Drilling machine reference point measuring method

Abstract

The invention discloses a drilling machine reference point measuring method, which comprises the following steps: acquiring first measurement data of a laser radar unit, the first measurement data comprising a plurality of pieces of first coordinate data of a working surface under a laser radar coordinate system; acquiring second measurement data of the visual unit, wherein the second measurement data comprises second coordinate data of the reference point of the working plane in the camera coordinate system; converting the first measurement data to a camera coordinate system to obtain third measurement data, wherein the third measurement data comprises a plurality of pieces of third coordinate data; based on the second coordinate data, determining first target coordinate data in the third measurement data, the first target coordinate data being third coordinate data corresponding to the reference point of the working plane in the third measurement data; determining second target coordinate data of the reference point of the working plane in the camera coordinate system based on the third measurement data; and determining the attitude angle of the reference point according to the first target coordinate data and the second target coordinate data.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control of mining equipment, and in particular to a method for measuring a drilling rig benchmark point. Background Art

[0002] With the development of intelligent and unmanned mining, the requirements of mine owners for the automation and intelligence of drilling rig operations are also increasing. The traditional method requires manual adjustment of the position of the drilling rig or the boom to keep the working surface roughly vertical with the working boom of the drilling rig before subsequent automatic operations can be carried out. Summary of the invention

[0003] The present application aims to propose a drilling rig reference point measurement method, which can solve the problem that the traditional drilling rig needs to manually adjust the boom of the drilling rig to be perpendicular to the working surface.

[0004] The embodiment of the present application provides a drilling rig reference point measurement method, which is applied to an electronic device, wherein the electronic device is arranged on a drilling rig, and the drilling rig is provided with a laser radar unit and a visual unit. The method includes:

[0005] Acquire first measurement data of the laser radar unit, where the first measurement data includes a plurality of first coordinate data of the working surface in the laser radar coordinate system;

[0006] Acquire second measurement data of the visual unit, wherein the second measurement data includes second coordinate data of a reference point of the working surface in a camera coordinate system;

[0007] Convert the first measurement data into the camera coordinate system to obtain third measurement data, wherein the third measurement data includes a plurality of third coordinate data;

[0008] Based on the second coordinate data, determining first target coordinate data in the third measurement data, wherein the first target coordinate data is the third coordinate data corresponding to the reference point of the working surface in the third measurement data;

[0009] Based on the third measurement data, determining second target coordinate data of the reference point of the working surface in the camera coordinate system;

[0010] The attitude angle of the reference point is determined according to the first target coordinate data and the second target coordinate data, and the attitude angle is used to adjust the attitude of the boom of the drilling rig relative to the working surface.

[0011] According to some embodiments of the present application, converting the first measurement data into the camera coordinate system to obtain third measurement data includes:

[0012] Acquire a coordinate transformation relationship, where the coordinate transformation relationship is a coordinate correspondence relationship between the laser radar coordinate system and the camera coordinate system;

[0013] The first measurement data is transformed using the coordinate transformation relationship to obtain the third measurement data.

[0014] According to some embodiments of the present application, the second coordinate data includes a first horizontal coordinate and a first vertical coordinate.

[0015] The determining, based on the second coordinate data, first target coordinate data in the third measurement data comprises:

[0016] Determine a first horizontal coordinate interval according to the first horizontal coordinate;

[0017] Determine a first ordinate interval according to the first ordinate;

[0018] The first target coordinate data is determined in the third measurement data according to the first abscissa interval and the first ordinate interval.

[0019] According to some embodiments of the present application, determining the first target coordinate data in the third measurement data according to the first horizontal coordinate interval and the first vertical coordinate interval includes:

[0020] Determine a plurality of first transition coordinate data in the third measurement data, wherein the first transition coordinate data is: the third coordinate data whose abscissa is within the first abscissa interval and whose ordinate is within the first ordinate interval;

[0021] averaging the vertical coordinates of the plurality of first transition coordinate data to obtain a first vertical coordinate;

[0022] The first target coordinate data is obtained according to the first horizontal coordinate, the first vertical coordinate and the first ordinate.

[0023] According to some embodiments of the present application, a first reflective mark is provided on the reference point of the working surface, the third measurement data includes a plurality of the third coordinate data and a plurality of reflective density values, the plurality of the third coordinate data corresponds to the plurality of the reflective density values,

[0024] The determining of a plurality of first transition coordinate data in the third measurement data comprises:

[0025] Get the first reflection density threshold;

[0026] A plurality of the first transition coordinate data are determined in the third measurement data, wherein the first transition coordinate data are: the third coordinate data whose abscissa is within the first abscissa interval, whose ordinate is within the first ordinate interval, and whose corresponding reflection density value is greater than the first reflection density threshold.

[0027] According to some embodiments of the present application, determining second target coordinate data of the reference point of the working surface in the camera coordinate system based on the third measurement data includes:

[0028] Based on the positional relationship between the reference point and the base point, a second horizontal coordinate is obtained according to the horizontal coordinate of the first target coordinate data;

[0029] Based on the positional relationship between the reference point and the base point, a second ordinate is obtained according to the ordinate of the first target coordinate data;

[0030] Determining a second horizontal coordinate interval according to the second horizontal coordinate;

[0031] Determine a second ordinate interval according to the second ordinate;

[0032] The second target coordinate data is determined in the third measurement data according to the second abscissa interval and the second ordinate interval.

[0033] According to some embodiments of the present application, determining the second target coordinate data in the third measurement data according to the second horizontal coordinate interval and the second vertical coordinate interval includes:

[0034] Determine a plurality of second transition coordinate data in the third measurement data, wherein the second transition coordinate data is: the third coordinate data whose abscissa is within the second abscissa interval and whose ordinate is within the second ordinate interval;

[0035] averaging the vertical coordinates of the plurality of the second transition coordinate data to obtain a second vertical coordinate;

[0036] The second target coordinate data is obtained according to the second horizontal coordinate, the second vertical coordinate and the second ordinate.

[0037] According to some embodiments of the present application, a second reflective mark is provided on the reference point of the working surface, the third measurement data includes a plurality of the third coordinate data and a plurality of reflective density values, the plurality of the third coordinate data corresponds to the plurality of the reflective density values,

[0038] The determining of a plurality of second transition coordinate data in the third measurement data comprises:

[0039] Get the second reflection density threshold;

[0040] A plurality of the second transition coordinate data are determined in the third measurement data, wherein the second transition coordinate data are: the third coordinate data whose horizontal coordinate is within the second horizontal coordinate interval, and whose vertical coordinate is within the second vertical coordinate interval, and whose corresponding reflection density value is greater than the second reflection density threshold.

