function, each boom section of the boom 12 can achieve relative rotation or relative extension / retraction.

[0068] refer to Figure 1 and Figure 2 The method for measuring the error at the end of the boom includes steps S12, S13, and S14. Each step can be executed by a host computer installed in the tunnel construction equipment 10 or by a remote platform that communicates remotely with the tunnel construction equipment 10.

[0069] In step S12, an image of the identifiable target 21 on the measuring pile 20, independent of the tunnel construction equipment 10, is acquired by an image acquisition unit 30 installed on the boom end 12e of the boom 12.

[0070] The measuring stake 20 is set up independently of the tunnel construction equipment 10, and its position is not affected by the operation of the tunnel construction equipment 10 or the movement of its components, thus serving as a reliable reference object. For example, the measuring stake 20 can be set in front of the boom 12, or it can be set in the front, left front, right front, or above the front of the tunnel construction equipment 10.

[0071] The identifiable target 21 can be a pattern or structure on the measuring stake 20 itself, or a pattern on a structure or mounting structure installed on the measuring stake 20. For example, the identifiable target 21 can be a raised or recessed structure on the measuring stake 20, or a pattern printed or pasted on the surface of the measuring stake 20; the identifiable target 21 can also be a specific structure welded or connected to the measuring stake 20 by connectors, or a pattern printed or pasted on that specific structure. The pattern can be numbers, letters, solid color blocks, or image codes, etc.

[0072] Optionally, the identifiable target 21 is an image code set on the surface of the measuring stake 20. Compared with other forms (such as numbers, letters, solid color blocks, etc.), image codes can carry specific information to facilitate accurate identification of the identifiable target 21 during image processing, achieving higher identification accuracy. Further, the image code is preferably a QR code. QR codes can not only carry more information, but also contain coordinate orientation information, allowing the pose of the identifiable target to be determined by the position and orientation of the QR code.

[0073] The image acquisition unit 30 is mounted on the boom end 12e of the boom 12. Because it is located on the boom end 12e, the pose of the image acquisition unit 30 relative to the boom end 12e is basically fixed and not significantly affected by boom deflection. Therefore, it can indirectly reflect the pose of the boom end 12e. The image of the identifiable target 21 obtained by the image acquisition unit 30 can be used to determine the pose information of the identifiable target 21 relative to the image acquisition unit 30 through an algorithm.

[0074] In some embodiments, the image acquisition unit 30 includes a depth camera. The image of the identifiable target 21 acquired by the depth camera when acquiring the identifiable target 21 on the measuring stake 20 contains depth information, thus enabling accurate acquisition of the position and orientation information of the identifiable target 21 relative to the depth camera in three mutually orthogonal directions. Optionally, the depth camera is an RGB-D camera, and the acquired depth image includes a standard RGB three-channel color image and a depth map, with the RGB image and depth map being registered. The depth map contains image channels related to the distance to the surface of objects in the viewpoint scene; the channels themselves are similar to grayscale images, and each pixel value represents the actual distance to the object measured by the sensor.

[0075] In step S13, the pose information of the identifiable target 21 relative to the image acquisition unit 30 is determined based on the image of the identifiable target 21, and the pose information of the identifiable target 21 relative to the image acquisition unit 30 is converted into the pose information of the identifiable target 21 relative to the chassis 11.

[0076] The pose transformation relationship used for pose information conversion can be represented as a pose transformation matrix. Through matrix calculation, the pose information of the identifiable target 21 relative to the image acquisition unit 30 can be converted into the pose information of the identifiable target 21 relative to the chassis 11.

[0077] In step S14, the error information of the boom end 12e is determined based on the pose reference information, the pose information of the identifiable target 21 relative to the chassis 11, and the error information of the boom end 12e.

[0078] An image acquisition unit at the end of the boom acquires images of identifiable targets on measuring stakes independent of the tunnel construction equipment. Based on these images, the pose information of the identifiable target relative to the image acquisition unit is determined. Then, pose transformation is used to obtain the pose information of the identifiable target relative to the chassis. By comparing this pose reference information, the error information at the boom end can be determined. In this way, with pose reference information available, the error at the boom end can be conveniently measured without the need for frequent measurements using surveying instruments, thus greatly improving construction efficiency. Compared to related technologies of industrial robots, this embodiment can meet the construction requirements of tunnel construction equipment due to its large overall size, long boom, and harsh operating environment.

