Autonomous positioning method and device for operation pose of drill boom of rock drilling robot

Abstract

The invention discloses a rock drilling robot drill arm operation pose self-positioning method and device, and the positioning method comprises the steps: collecting the included angles eta 1 and eta 2 between the longitudinal direction and the horizontal direction of a rock drilling robot vehicle body and the horizontal plane through a double-shaft inclinometer, and determining the pitch angle and the roll angle of the vehicle body according to the eta 1 and the eta 2; the distance between the laser rangefinder and the rock drilling surface is collected in real time in the process that the laser rangefinder slides along the guide rail, the straight slope k is obtained from measured data in a least square method data straight line fitting mode, and the yaw angle of the vehicle body is determined according to the k value; a vehicle body pose sensing device of the rock drilling robot is designed and developed on the basis of a pitch angle, a roll angle and a yaw angle, and pose parameters of all joints of a drill arm are solved in combination with a drill arm kinematics method, so that drill arm operation pose correction and drill arm initial state calibration are achieved; self-positioning of the tail end position of the drill arm under any posture state of the rock drilling robot body can be achieved, and the drill arm joint driving efficiency and the rock drilling hole position positioning precision are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of drilling operation engineering of mining rock drilling robots, and in particular relates to a method and a device for autonomously positioning the operating posture of a drilling arm of a rock drilling robot. Background Art

[0002] The rock drilling robot is a kind of rock drilling equipment used in tunnel and underground engineering construction by drilling and blasting. During the working process, the rock drilling robot needs to determine the rock drilling hole position according to the principle of smooth blasting. The traditional rock drilling hole position determination is done manually. The hole position information determined by this method is overly dependent on manual experience. In addition, there are many types of blast holes required for rock drilling, with different layout principles and size parameters, which requires a lot of manpower and material resources to achieve. At the same time, the working environment in mining operations is relatively harsh, and the workers have high work intensity, which seriously endangers the staff, affects work efficiency, and is not conducive to the safety of operators.

[0003] In order to solve the above problems, some automated rock drilling equipment has emerged, which usually focuses on adjusting the posture parameters of the rock drilling robot body itself. The main performance is: adjusting the posture of the body after parking in the complex environment of the mine tunnel to minimize the working error of the drill arm.

[0004] The main problems of current automated rock drilling equipment include:

[0005] (1) Lack of integration in positioning design: The positioning posture of the vehicle body is often determined by three laser transmitters, or by a laser transmitter, a dual-axis inclinometer and a total station. This method can determine the posture of the vehicle body, but there will be large errors in the determination of posture parameters in the harsh environment of the mine tunnel.

[0006] (2) Limited positioning accuracy: Some technologies are limited by the measurement principle, and their measurement accuracy will be greatly affected in complex and harsh environments such as tunnels and mines. For example, the positioning accuracy of the Global Positioning System (GPS) may be affected in complex environments.

[0007] (3) Large cumulative errors: Inertial navigation systems (INS) and other sensors may have cumulative errors. Over time, these accumulated errors may lead to inaccurate positioning results.

[0008] (4) High environmental dependence: Some positioning technologies are sensitive to specific environmental conditions. For example, visual positioning is highly dependent on lighting and environmental structure, and will also be affected in dusty and foggy environments. Summary of the invention

[0009] The purpose of the present invention is to overcome the defects of the prior art and provide an autonomous positioning device for the operating posture of the drill arm of a rock drilling robot, which obtains the body posture parameters of the rock drilling robot through a dual-axis inclinometer and a mobile laser ranging, and can especially reduce the measurement error of the body posture parameters (yaw angle).

[0010] The present invention also provides a method for autonomously positioning the operating posture of a drill arm of a rock drilling robot, which can accurately determine the posture parameters of a body of the rock drilling robot, thereby improving the accuracy of positioning the drill arm of the rock drilling robot.

