A method of measuring a reference point of a drilling rig

Abstract

The application discloses a drilling machine reference point measurement method, the method comprises the following steps: obtaining first measurement data of a laser radar unit, the first measurement data comprising a plurality of first coordinate data of a working surface in a laser radar coordinate system; obtaining second measurement data of a vision unit, the second measurement data comprising second coordinate data of a reference point of the working surface in a camera coordinate system; converting the first measurement data to the camera coordinate system to obtain third measurement data, the third measurement data comprising a plurality of third coordinate data; determining first target coordinate data in the third measurement data based on the second coordinate 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; determining second target coordinate data of a reference point of the working surface in the camera coordinate system based on the third measurement data; and determining an attitude angle of the reference point according to the first target coordinate data and the second target coordinate data.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for mining equipment, and in particular to a method for measuring the reference point of a drilling rig. Background Technology

[0002] With the development of intelligent and unmanned mining, mine owners are constantly increasing their requirements for the automation and intelligence of drilling operations. Traditional methods require manual adjustment of the drilling rig or boom position to ensure that the working face is roughly perpendicular to the drilling rig's boom before subsequent automated operations can proceed. Summary of the Invention

[0003] This application aims to propose a method for measuring the reference point of a drilling rig, which can solve the problem that traditional drilling rigs require manual adjustment of the boom to be perpendicular to the working face.

[0004] This application provides a method for measuring reference points of a drilling rig, applied to an electronic device. The electronic device is installed on the drilling rig, which is equipped with a lidar unit and a vision unit. The method includes:

[0005] Acquire first measurement data from the lidar unit, the first measurement data including multiple first coordinate data of the working surface in the lidar coordinate system;

[0006] Acquire second measurement data of the vision unit, the second measurement data including the second coordinate data of the reference point of the working surface in the camera coordinate system;

[0007] The first measurement data is converted to the camera coordinate system to obtain the third measurement data, which includes multiple third coordinate data.

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

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

[0010] Based on the first target coordinate data and the second target coordinate data, the attitude angle of the reference point is determined, and the attitude angle is used to adjust the attitude of the drilling rig's boom relative to the working face.

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

[0012] Obtain the coordinate transformation relationship, which is the coordinate correspondence between the lidar 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 this application, the second coordinate data includes a first horizontal coordinate and a first vertical coordinate.

[0015] The step of determining the first target coordinate data from the third measurement data based on the second coordinate data includes:

[0016] Based on the first horizontal coordinate, determine the first horizontal coordinate interval;

[0017] Based on the first ordinate, determine the first ordinate interval;

[0018] The first target coordinate data is determined from the third measurement data based on the first horizontal coordinate interval and the first vertical coordinate interval.

[0019] According to some embodiments of this application, determining the first target coordinate data from the third measurement data based on the first horizontal coordinate interval and the first vertical coordinate interval includes:

[0020] In the third measurement data, a plurality of first transition coordinate data are determined. The first transition coordinate data are the third coordinate data in which the horizontal coordinate is within the first horizontal coordinate interval and the vertical coordinate is within the first vertical coordinate interval.

[0021] The first vertical coordinate is obtained by averaging the vertical coordinates of multiple first transition coordinate data.

[0022] The first target coordinate data is obtained based on the first horizontal coordinate, the first vertical coordinate, and the first vertical coordinate.

[0023] According to some embodiments of this application, a first reflective mark is provided on the reference point of the working surface, and the third measurement data includes multiple third coordinate data and multiple reflective density values, wherein the multiple third coordinate data correspond to the multiple reflective density values.

[0024] The determination of multiple first transition coordinate data in the third measurement data includes:

[0025] Obtain the first reflectivity threshold;

[0026] In the third measurement data, a plurality of first transition coordinate data are determined. The first transition coordinate data are: 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 reflectance density value is greater than the first reflectance density threshold.

[0027] According to some embodiments of this application, determining the 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 benchmark point, the second abscissa is obtained according to the abscissa of the first target coordinate data;

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

[0030] Determine the second horizontal coordinate interval based on the second horizontal coordinate;

[0031] Determine the interval of the second ordinate based on the second ordinate;

[0032] The second target coordinate data is determined from the third measurement data based on the second horizontal coordinate interval and the second vertical coordinate interval.

[0033] According to some embodiments of this application, determining the second target coordinate data from the third measurement data based on the second horizontal coordinate interval and the second vertical coordinate interval includes:

[0034] In the third measurement data, a plurality of second transition coordinate data are determined. The second transition coordinate data are the third coordinate data in which the horizontal coordinate is within the second horizontal coordinate interval and the vertical coordinate is within the second vertical coordinate interval.

[0035] The second vertical coordinate is obtained by averaging the vertical coordinates of multiple second transition coordinate data.

[0036] The second target coordinate data is obtained based on the second horizontal coordinate, the second vertical coordinate, and the second vertical coordinate.

[0037] According to some embodiments of this application, a second reflective mark is provided on the reference point of the working surface, and the third measurement data includes multiple third coordinate data and multiple reflective density values, wherein the multiple third coordinate data correspond to the multiple reflective density values.