[0041] According to some embodiments of the present application, determining the attitude angle of the reference point according to the first target coordinate data and the second target coordinate data includes:

[0042] Dividing the first intermediate value by the second intermediate value to obtain a first transition value, wherein the first intermediate value is the difference between the vertical coordinate of the second target coordinate data and the vertical coordinate of the first target coordinate data, and the second intermediate value is the difference between the horizontal coordinate of the second target coordinate data and the horizontal coordinate of the first target coordinate data;

[0043] The inverse tangent value of the first transition value is calculated to obtain the attitude angle of the reference point.

[0044] According to some embodiments of the present application, the attitude angle of the reference point is obtained by the following formula:

[0045]

[0046] Among them, Yaw is the attitude angle of the reference point, Z B is the vertical coordinate of the second target coordinate data, Z A is the vertical coordinate of the first target coordinate data, X B is the horizontal coordinate of the second target coordinate data, X A is the horizontal coordinate of the first target coordinate data.

[0047] In a second aspect, an embodiment of the present application provides an electronic device, including:

[0048] at least one processor;

[0049] at least one memory for storing at least one program;

[0050] When at least one of the programs is executed by at least one of the processors, the drilling rig benchmark point measurement method as described above is implemented.

[0051] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to implement the drilling rig benchmark point measurement method as described above.

[0052] In a fourth aspect, an embodiment of the present application provides a drilling rig, on which a laser radar unit and a vision unit are provided, and the drilling rig is provided with the above-mentioned electronic equipment.

[0053] In a fifth aspect, an embodiment of the present application provides a drilling rig reference point measurement device, which is applied to the above-mentioned electronic device, including:

[0054] A first acquisition module, used to acquire first measurement data of the laser radar unit, wherein the first measurement data includes a plurality of first coordinate data of the working surface in the laser radar coordinate system;

[0055] A second acquisition module is used to acquire second measurement data of the visual unit, wherein the second measurement data includes second coordinate data of the reference point of the working surface in the camera coordinate system;

[0056] A first conversion module, used for converting the first measurement data into the camera coordinate system to obtain third measurement data, wherein the third measurement data includes a plurality of third coordinate data;

[0057] A first target determination module, configured to determine first target coordinate data in the third measurement data based on the second coordinate data, wherein the first target coordinate data is the third coordinate data corresponding to the reference point of the working surface in the third measurement data;

[0058] A second target determination module, used to determine second target coordinate data of the reference point of the working surface in the camera coordinate system based on the third measurement data;

[0059] The attitude angle determination module determines the attitude angle of the reference point according to the first target coordinate data and the second target coordinate data, and the attitude angle is used to adjust the attitude of the boom of the drilling rig relative to the working surface.

[0060] In an embodiment of the present application, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point can be determined, so that the attitude angle can be used to adjust the boom of the drilling rig relative to the working surface, without manually adjusting the boom of the drilling rig to be perpendicular to the working surface.

[0061] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0063] Figure 1 A flowchart of an embodiment of a drilling rig benchmark point measurement method provided by the present application;

[0064] Figure 2 A schematic diagram of the positional relationship between the benchmark point and the reference point of an embodiment of the drilling rig benchmark point measurement method provided by the present application;

[0065] Figure 3 A flowchart of obtaining third measurement data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0066] Figure 4 A flowchart of determining first target coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0067] Figure 5 A flowchart of obtaining first target coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0068] Figure 6 A flowchart for determining a plurality of first transition coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0069] Figure 7 A flowchart for determining second target coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0070] Figure 8 A flowchart of obtaining second target coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0071] Fig. 9 A flowchart of determining a plurality of second transition coordinate data in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0072] Fig.10 A flow chart of determining the attitude angle of a reference point in an embodiment of the drilling rig reference point measurement method provided by the present application;

[0073] Fig.11 A schematic diagram of an electronic device embodiment provided by the present application;

[0074] Fig.12 A structural schematic diagram of a drilling rig embodiment provided in this application;

[0075] Fig.13 This is a schematic diagram of an embodiment of a drilling rig benchmark point measurement device provided in the present application.

[0076] Reference numerals:

[0077] Measuring system 100, benchmark 110, reference point 120, electronic device 200, processor 210, memory 220, drilling rig benchmark point measuring device 300, first acquisition module 310, second acquisition module 320, first conversion module 330, first target determination module 340, second target determination module 350, attitude angle determination module 360. DETAILED DESCRIPTION

[0078] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0079] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0080] In the description of this application, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0081] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0082] Refer to the following Figures 1 to 13 A drilling rig reference point measurement method according to an embodiment of the present application is described.

[0083] The embodiment of the present application provides a drilling rig reference point measurement method, which is applied to an electronic device 200, the electronic device 200 is arranged on the drilling rig, and a measurement system 100 is arranged on the drilling rig, and the measurement system 100 includes a laser radar unit and a visual unit, such as Figure 1 As shown, Figure 1 The present invention provides a flowchart of an embodiment of a drilling rig benchmark point measurement method, the method comprising:

[0084] Step S100: acquiring first measurement data of a laser radar unit, where the first measurement data includes a plurality of first coordinate data of a working surface in a laser radar coordinate system;

[0085] Step S200: Acquire second measurement data of the visual unit, where the second measurement data includes second coordinate data of the reference point 110 of the working surface in the camera coordinate system;

[0086] Step S300: converting the first measurement data into a camera coordinate system to obtain third measurement data, where the third measurement data includes a plurality of third coordinate data;

[0087] Step S400: determining first target coordinate data in the third measurement data based on the second coordinate data, where the first target coordinate data is third coordinate data corresponding to the reference point 110 of the working surface in the third measurement data;

[0088] Step S500: determining second target coordinate data of the reference point 120 of the working surface in the camera coordinate system based on the third measurement data;

[0089] Step S600: Determine the attitude angle of the reference point 110 according to the first target coordinate data and the second target coordinate data. The attitude angle is used to adjust the attitude of the boom of the drilling rig relative to the working surface.

