Rock drilling boom secondary calibration method, system and equipment and storage medium

Abstract

The invention provides a rock drilling boom secondary calibration method, system and device and a storage medium, and the method comprises the steps that a mechanical arm is controlled to move to a first state in response to a calibration request, and the first state is that the mechanical arm keeps a specified angle with a working face, and the tail end of the mechanical arm makes contact with a first target of the working face; joint variable information when the mechanical arm moves to the first state is calculated based on the forward kinematics model, and the theoretical pose when the mechanical arm moves to the second state is calculated according to the joint variable information; in the second state, the mechanical arm moves to a second target of the working surface at a specified angle and is in contact with the second target; and the mechanical arm is controlled to move to the second state, the actual pose of the mechanical arm in the second state is recorded, the actual pose is compared with the theoretical pose, a comparison error is obtained, and it is determined that secondary calibration succeeds under the condition that the comparison error is smaller than or equal to a set threshold value. According to the invention, rapid secondary calibration can be realized under the condition of insufficient calibration tool preparation, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a secondary calibration method, system, equipment and storage medium for a rock drilling boom. Background Art

[0002] The fully computerized rock drilling rig is a tunnel construction equipment that integrates mechanical, electronic, hydraulic and other multidisciplinary technologies. Compared with traditional rock drilling equipment, the fully computerized rock drilling rig can effectively control the over-excavation, reduce construction accidents caused by geological reasons, and ensure the construction safety of workers. During the construction process, one of the key technologies is the accuracy of the calibration and positioning accuracy of the drill boom.

[0003] The traditional rock drill positioning and boom calibration methods are often limited to the pre-factory debugging stage, but the pre-factory debugging methods rely on a good test environment and professional calibration tools to ensure the accuracy of the calibration results. However, when the rock drill is working at the actual construction site, accidents such as collisions often occur, causing sensor damage, so new sensors need to be replaced. However, due to the lack of calibration tools in the harsh on-site construction environment, the parameters of the new sensor cannot be accurately measured and adjusted without calibration tools, so the accuracy and performance of the robotic arm cannot be ensured, which seriously affects the efficiency and quality of tunnel construction.

[0004] Therefore, after replacing the new sensor, how to effectively recalibrate the boom without a calibration tool to ensure the positioning accuracy of the system has become an important issue that needs to be solved. Summary of the invention

[0005] The embodiment of the present invention provides a rock drilling boom secondary calibration method, system, device and storage medium to solve the problems existing in the related art. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a secondary calibration method for a rock drilling boom, comprising:

[0007] In response to the calibration request, the robot arm is controlled to move to a first state, in which the end of the robot arm contacts a first target on the working surface;

[0008] The joint variable information of the robot arm when it moves to the first state is calculated based on the forward kinematics model, and the theoretical position and posture of the robot arm when it moves to the second state is calculated according to the joint variable information; in the second state, the end of the robot arm contacts the second target on the working surface;

[0009] The robot arm is controlled to move to the second state and the actual posture of the robot arm in the second state is recorded. The actual posture is compared with the theoretical posture to obtain a comparison error. When the comparison error is less than or equal to the set threshold, the secondary calibration is determined to be successful.

[0010] In one embodiment, in the first state, the robot arm maintains a specified angle with the working surface; in the second state, the robot arm moves to the second target at the specified angle and contacts the second target.

[0011] In one embodiment, the first target and the second target are respectively located in two diagonal quadrants on the working surface.

[0012] In one embodiment, it further includes:

[0013] The laser is used to detect whether the robot arm maintains a specified angle with the working surface in both the first state and the second state, and the specified angle is that the propulsion beam of the robot arm and the working surface are perpendicular to each other.

[0014] In one embodiment, it further includes:

[0015] According to the end position of the robot arm and other joint positions, the position information of the specified joint is solved by the forward kinematics inverse solution algorithm;

[0016] Obtain sensor data of the specified joint, and determine the actual joint posture of the specified joint based on the sensor data;

[0017] Compare the posture information of the specified joint with the actual joint posture to obtain the comparison difference;

[0018] When the comparison difference is within the set error range, the sensor recalibration is determined to be successful.