[0038] The determination of multiple second transition coordinate data in the third measurement data includes:

[0039] Obtain the second reflectivity threshold;

[0040] In the third measurement data, a plurality of second transition coordinate data are determined. The second transition coordinate data are: 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 reflectance density value is greater than the second reflectance density threshold.

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

[0042] Divide the first intermediate value by the second intermediate value to obtain the first transition value. 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. 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 attitude angle of the reference point is obtained by taking the arctangent of the first transition value.

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

[0045]

[0046] Where Yaw is the attitude angle of the reference point, and Z... B Z represents the vertical coordinate of the second target coordinate data. A X is the vertical coordinate of the first target coordinate data. B X represents the x-coordinate of the second target coordinate data. A The x-coordinate of the first target coordinate data.

[0047] Secondly, embodiments of this application provide an electronic device, including:

[0048] At least one processor;

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

[0050] The drilling rig reference point measurement method described above is implemented when at least one of the programs is executed by at least one of the processors.

[0051] Thirdly, embodiments of this application provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to implement the drilling rig reference point measurement method described above.

[0052] Fourthly, embodiments of this application provide a drilling rig, which is equipped with a lidar unit and a vision unit, and the aforementioned electronic equipment is also provided on the drilling rig.

[0053] Fifthly, embodiments of this application provide a drilling rig reference point measuring device, applied to the aforementioned electronic equipment, comprising:

[0054] The first acquisition module is used to acquire the first measurement data of the lidar unit, the first measurement data including multiple first coordinate data of the working surface in the lidar coordinate system;

[0055] The second acquisition module is used to acquire the second measurement data of the vision unit, the second measurement data including the second coordinate data of the reference point of the working surface in the camera coordinate system;

[0056] A first conversion module is used to convert the first measurement data to the camera coordinate system to obtain third measurement data, wherein the third measurement data includes multiple third coordinate data.

[0057] The first target determination module is used to determine first target coordinate data based on the second 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 work surface in the third measurement data;

[0058] The second target determination module is used to determine the 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 based on the first target coordinate data and the second target coordinate data. The attitude angle is used to adjust the attitude of the drilling rig's boom relative to the working face.

[0060] In this embodiment, first measurement data from the lidar unit and second measurement data from the vision unit are acquired, and then the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, without the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface.

[0061] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0063] Figure 1 A flowchart illustrating an embodiment of the drilling rig reference point measurement method provided in this application;

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

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

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

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

[0068] Figure 6 A flowchart illustrating the determination of multiple first transition coordinate data in an embodiment of the drilling rig reference point measurement method provided in this application;

[0069] Figure 7 A flowchart illustrating the determination of second target coordinate data in an embodiment of the drilling rig reference point measurement method provided in this application;

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

[0071] Figure 9 A flowchart illustrating the determination of multiple second transition coordinate data in an embodiment of the drilling rig reference point measurement method provided in this application;

[0072] Figure 10 A flowchart illustrating the determination of the attitude angle of the reference point in an embodiment of the drilling rig reference point measurement method provided in this application;

[0073] Figure 11 A schematic diagram of an embodiment of the electronic device provided in this application;

[0074] Figure 12 This is a structural schematic diagram of an embodiment of the drilling rig provided in this application;

[0075] Figure 13 This is a schematic diagram of an embodiment of the drilling rig reference point measuring device provided in this application.

[0076] Figure label:

[0077] Measurement system 100, reference point 110, reference point 120, electronic device 200, processor 210, memory 220, drilling rig reference 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 Implementation

[0078] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0079] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0081] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0082] The following reference Figures 1 to 13 This application describes a method for measuring a drilling rig reference point according to an embodiment of the present application.

[0083] This application provides a method for measuring reference points on a drilling rig, applied to an electronic device 200. The electronic device 200 is installed on the drilling rig, and a measurement system 100 is installed on the drilling rig. The measurement system 100 includes a lidar unit and a vision unit, such as... Figure 1 As shown, Figure 1 A flowchart illustrating an embodiment of the drilling rig reference point measurement method provided in this application, the method comprising:

[0084] Step S100: Obtain the first measurement data of the lidar unit, the first measurement data including multiple first coordinate data of the working surface in the lidar coordinate system;

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

[0086] Step S300: Transform the first measurement data into the camera coordinate system to obtain the third measurement data, which includes multiple third coordinate data.

[0087] Step S400: Based on the second coordinate data, determine the first target coordinate data in the third measurement data. The first target coordinate data is the third coordinate data corresponding to the reference point 110 of the work surface in the third measurement data.

[0088] Step S500: Based on the third measurement data, determine the second target coordinate data of the reference point 120 of the work surface in the camera coordinate system;

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

[0090] In this embodiment, as Figure 2 As shown, Figure 2 This diagram illustrates the positional relationship between reference point 110 and reference point 120 in an embodiment of the drilling rig reference point measurement method provided in this application. First measurement data from the lidar unit and second measurement data from the vision unit are acquired, and the first measurement data is converted to a camera coordinate system to obtain third measurement data. Based on the second coordinate data of reference point 110 on the working surface in the camera coordinate system, the third coordinate data corresponding to reference point 110 in the third measurement data is determined, i.e., the first target coordinate data is determined. Based on the third measurement data, the second target coordinate data of reference point 120 on the working surface in the camera coordinate system is determined. According to the first and second target coordinate data, the attitude angle of reference point 110 can be determined, allowing for adjustment of the drilling rig's boom attitude relative to the working surface using the attitude angle. This eliminates the need for manual adjustment of the drilling rig's boom to be perpendicular to the working surface, improving efficiency.

