Laser ranging guiding and positioning device and method

Abstract

The invention discloses a laser ranging guiding and positioning device and method, and belongs to the field of engineering machinery, and the laser ranging method comprises the following steps: installing the laser ranging guiding and positioning device on an anchor rod at the top of a tunnel, and obtaining two point coordinates P1 and P2 on guiding laser by using a total station; laser targets M1 and M2 are installed on the front portion and the rear portion of a drill jumbo boom respectively, and the boom is operated to enable guiding laser to penetrate through a center hole P3 of the target M1 and be projected to the center position of the target M2; a laser range finder is used for measuring the spatial distance L from a guide laser emitting point to the target M1; according to the coordinates P1 and P2 of the two points of the guide laser and the measurement distance L, the specific coordinate of the center point P3 of the target M1 in the tunnel coordinate system is calculated; and according to the target coordinates and the real-time attitude information of the drill jumbo, a rotation matrix R and a positioning matrix T from the jumbo coordinate system to the tunnel coordinate system are calculated, and accurate positioning of the jumbo in the tunnel is completed. The method has the advantages of high positioning precision and high portability.

Description

Technical Field

[0001] The present invention relates to the field of construction machinery, and particularly to a laser ranging and guiding positioning device and method. Background Art

[0002] With the booming development of China's infrastructure level, tunnel engineering construction has entered a period of rapid development. Not only a large number of tunnel projects have been built in the country, but also higher standards have been put forward for tunnel construction technology. The drill and blast method is the mainstream method for tunnel construction, and the rock drilling jumbo is the core equipment for the drill and blast method. During the construction process in the tunnel, determining the position and attitude relationship between the jumbo and the tunnel is the prerequisite for the rock drilling jumbo to accurately operate in the tunnel. At present, the positioning of the rock drilling jumbo in the tunnel mainly relies on methods such as guiding lasers, total stations or 3D scanners.

[0003] Among them, the positioning of the guiding laser mainly relies on the indicating laser installed on the tunnel roof to point to the tunnel central axis, and then manually adjusts the jumbo to carry out positioning, with poor positioning accuracy. The positioning of the total station or 3D scanner mainly obtains positioning information by measuring the coordinates of known points in the jumbo or the tunnel. The relative positioning accuracy is relatively high, but the costs of both are expensive.

[0004] For the total station positioning, the total station needs to be carried with it, and manual repeated station setting and point coordinate marking are required for each positioning. The 3D scanner must be installed on the jumbo body. There is a relatively high risk of collision when moving with the jumbo in the tunnel, and high requirements are imposed on the body structure size. In view of the above situation, a positioning device that takes into account both positioning accuracy and portability is needed. Summary of the Invention

[0005] The present invention provides a laser ranging and guiding positioning device and method to solve the technical problem that it is difficult for existing positioning devices to take into account both positioning accuracy and portability.

[0006] According to one aspect of the present invention, a laser ranging method is provided, including the following steps:

[0007] Install the laser ranging and guiding positioning device on the bolt on the tunnel roof, and adjust the horizontal and vertical angles of the device;

[0008] Use a total station to obtain the coordinates P1(x1, y1, z1) and P2(x2, y2, z2) of two points on the guiding laser; install laser targets M1 and M2 at the front and rear of the boom of the rock drilling jumbo respectively. Operate the boom to make the guiding laser pass through the central hole P3(x3, y3, z3) of the target M1 and project to the central position of the target M2;

[0009] Use a laser rangefinder to measure the spatial distance L from the laser emitting point of the guiding laser to the target M1, and transmit the data to the upper computer on the jumbo through a wireless transmission module;

[0010] According to the two-point coordinates P1 and P2 of the guiding laser and the measured distance L, calculate the specific coordinates of the center point P3 of the target M1 in the tunnel coordinate system;

[0011] According to the target coordinates and the real-time attitude information of the rock drilling jumbo, calculate the rotation matrix R and the positioning matrix T from the jumbo coordinate system to the tunnel coordinate system to complete the precise positioning of the jumbo in the tunnel.

[0012] Optionally, in step S100, the laser ranging and guiding positioning device is fixed on the preset anchor bolt on the top of the tunnel by bolts, and by adjusting the yaw, pitch and roll angles of the device, the guiding laser is projected onto the heading face.