[0090] In this embodiment, Figure 2 As shown, Figure 2 The schematic diagram of the positional relationship between the reference point 110 and the reference point 120 of the embodiment of the drilling rig reference point measurement method provided in the present application, by obtaining the first measurement data of the laser radar unit, and obtaining the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude of the boom of the drilling rig relative to the working surface can be adjusted by the attitude angle, without manually adjusting the boom of the drilling rig to be perpendicular to the working surface, thereby improving efficiency.

[0091] Due to the working characteristics of the laser radar unit and the visual unit, the drilling rig reference point measurement method of the embodiment of the present application does not require high lighting conditions. The laser radar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The visual unit obtains the second measurement data by infrared fill light, without relying on an external light source. The drilling rig reference point measurement method of the embodiment of the present application does not require additional external light sources for fill light. Therefore, in the case of insufficient lighting conditions underground, the first measurement data and the second measurement data can still be stably obtained, so that the position and attitude angle of the reference point 110 can be determined.

[0092] In the above step S100, the laser radar unit includes a laser radar sensor, which scans the working surface through the laser radar sensor to obtain first measurement data, the first measurement data includes multiple first coordinate data in the laser radar coordinate system, the multiple first coordinate data are used to indicate each position on the working surface, and the first coordinate data includes a horizontal coordinate, a vertical coordinate and a vertical coordinate.

[0093] In the above step S200, the visual unit includes a visual camera, and the second measurement data, that is, the second coordinate data of the reference point 110 of the work surface in the camera coordinate system is obtained by the visual camera, and the second coordinate data is used to indicate the position of the reference point 110. The second coordinate data only has a horizontal coordinate and a vertical coordinate.

[0094] In the above step S300, the first measurement data is converted into the camera coordinate system to obtain third measurement data, where the third measurement data includes a plurality of third coordinate data, and the third coordinate data includes a horizontal coordinate, a vertical coordinate and a vertical coordinate.

[0095] In the above step S400, since the third measurement data and the second coordinate data are both in the camera coordinate system, the first target coordinate data can be determined in the third measurement data based on the second coordinate data, that is, the third coordinate data corresponding to the reference point 110 of the working surface can be found in the third measurement data using the second coordinate data.

[0096] In the above step S500, based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined, that is, the third coordinate data corresponding to a reference point 120 of the non-working surface benchmark 110 is found in the third measurement data.

[0097] In the above step S600, the attitude angle of the reference point 110 can be determined according to the positions of the reference point 110 and the reference point 120 both located on the working surface, that is, the attitude angle of the reference point 110 is determined according to the first target coordinate data and the second target coordinate data.

[0098] In some implementations of the present application, the step S300 of “converting the first measurement data into the camera coordinate system to obtain the third measurement data” is further described, such as Figure 3 As shown, Figure 3 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of obtaining third measurement data, step S300 includes:

[0099] Step S310: obtaining a coordinate transformation relationship, where the coordinate transformation relationship is a coordinate correspondence relationship between the laser radar coordinate system and the camera coordinate system;

[0100] Step S320: using the coordinate transformation relationship, transform the first measurement data to obtain third measurement data.

[0101] In this embodiment, by calibrating the laser radar unit and the visual unit, a coordinate transformation relationship, that is, a coordinate transformation matrix, can be obtained. The first measurement data is transformed by the coordinate transformation matrix to obtain third measurement data in the camera coordinate system.

[0102] In some embodiments of the present application, the second coordinate data includes a first horizontal coordinate and a first vertical coordinate, and the step S400 of "determining the first target coordinate data in the third measurement data based on the second coordinate data" is further described as follows: Figure 4 As shown, Figure 4 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of determining first target coordinate data, step S400 includes:

[0103] Step S410: determining a first horizontal coordinate interval according to the first horizontal coordinate;

[0104] Step S420: determining a first ordinate interval according to the first ordinate;

[0105] Step S430: Determine first target coordinate data in the third measurement data according to the first horizontal coordinate interval and the first vertical coordinate interval.

[0106] In this embodiment, since the third measurement data is in the same coordinate system as the second coordinate data under the camera coordinate system, the first target coordinate data can be determined in the third measurement data according to the second coordinate data. In other words, the horizontal coordinate and the vertical coordinate of the reference point 110 of the work surface are known, namely the first horizontal coordinate and the first vertical coordinate. By finding the third coordinate data whose horizontal coordinate is the same as the first horizontal coordinate and whose vertical coordinate is the same as the first vertical coordinate in the third measurement data, the vertical coordinate of the reference point 110 of the work surface can be determined to obtain the first target coordinate data. In order to determine the vertical coordinate of the reference point 110 more accurately, the first horizontal coordinate interval and the first vertical coordinate interval are set, and the first horizontal coordinate interval and the first vertical coordinate interval are used to find the third coordinate data whose horizontal coordinate is near the first horizontal coordinate and whose vertical coordinate is near the first vertical coordinate, and then the first target coordinate data is further determined.

[0107] In some embodiments of the present application, the step S430 of “determining the first target coordinate data in the third measurement data according to the first horizontal coordinate interval and the first vertical coordinate interval” is further described, such as Figure 5 As shown, Figure 5 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of obtaining first target coordinate data is provided, and step S430 includes:

[0108] Step S431: determining a plurality of first transition coordinate data in the third measurement data, wherein the first transition coordinate data is: third coordinate data whose abscissa is within the first abscissa interval and whose ordinate is within the first ordinate interval;

[0109] Step S432: averaging the vertical coordinates of the plurality of first transition coordinate data to obtain the first vertical coordinate;

[0110] Step S433: Obtain first target coordinate data according to the first horizontal coordinate, the first vertical coordinate and the first ordinate.

[0111] In this embodiment, the first horizontal coordinate interval and the first vertical coordinate interval are used to find the third coordinate data whose horizontal coordinate is in the first horizontal coordinate interval and whose vertical coordinate is in the first vertical coordinate interval, that is, to find multiple first transition coordinate data, and average the vertical coordinates of the multiple first transition coordinate data to accurately obtain the first vertical coordinate. The first horizontal coordinate, the first vertical coordinate and the first vertical coordinate are the horizontal coordinate, the vertical coordinate and the vertical coordinate of the first target coordinate data respectively.

[0112] In some embodiments of the present application, a first reflective mark is provided on the reference point 110 of the working surface, and the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, and the plurality of third coordinate data correspond to the plurality of reflective density values ​​one by one.