[0091] Due to the operating characteristics of the lidar unit and the vision unit, the drilling rig reference point measurement method of this application embodiment does not have high requirements for lighting conditions. The lidar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The vision unit uses infrared supplementary lighting to obtain the second measurement data, without relying on an external light source. The drilling rig reference point measurement method of this application embodiment does not require additional external light source for supplementary lighting. Therefore, even when the downhole lighting conditions are insufficient, the first and second measurement data can still be stably obtained, thereby enabling the determination of the position and attitude angle of the reference point 110.

[0092] In step S100 above, the lidar unit includes a lidar sensor. The lidar sensor scans the work surface to obtain first measurement data. The first measurement data includes multiple first coordinate data in the lidar coordinate system. The multiple first coordinate data are used to indicate various positions on the work surface. The first coordinate data includes horizontal coordinate, vertical coordinate and vertical coordinate.

[0093] In step S200 above, the vision unit includes a vision camera, which acquires second measurement data, namely, the second coordinate data of the reference point 110 on the working surface in the camera coordinate system. 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 step S300 above, the first measurement data is converted to the camera coordinate system to obtain the third measurement data. The third measurement data includes multiple third coordinate data, including the horizontal coordinate, the vertical coordinate, and the vertical axis.

[0095] In step S400 above, since both the third measurement data and the second coordinate data are 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 work surface can be found in the third measurement data using the second coordinate data.

[0096] In step S500 above, 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 reference point 110 of the non-working surface is found in the third measurement data.

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

[0098] In some embodiments of this application, the step S300 of "converting the first measurement data to the camera coordinate system to obtain the third measurement data" is further explained, such as... Figure 3 As shown, Figure 3 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for obtaining the third measurement data is provided, and step S300 includes:

[0099] Step S310: Obtain the coordinate transformation relationship, which is the coordinate correspondence between the lidar coordinate system and the camera coordinate system;

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

[0101] In this embodiment, by calibrating the lidar unit and the vision unit, the coordinate transformation relationship, i.e., the coordinate transformation matrix, can be obtained. The first measurement data is then transformed using the coordinate transformation matrix to obtain the third measurement data in the camera coordinate system.

[0102] In some embodiments of this application, the second coordinate data includes a first abscissa and a first ordinate. Further explanation is given regarding step S400, "determining the first target coordinate data from the third measurement data based on the second coordinate data," as follows: Figure 4 As shown, Figure 4 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for determining the coordinate data of the first target is provided, and step S400 includes:

[0103] Step S410: Determine the first horizontal coordinate interval based on the first horizontal coordinate;

[0104] Step S420: Determine the first ordinate interval based on the first ordinate;

[0105] Step S430: Determine the first target coordinate data from the third measurement data based on 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 in the camera coordinate system, the first target coordinate data can be determined from the third measurement data based on the second coordinate data. In other words, the x-coordinate and y-coordinate of the reference point 110 of the work surface are known, namely the first x-coordinate and the first y-coordinate. By finding the third coordinate data in the third measurement data that has the same x-coordinate as the first x-coordinate and the same y-coordinate as the first y-coordinate, the y-coordinate of the reference point 110 of the work surface can be determined, thus obtaining the first target coordinate data. In order to determine the y-coordinate of the reference point 110 more accurately, a first x-coordinate interval and a first y-coordinate interval are set. Using the first x-coordinate interval and the first y-coordinate interval, a third coordinate data whose x-coordinate is near the first x-coordinate and whose y-coordinate is near the first y-coordinate is found, and then the first target coordinate data is further determined.

[0107] In some embodiments of this application, the step S430 of "determining the first target coordinate data in the third measurement data based on the first horizontal coordinate interval and the first vertical coordinate interval" is further explained, such as... Figure 5 As shown, Figure 5 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for obtaining the first target coordinate data is provided, and step S430 includes:

[0108] Step S431: Determine multiple first transition coordinate data in the third measurement data. The first transition coordinate data are: third coordinate data whose horizontal coordinate is within the first horizontal coordinate interval and whose vertical coordinate is within the first vertical coordinate interval.

[0109] Step S432: Calculate the average of the vertical coordinates of multiple first transition coordinate data to obtain the first vertical coordinate;

[0110] Step S433: Obtain the first target coordinate data based on the first horizontal coordinate, the first vertical coordinate, and the first vertical coordinate.

[0111] In this embodiment, by utilizing the first horizontal coordinate interval and the first vertical coordinate interval, a third coordinate data point is found where the horizontal coordinate is in the first horizontal coordinate interval and the vertical coordinate is in the first vertical coordinate interval. This means multiple first transition coordinate data points are found. By averaging the vertical coordinates of these multiple first transition coordinate data points, the first vertical coordinate can be accurately obtained. The first horizontal coordinate, first vertical coordinate, and first vertical coordinate are the horizontal coordinate, vertical coordinate, and vertical coordinate of the first target coordinate data, respectively.