[0013] Optionally, in step S200, the two-point coordinates P1(x1, y1, z1) and P2(x2, y2, z2) of the guiding laser obtained by setting up a total station are used to determine the laser line of the guiding laser; if the pose of the laser ranging and guiding positioning device does not change, this coordinate data can be reused.

[0014] Optionally, in step S400, the distance L collected by the laser rangefinder represents the spatial distance from the laser emission point of the guiding laser to the center point P3 of the target M1, and the distance is transmitted to the upper computer on the jumbo in real time through the wireless transmission module for calculation.

[0015] Optionally, the coordinate calculation formula for the center point P3(x3, y3, z3) of the target M1 in step S500 is:

[0016]

[0017] Optionally, the real-time attitude information of the jumbo includes the horizontal angle of the jumbo and the rotation angles of the boom joints, and this information is obtained through a two-axis inclinometer installed on the vehicle body and sensors at the boom joints.

[0018] Optionally, the rotation matrix R in step S600 is calculated based on the two-point coordinates P1 and P2 of the guiding laser and the jumbo attitude information, and is used to establish the angle conversion relationship between the jumbo coordinate system and the tunnel coordinate system.

[0019] Optionally, the positioning matrix T combines the rotation matrix R and the tunnel coordinates of the center point P3 of the target M1 to calculate the relative pose relationship between the jumbo and the tunnel, so as to realize the precise positioning of the jumbo.

[0020] According to another aspect of the present invention, there is also provided a laser ranging and guiding positioning device, which includes a fixed base. A guiding laser and a laser rangefinder are arranged on the fixed base. The guiding laser is used to project a laser to indicate the boom to pass through the target, and the laser rangefinder is used to measure the projection distance of the laser. The lasers emitted by the guiding laser and the laser rangefinder are arranged in parallel. An adjusting structure for adjusting the angle of the guiding laser and a locking mechanism for locking the angle of the guiding laser are arranged on the fixed base. A protective housing for protecting the guiding laser and the laser rangefinder is arranged on the fixed base.

[0021] Optionally, a wireless transmission module and an antenna for transmitting the distance data measured by the laser rangefinder are arranged on the protective housing.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] By fixing the laser ranging device on the bolt at the top of the tunnel, adopting a compact design and an adjusting mechanism to achieve precise adjustment of the laser emission direction, the device is simple to install and easy to maintain, improving portability; by using the guiding laser and the total station to measure and obtain the coordinate data of the laser emission point and any point on the line, combining with the distance measured by the laser rangefinder from the laser emission point to the center point of the target in real time, and using a mathematical model to accurately calculate the spatial position of the center point of the target. At the same time, the attitude information of the trolley is obtained through the two-axis inclinometer and the boom joint sensor on the trolley, and the relative pose of the trolley is calculated by combining the positioning algorithm, significantly improving the positioning accuracy; the two-point coordinate data calibrated by the guiding laser can be reused when the position of the laser device remains unchanged, without frequent station setting, simplifying the operation process; the laser ranging data is transmitted to the upper computer of the trolley in real time through the wireless transmission module, realizing the automatic processing of the measurement data, reducing manual intervention, and improving portability.

[0024] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0026] Figure 1 is a schematic structural diagram of the laser ranging and guiding positioning device of the present invention;

[0027] Figure 2 is a schematic positioning diagram of the rock drilling jumbo in the tunnel;

[0028] Figure 3 is a flowchart of the laser ranging and guiding positioning method based on the rock drilling jumbo.

[0029] Legend Explanation:

[0030] 1. Guiding laser; 2. Laser rangefinder; 3. Adjusting structure; 4. Fixed base; 5. Locking mechanism; 6. Wireless transmission module; 7. Antenna; 8. Protective housing; 9. Positioning device; 10. Laser line; 11. Laser target; 12. Rock drilling jumbo; 13. Jumbo boom; 14. Tunnel face. Specific Embodiment

[0031] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways defined and covered by the following.

[0032] The following is combined with the attached Figures 1-3 This application will be further described in detail.

[0033] The embodiments of this application disclose a laser ranging and guiding positioning device and method.