[0113] The step S431 of "determining a plurality of first transition coordinate data in the third measurement data" is further described as follows: Figure 6 As shown, Figure 6 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of determining a plurality of first transition coordinate data, step S431 includes:

[0114] Step S4311: obtaining a first reflection density threshold;

[0115] Step S4312: Determine a plurality of first transition coordinate data in the third measurement data, the first transition coordinate data being: third coordinate data whose horizontal coordinate is within the first horizontal coordinate interval, whose vertical coordinate is within the first vertical coordinate interval, and whose corresponding reflection density value is greater than the first reflection density threshold.

[0116] In this embodiment, the first measurement data acquired by the laser radar unit includes a plurality of first coordinate data and a plurality of reflection density values, and the plurality of first coordinate data corresponds to the plurality of reflection density values ​​one by one. After the first measurement data is converted into the third measurement data, the third measurement data includes a plurality of third coordinate data and a plurality of reflection density values, and the plurality of third coordinate data corresponds to the plurality of reflection density values ​​one by one. Since the first reflection mark is set on the reference point 110 of the working surface, the reflection density value of the first coordinate data corresponding to the reference point 110 in the first measurement data acquired by the laser radar unit will be higher, so the reflection density value of the third coordinate data corresponding to the reference point 110 will also be higher. The third measurement data is screened using the first reflection density threshold, and the third coordinate data whose horizontal coordinate is within the first horizontal coordinate interval, whose vertical coordinate is within the first vertical coordinate interval, and whose corresponding reflection density value is greater than the first reflection density threshold is screened out as the first transition coordinate data, thereby making the first target coordinate data obtained subsequently more accurate.

[0117] In some embodiments of the present application, the first reflective mark can be made of a square PVC board with a black background, on which white dots are arranged. The white dots have high reflective properties, and the black background has strong light absorption properties. This color combination is conducive to the laser radar unit extracting the characteristics of the white dots from the reflected point cloud.

[0118] In some embodiments of the present application, the step S500 of “determining the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system based on the third measurement data” is further described, such as Figure 7 As shown, Figure 7 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of determining the second target coordinate data, step S500 includes:

[0119] Step S510: based on the positional relationship between the reference point 120 and the base point 110, a second horizontal coordinate is obtained according to the horizontal coordinate of the first target coordinate data;

[0120] Step S520: Based on the positional relationship between the reference point 120 and the base point 110, a second ordinate is obtained according to the ordinate of the first target coordinate data;

[0121] Step S530: determining the second horizontal coordinate interval according to the second horizontal coordinate;

[0122] Step S540: determining the second ordinate interval according to the second ordinate;

[0123] Step S550: Determine the second target coordinate data in the third measurement data according to the second horizontal coordinate interval and the second vertical coordinate interval.

[0124] In this embodiment, since the positional relationship between the selected reference point 110 and the reference point 120 on the working surface is known, the horizontal coordinate and the vertical coordinate of the reference point 120 in the camera coordinate system can be obtained according to the first target coordinate data of the reference point 110, that is, the second horizontal coordinate and the second vertical coordinate are obtained. By finding the third coordinate data whose horizontal coordinate is the same as the second horizontal coordinate and whose vertical coordinate is the same as the second vertical coordinate in the third measurement data, the vertical coordinate of the reference point 120 on the working surface can be determined to obtain the second target coordinate data. In order to determine the vertical coordinate of the reference point 120 more accurately, the second horizontal coordinate interval and the second vertical coordinate interval are set, and the second horizontal coordinate interval and the second vertical coordinate interval are used to find the third coordinate data whose horizontal coordinate is near the second horizontal coordinate and whose vertical coordinate is near the second vertical coordinate, and then the second target coordinate data is further determined.

[0125] In some embodiments of the present application, the step S550 of “determining the second target coordinate data in the third measurement data according to the second horizontal coordinate interval and the second vertical coordinate interval” is further described, such as Figure 8 As shown, Figure 8 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of obtaining the second target coordinate data is provided, and step S550 includes:

[0126] Step S551: determining a plurality of second transition coordinate data in the third measurement data, the second transition coordinate data being: third coordinate data whose abscissa is within the second abscissa interval and whose ordinate is within the second ordinate interval;

[0127] Step S552: averaging the vertical coordinates of the plurality of second transition coordinate data to obtain a second vertical coordinate;

[0128] Step S553: ​​Obtain second target coordinate data according to the second horizontal coordinate, the second vertical coordinate and the second ordinate.

[0129] In this embodiment, the second horizontal coordinate interval and the second vertical coordinate interval are used to find the third coordinate data whose horizontal coordinate is in the second horizontal coordinate interval and whose vertical coordinate is in the second vertical coordinate interval, that is, to find a plurality of second transition coordinate data, and average the vertical coordinates of the plurality of second transition coordinate data, so as to accurately obtain the second vertical coordinate. The second horizontal coordinate, the second vertical coordinate and the second vertical coordinate are respectively the horizontal coordinate, the vertical coordinate and the vertical coordinate of the second target coordinate data.

[0130] In some embodiments of the present application, the reference point 120 is selected at a position 1 m away from the reference point 110 in horizontal distance, and the reference point 120 and the reference point 110 have the same relative height from the ground.

[0131] In this embodiment, the position of the reference point 120 is selected at a position that is 1 m horizontally away from the reference point 110 and at the same relative height as the ground, so that according to the first target coordinate data of the reference point 110, the horizontal coordinate and the vertical coordinate of the reference point 120 in the camera coordinate system can be obtained, and the calculation error of the attitude angle of the reference point 110 can also be reduced.

[0132] In some embodiments of the present application, a second reflective mark is provided on the reference point 120 of the working surface, and the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, and the plurality of third coordinate data corresponds to the plurality of reflective density values.

[0133] The step S551 of "determining a plurality of second transition coordinate data in the third measurement data" is further described as follows: Fig. 9 As shown, Fig. 9 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of determining a plurality of second transition coordinate data, step S551 includes:

[0134] Step S5511: obtaining a second reflection density threshold;

[0135] Step S5512: Determine a plurality of second transition coordinate data in the third measurement data, the second transition coordinate data being: third coordinate data whose horizontal coordinate is within the second horizontal coordinate interval, whose vertical coordinate is within the second vertical coordinate interval, and whose corresponding reflection density value is greater than the second reflection density threshold.