[0011] The technical solution provided by the present invention is:

[0012] An autonomous positioning device for the operating posture of a drilling arm of a rock drilling robot, comprising:

[0013] A fixing plate, which is fixedly installed at the front end of the rock drilling robot body transversely along the rock drilling robot body and is arranged close to the top of the rock drilling robot body;

[0014] A dual-axis inclinometer, which is fixedly arranged at one end of the fixed plate;

[0015] A camera is fixedly arranged at the other end of the fixing plate and is arranged toward the front of the rock drilling robot body;

[0016] A guide rail, which is arranged along the length direction of the fixing plate and is located between the dual-axis inclinometer and the camera;

[0017] A slider, which is matched and mounted on the guide rail and can move along the guide rail;

[0018] A laser rangefinder is fixedly connected to the sliding block via a mounting plate.

[0019] Preferably, protective covers are provided outside the dual-axis inclinometer and the camera.

[0020] A method for autonomously positioning the working posture of a drill arm of a rock drilling robot, using the autonomous positioning device for the working posture of a drill arm of a rock drilling robot, comprising:

[0021] The dual-axis inclinometer collects the angle η1 between the longitudinal direction of the rock drilling robot body and the horizontal plane, and the angle η2 between the transverse direction of the rock drilling robot body and the horizontal plane;

[0022] Determine the pitch angle and roll angle of the rock drilling robot body according to η1 and η2;

[0023] Slide the laser rangefinder along the guide rail, and collect the distance between the rock drilling robot and the rock drilling surface in real time through the laser rangefinder during the sliding process; obtain the linear slope k by fitting the data measured by the laser rangefinder through the least squares method;

[0024] Determine the yaw angle of the rock drilling robot body according to the slope k of the straight line;

[0025] A drill hole on the rock drilling surface is used as a marking point, and the position of the marking point is used as the target position of the end of the drill arm; according to the target position, the position and posture of each joint of the drill arm are calculated using the forward kinematics method of the manipulator;

[0026] The position of the drill arm is corrected according to the pitch angle, roll angle and yaw angle of the rock drilling robot body. Preferably, the pitch angle of the rock drilling robot body is determined by the following formula:

[0027] β = η1;

[0028] Among them, β is the pitch angle of the rock drilling robot body.

[0029] Preferably, the roll angle of the rock drilling robot body is determined by the following formula:

[0030]

[0031] Among them, γ is the rolling angle of the rock drilling robot body.

[0032] Preferably, the yaw angle of the rock drilling robot body is determined by the following formula:

[0033] α=arctan|k|·cosβ;

[0034] Among them, α is the yaw angle of the rock drilling robot body.

[0035] Preferably, the working process of the drill arm is monitored in real time by a camera in the vehicle body posture sensing device to ensure that the positioning position of the end of the drill arm is accurate and the working state of the drill arm is normal.

[0036] The beneficial effects of the present invention are:

[0037] (1) Due to the unevenness of the rock drilling surface, the distance measurement data of the fixed laser transmitter will be significantly affected; the laser rangefinder of the present invention adopts a guide rail sliding method to collect distance measurement data in real time during the sliding process, and processes the data through the least squares straight line fitting method to obtain the slope of the straight line to determine the yaw angle. This method will greatly reduce the impact of the unevenness of the rock drilling surface and significantly improve the measurement accuracy of the yaw angle of the rock drilling robot body.

[0038] (2) The transformation relationship among “earth coordinate system, rock drilling surface coordinate system, vehicle coordinate system, and drill arm coordinate system” is comprehensively constructed, and the drill arm posture parameters are used as the benchmark to realize the correction of the drill arm posture parameters under the initial conditions. On this premise, the kinematic analysis method of the drill arm system and the method for solving the driving parameters of each joint are applied. In addition, according to the principle of standard hole position layout on the rock drilling surface, the information of all hole positions on the rock drilling surface and the parameter information of each driving joint under the hole position target are clarified, thereby innovatively realizing the autonomous positioning and control process of the drill arm operating posture for the rock drilling hole position proposed in this study. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the autonomous positioning device for the operating posture of the drill arm of a rock drilling robot according to the present invention.