[0019] In one embodiment, it further includes:

[0020] When the comparison difference exceeds the set error range, the sensor that failed the calibration is determined to be an abnormal sensor, and the abnormal sensor is visualized in the pre-built three-dimensional robotic arm model.

[0021] In one embodiment, it further includes:

[0022] During the process of the robotic arm moving to the first state, target image information captured by the camera on the robotic arm is obtained, and whether the robotic arm has reached the first state is determined by comparing the target image information and the preset target image, and the joint variable information is determined only when the robotic arm is already in the first state.

[0023] In a second aspect, an embodiment of the present invention provides a rock drilling boom secondary calibration system, which executes the rock drilling boom secondary calibration method as described above.

[0024] In a third aspect, an embodiment of the present invention provides an electronic device, the device comprising: a memory and a processor. The memory and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor executes the method in any one of the above-mentioned embodiments.

[0025] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is executed.

[0026] The advantages or beneficial effects of the above technical solution include at least:

[0027] The present invention calculates joint variable information of a robot arm when it moves to a first target based on a forward kinematics model, calculates a theoretical posture of the robot arm when it moves to a second target according to the joint variable information, compares the theoretical posture with the actual posture of the robot arm when it moves to the second target, and determines a calibration result according to the comparison error, so that the rock drilling vehicle can still achieve the purpose of rapid secondary calibration when the calibration tooling is not fully prepared, thereby improving work efficiency.

[0028] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present invention and should not be regarded as limiting the scope of the present invention.

[0030] Figure 1 It is a schematic flow chart of the secondary calibration method of the rock drilling boom of the present invention;

[0031] Figure 2 It is a schematic diagram of the flow of sensor calibration and arm calibration of the present invention;

[0032] Figure 3 The structure block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0034] Embodiment 1

[0035] The fully computerized rock drilling rig is a tunnel construction equipment that integrates mechanical, electronic, hydraulic and other multidisciplinary technologies. Compared with traditional rock drilling equipment, the fully computerized rock drilling rig can effectively control the over-excavation, reduce construction accidents caused by geological reasons, and ensure the construction safety of workers. During the construction process, one of the key technologies is the accuracy of the calibration and positioning accuracy of the drill boom.

[0036] In the actual construction process, due to the influence of factors such as the sensors on the joints of the drill arm are prone to collision, deviation from the original position and damage, and the flexible deformation caused by long-term use of the boom, the positioning accuracy of the system often fails to meet the actual needs of the project, seriously affecting the efficiency and quality of tunnel construction. It is now necessary to solve the problem of effective and rapid on-site secondary calibration of the boom when replacing sensors or sensors on joints with serious boom deflection.

[0037] In order to solve the above problems, an embodiment of the present invention provides a secondary calibration method for a rock drilling boom. It should be noted that the method can be executed by a server or by a control system equipped by the rock drilling vehicle itself. Figure 1 , Figure 2 As shown, the secondary calibration method performed in this embodiment specifically includes:

[0038] Step S1: in response to a calibration request, the robot arm is controlled to move to a first state, where the first state is that the robot arm maintains a specified angle with the working surface and the end of the robot arm contacts a first target on the working surface.

[0039] When the drill boom sensor of a rock drill vehicle is damaged by collision and needs to be replaced, or when the long-term use of the rock drill vehicle causes deflection deformation on the boom, resulting in a large deviation in the sensor detection error at the joint, the user can actively initiate a calibration request for a secondary calibration, or automatically initiate a calibration request for a secondary calibration when a sensor replacement or a large error deviation is detected.

[0040] After initiating the calibration request, a first control instruction is sent to the drilling vehicle, and the drilling vehicle controls its robotic arm to move to a first state according to the first control instruction; the first state describes that the robotic arm maintains a specified angle with the working surface and the end of the robotic arm contacts the first target of the working surface.