[0136] In this embodiment, the first measurement data acquired by the laser radar unit includes a plurality of first coordinate data and a plurality of reflection density values, and the plurality of first coordinate data corresponds to the plurality of reflection density values ​​one by one. After the first measurement data is converted into the third measurement data, the third measurement data includes a plurality of third coordinate data and a plurality of reflection density values, and the plurality of third coordinate data corresponds to the plurality of reflection density values ​​one by one. Since a second reflection mark is provided on the reference point 120 of the working surface, in the first measurement data acquired by the laser radar unit, the reflection density value of the first coordinate data corresponding to the reference point 120 will be higher, so the reflection density value of the third coordinate data corresponding to the reference point 120 will also be higher, and the third measurement data is screened using the second reflection density threshold, and the third coordinate data whose horizontal coordinate is within the second horizontal coordinate interval, whose vertical coordinate is within the second vertical coordinate interval, and whose corresponding reflection density value is greater than the second reflection density threshold is screened out as the second transition coordinate data, thereby making the second target coordinate data obtained subsequently more accurate.

[0137] In some embodiments of the present application, the second reflective mark can be made of a square PVC board with a black background, on which white dots are arranged. The white dots have high reflective properties, and the black background has strong light absorption properties. This color combination is conducive to the laser radar unit extracting the characteristics of the white dots from the reflected point cloud.

[0138] In some embodiments of the present application, the step S600 of “determining the attitude angle of the reference point 110 according to the first target coordinate data and the second target coordinate data” is further described as follows: Fig.10 As shown, Fig.10 In the embodiment of the drilling rig reference point measurement method provided by the present application, a flowchart of determining the attitude angle of the reference point 110 is provided, and step S600 includes:

[0139] Step S610: Divide the first intermediate value by the second intermediate value to obtain a first transition value, wherein the first intermediate value is the difference between the vertical coordinate of the second target coordinate data and the vertical coordinate of the first target coordinate data, and the second intermediate value is the difference between the horizontal coordinate of the second target coordinate data and the horizontal coordinate of the first target coordinate data;

[0140] Step S620: Calculate the arctangent value of the first transition value to obtain the attitude angle of the reference point 110.

[0141] In this implementation, the first intermediate value is divided by the second intermediate value to obtain the first transition value, and the inverse tangent value is calculated for the first transition value, so that the attitude angle of the reference point 110 can be accurately obtained.

[0142] In some embodiments of the present application, the attitude angle of the reference point 110 is obtained by the following formula:

[0143]

[0144] Among them, Yaw is the attitude angle of the reference point 110, Z B is the vertical coordinate of the second target coordinate data, Z A is the vertical coordinate of the first target coordinate data, X B is the horizontal coordinate of the second target coordinate data, X A is the horizontal coordinate of the first target coordinate data.

[0145] In addition, the present application embodiment provides an electronic device 200, such as Fig.11 As shown, Fig.11 The schematic diagram of an embodiment of an electronic device 200 provided in the present application includes:

[0146] at least one processor 210;

[0147] At least one memory 220, used to store at least one program;

[0148] When at least one program is executed by at least one processor 210 , the drilling rig benchmark point measurement method as described above is implemented.

[0149] In an embodiment of the present application, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude of the boom of the drilling rig relative to the working surface can be adjusted by the attitude angle, without manually adjusting the boom of the drilling rig to be perpendicular to the working surface.

[0150] In addition, an embodiment of the present application provides a computer-readable storage medium, which stores a program executable by the processor 210. When the program executable by the processor 210 is executed by the processor 210, it is used to implement the drilling rig benchmark point measurement method as described above.

[0151] In an embodiment of the present application, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude angle can be used to adjust the attitude of the boom of the drilling rig relative to the working surface, without manually adjusting the boom of the drilling rig to be perpendicular to the working surface, thereby improving efficiency.

[0152] Due to the working characteristics of the laser radar unit and the visual unit, the drilling rig reference point measurement method of the embodiment of the present application does not require high lighting conditions. The laser radar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The visual unit obtains the second measurement data by infrared fill light, without relying on an external light source. The drilling rig reference point measurement method of the embodiment of the present application does not require additional external light sources for fill light. Therefore, in the case of insufficient lighting conditions underground, the first measurement data and the second measurement data can still be stably obtained, so that the position and attitude angle of the reference point 110 can be determined.

[0153] In addition, the present application embodiment provides a drilling rig, such as Fig.12 As shown, Fig.12 This is a schematic diagram of the structure of a drilling rig embodiment provided in the present application. The drilling rig is provided with a laser radar unit and a vision unit, and the drilling rig is provided with the above-mentioned electronic device 200.

[0154] In an embodiment of the present application, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude angle can be used to adjust the attitude of the boom of the drilling rig relative to the working surface, and there is no need to manually adjust the boom of the drilling rig to be perpendicular to the working surface, thereby improving efficiency.

[0155] Due to the working characteristics of the laser radar unit and the visual unit, the drilling rig reference point measurement method of the embodiment of the present application does not require high lighting conditions. The laser radar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The visual unit obtains the second measurement data by infrared fill light, without relying on an external light source. The drilling rig reference point measurement method of the embodiment of the present application does not require additional external light sources for fill light. Therefore, in the case of insufficient lighting conditions underground, the first measurement data and the second measurement data can still be stably obtained, so that the position and attitude angle of the reference point 110 can be determined.

[0156] In addition, the present application embodiment provides a drilling rig reference point measurement device 300, such as Fig.13 As shown, Fig.13 The schematic diagram of the drilling rig reference point measurement device 300 provided in the present application is applied to the above-mentioned electronic device 200, including:

[0157] A first acquisition module 310 is used to acquire first measurement data of the laser radar unit, where the first measurement data includes a plurality of first coordinate data of the working surface in the laser radar coordinate system;

[0158] A second acquisition module 320 is used to acquire second measurement data of the visual unit, where the second measurement data includes second coordinate data of the reference point 110 of the working surface in the camera coordinate system;

[0159] A first conversion module 330 is used to convert the first measurement data into a camera coordinate system to obtain third measurement data, where the third measurement data includes a plurality of third coordinate data;

[0160] A first target determination module 340 is used to determine first target coordinate data in the third measurement data based on the second coordinate data, where the first target coordinate data is third coordinate data corresponding to the reference point 110 of the working surface in the third measurement data;

[0161] A second target determination module 350 is used to determine second target coordinate data of the reference point 120 of the work surface in the camera coordinate system based on the third measurement data;

[0162] The attitude angle determination module 360 ​​determines the attitude angle of the reference point 110 according to the first target coordinate data and the second target coordinate data. The attitude angle is used to adjust the attitude of the boom of the drilling rig relative to the working surface.