[0040] Figure 2 It is a front view of the autonomous positioning device for the working posture of the drill arm of the rock drilling robot described in the present invention.

[0041] Figure 3 It is a rear view of the autonomous positioning device for the operating posture of the drill arm of the rock drilling robot described in the present invention.

[0042] Figure 4 This is a physical picture of the autonomous positioning device for the operating posture of the drill arm of the rock drilling robot described in the present invention.

[0043] Figure 5 The figure is a general framework diagram of the autonomous positioning method for the operating posture of the drill arm of a rock drilling robot according to the present invention.

[0044] Figure 6 It is a schematic diagram of establishing the coordinate system model and attitude angles described in the present invention.

[0045] Figure 7 This is a parameter analysis diagram of the vehicle body posture angle described in the present invention.

[0046] Figure 8 It is an overall analytical diagram of the comprehensively constructed “earth coordinate system, rock drilling surface coordinate system, vehicle body coordinate system, drill arm coordinate system, and vehicle body attitude angle parameter perception coordinate system” described in the present invention. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0048] like Figure 1-4As shown, the present invention provides an autonomous positioning device for the working posture of the drilling arm of a rock drilling robot, comprising: a fixed plate 110, a dual-axis inclinometer 120, a camera 130, a guide rail 140, a slider 150 and a laser rangefinder 160. The fixed plate 110 is fixedly installed at the front end of the rock drilling robot body along the horizontal direction of the rock drilling robot body, and is arranged near the top of the rock drilling robot body. The dual-axis inclinometer 120 is fixedly arranged at one end of the fixed plate 110; the camera 130 is fixedly arranged at the other end of the fixed plate 110, and the lens of the camera 130 is arranged toward the front of the rock drilling robot body. The guide rail 140 is arranged along the length direction of the fixed plate 110 and is located between the dual-axis inclinometer 120 and the camera 130; the slider 150 is matched and installed on the guide rail 140 and can move along the guide rail. The laser rangefinder 160 is fixedly connected to the slider 150 through the mounting plate. The slider 150 can be driven by a driving device or moved along the guide rail 140 manually.

[0049] As a preferred embodiment, a protective cover 170 is provided outside the dual-axis inclinometer 120 and the camera 130. The front end (the end facing the front of the vehicle body) of the protective cover 170 is open without a cover plate, and a cover plate 171 is provided at the rear end, and a through hole is provided on the cover plate 171 to facilitate the wiring of the dual-axis inclinometer 120 and the camera 130.

[0050] The fixing plate 110 is fixed to the body of the rock drilling robot by a plurality of hexagonal cylindrical head screws. The guide rail 140 is fixed to the fixing plate 110 by a plurality of hexagonal cylindrical head screws, and the mounting plate of the laser rangefinder 160 and the slider 150 are also fixed by a plurality of hexagonal cylindrical head screws. The camera 130 in the device can realize real-time monitoring of the working process of the drilling arm, which is helpful to observe the real-time position change of the end of the drilling arm of the rock drilling robot.

[0051] like Figure 5-8 As shown, the present invention also provides a method for autonomous positioning of the working posture of the drilling arm of a rock drilling robot. The overall architecture of the method is as follows Figure 5 As shown in the figure, it mainly consists of three parts: the body posture parameters of the rock drilling robot, the drill arm posture parameters of the rock drilling robot, and the autonomous identification and positioning of the rock drilling hole.

[0052] First, in order to describe the relative position and posture parameters between the rock drilling robot body and the rock drilling surface in the same coordinate system, it is necessary to explore and analyze the transformation relationship between the earth coordinate system, the rock drilling surface coordinate system, the body coordinate system, and the drill arm coordinate system. "Establishing the coordinate system model" is a prerequisite for determining the working posture information of the drill arm.

[0053] Secondly, after the "coordinate system model is established", the operating posture of the drill arm depends on the positioning posture of the rock drilling robot body. The yaw angle, pitch angle and roll angle of the rock drilling robot body positioning posture are obtained through experimental testing. "Determination of body positioning posture parameters" is a prerequisite for realizing the correction of the operating posture of the drill arm and the kinematic analysis of the drill arm.