[0034] Referring to Figure 1 , the laser ranging and guiding positioning device 9 includes a fixed base 4. A guiding laser 1 and a laser rangefinder 2 are arranged on the fixed base 4. The guiding laser 1 is used to project a laser to indicate that the boom penetrates the target. The laser rangefinder 2 is used to measure the projection distance of the laser. The lasers emitted by the guiding laser 1 and the laser rangefinder 2 are arranged in parallel. An adjusting structure 3 for adjusting the angle of the guiding laser 1 and a locking mechanism 5 for locking the angle of the guiding laser 1 are arranged on the fixed base 4. A protective housing 8 for protecting the guiding laser 1 and the laser rangefinder 2 is arranged on the fixed base 4.

[0035] The core support component of the laser ranging and guiding positioning device 9 is the fixed base 4. Its main function is to ensure the stable installation of the device on the tunnel roof bolts, thereby providing stability and ensuring the accuracy of the laser projection direction and measurement data. The specific structural design of the base can use high-strength metal plates, such as stainless steel or galvanized alloy, and multiple bolt holes are set on the base to meet the installation requirements of different bolt distributions. In addition, anti-slip textures or rubber pads can be added to the base surface to improve stability. The guiding laser 1 is used to project laser as an indication reference to guide the boom of the rock drilling jumbo 12 to complete the laser target piercing operation and realize the positioning of the jumbo; the laser rangefinder 2 is used to measure the spatial distance from the exit point of the guiding laser 1 to the center point of the target in real time, providing accurate measurement data for subsequent calculations. The lasers emitted by the guiding laser 1 and the laser rangefinder 2 are arranged in parallel, and the exit surfaces are located in the same plane. The specific structure can achieve the parallel arrangement through fastening fixtures or precision calibration equipment, and an external protective cover for dust and water protection is provided for the laser to adapt to the complex construction environment. The adjustment structure 3 is used to accurately adjust the exit directions of the guiding laser 1 and the laser rangefinder 2, including three degrees of freedom: yaw, pitch, and roll, to ensure that the laser can accurately align with the tunnel construction target point. The specific implementation can use a multi-degree-of-freedom rotation mechanism, such as a spherical joint, a threaded adjustment rod, or a precision turntable. Independent adjustment knobs are set in each direction, and the adjustment accuracy of the angle can be displayed through a dial or an electronic angle sensor during adjustment. The locking mechanism 5 is used to fix the laser direction after adjustment to prevent angle deviation caused by vibration or external force. Common designs include nut locking devices or mechanical buckle devices. For adjustment directions with high-precision requirements (such as the pitch angle), a double-locking structure can be used to improve stability. The protective shell 8 is used to protect the guiding laser 1 and the laser rangefinder 2 from the influence of dust, moisture, and mechanical shock in the tunnel. The shape of the shell is a cuboid box type, and a transparent protection window with a high light transmittance is set at the laser exit end. The material can be selected from tempered glass or acrylic, and an anti-scratch coating is applied to increase durability. At the same time, heat dissipation holes or heat conduction fins can be set on the shell to ensure the heat dissipation performance of the device, and a detachable design is adopted to facilitate later maintenance and equipment replacement. The mutual cooperation of the above structures realizes the balance of the stability, accuracy, and portability of the device, meeting the high-precision and high-efficiency positioning requirements during the tunnel construction process.

[0036] A wireless transmission module 6 and an antenna 7 for transmitting the distance measurement data measured by the laser rangefinder 2 are provided on the protective housing 8. The wireless transmission module 6 and the antenna 7 provided on the protective housing 8 are mainly used to transmit the distance data measured by the laser rangefinder 2 to the trolley host computer or other data processing devices in real time, providing support for subsequent positioning calculations. Its functions are reflected in the following aspects: First, the wireless transmission module 6 can replace the traditional wired data transmission method, avoiding problems such as cable damage or signal interruption caused by the complex tunnel environment (such as dust, humidity, mechanical equipment interference, etc.), improving the reliability of transmission and the convenience of equipment maintenance. Second, the antenna 7 is used in combination with the wireless transmission module 6 to ensure the transmission stability and coverage range of data in the complex tunnel environment. Even if there is a certain distance or obstacle between the trolley and the positioning device 9, the intensity and accuracy of signal transmission can be guaranteed. In addition, transmitting data wirelessly can reduce the direct physical connection between the laser ranging device and the trolley, thereby reducing the wiring complexity during installation and use, and at the same time improving the portability and flexibility of the equipment.