[0112] In some embodiments of this application, a first reflective mark is provided on the reference point 110 of the working surface, and the third measurement data includes multiple third coordinate data and multiple reflective density values, with each of the multiple third coordinate data corresponding to one of the multiple reflective density values.

[0113] Further explanation is needed regarding step S431, specifically "determining multiple first transition coordinate data from the third measurement data," as follows: Figure 6 As shown, Figure 6 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for determining multiple first transition coordinate data is provided, and step S431 includes:

[0114] Step S4311: Obtain the first reflectivity threshold;

[0115] Step S4312: Determine multiple first transition coordinate data in the third measurement data. The first transition coordinate data are: 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 reflectance density value is greater than the first reflectance density threshold.

[0116] In this embodiment, the first measurement data acquired by the lidar unit includes multiple first coordinate data and multiple reflectance density values, with each first coordinate data corresponding to one of the multiple reflectance density values. After converting the first measurement data into third measurement data, the third measurement data includes multiple third coordinate data and multiple reflectance density values, with each third coordinate data corresponding to one of the multiple reflectance density values. Since a first reflective mark is set on the reference point 110 of the working surface, the reflectance density value of the first coordinate data corresponding to the reference point 110 in the first measurement data acquired by the lidar unit will be higher. Therefore, the reflectance density value of the third coordinate data corresponding to the reference point 110 will also be higher. The third measurement data is filtered using a first reflectance density threshold to select 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 reflectance density value is greater than the first reflectance density threshold. These are used as first transition coordinate data, thereby making the subsequently obtained first target coordinate data more accurate.

[0117] In some embodiments of this application, the first reflective mark can be made of a square PVC board with a black background and white dots on it. The white dots have high reflectivity, and the black background has strong light absorption. This combination of colors is beneficial for the lidar unit to extract the features of the white dots from the reflected point cloud.

[0118] In some embodiments of this application, the step S500 of "determining the second target coordinate data of the reference point 120 of the work surface in the camera coordinate system based on the third measurement data" is further explained, such as... Figure 7 As shown, Figure 7 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for determining the coordinate data of the second target is provided, and step S500 includes:

[0119] Step S510: Based on the positional relationship between reference point 120 and benchmark point 110, obtain the second abscissa according to the abscissa of the first target coordinate data;

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

[0121] Step S530: Determine the range of the second horizontal coordinate based on the second horizontal coordinate;

[0122] Step S540: Determine the interval of the second ordinate based on the second ordinate;

[0123] Step S550: Determine the second target coordinate data in the third measurement data based on 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 work surface is known, the abscissa and ordinate of the reference point 120 in the camera coordinate system can be obtained based on the first target coordinate data of the reference point 110, i.e., the second abscissa and the second ordinate are obtained. By finding the third coordinate data in the third measurement data that has the same abscissa as the second abscissa and the same ordinate as the second ordinate, the ordinate of the reference point 120 on the work surface can be determined, thus obtaining the second target coordinate data. In order to determine the ordinate of the reference point 120 more accurately, a second abscissa interval and a second ordinate interval are set. Using the second abscissa interval and the second ordinate interval, a third coordinate data whose abscissa is near the second abscissa and whose ordinate is near the second ordinate is found, and then the second target coordinate data is further determined.

[0125] In some embodiments of this application, the step S550, "determining the second target coordinate data in the third measurement data based on the second abscissa interval and the second ordinate interval," is further explained, such as... Figure 8 As shown, Figure 8 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for obtaining the second target coordinate data is provided, and step S550 includes:

[0126] Step S551: Determine multiple second transition coordinate data in the third measurement data. The second transition coordinate data are: third coordinate data whose abscissa is within the second abscissa interval and whose ordinate is within the second ordinate interval.

[0127] Step S552: Calculate the average of the vertical coordinates of multiple second transition coordinate data to obtain the second vertical coordinate;

[0128] Step S553: ​​Obtain the second target coordinate data based on the second horizontal coordinate, the second vertical coordinate, and the second vertical coordinate.

[0129] In this embodiment, by utilizing the second horizontal coordinate interval and the second vertical coordinate interval, a third coordinate data point is found where the horizontal coordinate is in the second horizontal coordinate interval and the vertical coordinate is in the second vertical coordinate interval. This means multiple second transition coordinate data points are found. By averaging the vertical coordinates of these multiple second transition coordinate data points, the second vertical coordinate can be accurately obtained. The second horizontal coordinate, the second vertical coordinate, and the second vertical coordinate are respectively the horizontal coordinate, vertical coordinate, and vertical coordinate of the second target coordinate data.

[0130] In some embodiments of this application, the reference point 120 is selected at a horizontal distance of 1m from the reference point 110, and the reference point 120 and the reference point 110 are at the same relative height to the ground.

[0131] In this embodiment, the reference point 120 is located at a horizontal distance of 1m from the reference point 110 and at the same relative height to the ground. This allows the abscissa and ordinate of the reference point 120 in the camera coordinate system to be obtained based on the first target coordinate data of the reference point 110, and also reduces the calculation error of the attitude angle of the reference point 110.

