A rock drilling boom secondary calibration method, system, device and storage medium

Abstract

The present invention proposes a rock drilling boom secondary calibration method, system, equipment, and storage medium. The method includes: controlling a robotic arm to move to a first state in response to a calibration request, wherein the robotic arm maintains a specified angle with a working surface and the end of the robotic arm contacts a first target on the working surface; calculating joint variable information of the robotic arm when it moves to the first state based on a forward kinematics model, and calculating a theoretical posture of the robotic arm when it moves to a second state based on the joint variable information; the second state is when the robotic arm moves to a second target on the working surface at a specified angle and contacts the second target; controlling the robotic arm to move to the second state and recording the actual posture of the robotic arm in the second state, comparing the actual posture with the theoretical posture to obtain a comparison error, and determining that the secondary calibration is successful when the comparison error is less than or equal to a set threshold. The present invention can achieve rapid secondary calibration when calibration tooling is not fully prepared, thereby improving work efficiency.

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 drilling rig is a tunnel construction device that integrates multiple technologies, including mechanics, electronics, and hydraulics. Compared to traditional drilling equipment, it effectively controls overbreak, reduces construction accidents caused by geological factors, and ensures worker safety. During construction, one of the key technologies is the calibration and positioning accuracy of the drill boom.

[0003] Traditional methods for drilling rig positioning and boom calibration are often limited to the pre-shipment commissioning phase, which relies on a good testing environment and specialized calibration tooling to ensure accurate calibration results. However, when drilling rigs are operating at the actual construction site, accidents such as collisions often occur, damaging the sensors and necessitating replacement. However, due to the lack of calibration tooling in the harsh on-site construction environment, the parameters of the new sensors cannot be accurately measured and adjusted without calibration tooling. Consequently, the accuracy and performance of the robotic arm cannot be guaranteed, severely impacting the efficiency and quality of tunnel construction.

[0004] Therefore, after replacing the new sensor, how to effectively perform secondary calibration on the boom without calibration tooling to ensure the positioning accuracy of the system has become an important issue that needs to be solved. Summary of the Invention

[0005] The embodiments of the present invention provide 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, wherein a distal end of the robot arm contacts a first target on the working surface in the first state;

[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 of the robot arm when it moves to the second state is calculated based on the joint variable information; in the second state, the end of the robot arm contacts the second target on the working surface;

[0009] 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 the comparison error. If the comparison error is less than or equal to the set threshold, it is determined that the secondary calibration is successful.

[0010] In one embodiment, in the first state, the robotic arm maintains a specified angle with the working surface; in the second state, the robotic 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] A laser is used to detect whether the robotic arm maintains a specified angle with the working surface in both the first state and the second state, where the specified angle is that the propulsion beam of the robotic arm and the working surface are perpendicular to each other.

[0014] In one embodiment, it further includes:

[0015] According to the end-arm posture and other joint postures, the posture information of the specified joint is solved by the forward kinematics inverse algorithm;

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

[0017] Compare the pose information of the specified joint with the actual joint pose 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 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, the target image information captured by the camera on the robotic arm is obtained, and by comparing the target image information with the preset target image, it is determined whether the robotic arm has reached the first state, and the joint variable information is determined only when the robotic arm is in the first state.

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

[0024] In a third aspect, embodiments of the present invention provide an electronic device comprising: a memory and a processor. The memory and the processor communicate with each other via an internal connection path, the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory. When the processor executes the instructions stored in the memory, the processor performs the method according to any of the aforementioned 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 the joint variable information of the robot arm when it moves to the first target based on the forward kinematics model, calculates the theoretical posture of the robot arm when it moves to the 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 the calibration result according to the comparison error, so that the rock drilling vehicle can still achieve the purpose of rapid secondary calibration even 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 components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed herein and should not be construed as limiting the scope of the invention.