[0041] It should be noted that the working surface refers to the construction surface of rock drilling construction. In this embodiment, the mechanical arm maintains a specified angle with the working surface, which means that the beam body of the propulsion beam of the mechanical arm maintains 90° with the working surface, that is, a state of being perpendicular to each other. In other embodiments, the mechanical arm may maintain other angles with the working surface, and the specified angle of this embodiment is 90°, in order to facilitate measurement and recording during the construction process.

[0042] In this embodiment, the first state refers to the propulsion beam and the working surface being perpendicular to each other, and the end of the propulsion beam is touching the working surface. In the actual construction process, a laser is used to detect whether the robot arm maintains a specified angle with the working surface in the first state (that is, the propulsion beam of the robot arm is perpendicular to the working surface). The detection principle is to use a laser to emit a beam of light, and guide the beam to the propulsion beam of the robot arm to be detected through a reflector or a reflecting prism; through the change in the position of the light beam, it can be determined whether the propulsion beam of the robot arm is at a vertical angle to the working surface; if the light beam is at a vertical angle to the plane of the propulsion beam of the robot arm, it is considered that the robot arm meets the verticality requirements in this state.

[0043] The end of the propulsion beam is generally provided with an end effector, which is in contact with the working surface in the first state to facilitate accurate positioning of the robot arm.

[0044] In order to determine whether the movement of the robotic arm is accurate, the present embodiment may set a camera on the robotic arm to capture the target image of the first target. Specifically, in the process of the robotic arm moving to the first state, the target image information captured by the camera on the robotic arm is obtained, and key features in the target image information, such as edges, corners, specific patterns, etc., are extracted; by comparing the target image information and the preset target image, that is, comparing the key features in the target image information with the image features in the preset target image, which involves algorithms such as image similarity calculation, feature point matching, and shape analysis, and judging whether the robotic arm has reached the first state based on the comparison results, and starting the subsequent steps when it is determined that the robotic arm is already in the first state. Assuming that the robotic arm has not reached the first state, the movement of the robotic arm continues to be controlled until the robotic arm is in the first state.

[0045] Step S2: Calculate the joint variable information of the robot arm when it moves to the first state based on the forward kinematics model, and calculate the theoretical posture of the robot arm when it moves to the second state according to the joint variable information; the second state is that the robot arm moves to the second target on the working surface at a specified angle and contacts the second target.

[0046] Specifically, the DH parameters of the robot arm are determined according to the mechanical structure of the robot arm. The DH parameters are a systematic method for describing the geometric relationship between each link and each joint in the robot arm. For the robot arm, it is necessary to first determine the length (a), torsion angle (α), offset (d) and joint angle (θ) of each link.

[0047] The length of the connecting rod refers to the straight-line distance between two adjacent joints in the robot arm. Its length can be directly measured by using a measuring tool (such as a caliper, a vernier caliper, or a laser rangefinder). For a robot arm with a complex structure or difficult to measure directly, a 3D scanner can be used to scan the entire robot arm, and then a 3D model of the robot arm can be reconstructed using 3D modeling software. In the model, the length of each connecting rod can be accurately measured.

[0048] The torsion angle describes the rotation angle of the current link relative to its previous link around the joint axis (usually the z-axis). If the position and posture of the end of the robotic arm and other parameters between adjacent links (such as length and offset) are known, the torsion angle of each link can be solved by inverse kinematics.

[0049] The offset describes the distance between the origin of the coordinate system of the current link and the origin of the coordinate system of the previous link in the direction of the joint axis (usually the z-axis). A laser rangefinder or displacement sensor is used to measure the relative displacement between adjacent links to calculate the offset value.

[0050] The joint angle refers to the rotation angle of each joint in the robotic arm relative to the reference coordinate system or the previous joint. By installing an encoder at each joint of the robotic arm, the rotation angle of the joint can be measured in real time. Alternatively, by using sensor equipment such as accelerometers and gyroscopes, the acceleration, angular velocity and other parameters of the robotic arm during movement can be measured, and the joint angle information can be obtained through integral calculations.

