Low-speed dynamic trajectory measurement method based on laser tracking

Abstract

The invention relates to the technical field of measurement and detection, in particular to a low-speed dynamic trajectory measurement system and method based on laser tracking, and the system comprises a measurement robot, a laser tracker, a temporary control point, a target ball, a data processing unit and a precision evaluation module. The laser tracker is adopted to measure the running track of the elevator, fitting measurement data is carried out, the space attitude parameters of the main shaft of the elevator are obtained, the running state of the elevator is accurately evaluated, and safety and stability of mining area production are ensured.

Description

Technical Field

[0001] The present invention relates to the field of measurement and detection technology, and in particular to a low-speed dynamic trajectory measurement system and a measurement method based on laser tracking. Background Art

[0002] Mine hoists are key equipment in mining areas, responsible for transporting materials and personnel between underground and the ground. Despite being firmly installed, mine hoists can cause displacement and deformation of equipment during long-term operation due to a variety of factors. Settlement of the mine industrial square, uneven lifting of curtain grouting, and wear and tear of equipment over a long period of use and overweight lifting can all affect the normal operation of the hoist. These deformations and displacements not only affect the working efficiency of the equipment, but may also bring serious safety hazards. Therefore, accurate measurement of the running trajectory and posture of the mine hoist is crucial to ensure safe production in mines.

[0003] Traditional methods for measuring the attitude of mine hoists mainly rely on manually setting up detection points and using theodolites or total stations for measurement. These methods have the following shortcomings: (1) The location and accuracy of the detection points are difficult to control: The location and accuracy of the manually arranged detection points are difficult to guarantee, resulting in inaccurate measurement data.

[0004] (2) Low data solution accuracy: The position of the measurement point is not accurate enough, which affects the accuracy of the final data solution.

[0005] (3) Long measurement operation time: Traditional methods require a long measurement and data processing time, which affects the normal production of the mine.

[0006] (4) Poor environmental adaptability: The mine environment is complex, and traditional measuring equipment is easily affected by factors such as vibration and dust, which increases measurement errors.

[0007] As a high-precision measurement method, laser tracking technology has the following advantages: (1) High precision: Laser trackers can achieve sub-millimeter measurement accuracy, which is significantly higher than traditional methods.

[0008] (2) Real-time measurement: The laser tracker can perform real-time measurement and data processing, greatly improving the measurement efficiency.

[0009] (3) High degree of automation: The laser tracker has a high degree of automation, which reduces interference from human factors and ensures data reliability.

[0010] (4) Strong environmental adaptability: The laser tracker can maintain high-precision measurement in complex mine environments and has strong adaptability.

[0011] To this end, the present application designs a low-speed dynamic trajectory measurement system and measurement method based on laser tracking to solve the problems of low accuracy and low efficiency in posture measurement of mine hoists. Summary of the invention

[0012] In order to make up for the deficiencies in the prior art, the present invention provides a low-speed dynamic trajectory measurement system and a measurement method based on laser tracking.

[0013] A low-speed dynamic trajectory measurement system based on laser tracking, comprising a measurement robot, a laser tracker, a temporary control point, a target sphere, a data processing unit and an accuracy evaluation module; The measuring robot is used to be set up on a temporary control point, introduce a reference coordinate system, and realize the conversion between the reference coordinate system and the measuring coordinate system of the laser tracker; The laser tracker is set to a constant time interval measurement mode to obtain the dynamic motion trajectory of the target object, and the data output interval is no more than 0.1 seconds; The temporary control points are arranged on stable devices such as the ground, electrical boxes, steel frames and walls to provide reference benchmarks for measurement; The target ball is fixed on the object to be measured through a magnetic ring base, and is used to measure the spatial position of the target object; The data processing unit is used to process the measured trajectory data, and use the least squares fitting algorithm to perform trajectory fitting and processing, and calculate the spatial position and posture parameters of the target object; The accuracy evaluation module is used to perform accuracy evaluation on the fitted trajectory and the actual trajectory, and calculate the deviation value between the trajectory point and the fitted trajectory to evaluate the accuracy of the measurement result.