[0030] Figure 1 Schematic diagram of the process of the secondary calibration method of the rock drilling boom of the present invention;

[0031] Figure 2 Schematic diagram of the flow of sensor calibration and arm calibration of the present invention;

[0032] Figure 3 FIG. 1 is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0034] Example 1

[0035] The fully computerized drilling rig is a tunnel construction device that integrates multiple technologies, including mechanics, electronics, and hydraulics. Compared to traditional drilling equipment, it effectively controls overbreak, reduces construction accidents caused by geological factors, and ensures worker safety. During construction, one of the key technologies is the calibration and positioning accuracy of the drill boom.

[0036] During actual construction, sensors at the boom joints are prone to collision, displacement, and damage, as well as flexible deformation caused by long-term boom use. This often results in the system's positioning accuracy failing to meet actual project requirements, seriously impacting tunnel construction efficiency and quality. The need exists to effectively and quickly perform on-site boom recalibration when replacing sensors or when sensors at joints with severe boom deflection are present.

[0037] In order to solve the above problems, the embodiment of the present invention provides a rock drilling boom secondary calibration method. It should be noted that the method can be executed by a server or by the 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, controlling the robot arm to move to a first state, where 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] If the drill boom sensor on a rock drill vehicle is damaged and needs to be replaced, or if 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 on 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 issued 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 on the working surface.

[0041] It should be noted that the working surface refers to the surface used for rock drilling operations. In this embodiment, the robotic arm maintains a specified angle with the working surface, meaning that the propulsion beam of the robotic arm maintains a 90° angle with the working surface, i.e., a mutually perpendicular state. In other embodiments, the robotic arm may maintain other angles with the working surface. The specified angle of 90° in this embodiment is intended to facilitate measurement and recording during the construction process.

[0042] In this embodiment, the first state refers to the propulsion beam being perpendicular to the working surface, with the end of the propulsion beam touching the working surface. In actual construction, a laser is used to detect whether the robotic arm maintains a specified angle with the working surface in the first state (i.e., the propulsion beam of the robotic arm is perpendicular to the working surface). The detection principle is to use a laser to emit a beam of light, which is then guided to the robotic arm propulsion beam to be tested through a reflector or a reflective prism. The change in the position of the beam can be used to determine whether the robotic arm propulsion beam is perpendicular to the working surface. If the beam is perpendicular to the plane of the robotic arm propulsion beam, the robotic arm is considered to meet 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 a first state to facilitate accurate positioning of the robotic arm.

[0044] In order to determine whether the movement of the robotic arm is accurate and in place, in this embodiment, a camera may be set 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 the 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. When it is determined that the robotic arm is already in the first state, the subsequent steps are started. 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 based on 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 manipulator are determined based on its mechanical structure. DH parameters are a systematic method used to describe the geometric relationship between each link and joint in the manipulator. For the manipulator, the four parameters of each link must be determined: length (a), torsion angle (α), offset (d), and joint angle (θ).

[0047] The length of a connecting rod refers to the straight-line distance between two adjacent joints in a robotic arm. This length can be directly measured using a measuring tool (such as a caliper, vernier caliper, or laser rangefinder). For robotic arms with complex structures or difficult to measure directly, a 3D scanner can be used to scan the entire arm, and then a 3D model of the arm can be reconstructed using 3D modeling software. From this 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). When 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, parameters such as the acceleration and angular velocity of the robotic arm during movement can be measured, and 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. Multiplying the homogeneous transformation matrices of all adjacent links, we can 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. Knowing 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 various joint variables 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] Perform RPY Euler angle transformation on the calculated pose matrix P, use three data to represent the end pose of the robot arm, and three data 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; p 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 an 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 an 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 a starting point. Based on the forward kinematics model of the robotic arm, the end-effector pose can be calculated for any joint variable configuration. The forward kinematics model describes the mapping from joint space to task space. That is, given a set of joint variables, the position and pose 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 calculated based on 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. 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 robot arm obtains the joint variable information of all joints of the robot arm through the inverse solution of the forward kinematics model. 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 robot 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 posture of the robot 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, and obtain the comparison error. If the comparison error is less than or equal to the set threshold, it is determined that the secondary calibration is successful.