[0079] The pose reference information can be obtained through other means, such as by a surveying device. In some embodiments, the method for measuring the end-of-bore error further includes: setting a measuring stake 20 with the identifiable target 21 in front of the boom 12; and obtaining the pose information of the identifiable target 21 relative to the chassis 11 using a surveying device as the pose reference information. Compared to related technologies that frequently detect the end-of-bore pose using a total station, this embodiment only requires the surveying device to detect the pose reference information when setting the measuring stake, eliminating the need for frequent measurements using the surveying device, thereby greatly improving construction efficiency.

[0080] Optionally, the surveying device includes a total station, and the step of obtaining the pose information of the identifiable target 21 relative to the chassis 11 as the pose reference information by means of the surveying device includes: obtaining the pose information of the identifiable target 21 relative to the chassis 11 as the pose reference information by means of the total station.

[0081] Because tunnel construction equipment is large in overall size, has a long boom, and operates in harsh environments, the total station 40 can obtain highly accurate positional information of the identifiable target 21 relative to the chassis 11. Therefore, this information can be used as positional reference to identify the degree of error at the boom end, enabling more precise correction and meeting the specific construction requirements of the tunnel construction equipment under its operating conditions. Furthermore, when measuring the boom end error using the total station, data from at least 500 points related to error compensation can be obtained, allowing for targeted correction of multiple equipment positions and data after the error is determined.

[0082] refer to Figure 1 and Figure 2 In some embodiments, the tunnel construction equipment 10 further includes a boom drive mechanism 13 for driving the boom 12 to move relative to the chassis 11. The boom end error measurement method further includes step S11. Step S11 may be performed before step S12.

[0083] In step S11, the boom 12 is driven by the boom drive mechanism 13 to move to a position where the measuring stake 20 in front of the boom 12 is within the field of view of the image acquisition unit 30.

[0084] Figure 1 The diagram shows a measuring stake 20 in front of the boom 12. The operator can swing the boom 12 by operating the boom drive mechanism 13 to bring the measuring stake 20 into the field of view of the depth camera. The boom drive mechanism 13 may include a slewing drive mechanism that drives the entire boom 12 to rotate, or a luffing drive mechanism that drives the entire boom 12 to change its amplitude. It may also include a telescopic drive mechanism that drives the extension and retraction of adjacent boom sections, or a rotation drive mechanism that drives the joints between adjacent boom sections to rotate. The drive mechanism may be in the form of a motor, hydraulic cylinder, or pneumatic cylinder.

[0085] The boom 12 is moved by the boom drive mechanism 13 to a position where the measuring stake 20 in front of the boom 12 is within the field of view of the image acquisition unit 30 mounted at the boom end 12e, so that the depth camera can capture images of the identifiable target 21 on the measuring stake 20. This also applies to situations where the boom 12 is in its initial position with the measuring stake 20 within the field of view of the image acquisition unit 30.

[0086] In the above embodiments, the step of converting the pose information of the identifiable target 21 relative to the image acquisition unit 30 into the pose information of the identifiable target 21 relative to the chassis 11 in step S13 may include: calculating the pose information of the identifiable target 21 relative to the chassis 11 based on the pose information of the identifiable target 21 relative to the image acquisition unit 30, the pose information of the image acquisition unit 30 relative to the boom end 12e, and the pose information of the boom end 12e relative to the chassis 11.

[0087] For example, by analyzing the depth image captured by the image acquisition unit 30 (e.g., a depth camera), the pose information T1 of the identifiable target 21 relative to the image acquisition unit 30 is determined. The pose information T2 of the image acquisition unit 30 relative to the boom end 12e can be determined based on the actual installation position and angle of the image acquisition unit 30. The pose information T3 of the boom end 12e relative to the chassis 11 can be calculated using the dimensions of each boom segment and the driving conditions (e.g., displacement or rotation angle) of each driving element included in the boom drive mechanism 13. Thus, the pose information T4 of the identifiable target 21 relative to the chassis 11 can be calculated using, for example, the following formula:

[0088] T4 = T1 * T2 * T3.

[0089] The pose information here includes the position and orientation information in the corresponding coordinate system, which can be represented as [X,Y,Z,R,P,Y]. Taking the pose information T2 of the depth camera relative to the boom end 12e as an example, the pose information T2 here refers to the position and orientation information of the depth camera in the Cartesian coordinate system of the boom end 12e. Similarly, pose information T1 refers to the position and orientation information of the identifiable target 21 in the Cartesian coordinate system of the depth camera, pose information T3 refers to the position and orientation information of the boom end 12e in the Cartesian coordinate system of the chassis 11, and pose information T4 refers to the position and orientation information of the identifiable target 21 in the Cartesian coordinate system of the chassis 11.

