Attitude measuring device and method and drill jumbo

Abstract

The invention discloses an attitude measurement device and method and a drill jumbo. The attitude measurement device comprises a base arranged on an object to be measured; the base bracket is arranged on the base; the rotary motor is arranged at the end part of the base bracket; the rotary bracket is connected with the rotary motor; the pitching motor is arranged at the end part of the rotary bracket; the pitching bracket is connected with the pitching motor; the camera shooting mechanism is arranged on the pitching support; the aperture assembly is used for capturing a target by the camera shooting mechanism; and the circuit board is electrically connected with the rotary motor, the pitching motor and the camera mechanism. According to the technical scheme, the attitude information of the yaw angle of the propulsion beam can be accurately obtained, the measurement accuracy of the yaw angle is improved, the measurement cost is saved, and the construction efficiency of a drill jumbo is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rock drilling trolleys, and more specifically, to a posture measurement device, method and rock drilling trolley. Background Art

[0002] The drilling rig is a mechanical equipment used for drilling and blasting construction of tunnels and underground projects. The drilling rig is equipped with multiple rock drills and can drill multiple blastholes at the same time. Compared with the traditional manual drilling method, it can complete the construction of a large number of blastholes in a shorter time and speed up the progress of the project. When the drilling rig is drilling, it is generally necessary to control the propulsion beam to be in a suitable posture. Usually, the propulsion beam is perpendicular to the face to ensure the accuracy of the drilling and the construction quality.

[0003] At present, when measuring the position and posture of the propulsion beam of the rock drilling rig, there are generally measurement methods such as using a three-axis posture sensor to measure, using a six-axis inertial measurement unit to measure, and installing sensors on the beam body and each mechanical arm to infer the position and posture. For the three-axis posture sensor measurement, the sensor combines a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. When measuring, the sensor is installed on the propulsion beam of the rock drilling rig, and the posture of the propulsion beam in three-dimensional space can be directly obtained. However, due to the complex construction environment, the geomagnetic field is easily disturbed, which will have a serious impact on the three-axis sensor, or even fail, resulting in the inability to accurately measure the posture information of the propulsion beam; for the measurement using the six-axis inertial measurement unit, it only uses a three-axis accelerometer and a three-axis gyroscope for measurement, and can usually obtain the roll angle and pitch angle more accurately, but the determination of the yaw angle, the yaw angle refers to the axial direction of the propulsion beam, that is, its construction direction relative to the body of the rock drilling rig. The angle of the projection of the angle in the horizontal plane can only be obtained by integrating the measurement data of the gyroscope. However, due to the error of the measurement data of the gyroscope and the influence of factors such as temperature, the integral angle will be biased, and the deviation will gradually accumulate and amplify over time, thus gradually deviating from the actual value, and it will also lead to the inability to obtain accurate attitude information; and by installing various sensors on the propulsion beam and the mechanical arm respectively, the measurement is carried out through geometric solution. During the measurement, it is necessary to install multiple sensors and perform geometric calculations on the measurement data of multiple sensors, which leads to large cumulative errors, increased costs, and is easily affected by mechanical deformation, which will also reduce the measurement accuracy of the propulsion beam attitude, thereby affecting the measurement results of the sensor. In summary, under the current technical background, many measurement devices and methods have not been able to truly solve the problem of accurate measurement of the propulsion beam attitude of the rock drilling rig, which seriously affects the construction efficiency and quality of the rock drilling rig, and greatly limits the application and development of the rock drilling rig.

[0004] Therefore, how to provide a posture measurement device, method and rock drilling rig that can accurately obtain the posture information of the yaw angle of the thrust beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the rock drilling rig has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a posture measurement device, method and rock drilling rig, which can accurately obtain the posture information of the yaw angle of the thrust beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the rock drilling rig.

[0006] The technical solution provided by the present invention is as follows:

[0007] The present invention provides a posture measurement device, comprising: a base arranged on an object to be measured; a base bracket arranged on the base; a rotary motor arranged at the end of the base bracket; a rotary bracket connected to the rotary motor; a pitch motor arranged at the end of the rotary bracket; a pitch bracket connected to the pitch motor; a camera mechanism arranged on the pitch bracket; an aperture assembly used for the camera mechanism to capture a target; and a circuit board electrically connected to the rotary motor, the pitch motor and the camera mechanism.

[0008] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further includes:

[0009] An accelerometer and a gyroscope disposed on the circuit board; or an electrical interface disposed on the circuit board and used for communicating with an external accelerometer and a gyroscope.

[0010] Furthermore, in a preferred embodiment of the present invention, the swivel bracket comprises:

[0011] A coupling cylinder connected to the output end of the rotary motor;

[0012] A motor bracket disposed at the lower end of the coupling cylinder;

[0013] The pitch motor is arranged at the end of the motor bracket.

[0014] Furthermore, in a preferred embodiment of the present invention, the pitch bracket comprises:

[0015] A T-shaped bracket connected to the output end of the pitch motor;

[0016] Connected with the T-shaped bracket, it is used to install the camera bracket of the camera mechanism.

[0017] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further includes:

[0018] A first limit assembly connected to the coupling cylinder and used to limit the rotation range of the rotary motor;

[0019] A second limit assembly connected to the T-shaped bracket and used for limiting the rotation range of the pitch motor.