[0054] After the "body positioning posture parameter determination" is completed, the drilling arm posture parameter correction under the initial conditions is completed based on the rock drilling operation surface coordinate system, and the forward and inverse solution method of the drilling arm kinematics is combined to clarify the posture information of the end of the drilling arm and the driving parameters of each joint under the initial conditions. "Drill arm posture parameter correction calibration" is a prerequisite for the autonomous positioning and control process of the drilling arm operation for the rock drilling hole.

[0055] Finally, after the "calibration of drill arm posture parameters" is completed, the drill arm is driven to move so that the end of the drill arm is positioned at a representative drilling hole according to the standard hole layout principle of the rock drilling surface, and the information of each driving joint of the drill arm at the drilling hole is obtained. Based on this, the autonomous identification and positioning of each drilling hole is realized through the kinematic analysis of the drill arm. "Autonomous control and positioning of the drill arm operation posture" is the core technology for the rock drilling robot to achieve autonomous operation.

[0056] 1. Coordinate system model establishment

[0057] Before the rock drilling robot works, the body must be positioned to describe the relative position and posture parameters between the body of the rock drilling robot and the rock drilling surface in the same coordinate system. This is the basis for the positioning and drilling of the drill arm of the rock drilling robot. Good body positioning accuracy can provide a guarantee for the autonomous positioning effect of the drill arm.

[0058] Establish various coordinate systems: geodetic coordinate system {O g}、Drilling surface coordinate system {O s}, vehicle body coordinate system {O}, drill arm coordinate system {O l}.

[0059] Geodetic coordinate system: O g -X g Y g Z g , with a point on the ground as the origin, X g The axis moves forward along the tunnel axis and establishes Y g Axis, Z g The axis is vertically upward, abbreviated as {O g}.

[0060] Drilling face coordinate system: O s -X s Y s Z s , with the bottom center of the rock drilling surface as the origin, X sThe axis moves forward along the tunnel axis and establishes Y s Axis, Z s The axis is vertically upward. The coordinate system of the rock drilling surface is consistent with the earth coordinate system, which is abbreviated as {O s}.

[0061] Vehicle coordinate system: OX c Y c Z c , with the connection between the boom and the vehicle body as the origin, and the forward direction along the vehicle body plane as X c Axis, left is Y c Axis, Z c The axis is vertically upward. It is abbreviated as {O}.

[0062] Drill arm coordinate system: O l -X l Y l Z l , the origin is the connection between the boom and the vehicle body, which is also the origin of the drill arm coordinate system, X l The axis moves forward along the tunnel axis and establishes Y l Axis, Z l The axis is vertically upward, abbreviated as {O l}.

[0063] The coordinate system model is established as Figure 6 The vehicle body positioning problem is to determine the vehicle body coordinate system {O} and the rock drilling surface coordinate system {O s}, due to the geodetic coordinate system {O g} and the rock drilling surface coordinate system {O s}The default posture is consistent, so this problem can also be described as determining the vehicle coordinate system {O} and the earth coordinate system {O g} between the pose relationship.

[0064] After the rock drilling robot is parked, the vehicle body coordinate system {O} and the rock drilling surface coordinate system {O s} positional parameters And attitude parameters (α, β, γ), which are the essential issues of vehicle positioning.

[0065] 2. Determination of vehicle posture parameters

[0066] The body posture information of the rock drilling robot can be described by three angles: yaw angle α, pitch angle β and roll angle γ. The schematic diagram of the three body posture angles is shown in Figure 6.