[0051] According to the DH parameters, a local coordinate system is established for each link. The origin of these coordinate systems is usually located on the joint axis, the z-axis coincides with the joint axis, and the x-axis is along the common perpendicular direction of the adjacent links. Using the DH parameters and the link coordinate system, the homogeneous transformation matrix between adjacent links can be calculated. These matrices describe the translation and rotation relationship from one link coordinate system to the next link coordinate system. Multiply the homogeneous transformation matrices of all adjacent links to obtain the overall homogeneous transformation matrix of the end of the manipulator relative to the base of the manipulator. This matrix describes the position and posture of the end of the manipulator. Given the target position and posture of the end of the manipulator (i.e., the first state), the joint variables of each joint of the manipulator can be solved by inverse kinematics. The joint variables include but are not limited to joint angles, joint displacements, joint velocities, joint accelerations, etc.

[0052] Specifically, the homogeneous transformation matrix based on the DH method is shown as follows:

[0053]

[0054] Among them, θ i is the joint angle of the i-th link, d i is the connecting rod offset of the i-th connecting rod, α i is the torsion angle of the i-th connecting rod.

[0055] The formula for the overall homogeneous transformation matrix is ​​as follows:

[0056]

[0057] in, Refers to the total transformation matrix; q1, q2, ..., q7 refer to the variables of each joint of the robot arm, which are usually angles for rotational joints and lengths for translational joints; Refers to the inverse transformation matrix from the first joint coordinate system to the base coordinate system, that is, The inverse of ; and so on, until represents the inverse transformation matrix from the 7th joint coordinate system to the 6th joint coordinate system, that is The inverse of.

[0058] The calculated pose matrix P is transformed into RPY Euler angles, and three data are used to represent the end pose of the robot arm, and three data are used to represent the end position. The transformation result is shown in the following formula:

[0059]

[0060] Where α, β, and λ are attitude vectors used to describe the attitude of the end effector; x 、p y 、p z is the position vector, which is used to describe the position coordinates of the end effector in the fixed coordinate system; n x , n y , n z is the element in the pose matrix P, representing the component of the Z-axis unit vector in the end effector coordinate system in the fixed coordinate system; x , O y , O z is the element in the pose matrix P, representing the component of the Y-axis unit vector in the end effector coordinate system in the fixed coordinate system; a x , a y , a z is an element in the pose matrix P, representing the component of the X-axis unit vector in the end effector coordinate system in the fixed coordinate system.

[0061] The RPY Euler angle transformation method is as follows:

[0062]

[0063] This embodiment uses the joint variables obtained in the first state as the starting point, and according to the forward kinematics model of the robot arm, the end position and posture of the robot arm under any joint variable configuration can be calculated. The forward kinematics model describes the mapping from the joint space to the task space, that is, given a set of joint variables, the position and posture of the end effector can be calculated.

[0064] In this embodiment, after the robotic arm moves to the first state, the joint variable information of all joints of the robotic arm can be inferred according to the position and posture information of the first target through the forward kinematics model.

[0065] In order to achieve secondary calibration, the robot arm needs to move to the second state, where the actual posture of the robot arm in the second state is pre-set, and the theoretical posture of the robot arm in the second state and the actual posture of the robot arm are compared to determine whether the arm's secondary calibration is successful. The details are as follows:

[0066] In the first state, the joint variable information of all joints of the robotic arm is obtained by inverse solution of the forward kinematics model, and then the calculated joint variable information is substituted into the homogeneous transformation matrix based on the DH method to calculate the position and posture of the end effector of the robotic arm in the second state. At this time, the position and posture of the end effector are calculated through the joint variable information, so it is also called the theoretical position and posture of the robotic arm.

[0067] Step S3: Control the robot arm to move to the second state and record the actual posture of the robot arm in the second state, compare the actual posture with the theoretical posture to obtain a comparison error, and determine that the secondary calibration is successful when the comparison error is less than or equal to the set threshold.