[0020] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further includes:

[0021] A first brake mechanism disposed in the rotary motor, or a first power-off self-locking mechanism connected to the base bracket and used for locking the rotary motor;

[0022] A second brake mechanism disposed in the pitch motor, or a second power-off self-locking mechanism connected to the T-shaped bracket and used to lock the pitch motor,

[0023] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further includes:

[0024] A cylindrical shell disposed on the base;

[0025] A light-transmitting cover is arranged on the cylindrical shell.

[0026] Furthermore, in a preferred embodiment of the present invention, the aperture assembly is disposed on the cylindrical shell or the light-transmitting cover, or is disposed on the pitch bracket and moves along with the pitch bracket, or is disposed on the object to be measured and is electrically connected to the circuit board.

[0027] Another technical solution of the present invention is as follows:

[0028] The present invention provides a posture measurement method, using the posture measurement device, comprising the following steps:

[0029] S1. Select two posture measurement devices, denoted as devices A and B, wherein device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A and an aperture assembly A, and device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B and an aperture assembly B;

[0030] S2. The device A is arranged at the end of the propulsion beam of the rock drilling trolley, and the device B is arranged on the body of the rock drilling trolley, and the devices A and B are arranged opposite to each other;

[0031] S3, initializing the devices A and B, making the axes of the camera mechanism A and the camera mechanism B perpendicular to the plane of their bases, and setting the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero;

[0032] S4. Determine the horizontal state of the propulsion beam and the drilling rig body;

[0033] S5. If the propulsion beam and the drilling trolley body are both horizontal, first drive the rotary motor and the pitch motor in the device to make the camera mechanism perform aperture capture, so that the aperture component A is located at the image center point of the camera mechanism B, the aperture component B is located at the image center point of the camera mechanism A, and the camera mechanism A and the camera mechanism B are coaxially aligned;

[0034] Determine the angle value α rotated by the rotary motor A and the angle value β rotated by the rotary motor B;

[0035] Based on the angle values ​​α and β, the propulsion beam yaw angle ψ=|β-α| in the current state is obtained;

[0036] S6. If the propulsion beam or the vehicle body is not horizontal, first obtain the pitch angle θ1 and roll angle θ2 of the propulsion beam according to the accelerometer and gyroscope in the device A and B, or the external accelerometer and gyroscope connected to the circuit board. , and the pitch angle θ2 and roll angle of the vehicle body

[0037] Using the rotary motor and the pitch motor in the device, the camera mechanism performs aperture capture, and similarly aligns the camera mechanism A and the camera mechanism B coaxially, and determines the angle values ​​of the rotary motor A, the pitch motor A, the rotary motor B, and the pitch motor B rotated in this process;

[0038] Combining the angle value with the pitch angle θ1 and the roll angle , pitch angle θ2, roll angle , perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state;

[0039] Combined with the yaw angle ψ, pitch angle θ1 and roll angle of the propulsion beam , and obtain the position and posture information of the propulsion beam in this state.

[0040] In addition, the present invention also provides a rock drilling trolley, including a body, a mechanical arm connected to the body, a propulsion beam connected to the mechanical arm, and also includes: the posture measurement device.

[0041] In summary, the present invention provides a posture measurement device, method and rock drilling trolley, wherein the posture measurement device includes: a base arranged on the object to be measured; a base bracket arranged on the base; a rotary motor arranged at the end of the base bracket; a rotary bracket connected to the rotary motor; a pitch motor arranged at the end of the rotary bracket; a pitch bracket connected to the pitch motor; a camera mechanism arranged on the pitch bracket; an aperture component arranged vertically to the camera mechanism and used as a target capture component for the camera mechanism; and a circuit board electrically connected to the rotary motor, the pitch motor and the camera mechanism. In the attitude measurement device provided by the present invention, its main structure consists of the base, base bracket, rotary motor, rotary bracket, pitch motor, pitch bracket, aperture assembly, camera mechanism and circuit board; wherein, the base is fixedly mounted on the object to be measured, and follows the object to be measured to perform pitch, swing and roll movements; the base bracket is vertically arranged on the base, the base bracket is used to set the rotary motor, and the rotary motor is vertically arranged at the end of the base bracket to provide rotary power; the pitch motor is installed at the end of the rotary bracket, and the pitch bracket is arranged at the output end of the pitch motor. The camera mechanism and the aperture assembly are installed on the apparatus. Under the action of the rotary motor and the pitch motor, the camera mechanism can perform rotary motion and pitch motion, and the aperture assembly is used as a capture target of the camera mechanism. By driving the rotary motor and the pitch motor, the camera mechanism in one attitude measurement device can capture and align the aperture assembly in another attitude measurement device. For the circuit board, an accelerometer or a gyroscope is arranged on it, or an electrical interface for communication with an external accelerometer and a gyroscope is arranged, and the accelerometer and the gyroscope are used to accurately obtain the pitch angle and the roll angle of the current object to be measured. Based on the structural composition and working principle of the attitude measurement device, the present invention provides an attitude measurement method, which can accurately measure the attitude information of the propulsion beam, especially the attitude information of the yaw angle. In the steps of the method, the attitude measurement devices are first arranged in pairs on the object to be measured, and the pitch angle and roll angle of the current object to be measured are obtained by using an accelerometer and a gyroscope; for the yaw angle of the object to be measured, the slewing motor and the pitch motor are used to capture the aperture, and after the device is initialized, the camera mechanism in one attitude measurement device is aligned with the aperture component in another attitude measurement device, and at the same time, the camera mechanism in the other attitude measurement device is also aligned with the aperture component in the previous attitude measurement device until the two camera mechanisms are coaxially aligned, and the yaw angle of the object to be measured is obtained by obtaining the angle value of the rotation of the slewing motor and the pitch motor during the alignment process, and the angle value is analyzed and calculated, and the accurate position attitude information of the object to be measured is obtained by combining the obtained pitch angle and roll angle.Therefore, compared with the prior art, the technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the rock drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a structural schematic diagram of the posture measurement device involved in an embodiment of the present invention;