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

[0133] Further explanation is provided for step S551, "determining multiple second transition coordinate data in the third measurement data," such as... Figure 9 As shown, Figure 9 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for determining multiple second transition coordinate data is provided, and step S551 includes:

[0134] Step S5511: Obtain the second reflectivity threshold;

[0135] Step S5512: Determine multiple second transition coordinate data in the third measurement data. The second transition coordinate data are: 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 reflectance density value is greater than the second reflectance density threshold.

[0136] In this embodiment, the first measurement data acquired by the lidar unit includes multiple first coordinate data and multiple reflectance density values, with each first coordinate data corresponding to one of the multiple reflectance density values. After converting the first measurement data into third measurement data, the third measurement data includes multiple third coordinate data and multiple reflectance density values, with each third coordinate data corresponding to one of the multiple reflectance density values. Since a second reflective mark is set on the reference point 120 of the working surface, the reflectance density value of the first coordinate data corresponding to the reference point 120 in the first measurement data acquired by the lidar unit will be higher. Therefore, the reflectance density value of the third coordinate data corresponding to the reference point 120 will also be higher. The third measurement data is filtered using a second reflectance density threshold to select 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 reflectance density value is greater than the second reflectance density threshold. These are used as second transition coordinate data, thereby making the subsequently obtained second target coordinate data more accurate.

[0137] In some embodiments of this application, the second reflective mark can be made of a square PVC board with a black background and white dots on it. The white dots have high reflectivity, and the black background has strong light absorption. This combination of colors is beneficial for the lidar unit to extract the features of the white dots from the reflected point cloud.

[0138] In some embodiments of this application, the step S600 of "determining the attitude angle of reference point 110 based on the first target coordinate data and the second target coordinate data" is further explained, such as... Figure 10 As shown, Figure 10 In an embodiment of the drilling rig reference point measurement method provided in this application, a flowchart for determining the attitude angle of reference point 110 is provided, and step S600 includes:

[0139] Step S610: Divide the first intermediate value by the second intermediate value to obtain the first transition value. 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. 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 embodiment, the first intermediate value is divided by the second intermediate value to obtain the first transition value. The arctangent value of the first transition value can be calculated to accurately obtain the attitude angle of the reference point 110.

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

[0143]

[0144] Where Yaw is the attitude angle of reference point 110, and Z... B Z represents the vertical coordinate of the second target coordinate data. A X represents the vertical coordinate of the first target's coordinate data. B X represents the x-coordinate of the second target's coordinate data. A The x-coordinate of the first target coordinate data.

[0145] In addition, embodiments of this application provide an electronic device 200, such as... Figure 11 As shown, Figure 11 A schematic diagram of an embodiment of the electronic device 200 provided in this application includes:

[0146] At least one processor 210;

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

[0148] The drilling rig reference point measurement method described above is implemented when at least one program is executed by at least one processor 210.

[0149] In this embodiment, first measurement data from the lidar unit and second measurement data from the vision unit are acquired, and then the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, without the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface.

[0150] In addition, embodiments of this application provide a computer-readable storage medium storing a program executable by a processor 210, which, when executed by the processor 210, is used to implement the drilling rig reference point measurement method described above.

[0151] In this embodiment, by acquiring first measurement data from the lidar unit and second measurement data from the vision unit, the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, eliminating the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface, thus improving efficiency.

[0152] Due to the operating characteristics of the lidar unit and the vision unit, the drilling rig reference point measurement method of this application embodiment does not have high requirements for lighting conditions. The lidar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The vision unit uses infrared supplementary lighting to obtain the second measurement data, without relying on an external light source. The drilling rig reference point measurement method of this application embodiment does not require additional external light source for supplementary lighting. Therefore, even when the downhole lighting conditions are insufficient, the first and second measurement data can still be stably obtained, thereby enabling the determination of the position and attitude angle of the reference point 110.

[0153] In addition, embodiments of this application provide a drilling rig, such as Figure 12 As shown, Figure 12 This is a schematic diagram of the structure of the drilling rig embodiment provided in this application. The drilling rig is equipped with a lidar unit and a vision unit, and the drilling rig is equipped with the aforementioned electronic equipment 200.

[0154] In this embodiment, by acquiring first measurement data from the lidar unit and second measurement data from the vision unit, the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, eliminating the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface and improving efficiency.

[0155] Due to the operating characteristics of the lidar unit and the vision unit, the drilling rig reference point measurement method of this application embodiment does not have high requirements for lighting conditions. The lidar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The vision unit uses infrared supplementary lighting to obtain the second measurement data, without relying on an external light source. The drilling rig reference point measurement method of this application embodiment does not require additional external light source for supplementary lighting. Therefore, even when the downhole lighting conditions are insufficient, the first and second measurement data can still be stably obtained, thereby enabling the determination of the position and attitude angle of the reference point 110.

[0156] Additionally, this application provides a drilling rig reference point measuring device 300, such as... Figure 13 As shown, Figure 13 A schematic diagram of an embodiment of the drilling rig reference point measuring device 300 provided in this application, applied to the aforementioned electronic device 200, includes:

[0157] The first acquisition module 310 is used to acquire the first measurement data of the lidar unit. The first measurement data includes multiple first coordinate data of the working surface in the lidar coordinate system.