[0067] Initially, the vehicle coordinate system is translated so that the origin of the vehicle coordinate system coincides with the origin of the rock drilling surface coordinate system. The vehicle posture parameters in the rock drilling surface coordinate system can be described by the ZYX sequence Euler angle: First, rotate around Z c The axis rotates by angle α; then around Yc Axis rotation angle β; finally around X c The axis rotation angle γ, the pose matrix calculation formula is:

[0068]

[0069] Where, Rot(Z,α), Rot(Y,β), and Rot(X,γ) represent the rotational speed around Z. c Axis, Y c Axis, X c The axis rotation homogeneous transformation matrix can be expressed as follows:

[0070]

[0071] therefore, The expanded form is:

[0072]

[0073] The attitude parameters can be obtained by testing with the help of laser rangefinders, dual-axis inclinometers and other instruments. The pitch angle β and roll angle γ can be measured by the dual-axis inclinometer, which can measure the angle deflection value caused by gravity. By installing a dual-axis inclinometer on the body of the rock drilling robot, the body's posture information can be described based on the output data.

[0074] The angle values ​​η1 and η2 measured by the dual-axis inclinometer are the angles between the X-axis and Y-axis and the horizontal plane, respectively. Figure 7 The angle η1 measured in the X-axis direction of the dual-axis inclinometer is the pitch angle around the Y-axis of the rock drilling surface coordinate system, but the angle η2 measured in the Y-axis direction is not equal to the roll angle around the X-axis of the rock drilling surface coordinate system.

[0075] exist Figure 7 In the figure, OC⊥plane OAB and plane DEC, so OC⊥DC. Extending CE to point F, we can get OC⊥DF, so that DF / / BO, and we can get ∠DFE=∠AOB=η1. Because the X-axis is perpendicular to the Y-axis, we can get OD⊥DF, DF⊥plane OCD, and DF⊥CD, so ∠EDC=∠DFE=η1. According to the relationship between trigonometric functions, we can get:

[0076]

[0077] The relationship between the dual-axis inclinometer output angle and the pitch angle β and roll angle γ is:

[0078]

[0079] The yaw angle α can be obtained by laser ranging method. In this study, the laser transmitter adopts the rail sliding method, and the ranging data is collected in real time during the sliding process. These data are used to obtain the slope of the straight line to determine the yaw angle through data fitting, which greatly reduces the measurement error of the vehicle posture parameter (yaw angle).

[0080] The process of solving the yaw angle of the rock drilling robot is described as follows:

[0081] The laser transmitter adopts the guide rail sliding mode. The distance measurement data is collected in real time during the sliding process. The data is the distance between the laser rangefinder and the rock drilling working surface. The slope of the straight line is obtained by the least squares data straight line fitting method, which is denoted as k.

[0082] The core idea of ​​least squares straight line fitting is to use the sum of square differences between all sample values ​​and their corresponding model values ​​as the objective function. When the objective function value is minimized, the model is considered to be the fit of all samples.

[0083] The collected samples are (x1,y1),(x2,y2),…,(x i ,y i )(0≤i<n), the fitting line is Y=kx+b, for each x i , the fitted value is Y i =kx i +b, the objective function is

[0084]

[0085] We need to find the k and b values ​​that minimize f(x), so we calculate the partial derivatives of f(x) with respect to k and b respectively:

[0086]

[0087] Let the above partial derivatives equal to 0, and we get a system of two-variable linear equations:

[0088]

[0089] at the same time,

[0090] So we get:

[0091]

[0092] Solving the above equations can obtain the straight line fitting parameters k and b:

[0093]

[0094] According to the projection principle and geometric relationship, the yaw angle can be obtained as:

[0095] α=arctan|k|·cosβ (14)

[0096] In the formula, when k>0, the vehicle body deflects to the right; when k<0, the vehicle body deflects to the left.

[0097] 3. Drill arm operation posture correction and adjustment and drill arm initial state calibration

[0098] By determining the vehicle body posture information, that is, determining the position relationship of the vehicle body relative to the rock drilling surface, the position parameters of the origin of the vehicle body coordinate system relative to the rock drilling surface can be obtained. Because the origin of the vehicle body coordinate system coincides with the origin of the drill arm coordinate system, it can be simplified to determine the position parameters of the origin of the drill arm coordinate system relative to the rock drilling surface.