[0044] Figure 2 The internal structure of the posture measurement device according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0045] Figure 3 The internal structure of the posture measurement device according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0046] Figure 4 It is a schematic diagram of the installation structure of the cylindrical shell involved in an embodiment of the present invention;

[0047] Figure 5 A right side view of the internal structure of the posture measurement device according to an embodiment of the present invention;

[0048] Figure 6 It is a left view of the internal structure of the posture measurement device involved in the embodiment of the present invention;

[0049] Figure 7 is a cross-sectional view of the posture measurement device involved in an embodiment of the present invention;

[0050] Figure 8 A schematic diagram of the installation position of the roll motor involved in an embodiment of the present invention;

[0051] Fig. 9 A flowchart of the steps of the posture measurement method according to an embodiment of the present invention;

[0052] Fig.10 A schematic diagram of the installation position of the posture measurement device in the posture measurement method according to an embodiment of the present invention;

[0053] Fig.11 It is a schematic structural diagram of the rock drilling rig involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0056] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" and "several" is two or more, unless otherwise clearly and specifically defined.

[0058] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0059] Please Figures 1 to 11As shown, the present invention provides a posture measurement device, method and rock drilling trolley, wherein the posture measurement device comprises: a base 1 arranged on the object to be measured; a base bracket 2 arranged on the base 1; a rotary motor 3 arranged at the end of the base bracket 2; a rotary bracket 4 connected to the rotary motor 3; a pitch motor 5 arranged at the end of the rotary bracket 4; a pitch bracket 6 connected to the pitch motor 5; a camera mechanism 8 arranged on the pitch bracket 6; an aperture assembly 7 arranged vertically to the camera mechanism 8 and used as a target for the camera mechanism 8; and a circuit board 9 electrically connected to the rotary motor 3, the pitch motor 5 and the camera mechanism 8. The technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, speed up the construction efficiency of the rock drilling trolley, and is conducive to the rock drilling trolley to realize the automatic posture positioning function.

[0060] The following is a detailed description of the posture measurement device provided by the present invention in conjunction with specific embodiments:

[0061] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: an accelerometer and a gyroscope disposed on the circuit board 9; or an electrical interface disposed on the circuit board 9 for communicating with an external accelerometer and gyroscope.

[0062] In the present invention, the accelerometer and the gyroscope may be arranged in the device, and the attitude measurement device may also be connected to an external accelerometer and a gyroscope via an electrical interface; and in the present embodiment, Figure 2 , Figure 3 As shown, the circuit board 9 is arranged on the base 1, and the accelerometer and the gyroscope are installed in the circuit board 9. The pitch angle and roll angle attitude information of the object to be measured can be accurately obtained through the accelerometer and the gyroscope.

[0063] Specifically, in a specific embodiment of the present invention, the slewing bracket 4 includes: a coupling cylinder 4-1 connected to the output end of the slewing motor 3; a motor bracket 4-2 arranged at the lower end of the coupling cylinder 4-1; and the pitch motor 5 is arranged at the end of the motor bracket 4-2.

[0064] like Figure 2 , 3As shown in Figures 5 and 6, the slewing bracket 4 is used to install the pitch motor 5 and transmit the slewing power provided by the slewing motor 3. In this embodiment, the main structure of the slewing bracket 4 is composed of the coupling cylinder 4-1 and the motor bracket 4-2. The upper end of the coupling cylinder 4-1 is open and is sleeved on the output end of the slewing motor 3 to rotate with the slewing motor 3. The motor bracket 4-2 is vertically arranged on the lower end surface of the coupling cylinder 4-1. The pitch motor 5 is installed at the end of the motor bracket 4-2. Under the action of the slewing motor 3, the slewing bracket 4 together with the pitch motor 5 can perform slewing motion.

[0065] Specifically, in a specific embodiment of the present invention, the pitch bracket 6 includes: a T-shaped bracket 6 - 1 connected to the output end of the pitch motor 5 ; and a camera bracket 6 - 2 connected to the T-shaped bracket 6 - 1 for mounting the camera mechanism 8 .

[0066] like Figure 2 , 3 As shown in Figure 6, in an embodiment of the present invention, the pitch bracket 6 is used to install the camera mechanism 8 and drive the camera mechanism 8 to perform pitch movement; wherein, the main structure of the pitch bracket 6 is composed of the T-shaped bracket 6-1 and the camera bracket 6-2, the T-shaped bracket 6-1 includes a horizontal plate and a vertical plate, the horizontal plate is connected to the output end of the pitch motor 5, the vertical plate is vertically arranged on the horizontal plate, the camera bracket 6-2 is connected to the horizontal plate, the camera mechanism 8 is preferably vertically arranged on the camera bracket 6-2, and the camera mechanism 8, under the action of the pitch motor 5, follows the pitch bracket 6 to perform pitch movement.