[0014] A low-speed dynamic trajectory measurement method based on laser tracking comprises the following steps: S1, set up several temporary control points in the area to be measured to ensure the comprehensiveness and accuracy of the measurement; S1.1, according to the specific conditions of the area to be tested, temporary control points are arranged on stable devices such as the ground, electrical boxes, steel frames and walls; S1.2, mark and record the temporary control points to ensure that the positions of these control points can be accurately found in the subsequent measurement process; S2, use the measurement robot to set up on the temporary control point, introduce the reference coordinate system, and realize the conversion between the reference coordinate system and the laser tracker measurement coordinate system; S2.1, set up the measuring robot on one of the temporary control points for initial positioning and calibration; S2.2, introducing a reference coordinate system through the measuring robot, and linking and converting it with the measuring coordinate system of the laser tracker; S2.3, calibrate and adjust the measuring robot to ensure that it can accurately measure and record the position of the control points; S3, setting the laser tracker to a constant time interval measurement mode, with a data output interval of no more than 0.1 seconds, to obtain the dynamic motion trajectory of the target object; S3.1, set the laser tracker to the equal time interval measurement mode, and the data output interval is no more than 0.1 second; S3.2, aiming the laser tracker at the target object to ensure that it can continuously track and record the position change of the target object during its movement; S4, performing trajectory fitting and processing according to the measured trajectory data, and calculating the spatial position and posture parameters of the target object; S4.1, importing the coordinate sequence measured by the laser tracker into the data processing unit; S4.2, fitting the trajectory points using the least squares fitting algorithm and calculating the trajectory equation; S4.3, calculating the deviation value between the trajectory point and the fitting trajectory according to the fitting result; S5, perform accuracy evaluation on the fitted trajectory and the actual trajectory to ensure the accuracy of the measurement results; S5.1, compare and analyze the fitted trajectory with the actual measured trajectory; S5.2, calculate the deviation between the trajectory point and the fitted trajectory and evaluate the measurement accuracy.

[0015] The beneficial effects of the present invention are: The present invention uses a laser tracker to measure the running trajectory of the hoist, fits the measurement data, obtains the spatial posture parameters of the hoist main shaft, realizes accurate evaluation of the hoist running state, and ensures the safety and stability of mining production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of measuring the operation trajectory of the hoist of the present invention; Figure 2 It is a flow chart of measuring the operation trajectory of the hoist of the present invention; Figure 3 It is a fitting diagram of the space circular simulation motion trajectory of the present invention; Figure 4 It is a fitting diagram of the coordinate sequence of the hoist operation trajectory of the present invention. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0019] Figure 1-Figure 4 This is a specific embodiment of the present invention, which is a low-speed dynamic trajectory measurement method based on laser tracking, which is used to solve the problems of low accuracy and low efficiency in the posture measurement of mine hoists in the prior art. By using a laser tracker to measure the operating trajectory of the hoist, fitting the measurement data, and obtaining the spatial posture parameters of the hoist spindle, an accurate assessment of the hoist operation status is achieved, ensuring the safety and stability of mining production.

[0020] 1. Temporary control point layout When performing trajectory measurement, in order to ensure the comprehensiveness and accuracy of the measurement, it is necessary to set up several temporary control points in the area to be measured. These control points should be set up in relatively stable places that are not easily disturbed by the outside world, such as the ground, electrical boxes, steel frames, walls and other stable devices. The main purpose of setting up control points is to provide a reference benchmark for measurement, making the measurement coordinate system more stable, thereby improving measurement accuracy.

[0021] Layout method (1) Number and distribution of control points: At least 6 temporary control points should be set up in the winch room or the area to be measured. These control points should be evenly distributed in the entire three-dimensional space to ensure that all key locations in the measurement area are covered.

[0022] (2) Control point selection: Select a stable location, such as the ground, electrical box, steel frame, wall, etc., to ensure that the control point does not change position during the entire measurement process.