[0068] The theoretical pose of a robotic arm refers to the predicted position and orientation of the end effector of the robotic arm in its second state. This second state occurs when the robotic arm's propulsion beam maintains a specified 90° angle with the work surface and the propulsion beam's end effector contacts a 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, if 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, then the first target can be distributed in the first quadrant and the second target in the third quadrant, so that the performance of the manipulator in different directions and positions can be fully tested during the calibration process. The detection of the active state of the manipulator during the process of moving to the second state can also be achieved by comparing the target image captured by the camera with the preset image, which will not be repeated here.

[0070] After calculating the theoretical pose, this embodiment initiates a one-button automatic calibration program. The robot arm is then controlled to move to the second state according to a specified path pre-set in the program. The pose of the robot arm at the second state is the actual pose. The theoretical and actual poses of the robot arm are compared, and the difference between the two is calculated to obtain a comparison error. If the comparison error is less than or equal to a set threshold, the secondary calibration is considered 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, or the actual joint angle of the specified joint can 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 is visualized in the pre-built 3D robotic arm model for the user to view intuitively.

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

[0075] Example 2

[0076] This embodiment of the present invention provides a rock drilling boom secondary calibration system that implements the rock drilling boom secondary calibration method described above. The functions of each module in the system of the embodiment of the present invention can be found in the corresponding description of the method described above and will not be repeated here.

[0077] Example 3

[0078] This embodiment provides an electronic device, Figure 3 FIG. 1 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. The memory 100 stores a computer program that can be executed on the processor 200. When the processor 200 executes the computer program, the drilling boom secondary calibration method described 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 via 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. 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. When the program is executed by a processor, the method provided in the embodiment of the present invention is implemented.

[0084] An embodiment of the present invention further provides a chip, which includes a processor for calling and executing instructions stored in a 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, comprising: 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 that supports the advanced reduced instruction set machine (ARM) architecture.

[0087] Furthermore, optionally, the above-mentioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory may include 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, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0089] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," 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 suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless otherwise inconsistent.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0091] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications and substitutions within the technical scope disclosed in the present invention, and such modifications and substitutions are intended to be encompassed by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection 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 manipulator arm is controlled to move to a first state, wherein a distal end of the manipulator arm contacts a first target on a work surface in the first state; wherein the manipulator arm maintains a specified angle with the work surface in the first state; calculating joint variable information of the robotic arm when it moves to the first state based on a forward kinematics model, and calculating a theoretical position of the robotic arm when it moves to the second state based on the joint variable information; in the second state, the robotic arm moves to the second target at the specified angle, and the end of the robotic arm contacts the second target on the work 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 a rock drilling boom according to claim 1, characterized in that: The first target and the second target are respectively located in two diagonal quadrants of the working surface.

3. The secondary calibration method for a rock drilling boom according to claim 1, characterized in that: Also includes: A laser is used to detect whether the robotic arm maintains the specified angle with the working surface in both the first state and the second state, where the specified angle is that the propulsion beam of the robotic arm and the working surface are perpendicular to each other.

4. The secondary calibration method for a rock drilling boom according to claim 1, characterized in that: Also includes: According to the end pose of the manipulator and other joint poses, the pose information of the specified joint is solved by the forward kinematics inverse solution algorithm; Acquiring sensor data of the designated joint, and determining an actual joint pose of the designated joint based on the sensor data; Comparing 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.

5. The secondary calibration method for a rock drilling boom according to claim 4, characterized in that: Also includes: When the comparison difference exceeds the set error range, the sensor that failed calibration is determined to be an abnormal sensor, and the abnormal sensor is visualized in a pre-built three-dimensional robotic arm model.

6. The rock drilling boom secondary calibration method 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 by comparing the target image information with a preset target image, it is determined whether the robotic arm has reached the first state, and the joint variable information is determined only when the robotic arm is in the first state.

7. A secondary calibration system for a rock drilling boom, characterized in that: Execute the secondary calibration method for a rock drilling boom according to any one of claims 1 to 6.

8. 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 6.

9. 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 rock drilling boom secondary calibration method according to any one of claims 1 to 6 is implemented.

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