[0163] In an embodiment of the present application, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude angle can be used to adjust the attitude of the boom of the drilling rig relative to the working surface, without manually adjusting the boom of the drilling rig to be perpendicular to the working surface, thereby improving efficiency.

[0164] Due to the working characteristics of the laser radar unit and the visual unit, the drilling rig reference point measurement method of the embodiment of the present application does not require high lighting conditions. The laser radar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The visual unit obtains the second measurement data by infrared fill light, without relying on an external light source. The drilling rig reference point measurement method of the embodiment of the present application does not require additional external light sources for fill light. Therefore, in the case of insufficient lighting conditions underground, the first measurement data and the second measurement data can still be stably obtained, so that the position and attitude angle of the reference point 110 can be determined.

[0165] In some implementations of the present application, the first conversion module 330 is further described. The first conversion module 330 includes:

[0166] A third acquisition module is used to acquire a coordinate conversion relationship, where the coordinate conversion relationship is a coordinate correspondence relationship between the laser radar coordinate system and the camera coordinate system;

[0167] The second conversion module is used to convert the first measurement data by using a coordinate conversion relationship to obtain third measurement data.

[0168] In this embodiment, by calibrating the laser radar unit and the visual unit, the coordinate conversion relationship, that is, the coordinate transformation matrix, can be obtained through the third acquisition module. The second conversion module converts the first measurement data through the coordinate transformation matrix to obtain the third measurement data in the camera coordinate system.

[0169] In some embodiments of the present application, the second coordinate data includes a first horizontal coordinate and a first vertical coordinate. The first target determination module 340 is further described. The first target determination module 340 includes:

[0170] A first interval determination module, used to determine a first horizontal coordinate interval according to the first horizontal coordinate;

[0171] A second interval determination module, used to determine a first ordinate interval according to the first ordinate;

[0172] The first coordinate determination module is used to determine the first target coordinate data in the third measurement data according to the first horizontal coordinate interval and the first vertical coordinate interval.

[0173] In this embodiment, since the third measurement data is in the same coordinate system as the second coordinate data under the camera coordinate system, the first target coordinate data can be determined in the third measurement data according to the second coordinate data. In other words, the horizontal coordinate and the vertical coordinate of the reference point 110 of the work surface are known, namely the first horizontal coordinate and the first vertical coordinate. By finding the third coordinate data whose horizontal coordinate is the same as the first horizontal coordinate and whose vertical coordinate is the same as the first vertical coordinate in the third measurement data, the vertical coordinate of the reference point 110 of the work surface can be determined to obtain the first target coordinate data. In order to determine the vertical coordinate of the reference point 110 more accurately, the first horizontal coordinate interval and the first vertical coordinate interval are determined respectively by the first interval determination module and the second interval determination module. The first coordinate determination module uses the first horizontal coordinate interval and the first vertical coordinate interval to find the third coordinate data whose horizontal coordinate is near the first horizontal coordinate and whose vertical coordinate is near the first vertical coordinate, and then further determines the first target coordinate data.

[0174] In some embodiments of the present application, the first coordinate determination module is further described, and the first coordinate determination module includes:

[0175] A second coordinate determination module is used to determine a plurality of first transition coordinate data in the third measurement data, wherein the first transition coordinate data is: third coordinate data whose abscissa is within a first abscissa interval and whose ordinate is within a first ordinate interval;

[0176] A first calculation module, used for averaging the vertical coordinates of a plurality of first transition coordinate data to obtain a first vertical coordinate;

[0177] The third coordinate determination module is used to obtain first target coordinate data according to the first horizontal coordinate, the first vertical coordinate and the first ordinate.

[0178] In this implementation, the second coordinate determination module uses the first horizontal coordinate interval and the first vertical coordinate interval to find the third coordinate data whose horizontal coordinate is in the first horizontal coordinate interval and whose vertical coordinate is in the first vertical coordinate interval, that is, to find multiple first transition coordinate data, and the first calculation module averages the vertical coordinates of the multiple first transition coordinate data to accurately obtain the first vertical coordinate. The third coordinate determination module uses the first horizontal coordinate, the first vertical coordinate and the first vertical coordinate as the horizontal coordinate, the vertical coordinate and the vertical coordinate of the first target coordinate data, respectively.

[0179] In some embodiments of the present application, a first reflective mark is provided on the reference point 110 of the working surface, and the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, and the plurality of third coordinate data correspond to the plurality of reflective density values ​​one by one.

[0180] The second coordinate determination module is further described. The second coordinate determination module includes:

[0181] A fourth acquisition module, used to acquire a first reflection density threshold;

[0182] The fourth coordinate determination module is used to determine multiple first transition coordinate data in the third measurement data, and the first transition coordinate data is: the abscissa is within the first abscissa interval, the ordinate is within the first ordinate interval, and the corresponding reflection density value is greater than the first reflection density threshold value of the third coordinate data.

[0183] In this embodiment, the first measurement data acquired by the laser radar unit includes a plurality of first coordinate data and a plurality of reflection density values, and the plurality of first coordinate data corresponds to the plurality of reflection density values ​​one by one. After the first measurement data is converted into the third measurement data, the third measurement data includes a plurality of third coordinate data and a plurality of reflection density values, and the plurality of third coordinate data corresponds to the plurality of reflection density values ​​one by one. Since the first reflection mark is set on the reference point 110 of the working surface, the reflection density value of the first coordinate data corresponding to the reference point 110 in the first measurement data acquired by the laser radar unit will be higher, so the reflection density value of the third coordinate data corresponding to the reference point 110 will also be higher, and the first reflection density threshold is acquired by the fourth acquisition module, and the fourth coordinate determination module uses the first reflection density threshold to filter the third measurement data, and filter out the third coordinate data whose horizontal coordinate is within the first horizontal coordinate interval, and whose vertical coordinate is within the first vertical coordinate interval, and whose corresponding reflection density value is greater than the first reflection density threshold, as the first transition coordinate data, so as to make the first target coordinate data obtained subsequently more accurate.