[0023] (3) Marking and recording: Mark and record the control points to ensure that the locations of these control points can be accurately found in the subsequent measurement process. 2. Measurement robot installation The main function of a measuring robot (such as the TM30 measuring robot) is to introduce a reference coordinate system and convert it into the measurement coordinate system of the laser tracker. By setting up and positioning the measuring robot, the conversion accuracy between the two coordinate systems can be ensured, thereby improving the accuracy of the overall measurement.

[0024] Installation method: (1) Initial positioning: The measuring robot is set up on one of the temporary control points for initial positioning and calibration. The positioning function of the measuring robot is used to match its position with the position of the control point.

[0025] (2) Reference coordinate system introduction: The mine control measurement coordinate system is introduced by the measuring robot, and it is connected and converted with the measurement coordinate system of the laser tracker. The conversion accuracy of the two coordinate systems is ensured to ensure the accuracy of subsequent measurement data.

[0026] (3) Calibration and adjustment: Calibrate and adjust the measurement robot to ensure that it can accurately measure and record the position of the control points. 3. Trajectory Accuracy Evaluation In order to ensure the accuracy of the measurement results, it is necessary to perform an accuracy assessment on the fitted trajectory. The main task of the accuracy assessment is to calculate the deviation between the trajectory point and the fitted trajectory and evaluate the reliability of the measurement results.

[0027] Evaluation Methodology: (1) Trajectory comparison and analysis: Compare and analyze the fitted trajectory with the original measured trajectory, and calculate the deviation value between the trajectory point and the fitted trajectory.

[0028] (2) Accuracy calculation: Based on the calculation results, the trajectory accuracy is evaluated to ensure that the trajectory accuracy meets the expected standards. The overall accuracy of the trajectory can be evaluated by statistically analyzing indicators such as the average value and standard deviation of the trajectory point deviation values.

[0029] (3) Result verification: Ensure the accuracy and reliability of the measurement results through actual testing and verification. If necessary, multiple measurements and data analysis can be performed to verify the stability and repeatability of the measurement method.

[0030] The specific implementation of this embodiment is as follows: 1. Mine hoist operation track measurement Six temporary control points are set up in the hoist room of the mine main shaft. These control points should be evenly distributed in the entire three-dimensional space to ensure the comprehensiveness and accuracy of the measurement. The TM30 measurement robot is set up on the near-well control point, and the mine control measurement coordinate system is introduced through the measurement robot, and it is connected and converted with the measurement coordinate system of the laser tracker. The conversion accuracy of the two coordinate systems is ensured to ensure the accuracy of subsequent measurement data.

[0031] The measurement mode of the laser tracker is set to the equal time interval measurement mode, and the data output interval is 0.1s. The hoist is operated at a speed of 1m / s to obtain the data of the circular points of the operation track. In order to ensure the measurement accuracy and data uniformity, the measurement points should be distributed as evenly as possible on the operation track.

[0032] According to the coordinate sequence measured by the laser tracker, spatial analytical geometry is used to fit and process the trajectory equation. By fitting the measured data, the spatial posture parameters of the main shaft of the hoist are obtained. Specifically, the least squares fitting algorithm of the circular trajectory is used to obtain the trajectory equation and calculate the deviation value between the trajectory point and the fitting trajectory.

[0033] Compare and analyze the fitted trajectory with the original trajectory, calculate the deviation between the trajectory point and the fitted trajectory, and evaluate the trajectory accuracy. Ensure that the trajectory accuracy meets the expected standard, thereby achieving an accurate evaluation of the elevator operation status.

[0034] 2. Engineering testing and analysis A mining area is located in the alluvial plain of the Yellow River, with a flat terrain and a natural terrain slope of 0.2‰. The mining area has crisscrossing water systems and transportation, and the coal seams are roughly north-south oriented and east-inclined monocline structures, which have good mining conditions and are suitable for modern mechanized coal mining.