[0037] The specific structure can be set in the following way: The wireless transmission module 6 can select communication technologies that support stable data transmission, such as Wi-Fi, Bluetooth or industrial wireless communication protocols, to adapt to the communication requirements of the complex environment in the tunnel. The wireless transmission module 6 is installed inside the protective housing 8 and is connected to the data interface of the laser rangefinder 2. The power supply of the positioning device comes from the external power supply in the tunnel. The laser rangefinder itself cannot be powered and does not come with a battery to save weight. The antenna 7 part can be designed as an internal or external type. The external antenna 7 is installed on the top or side of the protective housing 8 to ensure the maximum signal radiation range, and at the same time, dust or water vapor is prevented from entering through a sealing design. The material of the antenna 7 can be selected as a metal or high-strength engineering plastic shell with strong durability, and a high-gain antenna 7 is selected according to the tunnel construction environment to enhance the signal penetration, or a multi-antenna 7 structure is adopted to further improve the signal coverage range. To avoid electromagnetic interference of wireless communication equipment, the antenna 7 needs to maintain a certain isolation distance from the laser rangefinder 2 and the guiding laser 1 part of the protective housing 8, and at the same time, electromagnetic isolation design can be carried out on the working area of the wireless module through shielding materials. The above design can ensure the stable and efficient operation of the wireless transmission module 6 and the antenna 7 in a harsh environment, providing real-time and reliable data support for the precise positioning of the rock drilling jumbo 12.

[0038] Refer to Figure 2 and Figure 3 , a laser ranging method, comprising the following steps:

[0039] S100. Install the laser ranging and guiding positioning device on the bolt on the top of the tunnel, and adjust the horizontal and vertical angles of the device. In step S100, the laser ranging and guiding positioning device is fixed on the preset bolt on the top of the tunnel, and by adjusting the yaw, pitch and roll angles of the device, the guiding laser is projected onto the heading face.

[0040] Installing the laser ranging and guiding positioning device on the bolt on the top of the tunnel and adjusting the horizontal and vertical angles of the device aims to ensure the stable installation and precise adjustment of the device, so as to provide a reliable positioning reference for subsequent construction. Fixing the device on the preset bolt through bolts can prevent the device from shifting due to construction vibration or external interference, thus ensuring the stability of the laser projection direction and the measurement accuracy. By adjusting the yaw, pitch and roll angles of the device, it can be ensured that the guiding laser is accurately projected onto the designated target area of the tunnel heading face, providing an accurate reference line for the laser target piercing operation of the boom of the rock drilling jumbo, and at the same time making the measurement direction of the laser rangefinder completely aligned with the target area of the heading face, so as to ensure the accuracy and reliability of the ranging data.

[0041] The specific operation is as follows: First, fix the laser ranging and guiding positioning device on the bolt on the top of the tunnel, and confirm that the bolt is firm and the position meets the design requirements. Align the fixing base of the device with the bolt, and use high-strength bolts to tightly connect the fixing base and the bolt to ensure that the device is firmly installed and not prone to looseness or displacement. After the fixing base is installed, unlock the adjusting device and gradually adjust the angle of the guiding laser through the adjusting mechanism. When adjusting the yaw angle, loosen the horizontal rotation mechanism to enable the guiding laser to rotate left and right in the horizontal plane. After aligning the laser with the center line of the tunnel or the target position on the heading face by observing the projection direction of the guiding laser, lock the yaw locking device to fix the angle. Then adjust the pitch angle, loosen the pitch adjusting mechanism, and make the guiding laser tilt up or down through the knob or adjusting rod. After adjusting until the laser can accurately project onto the target point on the heading face, lock the pitch locking device to fix the angle. Finally, adjust the roll angle, loosen the roll adjusting mechanism, and make a fine adjustment of the laser projection direction on the horizontal axis. After adjusting until the laser is completely horizontal or consistent with the target point, lock the roll locking device. After the adjustment is completed, start the guiding laser, and verify whether the projection direction is correct through visual inspection or a target. Align the laser projection direction with the designated target area on the heading face. Then start the laser rangefinder to measure the distance from the device to the target point to ensure that the guiding laser and the ranging laser are in the same direction and the data is accurate. Finally, check whether the locking mechanisms of yaw, pitch and roll are firm and whether the bolts are completely tightened. After the installation is completed, record the installation position of the device, the laser angle parameters and the projection direction to provide a basis for maintenance and adjustment in subsequent construction.