[0184] In some embodiments of the present application, the second target determination module 350 is further described. The second target determination module 350 includes:

[0185] A fifth coordinate determination module, configured to obtain a second horizontal coordinate according to the horizontal coordinate of the first target coordinate data based on the positional relationship between the reference point 120 and the base point 110;

[0186] A sixth coordinate determination module, configured to obtain a second ordinate according to the ordinate of the first target coordinate data based on the positional relationship between the reference point 120 and the base point 110;

[0187] A third interval determination module, used to determine the second horizontal coordinate interval according to the second horizontal coordinate;

[0188] A fourth interval determination module, used for determining a second ordinate interval according to the second ordinate;

[0189] The seventh coordinate determination module is used to determine the second target coordinate data in the third measurement data according to the second horizontal coordinate interval and the second vertical coordinate interval.

[0190] In this embodiment, since the positional relationship between the selected reference point 110 and the reference point 120 on the working surface is known, the fifth coordinate determination module and the sixth coordinate determination module can obtain the horizontal coordinate and the vertical coordinate of the reference point 120 in the camera coordinate system according to the first target coordinate data of the reference point 110, that is, obtain the second horizontal coordinate and the second vertical coordinate. By finding the third coordinate data whose horizontal coordinate is the same as the second horizontal coordinate and whose vertical coordinate is the same as the second vertical coordinate in the third measurement data, the vertical coordinate of the reference point 120 on the working surface can be determined to obtain the second target coordinate data. In order to determine the vertical coordinate of the reference point 120 more accurately, the third interval determination module and the fourth interval determination module determine the second horizontal coordinate interval and the second vertical coordinate interval respectively, and the seventh coordinate determination module uses the second horizontal coordinate interval and the second vertical coordinate interval to find the third coordinate data whose horizontal coordinate is near the second horizontal coordinate and whose vertical coordinate is near the second vertical coordinate, and further determine the second target coordinate data.

[0191] In some embodiments of the present application, the seventh coordinate determination module is further described, and the seventh coordinate determination module includes:

[0192] an eighth coordinate determination module, used to determine a plurality of second transition coordinate data in the third measurement data, the second transition coordinate data being: third coordinate data whose abscissa is within a second abscissa interval and whose ordinate is within a second ordinate interval;

[0193] A second calculation module, used for averaging the vertical coordinates of the plurality of second transition coordinate data to obtain a second vertical coordinate;

[0194] The ninth coordinate determination module is used to obtain second target coordinate data according to the second horizontal coordinate, the second vertical coordinate and the second vertical coordinate.

[0195] In this implementation, the eighth coordinate determination module uses the second horizontal coordinate interval and the second vertical coordinate interval to find the third coordinate data whose horizontal coordinate is in the second horizontal coordinate interval and whose vertical coordinate is in the second vertical coordinate interval, that is, to find multiple second transition coordinate data, and the second calculation module averages the vertical coordinates of the multiple second transition coordinate data to accurately obtain the second vertical coordinate. The ninth coordinate determination module uses the second horizontal coordinate, the second vertical coordinate and the second vertical coordinate as the horizontal coordinate, the vertical coordinate and the vertical coordinate of the second target coordinate data respectively to obtain the second target coordinate data.

[0196] In some embodiments of the present application, a second reflective mark is provided on the reference point 120 of the working surface, and the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, and the plurality of third coordinate data corresponds to the plurality of reflective density values.

[0197] The eighth coordinate determination module is further described. The eighth coordinate determination module includes:

[0198] The fifth acquisition module: acquiring a second reflection density threshold;

[0199] The tenth coordinate determination module is used to determine multiple second transition coordinate data in the third measurement data, and the second transition coordinate data is: the abscissa is within the second abscissa interval, the ordinate is within the second ordinate interval, and the corresponding reflection density value is greater than the second reflection density threshold value of the third coordinate data.

[0200] In this embodiment, the first measurement data acquired by the laser radar unit includes a plurality of first coordinate data and a plurality of reflection density values, and the plurality of first coordinate data corresponds to the plurality of reflection density values ​​one by one. After the first measurement data is converted into the third measurement data, the third measurement data includes a plurality of third coordinate data and a plurality of reflection density values, and the plurality of third coordinate data corresponds to the plurality of reflection density values ​​one by one. Since the reference point 120 of the working surface is provided with a second reflection mark, in the first measurement data acquired by the laser radar unit, the reflection density value of the first coordinate data corresponding to the reference point 120 will be higher, so the reflection density value of the third coordinate data corresponding to the reference point 120 will also be higher, and the second reflection density threshold is acquired by the fifth acquisition module, and the tenth coordinate determination module uses the second reflection density threshold to filter the third measurement data, and filter out the third coordinate data whose horizontal coordinate is within the second horizontal coordinate interval, whose vertical coordinate is within the second vertical coordinate interval, and whose corresponding reflection density value is greater than the second reflection density threshold as the second transition coordinate data, thereby making the second target coordinate data obtained subsequently more accurate.

[0201] In some embodiments of the present application, the attitude angle determination module 360 ​​is further described. The attitude angle determination module 360 ​​includes:

[0202] A third calculation module is used to divide the first intermediate value by the second intermediate value to obtain a first transition value, wherein the first intermediate value is the difference between the vertical coordinate of the second target coordinate data and the vertical coordinate of the first target coordinate data, and the second intermediate value is the difference between the horizontal coordinate of the second target coordinate data and the horizontal coordinate of the first target coordinate data;

[0203] The fourth calculation module is used to calculate the arc tangent value of the first transition value to obtain the attitude angle of the reference point 110.

[0204] In this implementation, the third calculation module divides the first intermediate value by the second intermediate value to obtain a first transition value, and the fourth calculation module calculates an inverse tangent value of the first transition value, thereby accurately obtaining the attitude angle of the reference point 110 .

[0205] In addition, an embodiment of the present application also discloses a computer program product, including a computer program or computer instructions, the computer program or computer instructions are stored in a computer-readable storage medium, the processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the drilling rig benchmark point measurement method as in any of the previous embodiments.

[0206] In this embodiment, by acquiring the first measurement data of the laser radar unit and acquiring the second measurement data of the visual unit, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. Based on the second coordinate data of the reference point 110 of the working surface in the camera coordinate system, the third coordinate data corresponding to the reference point 110 in the third measurement data is determined, that is, the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of the reference point 120 of the working surface in the camera coordinate system is determined. According to the first target coordinate data and the second target coordinate data, the attitude angle of the reference point 110 can be determined, so that the attitude of the boom of the drilling rig relative to the working surface can be adjusted by the attitude angle, and there is no need to manually adjust the boom of the drilling rig to be perpendicular to the working surface, thereby improving efficiency.