[0099] The calibration process of the drill arm posture correction under initial conditions is described as follows:

[0100] When the rock drilling robot is parked, the body posture will change. According to the body posture change, the drill arm posture is corrected so that the end of the drill arm is against the rock drilling surface. The coordinate parameters of the end point of the drill arm can be solved by the kinematic analysis method, which is recorded as P 0 .

[0101] P 0 =(x 0 ,y 0 ,z 0 ) (15)

[0102] At this time, when P is determined 0 The coordinate parameters determine the position relationship of the drill arm posture relative to the rock drilling surface.

[0103] Therefore, taking the coordinate system of the rock drilling operation surface as a reference, the posture parameters of the drill arm under the initial operating posture conditions can be corrected. At the same time, the forward and inverse solution analysis method of the drill arm kinematics can be combined to determine the posture information of the end of the drill arm under the initial conditions of the drill arm.

[0104] For the correction and calibration of the initial posture of the drill arm, it is necessary to first determine the identification point, which is a specific hole position, and solve the position information of the identification point in the drill arm coordinate system under the correction of the drill arm operation posture. Then, the coordinate positions of all the holes on the rock drilling surface are derived through the position parameters of the identification point. The end of the drill arm is placed at the identification point, and the coordinates of the identification point in the corrected drill arm coordinate system can be obtained according to the forward kinematics of the manipulator. It is denoted as P0.

[0105] P0=(x,y,z) T (16)

[0106] The position point of the working surface corresponding to the end of the drill arm system under the condition of the corrected initial state of the drill arm is known. Under this premise, the autonomous positioning process of the drill arm posture of the rock drilling robot is described as follows:

[0107] First, the end position of the drill arm system is positioned at a typical drilling position by driving the joints of the drill arm system. The typical drilling position should fully consider the layout of the entire working surface, for example, the middle hole position of the bottom row of holes in the standard hole layout diagram, so as to determine the drilling position as the reference hole position.

[0108] Secondly, when the reference hole position and its corresponding parameters of each joint of the drill arm system are clear, the positions of all holes in the hole layout diagram can be calculated according to the standard layout diagram of rock drilling holes, and the serial numbers of all holes can be marked.

[0109] Finally, the drilling operation sequence is obtained according to the drilling arm operation principle, and the corresponding drilling sequence number under the drilling sequence requirement can be obtained. When a drilling sequence number of a certain operation is determined, the driving parameters of each joint are obtained by inverse calculation of the kinematics of the drilling arm system, and the parameter instructions are transmitted to the actuator controlled by the hydraulic system of the drilling arm. The end of the drilling arm can be accurately positioned through the autonomous driving of each joint of the drilling arm. This position is the determined drilling position, and all hole positions are positioned in this way.

[0110] The method and device for autonomously positioning the working posture of the drill arm of a rock drilling robot proposed in the present invention make the drill arm posture calibration faster, the autonomous positioning process more accurate, and the control process simpler, which is mainly manifested in the following aspects.

[0111] (1) Integrated design of rock drilling robot posture and drill arm posture: Comprehensively analyze the synergistic relationship of "earth coordinate system, rock drilling surface coordinate system, vehicle coordinate system, and drill arm coordinate system", build an integrated measurement and monitoring device through a dual-axis inclinometer, laser transmitter and visual camera, and analyze the rock drilling robot body posture parameters through data acquisition calculation, and then use the body posture parameters as a reference to realize the positioning correction of the drill arm operating posture facing the rock drilling surface coordinate system. Apply the drill arm system kinematic analysis method and the solution method of each joint drive parameter, and according to the standard hole position layout principle of the rock drilling surface, clarify all the hole position information of the rock drilling surface and the parameter information of each drive joint under the hole position target, so as to innovatively realize the autonomous positioning and control process of the drill arm operating posture facing the rock drilling hole position.