[0035] On the basis of data collection, the near-well control points around the winch house in the industrial square were surveyed. Since the near-well control points may be affected by external factors such as coal mining and vibration of surrounding mechanical equipment, and may undergo settlement and displacement changes, it is necessary to use precision wires to connect the near-well control points with stable points around the industrial square to ensure the stability of the initial calculation data.

[0036] Set up the laser tracker in a position directly opposite to the hoist wheel, initialize the tracker, and make rough adjustments using the tripod screw. Fix the target ball on the hoist wheel using a magnetic ring base and secure it with a rope. The hoist runs at a speed of 1m / s, and the measurement starts when it starts running. To ensure the measurement accuracy, the measurement can be completed in stages, and the target ball prism direction can be adjusted in stages. The measurement process can be completed in about 5 minutes.

[0037] Through the deployment of 6 temporary control points, the operating coordinate sequence of both sides of the hoist wheel is converted to the mining area measurement coordinate system to achieve the unification of the coordinate system. There are several ways to express the coordinate sequence obtained by the laser tracker. Through data processing and trajectory fitting by Leica SA software, the running trajectory of the hoist is obtained.

[0038] According to the 142 east-side trajectory points and 126 west-side trajectory points measured, the spatial circle fitting and trajectory jump analysis were performed to calculate the axis data on both sides of the hoist main shaft. According to the axis point coordinates on both sides of the main shaft, the main shaft azimuth, the distance between the hoist wheels on both sides, the non-parallelism of the winch main shaft, the inclination rate and other attitude parameters were obtained to evaluate the hoist operation status.

[0039] Through engineering tests, the application effect of the low-speed dynamic trajectory measurement method based on laser tracking in the posture measurement of mine hoists was verified. The test results show that this method can significantly improve the measurement accuracy and efficiency, which is of great significance to the safe production of mining areas.

[0040] 3. Mine hoisting equipment posture detection A mining area is located in the alluvial plain of the Yellow River, with flat terrain, crisscrossing water systems and transportation, and a monocline structure with a roughly north-south orientation and a tendency to the east. The mining area has good mining conditions and is suitable for modern mechanized coal mining.

[0041] The near-well control points around the winch house in the industrial square were surveyed, and the near-well control points were connected with the stable points around the industrial square using precision guide wires to ensure the stability of the initial data. After the near-well control points were determined, elevation measurements were carried out, and the data were normalized to the measurement results of the measurement robot TM30 using the precision leveling method to achieve data fusion and unification.

[0042] The laser tracker is set up at a position directly opposite to the hoist wheel. After initialization, the track measurement is performed. The acquired coordinate sequence is imported into the Leica SA software, and the circular fitting function provided by the software is used to fit the running track of the hoist. Based on the fitting results, the deviation value between the track point and the fitting track is calculated to evaluate the track accuracy.

[0043] According to the measured trajectory points, the spatial circle fitting and trajectory jump analysis are performed to calculate the spatial posture parameters of the hoist main shaft. Specifically, the main shaft azimuth, the distance between the hoist wheels on both sides, the non-parallelism of the winch main shaft, the inclination rate and other parameters are included. By analyzing these parameters, the operating status of the hoist is evaluated to ensure its stability.

[0044] 4. The new and old cross center lines of the mining area are unified The unification of the new and old cross center lines in the mining area is of great significance to the safe production of the mining area. The main shaft of the hoist has a fixed relationship with the cross center line of the shaft. By obtaining the coordinates of the center point of the winch, the unification of the new and old cross center lines can be ensured.

[0045] Carry out control measurement in the mining area, introduce the mining area control measurement coordinate system into the winch room, and ensure the unity of the laser tracker measurement coordinate system and the mining area control measurement coordinate system. Carry out trajectory measurement and data processing to obtain the spatial attitude parameters of the hoist main shaft.