[0207] Due to the working characteristics of the laser radar unit and the visual unit, the drilling rig reference point measurement method of the embodiment of the present application does not require high lighting conditions. The laser radar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The visual unit obtains the second measurement data by infrared fill light, without relying on an external light source. The drilling rig reference point measurement method of the embodiment of the present application does not require additional external light sources for fill light. Therefore, in the case of insufficient lighting conditions underground, the first measurement data and the second measurement data can still be stably obtained, so that the position and attitude angle of the reference point 110 can be determined.

[0208] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0209] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A drilling rig reference point measurement method, characterized in that: Applied to an electronic device, the electronic device is arranged on a drilling rig, the drilling rig is provided with a laser radar unit and a visual unit, the method comprises: Acquire first measurement data of the laser radar unit, where the first measurement data includes a plurality of first coordinate data of the working surface in the laser radar coordinate system; Acquire second measurement data of the visual unit, wherein the second measurement data includes second coordinate data of a reference point of the working surface in a camera coordinate system; Convert the first measurement data into the camera coordinate system to obtain third measurement data, wherein the third measurement data includes a plurality of third coordinate data; Based on the second coordinate data, determining first target coordinate data in the third measurement data, the first target coordinate data being the third coordinate data corresponding to the reference point of the working surface in the third measurement data; Based on the third measurement data, determining second target coordinate data of the reference point of the working surface in the camera coordinate system; The attitude angle of the reference point is determined according to the first target coordinate data and the second target coordinate data, and the attitude angle is used to adjust the attitude of the boom of the drilling rig relative to the working surface.

2. The drilling rig reference point measurement method according to claim 1, characterized in that: The converting the first measurement data into the camera coordinate system to obtain third measurement data includes: Acquire a coordinate transformation relationship, where the coordinate transformation relationship is a coordinate correspondence relationship between the laser radar coordinate system and the camera coordinate system; The first measurement data is transformed using the coordinate transformation relationship to obtain the third measurement data.

3. The drilling rig reference point measurement method according to claim 1, characterized in that: The second coordinate data includes a first horizontal coordinate and a first vertical coordinate, The determining, based on the second coordinate data, first target coordinate data in the third measurement data comprises: Determine a first horizontal coordinate interval according to the first horizontal coordinate; Determine a first ordinate interval according to the first ordinate; The first target coordinate data is determined in the third measurement data according to the first abscissa interval and the first ordinate interval.

4. The drilling rig reference point measurement method according to claim 3, characterized in that: The determining the first target coordinate data in the third measurement data according to the first horizontal coordinate interval and the first vertical coordinate interval includes: Determine a plurality of first transition coordinate data in the third measurement data, wherein the first transition coordinate data is: the third coordinate data whose abscissa is within the first abscissa interval and whose ordinate is within the first ordinate interval; averaging the vertical coordinates of the plurality of first transition coordinate data to obtain a first vertical coordinate; The first target coordinate data is obtained according to the first horizontal coordinate, the first vertical coordinate and the first ordinate.

5. The drilling rig reference point measurement method according to claim 4, characterized in that: A first reflective mark is arranged on the reference point of the working surface, the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, the plurality of third coordinate data corresponds to the plurality of reflective density values, The determining of a plurality of first transition coordinate data in the third measurement data comprises: Get the first reflection density threshold; A plurality of the first transition coordinate data are determined in the third measurement data, wherein the first transition coordinate data are: the third coordinate data whose abscissa is within the first abscissa interval, whose ordinate is within the first ordinate interval, and whose corresponding reflection density value is greater than the first reflection density threshold.

6. The drilling rig reference point measurement method according to claim 1, characterized in that: The determining, based on the third measurement data, second target coordinate data of the reference point of the working surface in the camera coordinate system comprises: Based on the positional relationship between the reference point and the base point, a second horizontal coordinate is obtained according to the horizontal coordinate of the first target coordinate data; Based on the positional relationship between the reference point and the base point, a second ordinate is obtained according to the ordinate of the first target coordinate data; Determining a second horizontal coordinate interval according to the second horizontal coordinate; Determine a second ordinate interval according to the second ordinate; The second target coordinate data is determined in the third measurement data according to the second abscissa interval and the second ordinate interval.

7. The drilling rig reference point measurement method according to claim 6, characterized in that: The determining the second target coordinate data in the third measurement data according to the second horizontal coordinate interval and the second vertical coordinate interval includes: Determine a plurality of second transition coordinate data in the third measurement data, wherein the second transition coordinate data is: the third coordinate data whose abscissa is within the second abscissa interval and whose ordinate is within the second ordinate interval; averaging the vertical coordinates of the plurality of the second transition coordinate data to obtain a second vertical coordinate; The second target coordinate data is obtained according to the second horizontal coordinate, the second vertical coordinate and the second ordinate.

8. The drilling rig reference point measurement method according to claim 7, characterized in that: A second reflective mark is provided on the reference point of the working surface, the third measurement data includes a plurality of third coordinate data and a plurality of reflective density values, the plurality of third coordinate data corresponds to the plurality of reflective density values, The determining of a plurality of second transition coordinate data in the third measurement data comprises: Get the second reflection density threshold; A plurality of the second transition coordinate data are determined in the third measurement data, wherein the second transition coordinate data are: the third coordinate data whose horizontal coordinate is within the second horizontal coordinate interval, and whose vertical coordinate is within the second vertical coordinate interval, and whose corresponding reflection density value is greater than the second reflection density threshold.

9. The drilling rig reference point measurement method according to claim 1, characterized in that: The step of determining the attitude angle of the reference point according to the first target coordinate data and the second target coordinate data comprises: Dividing the first intermediate value by the second intermediate value to obtain a first transition value, wherein the first intermediate value is the difference between the vertical coordinate of the second target coordinate data and the vertical coordinate of the first target coordinate data, and the second intermediate value is the difference between the horizontal coordinate of the second target coordinate data and the horizontal coordinate of the first target coordinate data; The inverse tangent value of the first transition value is calculated to obtain the attitude angle of the reference point.

10. The drilling rig reference point measurement method according to claim 1, characterized in that: The attitude angle of the reference point is obtained by the following formula: Among them, Yaw is the attitude angle of the reference point, Z B is the vertical coordinate of the second target coordinate data, Z A is the vertical coordinate of the first target coordinate data, X B is the horizontal coordinate of the second target coordinate data, X A is the horizontal coordinate of the first target coordinate data.

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