[0158] The second acquisition module 320 is used to acquire the second measurement data of the vision unit. The second measurement data includes the second coordinate data of the reference point 110 of the working surface in the camera coordinate system.

[0159] The first conversion module 330 is used to convert the first measurement data to the camera coordinate system to obtain the third measurement data, which includes multiple third coordinate data.

[0160] The first target determination module 340 is used to determine the first target coordinate data in the third measurement data based on the second coordinate data. The first target coordinate data is the third coordinate data corresponding to the reference point 110 of the work surface in the third measurement data.

[0161] The second target determination module 350 is used to determine 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.

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

[0163] In this embodiment, by acquiring first measurement data from the lidar unit and second measurement data from the vision unit, the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, eliminating the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface, thus improving efficiency.

[0164] Due to the operating characteristics of the lidar unit and the vision unit, the drilling rig reference point measurement method of this application embodiment does not have high requirements for lighting conditions. The lidar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The vision unit uses infrared supplementary lighting to obtain the second measurement data, without relying on an external light source. The drilling rig reference point measurement method of this application embodiment does not require additional external light source for supplementary lighting. Therefore, even when the downhole lighting conditions are insufficient, the first and second measurement data can still be stably obtained, thereby enabling the determination of the position and attitude angle of the reference point 110.

[0165] In some embodiments of this application, the first conversion module 330 is further described, and the first conversion module 330 includes:

[0166] The third acquisition module is used to acquire the coordinate transformation relationship, which is the coordinate correspondence between the lidar coordinate system and the camera coordinate system;

[0167] The second transformation module is used to transform the first measurement data using coordinate transformation relationships to obtain the third measurement data.

[0168] In this embodiment, by calibrating the lidar unit and the vision unit, the coordinate transformation relationship, i.e., the coordinate transformation matrix, can be obtained through the third acquisition module. The second transformation module transforms the first measurement data using the coordinate transformation matrix to obtain the third measurement data in the camera coordinate system.

[0169] In some embodiments of this application, the second coordinate data includes a first abscissa and a first ordinate. Further description of the first target determination module 340: The first target determination module 340 includes:

[0170] The first interval determination module is used to determine the first horizontal coordinate interval based on the first horizontal coordinate.

[0171] The second interval determination module is used to determine the interval of the first ordinate based on the first ordinate.

[0172] The first coordinate determination module is used to determine the first target coordinate data from the third measurement data based on 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 in the camera coordinate system, the first target coordinate data can be determined from the third measurement data based on the second coordinate data. In other words, the x-coordinate and y-coordinate of the reference point 110 of the work surface are known, namely the first x-coordinate and the first y-coordinate. By finding the third coordinate data in the third measurement data that has the same x-coordinate as the first x-coordinate and the same y-coordinate as the first y-coordinate, the y-coordinate of the reference point 110 of the work surface can be determined, thus obtaining the first target coordinate data. In order to determine the y-coordinate of the reference point 110 more accurately, the first interval determination module and the second interval determination module determine the first x-coordinate interval and the first y-coordinate interval, respectively. The first coordinate determination module uses the first x-coordinate interval and the first y-coordinate interval to find the third coordinate data whose x-coordinate is near the first x-coordinate and whose y-coordinate is near the first y-coordinate, and then further determines the first target coordinate data.

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

[0175] The second coordinate determination module is used to determine multiple first transition coordinate data in the third measurement data. The first transition coordinate data are: third coordinate data in which the horizontal coordinate is within the first horizontal coordinate interval and the vertical coordinate is within the first vertical coordinate interval.

[0176] The first calculation module is used to calculate the average of the vertical coordinates of multiple first transition coordinate data to obtain the first vertical coordinate.

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

[0178] In this embodiment, the second coordinate determination module uses the first abscissa interval and the first ordinate interval to find third coordinate data where the abscissa is in the first abscissa interval and the ordinate is in the first ordinate interval, i.e., it finds multiple first transition coordinate data. The first calculation module calculates the average of the ordinates of the multiple first transition coordinate data to accurately obtain the first ordinate. The third coordinate determination module uses the first abscissa, the first ordinate, and the first ordinate as the abscissa, ordinate, and ordinate of the first target coordinate data, respectively.

[0179] In some embodiments of this application, a first reflective mark is provided on the reference point 110 of the working surface, and the third measurement data includes multiple third coordinate data and multiple reflective density values, with each of the multiple third coordinate data corresponding to one of the multiple reflective density values.

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

[0181] The fourth acquisition module is used to acquire the first reflectivity threshold.

[0182] The fourth coordinate determination module is used to determine multiple first transition coordinate data in the third measurement data. The first transition coordinate data are: 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 reflectance density value is greater than the first reflectance density threshold.