[0067] Specifically, in a specific embodiment of the present invention, the posture measurement device also includes: a first limit component 10 connected to the coupling cylinder 4-1 for limiting the rotation range of the rotary motor 3; and a second limit component 11 connected to the T-shaped bracket 6-1 for limiting the rotation range of the pitch motor 5.

[0068] Specifically, in a specific embodiment of the present invention, the first limit assembly 10 includes: a rotation limit rod 10-1 arranged on the coupling cylinder 4-1 and rotating along the fixed axis with the coupling cylinder 4-1; and a rotation blocking block 10-2 arranged on the bottom surface of the base bracket 2 and used to limit the rotation range of the rotation limit rod 10-1.

[0069] Specifically, in a specific embodiment of the present invention, the second limit assembly 11 includes: a pitch limit rod 11-1 arranged on the T-shaped bracket 6-1 and rotating with the T-shaped bracket 6-1; and a pitch blocking block 11-2 arranged on the motor bracket 4-2 and used to limit the rotation range of the pitch limit rod 11-1.

[0070] like Figure 5 , 6 As shown in Figures 7 and 8, in the embodiment of the present invention, the first limit assembly 10 is composed of the rotation limit rod 10-1 and the rotation blocking block 10-2, and the second limit assembly 11 is composed of the pitch limit rod 11-1 and the pitch blocking block 11-2; in the first limit assembly 10, the rotation limit rod 10-1 is provided with two pieces, which are vertically arranged on the upper end surface of the coupling cylinder 4-1 and rotate with the coupling cylinder 4-1; the rotation blocking block 10-2 is provided with two pieces, which are respectively vertically arranged on the lower end surface of the base bracket 2, and the rotation limit rod 10-1 is arranged between the rotation blocking blocks 10-2. When the rotation limit rod 10-1 rotates clockwise or counterclockwise to a certain position, the rotation blocking block Block 10-2 will prevent the limit rod from continuing to rotate, thereby limiting the rotation range of the rotary motor 3; the working principle of the second limit assembly 11 is similar to that of the first limit assembly 10, the pitch limit rod 11-1 is provided with two pieces, which are vertically arranged on the vertical plate of the T-shaped bracket 6-1 and rotate with the T-shaped bracket 6-1, the pitch blocking block 11-2 is provided with two pieces, which are arranged on the lower end surface of the coupling cylinder 4-1, and the pitch limit rod 11-1 is arranged between the pitch blocking blocks 11-2, when the pitch limit rod 11-1 rotates clockwise or counterclockwise to a certain position, the pitch blocking block 11-2 will prevent the limit rod from continuing to rotate, thereby limiting the rotation range of the pitch motor 5.

[0071] Specifically, in a specific embodiment of the present invention, the attitude measurement device further includes: a first brake mechanism provided in the rotary motor 3, or connected to the base bracket 2, for locking the first power-off self-locking mechanism 12 of the rotary motor 3; a second brake mechanism provided in the pitch motor 5, or connected to the T-shaped bracket 6-1, for locking the second power-off self-locking mechanism 13 of the pitch motor 5,

[0072] Specifically, in a specific embodiment of the present invention, the first power-off self-locking mechanism 12 includes: a rotary lock groove 12-1 arranged on the side wall of the coupling cylinder 4-1; and a rotary electronic lock 12-2 arranged on the bottom surface of the base bracket 2 and engaged with the rotary lock groove 12-1.

[0073] Specifically, in a specific embodiment of the present invention, the second power-off self-locking mechanism 13 includes: a pitch lock groove 13-1 arranged on the bottom surface of the coupling cylinder 4-1; and a pitch electronic lock 13-2 arranged on the T-shaped bracket 6-1 and engaged with the pitch lock groove 13-1.

[0074] like Figure 5 , 6As shown in Figures 7 and 8, in this embodiment, the rotary motor 3 and the pitch motor 5 are locked by a power-off self-locking mechanism; wherein the first power-off self-locking mechanism 12 is composed of the rotary lock slot 12-1 and the rotary electronic lock 12-2, and the second power-off self-locking mechanism 13 is composed of the pitch lock slot 13-1 and the pitch electronic lock 13-2; the rotary electronic lock 12-2 and the pitch electronic lock 13-2 are specifically micro electromagnets, and the micro electromagnets are installed on the same horizontal plane as the rotary lock slot 12-1. When the micro electromagnet is powered off, the electromagnet The iron pops up automatically and engages with the rotary lock slot 12-1 to lock the rotary motor 3 to prevent the device from shaking and causing damage to the device during driving or transportation. When the micro electromagnet is energized, the electromagnet retracts to allow the rotary motor 3 to rotate normally. The working principle of the second power-off self-locking mechanism 13 is similar to that of the first power-off self-locking mechanism 12. The micro electromagnet and the pitch lock slot 13-1 are installed in the same vertical plane. When the micro electromagnet is powered off, the electromagnet pops up automatically and engages with the pitch lock slot 13-1 to lock the pitch motor 5.