[0068] The theoretical position and posture of the robot arm refers to the position and posture of the end effector of the robot arm in the second state predicted by calculation. The second state refers to the robot arm's propulsion beam maintaining a specified angle of 90° with the working surface and the propulsion beam end effector contacting the second target.

[0069] It should be noted that the second target and the first target are different points on the working surface. In this embodiment, the first target and the second target are respectively located in two diagonal quadrants on the working surface. For example, the working surface is divided into four quadrants, the upper right area is the first quadrant, the upper left area is the second quadrant, the lower left area is the third quadrant, and the lower right area is the fourth quadrant. At this time, the first target can be distributed in the first quadrant, and the second target is distributed in the third quadrant, so that the performance of the robot arm in different directions and positions can be fully tested during the calibration process. The activity state detection of the robot arm in the process of moving to the second state can also be achieved by comparing the target image taken by the camera with the preset image, which will not be repeated here.

[0070] After completing the calculation of the theoretical posture, this embodiment starts the one-key automatic calibration program. At this time, the robot arm is controlled to move to the second state according to the preset specified path in the program, and the posture of the robot arm when it moves to the second state is the actual posture. The theoretical posture and the actual posture of the robot arm are compared, and the difference between the two is calculated to obtain the comparison error. Assuming that the comparison error is less than or equal to the set threshold, it is determined that the secondary calibration is successful.

[0071] Since sensors are installed on the robotic arm and these sensors are used to monitor or control the movement of the robotic arm during the arm calibration process, the success of the arm calibration in this embodiment also indirectly verifies the accuracy of the sensors. Because if the sensor data is inaccurate, the robotic arm will not be able to accurately reach the expected position; and the success of the arm calibration means that the error of the robotic arm is less than the set threshold, and this error may include errors caused by inaccurate sensors. Therefore, if the arm calibration is successful, it can be considered that the error of the sensor during the calibration process is acceptable, thereby indirectly verifying the accuracy of the sensor.

[0072] Furthermore, this embodiment can also calibrate specific sensors on the robot arm. For example, if a sensor on the robot arm is damaged and replaced at a construction site, the sensor needs to be calibrated. Figure 2As shown, the specific calibration principle is that, since the position and posture of the first target are known, based on the known posture of the end of the robotic arm and the known postures of other joints, the forward kinematics inverse algorithm is used to solve the posture information of the specified joint and obtain the theoretical joint angle; the sensor data on the specified joint is obtained, and the actual posture of the specified joint is calculated according to the sensor data, and the actual joint angle of the specified joint can also be directly calculated; the actual posture and the calculated posture information are compared to obtain a comparison difference, or the theoretical joint angle is compared with the actual joint angle to obtain a comparison difference; if the comparison difference between the actual posture and the calculated posture information is within the corresponding preset error range, the sensor calibration is successful; if the comparison difference between the theoretical joint angle and the actual joint angle is within the corresponding preset error range, the sensor calibration can also be determined to be successful.

[0073] Assuming that the sensor calibration fails, that is, the comparison difference between the actual posture and the calculated posture information exceeds the corresponding preset error range, or the comparison difference between the theoretical joint angle and the actual joint angle exceeds the corresponding preset error range, the sensor is marked as a failed calibration, and the failed calibration sensor is visualized in the pre-built 3D robotic arm model for the user to view intuitively.

[0074] The present invention calculates joint variable information of a robot arm when it moves to a first target based on a forward kinematics model, calculates a theoretical posture of the robot arm when it moves to a second target according to the joint variable information, compares the theoretical posture with the actual posture of the robot arm when it moves to the second target, and determines a calibration result according to the comparison error, so that the rock drilling vehicle can still achieve the purpose of rapid secondary calibration when the calibration tooling is not fully prepared, thereby improving work efficiency.

[0075] Embodiment 2

[0076] This embodiment of the present invention provides a rock drilling boom secondary calibration system, which executes the rock drilling boom secondary calibration method as described above. The functions of each module in the system of the embodiment of the present invention can refer to the corresponding description in the above method, which will not be repeated here.