[0090] The determination of the pose information T3 of the boom end 12e relative to the chassis 11 can be performed in step S11 when the boom 12 is driven by the boom drive mechanism 13 to move to a position where the measuring stake 20 in front of the boom 12 is within the field of view of the image acquisition unit 30 installed on the boom end 12e. That is, the boom end error measurement method further includes: obtaining the joint angles of each joint of the boom 12; and determining the pose information of the boom end 12e relative to the chassis 11 based on the joint angles of each joint.

[0091] Based on the joint angles of each joint of the boom 12, and combined with information such as the length of the boom segments connected to each joint of the boom 12, the position and attitude information of the boom end 12e in the Cartesian coordinate system of the chassis 11 can be calculated. The joint angle is the angle of each boom segment included in the boom 12 relative to its axis of rotation, such as boom pitch 30°, swing -15°, and propeller beam tilt 120°.

[0092] To determine the pose information T2 of the image acquisition unit 30 relative to the boom end 12e, the installation position of the image acquisition unit 30 can be preset on the boom end 12e. Therefore, the pose information of the depth camera relative to the boom end 12e can be determined based on the preset installation position of the image acquisition unit 30 on the boom end 12e. This eliminates the need for specific measurement of the image acquisition unit 30's position; the pose information T2 of the image acquisition unit 30 relative to the boom end 12e can be determined directly based on the preset installation position.

[0093] In the above embodiments, the step of determining the error information of the boom end 12e based on the pose information of the identifiable target 21 relative to the chassis 11 and the pose reference information of the identifiable target 21 relative to the chassis 11 obtained by the total station 40 includes: calculating the difference between the position information in the pose information of the identifiable target 21 relative to the chassis 11 and the position information in the pose reference information to determine the position error of the boom end 12e.

[0094] Here, the position error is calculated. Accordingly, the differences between the chassis and the reference position on the x, y, and z axes in the rectangular coordinate system can be calculated to determine the position error of the boom end 12e on these three axes, thus facilitating the corresponding error correction.

[0095] Figure 3 This is a schematic diagram of the signal relationship of the boom end error measurement system of a tunnel construction equipment according to some embodiments of the present disclosure.

[0096] refer to Figure 1 This disclosure provides a boom end error measurement system for a tunnel construction equipment 10. Referring to the previous embodiment of the boom end error measurement method for tunnel construction equipment 10, the tunnel construction equipment 10 includes a chassis 11 and a boom 12. The boom end error measurement system includes: an image acquisition unit 30, a measuring stake 20, and a host computer 50.

[0097] The host computer 50 can be a component of the tunnel construction equipment 10, or it can be a remote platform for remote communication with the tunnel construction equipment 10. The image acquisition unit 30 and the measuring stake 20 can be sold and used as accessories with the tunnel construction equipment 10, or they can be sold and used independently of the tunnel construction equipment 10.

[0098] The image acquisition unit 30 is mounted on the boom end 12e of the boom 12. The measuring stake 20 is set independently of the tunnel construction equipment 10 and has an identifiable target 21. For example, the measuring stake 20 is located in front of the boom 12 of the tunnel construction equipment 10, and the identifiable target 21 can be numbers, letters, solid color blocks, or image codes, preferably an image code set on the surface of the measuring stake 20. Further, the image code can be a QR code (QPcode). The image acquisition unit 30 may include a depth camera, which can be an RGB-D camera.

[0099] The host computer 50 is signal-connected to the image acquisition unit 30 and configured to: acquire an image of the identifiable target 21 on the measuring stake 20 through the image acquisition unit 30; convert the pose information of the identifiable target 21 relative to the image acquisition unit 30 into pose information of the identifiable target 21 relative to the chassis 11; and determine the error information of the boom end cap 12e based on the pose reference information, the pose information of the identifiable target 21 relative to the chassis 11, and the error information of the boom end cap 12e. That is, the host computer 50 can perform the following operations: Figure 2 Steps S12, S13, and S14 of the boom end error measurement method are shown.

[0100] refer to Figure 3 In some embodiments, the boom end error measurement system further includes a mapping device 40. The mapping device 40 is signal-connected to the host computer 50 and is configured to acquire the pose information of the identifiable target 21 relative to the chassis 11 as the pose reference information.