[0075] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: a cylindrical shell 14 disposed on the base 1 ; and a light-transmitting cover 15 disposed on the cylindrical shell 14 .

[0076] Specifically, in a specific embodiment of the present invention, a first mounting groove is provided on the cylindrical shell 14, and an annular protrusion is provided in the first mounting groove; the light-transmitting cover 15 is provided in the first mounting groove and is engaged with the annular protrusion.

[0077] like Figure 1 , 2 As shown, in the embodiment of the present invention, the base 1, the cylindrical shell 14 and the light-transmitting cover 15 form a sealed whole, which can effectively prevent water from entering the internal structure and improve its working reliability; the upper and lower ends of the cylindrical shell 14 are open, and the lower end is arranged on the base 1, and the first mounting groove is arranged in the annular plane of the upper end, and the annular protrusion is arranged in the groove. Through the first mounting groove and the annular protrusion, it is clamped with the light-transmitting cover 15 to seal the upper end opening of the cylindrical shell 14, and the light-transmitting cover 15 is arranged, so that the camera mechanism 8 in the cylindrical shell 14 can clearly and conveniently capture external light and images.

[0078] Specifically, in a specific embodiment of the present invention, the aperture assembly 7 is arranged on the cylindrical shell 14 or the light-transmitting cover 15, or is arranged on the pitch bracket 6 and moves with the pitch bracket 6, or is arranged on the object to be measured and is electrically connected to the circuit board 9.

[0079] Specifically, in a specific embodiment of the present invention, the aperture assembly 7 includes: a column 7-1 arranged on the camera bracket 6-2; an aperture body 7-2 arranged on the column 7-1; and the camera mechanism 8 is arranged at the center of the aperture body 7-2.

[0080] In the present invention, the aperture assembly 7 is used as a capture target of the camera mechanism 8, and can be installed in multiple locations such as the cylindrical housing 14, the light-transmitting cover 15, the pitch bracket 6 or the object to be measured; in this embodiment, Figure 5 , 6 As shown, the aperture assembly 7 is vertically mounted on the pitch bracket 6 and moves with the pitch bracket 6. It consists of the column 7-1 and the aperture body 7-2. The column 7-1 is used to mount the aperture body 7-2, and the aperture body 7-2 is used to capture the object of the camera 8. In another embodiment of the present invention, the aperture body 7-2 is provided with two or more pieces, and the aperture bodies 7-2 are concentrically arranged. Different aperture bodies 7-2 emit light of different colors, so that the camera 8 can compare the aperture positions of different colors by capturing them, eliminating the interference of other light and shadow at the work site, so that the camera 8 can align the opposite aperture faster and more accurately.

[0081] Specifically, in a specific embodiment of the present invention, the base 1 includes: a mounting seat arranged on the object to be measured; an ear plate arranged on the circumferential side wall of the mounting seat, and a mounting through hole is arranged on the ear plate; a frustum arranged on the upper surface of the mounting seat; a second mounting groove is arranged on the frustum, and the circuit board 9 is arranged in the second mounting groove.

[0082] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: a roll motor 16 disposed on the base 1; the roll motor 16 is disposed between the base 1 and the base bracket 2, and is used to drive the base bracket 2 to perform a roll motion.

[0083] like Figure 8 As shown, in another embodiment of the present invention, the attitude measuring device is equipped with the roll motor 16, and the roll motor 16 is arranged between the base 1 and the base bracket 2; when measuring the position attitude of the propulsion beam of the rock drilling trolley, if the propulsion beam has a certain roll angle, the roll angle of the base bracket 2 can be kept at 0° by driving the roll motor 16, which simplifies the calculation difficulty of the position attitude information of the propulsion beam and makes it easier to measure the yaw angle through a simple calculation method.

[0084] Based on the posture measurement device, the present invention provides a posture measurement method for measuring the position posture information of the propulsion beam of a rock drilling trolley, and the method comprises the following steps: S1, selecting two posture measurement devices, denoted as devices A and B, wherein the device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A and an aperture assembly A, and the device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B and an aperture assembly B; S2, setting the device A at the end of the propulsion beam of the rock drilling trolley, and the device B is set on the body of the rock drilling trolley, and the devices A and B are arranged relative to each other; S3, initializing the devices A and B, so that the axes of the camera mechanisms A and B are perpendicular to the plane of their bases, and setting the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero; S4. Determine the horizontal state of the propulsion beam and the drilling trolley body; S5. If the propulsion beam and the drilling trolley body are both horizontal, first drive the rotary motor and the pitch motor in the device to make its camera mechanism perform aperture capture, let the aperture component A be located at the image center point of the camera mechanism B, the aperture component B be located at the image center point of the camera mechanism A, and the camera mechanism A and the camera mechanism B are coaxially aligned; then determine the angle value α rotated by the rotary motor A and the angle value β rotated by the rotary motor B; based on the angle values ​​α and β, obtain the yaw angle ψ=|β-α| of the propulsion beam in the current state; S6. If the propulsion beam or the body is not horizontal, first obtain the pitch angle θ1 and roll angle θ2 of the current propulsion beam according to the accelerometer and gyroscope in the devices A and B, or the external accelerometer and gyroscope connected to the circuit board. , and the pitch angle θ2 and roll angle of the vehicle body ; Then, the camera mechanism is used to capture the aperture by using the rotary motor and the pitch motor in the device, and the camera mechanism A and the camera mechanism B are aligned coaxially, and the angle values ​​of the rotary motor A, the pitch motor A, the rotary motor B and the pitch motor B during this process are determined; the angle values ​​are combined with the pitch angle θ 1、 Roll Angle , pitch angle θ2, roll angle , perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state; finally, combine the yaw angle ψ, pitch angle θ1 and roll angle of the propulsion beam , and obtain the position and posture information of the propulsion beam in this state.