[0183] In this embodiment, the first measurement data acquired by the lidar unit includes multiple first coordinate data and multiple reflectance density values, with each first coordinate data corresponding to one of the multiple reflectance density values. After converting the first measurement data into third measurement data, the third measurement data includes multiple third coordinate data and multiple reflectance density values, with each third coordinate data corresponding to one of the multiple reflectance density values. Since a first reflective mark is set on the reference point 110 of the working surface, the reflectance density value of the first coordinate data corresponding to the reference point 110 in the first measurement data acquired by the lidar unit will be higher. Therefore, the reflectance density value of the third coordinate data corresponding to the reference point 110 will also be higher. The fourth acquisition module acquires a first reflectance density threshold, and the fourth coordinate determination module uses the first reflectance density threshold to filter the third measurement data, selecting 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 reflectance density value is greater than the first reflectance density threshold, as first transition coordinate data, thereby making the subsequently obtained first target coordinate data more accurate.

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

[0185] The fifth coordinate determination module is used to obtain the second abscissa based on the positional relationship between the reference point 120 and the benchmark point 110, according to the abscissa of the first target coordinate data;

[0186] The sixth coordinate determination module is used to obtain the second ordinate based on the positional relationship between the reference point 120 and the benchmark point 110, according to the ordinate of the first target coordinate data.

[0187] The third interval determination module is used to determine the interval of the second horizontal coordinate based on the second horizontal coordinate.

[0188] The fourth interval determination module is used to determine the interval of the second ordinate based on the second ordinate.

[0189] The seventh coordinate determination module is used to determine the second target coordinate data from the third measurement data based on 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 work surface is known, the fifth coordinate determination module and the sixth coordinate determination module can obtain the abscissa and ordinate of the reference point 120 in the camera coordinate system based on the first target coordinate data of the reference point 110, that is, obtain the second abscissa and the second ordinate. By finding the third coordinate data in the third measurement data that has the same abscissa as the second abscissa and the same ordinate as the second ordinate, the ordinate of the reference point 120 on the work surface can be determined, and the second target coordinate data can be obtained. In order to determine the ordinate of the reference point 120 more accurately, the third interval determination module and the fourth interval determination module determine the second abscissa interval and the second ordinate interval, respectively. The seventh coordinate determination module uses the second abscissa interval and the second ordinate interval to find the third coordinate data whose abscissa is near the second abscissa and whose ordinate is near the second ordinate, and then further determines the second target coordinate data.

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

[0192] The eighth coordinate determination module is used to determine multiple second transition coordinate data in the third measurement data. The second transition coordinate data are: third coordinate data in which the horizontal coordinate is within the second horizontal coordinate interval and the vertical coordinate is within the second vertical coordinate interval.

[0193] The second calculation module is used to calculate the average of the vertical coordinates of multiple second transition coordinate data to obtain the second vertical coordinate.

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

[0195] In this embodiment, the eighth coordinate determination module uses the second abscissa interval and the second ordinate interval to find third coordinate data where the abscissa is in the second abscissa interval and the ordinate is in the second ordinate interval, thus finding multiple second transition coordinate data. The second calculation module averages the ordinates of the multiple second transition coordinate data to accurately obtain the second ordinate. The ninth coordinate determination module uses the second abscissa, the second ordinate, and the second ordinate as the abscissa, ordinate, and ordinate of the second target coordinate data, respectively, to obtain the second target coordinate data.

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

[0197] The eighth coordinate determination module will be further explained. The eighth coordinate determination module includes:

[0198] Fifth acquisition module: Acquire the second reflectivity threshold;

[0199] The tenth coordinate determination module is used to determine multiple second transition coordinate data in the third measurement data. The second transition coordinate data are: 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 reflectance density value is greater than the second reflectance density threshold.

[0200] In this embodiment, the first measurement data acquired by the lidar unit includes multiple first coordinate data and multiple reflectance density values, with each first coordinate data corresponding to one of the multiple reflectance density values. After converting the first measurement data into third measurement data, the third measurement data includes multiple third coordinate data and multiple reflectance density values, with each third coordinate data corresponding to one of the multiple reflectance density values. Since a second reflective mark is set on the reference point 120 of the working surface, the reflectance density value of the first coordinate data corresponding to the reference point 120 in the first measurement data acquired by the lidar unit will be higher. Therefore, the reflectance density value of the third coordinate data corresponding to the reference point 120 will also be higher. The fifth acquisition module acquires a second reflectance density threshold, and the tenth coordinate determination module uses the second reflectance density threshold to filter the third measurement data, selecting 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 reflectance density value is greater than the second reflectance density threshold, as second transition coordinate data, thereby making the subsequently obtained second target coordinate data more accurate.

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

[0202] The third calculation module is used to divide the first intermediate value by the second intermediate value to obtain the first transition value. 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. 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 arctangent value of the first transition value to obtain the attitude angle of the reference point 110.

[0204] In this embodiment, the third calculation module divides the first intermediate value by the second intermediate value to obtain the first transition value, and the fourth calculation module calculates the arctangent value of the first transition value to accurately obtain the attitude angle of the reference point 110.

[0205] Furthermore, one embodiment of this application also discloses a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the drilling rig reference point measurement method as described in any of the preceding embodiments.

[0206] In this embodiment, by acquiring first measurement data from the lidar unit and second measurement data from the vision unit, the first measurement data is converted to the camera coordinate system to obtain 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, i.e., 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 as to adjust the attitude of the drilling rig boom relative to the working surface using the attitude angle, eliminating the need for manual adjustment of the drilling rig boom to be perpendicular to the working surface, thus improving efficiency.