[0101] refer to Figure 3 In some embodiments, the tunnel construction equipment 10 further includes a boom drive mechanism 13, which drives the boom 12 to move relative to the chassis 11. The host computer 50 is signal-connected to the boom drive mechanism 13 and is configured to drive the boom 12 to move to a position where the measuring stake 20 located in front of the boom 12 is within the field of view of the image acquisition unit 30.

[0102] For the embodiment of the boom end error measurement system, since its overall structure and the steps involved correspond to the content of the previous embodiment of the boom end error measurement method, the description is relatively simple. For relevant parts, please refer to the description of the method embodiment.

[0103] Figure 4 This is a schematic flowchart of a boom end error control method according to some embodiments of the present disclosure.

[0104] refer to Figure 4 This disclosure provides a method for controlling the error at the end of a boom, including steps S10, S20, and S30. Each step can be executed via a host computer installed in the tunnel construction equipment 10 or via a remote platform that communicates remotely with the tunnel construction equipment 10.

[0105] In step S10, the error information of the boom end 12e is determined using the boom end error measurement method described in the foregoing embodiment. The boom end error measurement method here can be any embodiment of the aforementioned boom end error measurement method.

[0106] In step S20, error compensation is performed based on the error information of the boom end 12e. This error compensation can be achieved by correcting the driving amount of the boom drive mechanism 13 in terms of displacement or rotation angle, or by correcting the motion posture data of the boom end.

[0107] In step S30, after error compensation, the accuracy of the boom end 12e is verified using the boom end error measurement method. Accuracy verification can still be performed using any embodiment of the aforementioned boom end error measurement method to determine whether the error compensation meets the accuracy requirements. If it does not, error compensation can continue through step S20.

[0108] Figure 5 This is a schematic diagram of the signal relationships of a boom end error control system according to some embodiments of the present disclosure.

[0109] refer to Figure 5 This disclosure provides a boom end error control system, including: a boom end error measurement system according to any of the foregoing embodiments, an error compensation module 51, and a precision verification module 52. The error compensation module 51 is signal-connected to the host computer 50 and configured to perform error compensation based on the error information of the boom end 12e. The precision verification module 52 is signal-connected to the host computer 50 and configured to, after the error compensation module 51 performs error compensation, invoke the boom end error measurement system to perform precision verification on the boom end 12e.

[0110] Here, the error compensation module 51 and the accuracy verification module 52 can be independent of the host computer 50 and communicate with the host computer 50, or they can be functional modules inside the host computer 50.

[0111] As for the implementation of the boom end error control system, since its overall structure and the steps involved correspond to the content of the previous boom end error control method implementation, the description is relatively simple. For relevant details, please refer to the description of the method implementation.

[0112] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0113] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for measuring the error at the end of the boom of a tunnel construction equipment (10), characterized in that, The tunnel construction equipment (10) includes a chassis (11) and a boom (12), wherein the method for measuring the error at the end of the boom includes: The image acquisition unit (30) installed on the boom end (12e) of the boom (12) acquires an image of an identifiable target (21) on a measuring stake (20) independent of the tunnel construction equipment (10), and determines the pose information of the identifiable target (21) relative to the image acquisition unit (30) based on the image of the identifiable target (21). The pose information of the identifiable target (21) relative to the image acquisition unit (30) is converted into the pose information of the identifiable target (21) relative to the chassis (11); Based on the pose reference information and the pose information of the identifiable target (21) relative to the chassis (11), the error information of the boom end (12e) is determined; The step of converting the pose information of the identifiable target (21) relative to the image acquisition unit (30) into the pose information of the identifiable target (21) relative to the chassis (11) includes: Based on the pose information of the identifiable target (21) relative to the image acquisition unit (30), the pose information of the image acquisition unit (30) relative to the boom end (12e), and the pose information of the boom end (12e) relative to the chassis (11), the pose information of the identifiable target (21) relative to the chassis (11) is calculated.

2. The method for measuring the error at the end of a boom according to claim 1, characterized in that, Also includes: The measuring stake (20) with the identifiable target (21) is set in front of the boom (12); The pose information of the identifiable target (21) relative to the chassis (11) is obtained by a surveying device and used as the pose reference information.

3. The method for measuring the error at the end of a boom according to claim 1, characterized in that, The tunnel construction equipment (10) further includes a boom drive mechanism (13), which drives the boom (12) to move relative to the chassis (11). The boom end error measurement method further includes: The boom (12) is driven by the boom drive mechanism (13) to move to a position where the measuring stake (20) set in front of the boom (12) is within the field of view of the image acquisition unit (30).