[0085] The posture measurement method provided by the present invention is described in detail below in conjunction with a specific embodiment. The measurement steps of the posture measurement method specifically include:

[0086] S1. Select two posture measurement devices, denoted as devices A and B. Device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A and an aperture assembly A. Device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B and an aperture assembly B.

[0087] S2. The device A is arranged at the end of the propulsion beam of the rock drilling trolley, and the device B is arranged on the body of the rock drilling trolley, and the devices A and B are arranged opposite to each other.

[0088] Specifically, steps S1 and S2 are used to configure the equipment and install the posture measurement device on the object to be measured; in the embodiment of the present invention, the object to be measured is a rock drilling trolley propulsion beam, such as Fig.11 As shown, the attitude measuring devices are used in pairs, the attitude measuring device A is installed at the end of the propulsion beam of the rock drilling trolley, and the device B is installed on the body of the rock drilling trolley. Since the circuit board in the attitude measuring device is fixedly connected to the base, and the base is fixedly installed on the propulsion beam or the body, the attitude angle reflects both the attitude angle of the base and the attitude angle of the propulsion beam or the body.

[0089] S3. Initialize the devices A and B, so that the axes of the camera mechanisms A and B are perpendicular to the planes of their bases, and set the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero.

[0090] In the embodiment of the present invention, step S3 is used to initialize devices A and B. Figure 5 , 6 As shown, when the attitude measurement device is in the initial state, the positions of the slewing motor and the pitching motor can ensure that the axis of the camera mechanism is perpendicular to the base plane, so as to facilitate the subsequent acquisition of the position attitude information of the propulsion beam;

[0091] Among them, the position and posture information of the propulsion beam includes a roll angle, a pitch angle, and a yaw angle. The roll angle refers to the angle of rotation of an object around a longitudinal axis. The longitudinal axis is usually the X-axis. In this embodiment, the X-axis is the axial direction of the propulsion beam, the forward direction of the vehicle body, or the vertical direction of the base plane; the pitch angle refers to the angle of rotation of an object around a transverse horizontal axis. Strictly speaking, this angle is the angle formed by the X-axis direction and the horizontal plane. The transverse horizontal axis is usually the Y-axis. The Y-axis direction is the vertical direction of the X-axis. In this embodiment, the Y-axis is the transverse direction of the propulsion beam or the transverse direction of the vehicle body; the yaw angle refers to the angle of rotation of an object around a vertical axis. The vertical axis is the Z-axis. Strictly speaking, the vertical axis direction is the direction of the earth's gravity. In the embodiment of the present invention, the roll motion of the propulsion beam refers to the rotation of the propulsion beam with the propulsion beam as the axis, the pitch motion of the propulsion beam refers to the rotation of the propulsion beam in a vertical plane, and the swing motion of the propulsion beam refers to the rotation of the propulsion beam in a horizontal plane.

[0092] S4. Determine the horizontal state of the propulsion beam and the drilling rig body.

[0093] S5. If the propulsion beam and the drilling trolley body are both horizontal, first drive the rotary motor and the pitch motor in the device to make its camera mechanism perform aperture capture, let the aperture component A be located at the image center point of the camera mechanism B, the aperture component B be located at the image center point of the camera mechanism A, and the camera mechanism A and the camera mechanism B are coaxially aligned; then determine the angle value α rotated by the rotary motor A and the angle value β rotated by the rotary motor B; based on the angle values ​​α and β, obtain the yaw angle ψ=|β-α| of the propulsion beam in the current state.

[0094] In the embodiment of the present invention, since the accelerometer and gyroscope can only obtain accurate pitch angle and roll angle, but the yaw angle is inaccurate, the following steps S4, S5 and S6 in the attitude measurement method are to obtain the yaw angle according to the horizontal state of the propulsion beam. Fig.10 As shown, the yaw angle refers to the angle of the projection of the axis direction of the propulsion beam relative to the angle of the vehicle body on the water surface, which is the angle ψ in the figure. Under ideal conditions, the propulsion beam and the vehicle body are horizontal. At this time, the roll angle and pitch angle of the propulsion beam are both 0°, so in this state, the position and posture information of the propulsion beam only needs to determine the yaw angle; as shown in the figure, after the camera mechanism performs aperture capture, the camera mechanism A and the camera mechanism B are coaxially arranged relative to each other. At this time, the projection of the angle formed by the camera mechanism A and the propulsion beam on the horizontal plane is angle α, and the projection of the angle formed by the camera mechanism B and the vehicle body on the horizontal plane is angle β. It can be seen that the yaw angle ψ=(β-α). Based on this principle, when the propulsion beam and the vehicle body are in a horizontal state, for obtaining the yaw angle, the camera mechanism can capture the aperture position by driving the slewing and pitching motors, so that the main position of the aperture is always at the center of the camera image. At this time, camera A is always aimed at aperture B, and camera B is always aimed at aperture A. The angle α can be obtained by obtaining the angle of rotation of the slewing motor A, and the angle β can be obtained by obtaining the angle of rotation of the slewing motor B. Then, further calculation can be performed to obtain the yaw angle ψ=|β-α| of the propulsion beam. Since the pitch angle and roll angle are zero at this time, the yaw angle of the propulsion beam is the position and posture information of the current propulsion beam.