[0042] S200. Obtain the coordinates of two points P1(x1, y1, z1) and P2(x2, y2, z2) on the guiding laser using a total station. In step S200, the coordinates of two points P1(x1, y1, z1) and P2(x2, y2, z2) of the guiding laser obtained by setting up the total station are used to determine the laser line of the guiding laser. If the pose of the laser ranging and guiding positioning device does not change, this coordinate data can be reused.

[0043] The purpose of obtaining the coordinates of two points P1(x1, y1, z1) and P2(x2, y2, z2) on the guiding laser using a total station is to determine the straight-line equation of the guiding laser in the tunnel coordinate system by accurately measuring the three-dimensional space coordinates of the laser emission point of the guiding laser and any point on the laser line, so as to provide an accurate reference for subsequent calculations. This operation can clarify the spatial position and direction of the guiding laser in the tunnel, making the guiding laser the reference for the laser target piercing operation of the boom of the rock drilling jumbo, and at the same time providing a spatial reference direction for the distance measurement of the laser rangefinder. The projection path of the guiding laser can be uniquely determined by the coordinates of these two points, so as to quickly calculate the three-dimensional coordinates of the target point in subsequent construction. When the pose of the laser ranging and guiding positioning device remains unchanged, these coordinate data can be reused, avoiding repeated measurements, reducing the workload and improving the construction efficiency.

[0044] The specific operation is as follows: First, set the total station at a reasonable position in the tunnel to ensure that the key points of the guiding laser line can be observed within the field of view of the total station. After starting the total station, select two points according to the emission direction of the guiding laser, namely the laser emission point P1 and any point P2 on the laser line. After confirming that the measurement angles and distances of the total station meet the observation conditions, aim at points P1 and P2 of the laser line respectively, and measure and record the three-dimensional space coordinates of these two points in the tunnel coordinate system through the total station. After the measurement is completed, input the measured coordinate values into the upper computer or calculation system to uniquely determine the straight-line equation of the guiding laser in the tunnel. During this process, the setting position of the total station needs to be initially calibrated to ensure the accuracy of its coordinate data, and at the same time keep the pose of the laser ranging and guiding positioning device fixed so that the measured coordinates of P1 and P2 can be reused in subsequent construction, reducing the time and operation complexity of re-measurement. Finally, save the measured coordinates of the laser line as a reference to provide spatial reference data for the positioning and laser ranging operations of the rock drilling jumbo.

[0045] S300. Install laser targets M1 and M2 respectively in front of and behind the boom of the rock drilling jumbo. Operate the boom to make the guiding laser pass through the central hole P3(x3, y3, z3) of the target M1 and project to the central position of the target M2.

[0046] By installing laser targets M1 and M2 respectively in front of and behind the boom of the rock drilling jumbo, and operating the boom to make the guiding laser pass through the central hole P3(x3, y3, z3) of target M1 in sequence and project onto the central position of target M2, the attitude of the boom of the rock drilling jumbo is calibrated to ensure that the projection direction of the guiding laser is precisely aligned with the mechanical central axis of the boom, thus achieving the precise adjustment and positioning of the boom. This operation restricts the path of the guiding laser through the positions of targets M1 and M2 to ensure that the laser is consistent with the preset direction of the jumbo boom after passing through the central hole of the target. Through the spatial coordinates of the center point P3 of the target, the laser line can be combined with the tunnel coordinate system to further calculate the spatial attitude and position of the boom, providing a reliable benchmark for the precise positioning and construction operation of the rock drilling jumbo. In addition, through the operation of the guiding laser passing through the target, the attitude of the boom can be quickly adjusted and verified, improving the construction efficiency, and the center point data of the target can be used for subsequent measurement and positioning calculations to ensure the accuracy and consistency of the construction process.

[0047] The specific operation is as follows: First, install laser targets M1 and M2 respectively at the front end and the rear end of the boom of the rock drilling jumbo, ensuring that the targets can be firmly fixed and the axis of the central hole of the target is consistent with the mechanical central axis of the boom. Start the guiding laser to project it in the initial direction of the boom, and then adjust the attitude of the boom by controlling the operating system of the jumbo boom. Gradually adjust the pitching, yawing and telescopic positions of the boom to make the guiding laser project onto target M1, and correct it by observing whether the guiding laser passes through the central hole of target M1. When the guiding laser completely passes through the central hole P3 of target M1, continue to adjust the boom to make the guiding laser finally project onto the central position of target M2. During the adjustment process, ensure that the path of the laser completely passes through the central hole of target M1 and then falls on the center point of target M2, and the laser line is consistent with the central hole axis of the target. After completing the above operations, record the coordinates of the center point P3(x3, y3, z3) of target M1, which can be calculated by the measured distance of the laser rangefinder and the known linear equation of the guiding laser. After confirming that the guiding laser passes through M1 and is accurately projected onto M2, it indicates that the attitude of the boom has been calibrated, and the laser path is aligned with the mechanical center of the jumbo boom, providing an accurate positioning benchmark for subsequent construction.