[0046] According to the measured coordinates of the hoist spindle, data analysis is performed to ensure the unification of the new and old cross center lines. By measuring the position and posture of the hoist spindle, the stability of the hoist operation state is ensured, thereby achieving the unification of the new and old cross center lines in the mining area and ensuring safe production in the mining area.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A low-speed dynamic trajectory measurement system based on laser tracking, comprising a measurement robot, a laser tracker, a temporary control point, a target sphere, a data processing unit and an accuracy evaluation module, characterized in that: The measuring robot is used to be set up on a temporary control point, introduce a reference coordinate system, and realize the conversion between the reference coordinate system and the measuring coordinate system of the laser tracker; The laser tracker is set to a constant time interval measurement mode to obtain the dynamic motion trajectory of the target object, and the data output interval is no more than 0.1 seconds; The temporary control points are arranged on stable devices such as the ground, electrical boxes, steel frames and walls to provide reference benchmarks for measurement; The target ball is fixed on the object to be measured through a magnetic ring base, and is used to measure the spatial position of the target object; The data processing unit is used to process the measured trajectory data, and use the least squares fitting algorithm to perform trajectory fitting and processing, and calculate the spatial position and posture parameters of the target object; The accuracy evaluation module is used to perform accuracy evaluation on the fitted trajectory and the actual trajectory, and calculate the deviation value between the trajectory point and the fitted trajectory to evaluate the accuracy of the measurement result.

2. A low-speed dynamic trajectory measurement method based on laser tracking, using the low-speed dynamic trajectory measurement system based on laser tracking according to claim 1, characterized in that: The following steps are involved: S1, set up several temporary control points in the area to be measured to ensure the comprehensiveness and accuracy of the measurement; S2, use the measurement robot to set up on the temporary control point, introduce the reference coordinate system, and realize the conversion between the reference coordinate system and the laser tracker measurement coordinate system; S3, setting the laser tracker to a constant time interval measurement mode, with a data output interval of no more than 0.1 seconds, to obtain the dynamic motion trajectory of the target object; S4, performing trajectory fitting and processing according to the measured trajectory data, and calculating the spatial position and posture parameters of the target object; S5, perform accuracy evaluation on the fitted trajectory and the actual trajectory to ensure the accuracy of the measurement results.

3. The low-speed dynamic trajectory measurement method based on laser tracking according to claim 2 is characterized in that: The S1 is specifically: S1.1, according to the specific conditions of the area to be tested, temporary control points are arranged on stable devices such as the ground, electrical boxes, steel frames and walls; S1.2, mark and record the temporary control points to ensure that the locations of these control points can be accurately found during subsequent measurements.

4. The low-speed dynamic trajectory measurement method based on laser tracking according to claim 2 is characterized in that: The S2 is specifically: S2.1, set up the measuring robot on one of the temporary control points for initial positioning and calibration; S2.2, introducing a reference coordinate system through the measuring robot, and linking and converting it with the measuring coordinate system of the laser tracker; S2.3, calibrate and adjust the measuring robot to ensure that it can accurately measure and record the positions of the control points.

5. The low-speed dynamic trajectory measurement method based on laser tracking according to claim 2 is characterized in that: The S3 is specifically: S3.1, set the laser tracker to the equal time interval measurement mode, and the data output interval is no more than 0.1 second; S3.2, aim the laser tracker at the target object to ensure that it can continuously track and record the position changes of the target object during its movement.

6. The low-speed dynamic trajectory measurement method based on laser tracking according to claim 2 is characterized in that: The S4 is specifically: S4.1, importing the coordinate sequence measured by the laser tracker into the data processing unit; S4.2, fitting the trajectory points using the least squares fitting algorithm and calculating the trajectory equation; S4.3, based on the fitting result, calculating the deviation value between the trajectory point and the fitting trajectory.

7. The low-speed dynamic trajectory measurement method based on laser tracking according to claim 2 is characterized in that: The S5 is specifically: S5.1, compare and analyze the fitted trajectory with the actual measured trajectory; S5.2, calculate the deviation between the trajectory point and the fitted trajectory and evaluate the measurement accuracy.

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