[0077] Embodiment 3

[0078] This embodiment provides an electronic device, Figure 3 FIG. 2 shows a structural block diagram of an electronic device according to an embodiment of the present invention. Figure 3 As shown, the electronic device includes: a memory 100 and a processor 200, wherein the memory 100 stores a computer program that can be run on the processor 200. When the processor 200 executes the computer program, the secondary calibration method of the rock drilling boom in the above embodiment is implemented. The number of the memory 100 and the processor 200 can be one or more.

[0079] The electronic device also includes:

[0080] The communication interface 300 is used to communicate with external devices and perform data exchange transmission.

[0081] If the memory 100, the processor 200 and the communication interface 300 are implemented independently, the memory 100, the processor 200 and the communication interface 300 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0082] Optionally, in a specific implementation, if the memory 100, the processor 200 and the communication interface 300 are integrated on a chip, the memory 100, the processor 200 and the communication interface 300 can communicate with each other through an internal interface.

[0083] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which implements the method provided in the embodiment of the present invention when executed by a processor.

[0084] An embodiment of the present invention further provides a chip, which includes a processor for calling and executing instructions stored in the memory from the memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present invention.

[0085] An embodiment of the present invention also provides a chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided by the embodiment of the invention.

[0086] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the advanced RISC machines (ARM) architecture.

[0087] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0088] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0090] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0091] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A secondary calibration method for a rock drilling boom, characterized in that: include: In response to the calibration request, the robot arm is controlled to move to a first state, in which a distal end of the robot arm contacts a first target on a work surface; Calculating joint variable information when the robotic arm moves to the first state based on a forward kinematics model, and calculating a theoretical position and posture when the robotic arm moves to the second state according to the joint variable information; In the second state, the end of the robot arm contacts the second target on the working surface; Control the robotic arm to move to the second state and record the actual posture of the robotic arm in the second state, compare the actual posture with the theoretical posture to obtain a comparison error, and determine that the secondary calibration is successful when the comparison error is less than or equal to a set threshold.

2. The secondary calibration method for rock drilling boom according to claim 1, characterized in that: In the first state, the robot arm maintains a specified angle with the working surface; in the second state, the robot arm moves to the second target at the specified angle and contacts the second target.

3. The secondary calibration method for rock drilling boom according to claim 2, characterized in that: The first target and the second target are respectively located in two diagonal quadrants on the working surface.

4. The secondary calibration method for rock drilling boom according to claim 2, characterized in that: Also includes: A laser is used to detect whether the robot arm maintains the specified angle with the working surface in both the first state and the second state, and the specified angle is that the propulsion beam of the robot arm and the working surface are perpendicular to each other.

5. The secondary calibration method for rock drilling boom according to claim 1, characterized in that: Also includes: According to the end posture of the robot arm and other joint postures, solving the posture information of the specified joint by using the forward kinematics inverse solution algorithm; Acquire sensor data of the specified joint, and determine an actual joint posture of the specified joint according to the sensor data; Compare the posture information of the specified joint with the actual joint posture to obtain a comparison difference; When the comparison difference is within the set error range, it is determined that the recalibration of the sensor is successful.

6. The secondary calibration method for rock drilling boom according to claim 5, characterized in that: Also includes: When the comparison difference exceeds the set error range, the sensor that fails calibration is determined to be an abnormal sensor, and the abnormal sensor is visualized in a pre-built three-dimensional robotic arm model.

7. The secondary calibration method for a rock drilling boom according to claim 1, characterized in that: Also includes: During the process of the robotic arm moving to the first state, target image information captured by the camera on the robotic arm is obtained, and whether the robotic arm has reached the first state is determined by comparing the target image information with a preset target image, and the joint variable information is determined only when the robotic arm is already in the first state.

8. A secondary calibration system for a rock drilling boom, characterized in that: Execute the secondary calibration method for rock drilling boom as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the secondary calibration method of the rock drilling boom according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the secondary calibration method for a rock drilling boom as claimed in any one of claims 1 to 7 is implemented.

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