[0112] (2) Accurate calibration of the body posture parameters of the rock drilling robot: The body posture parameters of the rock drilling robot are determined by a dual-axis inclinometer and a laser transmitter. The dual-axis inclinometer can be used to calculate the pitch angle and roll angle of the body. It is worth noting that due to the unevenness of the rock drilling surface, the ranging data of the fixed laser transmitter will be significantly affected. Therefore, the laser transmitter in this study adopts a guide rail sliding method to collect ranging data in real time during the sliding process. These data are analyzed and processed by the least squares linear fitting method proposed in this study to obtain the slope of the straight line to determine the yaw angle. This method will greatly reduce the impact of the unevenness of the rock drilling surface and significantly improve the measurement accuracy of the yaw angle.

[0113] (3) Autonomous positioning of the motion posture of the drill arm: By correcting the initial state of the drill arm based on the body posture parameters, the position point of the working surface corresponding to the end of the drill arm system under the initial condition can be clearly determined. Under this premise, the relationship between the position of the rock drilling hole and the parameters of the joints of the drill arm system can be quickly determined through the joint drives of the drill arm system and their kinematic relationships. Then, based on the standard hole layout principle of the rock drilling surface, the autonomous positioning process of all rock drilling holes can be realized.

[0114] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An autonomous positioning device for the working posture of a drilling arm of a rock drilling robot, characterized in that: include: A fixing plate, which is fixedly installed at the front end of the rock drilling robot body transversely along the rock drilling robot body and is arranged close to the top of the rock drilling robot body; A dual-axis inclinometer, which is fixedly arranged at one end of the fixed plate; A camera is fixedly arranged at the other end of the fixing plate and is arranged toward the front of the rock drilling robot body; A guide rail, which is arranged along the length direction of the fixing plate and is located between the dual-axis inclinometer and the camera; A slider, which is matched and mounted on the guide rail and can move along the guide rail; A laser rangefinder is fixedly connected to the sliding block via a mounting plate.

2. The rock drilling robot drill arm operating posture autonomous positioning device according to claim 1, characterized in that: The dual-axis inclinometer and the camera are both provided with protective covers outside.

3. A method for autonomous positioning of the operating posture of a drilling arm of a rock drilling robot, characterized in that: The rock drilling robot drill arm operating posture autonomous positioning device as claimed in claim 1 or 2 is characterized by comprising: The dual-axis inclinometer collects the angle η1 between the longitudinal direction of the rock drilling robot body and the horizontal plane, and the angle η2 between the transverse direction of the rock drilling robot body and the horizontal plane; Determine the pitch angle and roll angle of the rock drilling robot body according to η1 and η2; Slide the laser rangefinder along the guide rail, and collect the distance between the rock drilling robot and the rock drilling surface in real time through the laser rangefinder during the sliding process; obtain the linear slope k by fitting the data measured by the laser rangefinder through the least squares method; Determine the yaw angle of the rock drilling robot body according to the slope k of the straight line; A drill hole on the rock drilling surface is used as a marking point, and the position of the marking point is used as the target position of the end of the drill arm; according to the target position, the position and posture of each joint of the drill arm are calculated using the forward kinematics method of the manipulator; The position and posture of the drill arm are corrected according to the pitch angle, roll angle and yaw angle of the rock drilling robot body.

4. The method for autonomous positioning of the operating posture of the drilling arm of a rock drilling robot according to claim 3, characterized in that: The pitch angle of the rock drilling robot body is determined by the following formula: β = η1; Among them, β is the pitch angle of the rock drilling robot body.

5. The method for autonomous positioning of the operating posture of the drilling arm of a rock drilling robot according to claim 4, characterized in that: The roll angle of the rock drilling robot body is determined by the following formula: Among them, γ is the rolling angle of the rock drilling robot body.

6. The method for autonomous positioning of the operating posture of the drilling arm of a rock drilling robot according to claim 4 or 5, characterized in that: The yaw angle of the rock drilling robot body is determined by the following formula: α=arctan|k|·cosβ; Among them, α is the yaw angle of the rock drilling robot body.

7. The method for autonomous positioning of the operating posture of the drilling arm of a rock drilling robot according to claim 6, characterized in that: The working process of the drill arm is monitored in real time through the camera in the vehicle body posture sensing device to ensure that the positioning position of the drill arm end is accurate and the drill arm is in normal working condition.

Images