[0095] S6. If the propulsion beam or the vehicle body is not horizontal, first obtain the pitch angle θ1 and roll angle θ2 of the propulsion beam according to the accelerometer and gyroscope in the device A and B, or the external accelerometer and gyroscope connected to the circuit board. , and the pitch angle θ2 and roll angle of the vehicle body ; Then, the camera mechanism is used to capture the aperture by using the rotary motor and the pitch motor in the device. Similarly, the camera mechanism A and the camera mechanism B are aligned coaxially, and the angle values ​​of the rotary motor A, the pitch motor A, the rotary motor B and the pitch motor B during this process are determined; the angle values ​​are combined with the pitch angle θ1 and the roll angle , pitch angle θ1, roll angle , perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state; finally, combine the yaw angle ψ, pitch angle θ1 and roll angle of the propulsion beam , and obtain the position and posture information of the propulsion beam in this state.

[0096] Among them, in the embodiment of the present invention, when the propulsion beam or the vehicle body is not horizontal, or the propulsion beam and the vehicle body are not horizontal, the propulsion beam and the vehicle body have certain pitch angles and roll angles; at this time, the position attitude information of the propulsion beam includes the pitch angle, roll angle and yaw angle. At this time, to measure the attitude information of the propulsion beam, it is first necessary to use the accelerometer and gyroscope in the device A to obtain the current pitch angle θ1 and roll angle of the propulsion beam. ; As for the acquisition of the yaw angle, the camera mechanism is still used to capture the other party's aperture position, so that the camera mechanism is aligned with the other party's aperture body. When the camera mechanisms of both parties are aligned with each other, that is, when the camera mechanisms A and B are coaxial, there must be an angle α and an angle β at this time. The yaw angle of the propulsion beam at this time can be obtained by difference calculation. Therefore, when the propulsion beam and the vehicle body are not in a horizontal position, the pitch angle and roll angle of each base can be obtained by using the accelerometer and gyroscope in the circuit board, or the external accelerometer and gyroscope connected to the circuit board, that is, the pitch angle θ1 and roll angle of the propulsion beam , the pitch angle θ2 and roll angle of the vehicle body , combined with the angle values ​​of the rotation motors A, B, and the pitch motors A, B, these angles can be combined to perform spatial coordinate transformation to calculate the current angles α and β, and further obtain the yaw angle of the propulsion beam, and then combine the pitch angle θ1 and the roll angle obtained by the accelerometer and gyroscope , the position and posture information of the current propulsion beam can be obtained.

[0097] In addition, the present invention also provides a rock drilling trolley, including a body 17, a mechanical arm 18 connected to the body 17, a propulsion beam 19 connected to the mechanical arm 18, and also includes: the posture measurement device.

[0098] In summary, the embodiment of the present invention involves a posture measurement device, method and rock drilling trolley, which can solve the problem of accurate measurement of the posture of the propulsion beam of the rock drilling trolley in the prior art, and specifically involves the problem of accurate measurement of the yaw angle of the propulsion beam. In the posture measurement device provided by the present invention, its main structure is composed of the base 1, the base bracket 2, the rotary motor 3, the rotary bracket 4, the pitch motor 5, the pitch bracket 6, the aperture assembly 7, the camera mechanism 8 and the circuit board 9; wherein the base 1 is fixedly mounted on the object to be measured, and follows the object to be measured to perform pitch, swing and roll movements; the base bracket 2 is vertically arranged on the base 1, and the base bracket 2 is used to set the rotary motor 3, and the rotary motor 3 is vertically arranged at the end of the base bracket 2 to provide rotary power; the pitch motor 5 is installed at the end of the rotary bracket 4, and the pitch bracket is arranged at the output end of the pitch motor 5. 6. The camera mechanism 8 and the aperture assembly 7 are installed on the bracket. Under the action of the rotary motor 4 and the pitch motor 5, the camera mechanism 8 can perform rotary motion and pitch motion, and the aperture assembly 7 is used as a capture target of the camera mechanism 8. By driving the rotary motor 4 and the pitch motor 5, the camera mechanism in one attitude measurement device can capture and align the aperture assembly 7 in another attitude measurement device; as for the circuit board 9, an accelerometer or a gyroscope is arranged on it, or an electrical interface for communication with an external accelerometer and a gyroscope is arranged, and the accelerometer and the gyroscope are used to accurately obtain the pitch angle and roll angle of the current object to be measured. Based on the structural composition and working principle of the attitude measurement device, the present invention provides an attitude measurement method, which can accurately measure the attitude information of the propulsion beam, especially the attitude information of the yaw angle. In the steps of the method, the attitude measurement devices are first arranged in pairs on the object to be measured, and the pitch angle and roll angle of the current object to be measured are obtained by using an accelerometer and a gyroscope; for the yaw angle of the object to be measured, the slewing motor and the pitch motor are used to capture the aperture, and after the device is initialized, the camera mechanism in one attitude measurement device is aligned with the aperture component in another attitude measurement device, and at the same time, the camera mechanism in the other attitude measurement device is also aligned with the aperture component in the previous attitude measurement device until the two camera mechanisms are coaxially aligned, and the yaw angle of the object to be measured is obtained by obtaining the angle value of the rotation of the slewing motor and the pitch motor during the alignment process, and the angle value is analyzed and calculated, and the accurate position attitude information of the object to be measured is obtained by combining the obtained pitch angle and roll angle. Therefore, compared with the prior art, the technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the rock drilling rig.