[0207] Due to the operating characteristics of the lidar unit and the vision unit, the drilling rig reference point measurement method of this application embodiment does not have high requirements for lighting conditions. The lidar unit relies on emitting a laser beam to the outside and obtaining the first measurement data by processing the reflected signal. The vision unit uses infrared supplementary lighting to obtain the second measurement data, without relying on an external light source. The drilling rig reference point measurement method of this application embodiment does not require additional external light source for supplementary lighting. Therefore, even when the downhole lighting conditions are insufficient, the first and second measurement data can still be stably obtained, thereby enabling the determination of the position and attitude angle of the reference point 110.

[0208] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media 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 includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0209] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for measuring the reference point of a drilling rig, characterized in that, The method, applied to an electronic device mounted on a drilling rig, wherein the drilling rig is equipped with a lidar unit and a vision unit, includes: Acquire first measurement data from the lidar unit, the first measurement data including multiple first coordinate data of the working surface in the lidar coordinate system; Acquire second measurement data of the vision unit, the second measurement data including the second coordinate data of the reference point of the working surface in the camera coordinate system; The first measurement data is converted to the camera coordinate system to obtain the third measurement data, which includes multiple third coordinate data. Based on the second coordinate data, first target coordinate data is determined in the third measurement data, wherein the first target coordinate data is the third coordinate data corresponding to the reference point of the work surface in the third measurement data; Based on the third measurement data, the second target coordinate data of the reference point of the working surface in the camera coordinate system are determined; Based on the first target coordinate data and the second target coordinate data, the attitude angle of the reference point is determined, and the attitude angle is used to adjust the attitude of the drilling rig boom relative to the working face; The second coordinate data includes a first x-coordinate and a first y-coordinate. The step of determining the first target coordinate data from the third measurement data based on the second coordinate data includes: Based on the first horizontal coordinate, determine the first horizontal coordinate interval; Based on the first ordinate, determine the first ordinate interval; Based on the first horizontal coordinate interval and the first vertical coordinate interval, the first target coordinate data is determined from the third measurement data; The step of determining the first target coordinate data from the third measurement data based on the first horizontal coordinate interval and the first vertical coordinate interval includes: In the third measurement data, a plurality of first transition coordinate data are determined. The first transition coordinate data are the third coordinate data in which the horizontal coordinate is within the first horizontal coordinate interval and the vertical coordinate is within the first vertical coordinate interval. The first vertical coordinate is obtained by averaging the vertical coordinates of multiple first transition coordinate data. The first target coordinate data is obtained based on the first horizontal coordinate, the first vertical coordinate, and the first vertical coordinate.

2. The drilling rig reference point measurement method according to claim 1, characterized in that, The step of converting the first measurement data to the camera coordinate system to obtain the third measurement data includes: Obtain the coordinate transformation relationship, which is the coordinate correspondence between the lidar 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, A first reflective mark is provided on the reference point of the working surface. The third measurement data includes multiple third coordinate data and multiple reflective density values, with the multiple third coordinate data corresponding to the multiple reflective density values. The determination of multiple first transition coordinate data in the third measurement data includes: Obtain the first reflectivity threshold; In the third measurement data, a plurality of first transition coordinate data are determined. The first transition coordinate data are: 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 reflectance density value is greater than the first reflectance density threshold.

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

5. The drilling rig reference point measurement method according to claim 4, characterized in that, The step of determining the second target coordinate data from the third measurement data based on the second horizontal coordinate interval and the second vertical coordinate interval includes: In the third measurement data, a plurality of second transition coordinate data are determined. The second transition coordinate data are the third coordinate data in which the horizontal coordinate is within the second horizontal coordinate interval and the vertical coordinate is within the second vertical coordinate interval. The second vertical coordinate is obtained by averaging the vertical coordinates of multiple second transition coordinate data. The second target coordinate data is obtained based on the second horizontal coordinate, the second vertical coordinate, and the second vertical coordinate.

6. The drilling rig reference point measurement method according to claim 5, characterized in that, A second reflective mark is provided on the reference point of the working surface. The third measurement data includes multiple third coordinate data and multiple reflective density values, wherein the multiple third coordinate data correspond to the multiple reflective density values. The determination of multiple second transition coordinate data in the third measurement data includes: Obtain the second reflectivity threshold; In the third measurement data, a plurality of second transition coordinate data are determined. The second transition coordinate data are: 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 reflectance density value is greater than the second reflectance density threshold.

7. The drilling rig reference point measurement method according to claim 1, characterized in that, Determining the attitude angle of the reference point based on the first target coordinate data and the second target coordinate data includes: Divide the first intermediate value by the second intermediate value to obtain the first transition value. 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. 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 attitude angle of the reference point is obtained by taking the arctangent of the first transition value.

8. The drilling rig reference point measurement method according to claim 1, characterized in that, The attitude angle of the reference point is obtained using the following formula: Where Yaw is the attitude angle of the reference point, and Z B Z represents the vertical coordinate of the second target coordinate data. A X is the vertical coordinate of the first target coordinate data. B X represents the x-coordinate of the second target coordinate data. A The x-coordinate of the first target coordinate data.

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