4. The method for measuring the error at the end of a boom according to claim 3, characterized in that, When the boom (12) is driven by the boom drive mechanism (13) to move to a position where the measuring stake (20) in front of the boom (12) is within the field of view of the image acquisition unit (30), the boom end error measurement method further includes: Obtain the joint angles of each joint of the boom (12); The pose information of the boom end (12e) relative to the chassis (11) is determined based on the joint angles of each joint.

5. The method for measuring the error at the end of a boom according to claim 1, characterized in that, Also includes: The pose information of the image acquisition unit (30) relative to the boom end (12e) is determined based on the preset installation position of the image acquisition unit (30) on the boom end (12e).

6. The method for measuring the error at the end of a boom according to claim 2, characterized in that, The steps of determining the error information of the boom end (12e) based on the pose reference information and the pose information of the identifiable target (21) relative to the chassis (11) include: The position error of the boom end (12e) is determined by calculating the difference between the position information in the pose information of the identifiable target (21) relative to the chassis (11) and the position information in the pose reference information.

7. The method for measuring the error at the end of a boom according to claim 2 or 6, characterized in that, The surveying device includes a total station. The step of obtaining the pose information of the identifiable target (21) relative to the chassis (11) as the pose reference information through the surveying device includes: The total station is used to obtain the pose information of the identifiable target (21) relative to the chassis (11) as the pose reference information.

8. The method for measuring the error at the end of a boom according to claim 1, characterized in that, The identifiable target (21) is an image code set on the surface of the measuring stake (20).

9. The method for measuring the error at the end of a boom according to claim 8, characterized in that, The image is encoded as a QR code.

10. The method for measuring the error at the end of a boom according to claim 1, characterized in that, The image acquisition unit (30) includes a depth camera.

11. A method for controlling the error at the end of a boom, characterized in that, include: The error information of the boom end (12e) is determined by the boom end error measurement method according to any one of claims 1 to 10; Error compensation is performed based on the error information at the boom end (12e); After error compensation, the accuracy of the boom end (12e) is verified by the boom end error measurement method.

12. A boom end error measurement system for a tunnel construction equipment (10), characterized in that, The tunnel construction equipment (10) includes a chassis (11) and a boom (12), wherein the boom end error measurement system includes: An image acquisition unit (30) is installed on the boom end (12e) of the boom (12); The measuring stake (20) is set up independently of the tunnel construction equipment (10) and has an identifiable target (21). The host computer (50), which is signal-connected to the image acquisition unit (30), is configured as follows: The image acquisition unit (30) acquires an image of the identifiable target (21) on the measuring stake (20); The pose information of the identifiable target (21) relative to the image acquisition unit (30) is converted into the pose information of the identifiable target (21) relative to the chassis (11); Based on the pose reference information and the pose information of the identifiable target (21) relative to the chassis (11), the error information of the boom end (12e) is determined; The step of converting the pose information of the identifiable target (21) relative to the image acquisition unit (30) into the pose information of the identifiable target (21) relative to the chassis (11) includes: Based on the pose information of the identifiable target (21) relative to the image acquisition unit (30), the pose information of the image acquisition unit (30) relative to the boom end (12e), and the pose information of the boom end (12e) relative to the chassis (11), the pose information of the identifiable target (21) relative to the chassis (11) is calculated.

13. The boom end error measurement system according to claim 12, characterized in that, Also includes: The surveying device (40) is connected to the host computer (50) by signal and is configured to acquire the pose information of the identifiable target (21) relative to the chassis (11) as the pose reference information.

14. The boom end error measurement system according to claim 12, characterized in that, The identifiable target (21) is an image code set on the surface of the measuring stake (20).

15. The boom end error measurement system according to claim 12, characterized in that, The image acquisition unit (30) includes a depth camera.

16. The boom end error measurement system according to claim 12, characterized in that, The tunnel construction equipment (10) further includes a boom drive mechanism (13), which drives the boom (12) to move relative to the chassis (11). The host computer (50) is signal-connected to the boom drive mechanism (13) and configured as follows: The boom (12) is driven by the boom drive mechanism (13) to move to a position where the measuring stake (20) set in front of the boom (12) is within the field of view of the image acquisition unit (30).

17. A boom end error control system, characterized in that, include: The boom end error measurement system according to any one of claims 12 to 16; The error compensation module (51), which is connected to the host computer (50) by a signal, is configured to perform error compensation based on the error information of the boom end (12e); The accuracy verification module (52) is connected to the host computer (50) by signal and is configured to call the boom end error measurement system to perform accuracy verification on the boom end (12e) after the error compensation module (51) performs error compensation.

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