[0099] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A posture measurement device, characterized in that: include: A base disposed on the object to be measured; a base bracket disposed on the base; A rotary motor disposed at the end of the base support; A slewing bracket connected to the slewing motor; A pitch motor disposed at the end of the slewing bracket; A pitch bracket connected to the pitch motor; A camera mechanism disposed on the pitch bracket and an aperture assembly used for the camera mechanism to capture a target; A circuit board electrically connected to the slewing motor, the pitch motor and the camera mechanism.

2. The posture measurement device according to claim 1, characterized in that: The posture measurement device also includes: An accelerometer and a gyroscope disposed on the circuit board; or an electrical interface disposed on the circuit board and used for communicating with an external accelerometer and a gyroscope.

3. The posture measurement device according to claim 1, characterized in that: The swivel bracket comprises: A coupling cylinder connected to the output end of the rotary motor; A motor bracket disposed at the lower end of the coupling cylinder; The pitch motor is arranged at the end of the motor bracket.

4. The posture measurement device according to claim 3, characterized in that: The pitch bracket comprises: A T-shaped bracket connected to the output end of the pitch motor; Connected with the T-shaped bracket, it is used to install the camera bracket of the camera mechanism.

5. The posture measurement device according to claim 4, characterized in that: The posture measurement device also includes: A first limit assembly connected to the coupling cylinder and used to limit the rotation range of the rotary motor; A second limit assembly connected to the T-shaped bracket and used for limiting the rotation range of the pitch motor.

6. The posture measurement device according to claim 4, characterized in that: The posture measurement device also includes: A first brake mechanism disposed in the rotary motor, or a first power-off self-locking mechanism connected to the base bracket and used for locking the rotary motor; A second brake mechanism is arranged in the pitch motor, or is connected to the T-shaped bracket, and is used for locking the pitch motor with a second power-off self-locking mechanism.

7. The posture measurement device according to claim 1, characterized in that: The posture measurement device also includes: A cylindrical shell disposed on the base; A light-transmitting cover is arranged on the cylindrical shell.

8. The posture measurement device according to claim 7, characterized in that: The aperture assembly is arranged on the cylindrical housing or the light-transmitting cover, or is arranged on the pitch bracket and moves along with the pitch bracket, or is arranged on the object to be measured and is electrically connected to the circuit board.

9. A posture measurement method, using the posture measurement device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Select two posture measurement devices, denoted as devices A and B, wherein device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A and an aperture assembly A, and device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B and an aperture assembly B; S2. The device A is arranged at the end of the propulsion beam of the rock drilling trolley, and the device B is arranged on the body of the rock drilling trolley, and the devices A and B are arranged opposite to each other; S3, initializing the devices A and B, making the axes of the camera mechanism A and the camera mechanism B perpendicular to the plane of their bases, and setting the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero; S4. Determine the horizontal state of the propulsion beam and the drilling rig body; S5. If the propulsion beam and the drilling trolley body are both horizontal, first drive the rotary motor and the pitch motor in the device to make the camera mechanism perform aperture capture, so that the aperture component A is located at the image center point of the camera mechanism B, the aperture component B is located at the image center point of the camera mechanism A, and the camera mechanism A and the camera mechanism B are coaxially aligned; Determine the angle value α rotated by the rotary motor A and the angle value β rotated by the rotary motor B; Based on the angle values ​​α and β, the propulsion beam yaw angle ψ=|β-α| in the current state is obtained; S6. If the propulsion beam or the vehicle body is not horizontal, first obtain the pitch angle θ1 and roll angle θ2 of the propulsion beam according to the accelerometer and gyroscope in the device A and B, or the external accelerometer and gyroscope connected to the circuit board. and the pitch angle θ2 and roll angle of the vehicle body Using the rotary motor and the pitch motor in the device, the camera mechanism is driven to perform aperture capture, and similarly, the camera mechanism A and the camera mechanism B are coaxially aligned, and the angle values ​​of the rotary motor A, the pitch motor A, the rotary motor B and the pitch motor B during the process are determined; Combining the angle value with the pitch angle θ 1、 Roll Angle Pitch angle θ2, roll angle Perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state; Combined with the yaw angle ψ, pitch angle θ1 and roll angle of the propulsion beam The position and posture information of the propulsion beam in this state is obtained.

10. A drilling trolley, comprising a body, a mechanical arm connected to the body, and a propulsion beam connected to the mechanical arm, characterized in that: Also includes: A posture measurement device as claimed in any one of claims 1 to 8.

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