[0048] S400, use a laser rangefinder to measure the spatial distance L from the emitting point of the guiding laser to target M1, and transmit the data to the upper computer of the jumbo through a wireless transmission module; in step S400, the distance L collected by the laser rangefinder represents the spatial distance from the emitting point of the guiding laser to the center point P3 of target M1, and the distance is sent to the upper computer of the jumbo in real time through the wireless transmission module for calculation.

[0049] The spatial distance L from the emitting point of the guiding laser to the center point P3 of the target M1 is measured by a laser rangefinder, providing a key spatial parameter for subsequent positioning calculations. This measured distance L directly reflects the relative relationship between the position and direction of the guiding laser in the tunnel coordinate system and the center point of the target M1, and is the basic data for calculating the three-dimensional coordinates of the center point P3 of the target. The distance data is transmitted in real time to the upper computer on the trolley through a wireless transmission module, which can avoid manual intervention, improve the real-time performance and accuracy of data transmission, and ensure that the measurement results can be quickly used for subsequent positioning calculations. This operation combines the accurate distance data collected by the laser rangefinder with the known spatial straight-line equation of the guiding laser to calculate the specific coordinates of the center point P3 of the target, thereby providing a reliable spatial reference for the precise positioning and construction of the rock drilling jumbo.

[0050] The specific operation is as follows: Start the laser rangefinder in the laser ranging and guiding positioning device, ensure that the emitting surface of the rangefinder is parallel to the emitting surface of the guiding laser, and check the connection status between the rangefinder and the wireless transmission module. After the laser rangefinder starts working, measure the spatial distance L from the emitting point of the guiding laser to the center point P3 of the target M1. Ensure that the target M1 is correctly installed on the boom, and adjust the boom attitude in the previous step so that the guiding laser passes through the central hole P3 of the target M1. After the rangefinder measures the spatial distance L, the ranging data is transmitted in real time to the upper computer on the rock drilling jumbo through the built-in wireless transmission module. After the upper computer receives the distance data, it automatically records and stores the data for subsequent use in calculating the three-dimensional coordinates of the center point P3 of the target. To ensure the measurement accuracy, vibrations in the tunnel or other light sources should be avoided from interfering with the measurement path during the operation, and the rangefinder should be calibrated regularly to ensure the accuracy of the equipment. The entire operation process needs to monitor the status of the laser rangefinder in real time to ensure stable and error-free data transmission, and check whether the ranging result is consistent with the target range through the upper computer feedback system when necessary. After the operation is completed, confirm that the measurement data is accurately recorded to provide reliable distance parameter support for subsequent positioning calculations.

[0051] S500. Calculate the specific coordinates of the center point P3 of the target M1 in the tunnel coordinate system according to the two-point coordinates P1 and P2 of the guiding laser and the measured distance L; the coordinate calculation formula for the center point P3(x3, y3, z3) of the target M1 in step S500 is:

[0052]

[0053]

[0054] S600. Based on the target coordinates and the real-time attitude information of the rock drilling jumbo, calculate the rotation matrix R and the positioning matrix T from the jumbo coordinate system to the tunnel coordinate system to complete the precise positioning of the jumbo in the tunnel. In step S600, the rotation matrix R is calculated based on the two-point coordinates P1 and P2 of the guiding laser and the jumbo attitude information, and is used to establish the angular conversion relationship between the jumbo coordinate system and the tunnel coordinate system.

[0055] By calculating the rotation matrix R and the positioning matrix T, establish the precise conversion relationship between the rock drilling jumbo coordinate system and the tunnel coordinate system to achieve the precise positioning of the jumbo in the tunnel. The rotation matrix R is used to describe the angular relationship of the jumbo coordinate system relative to the tunnel coordinate system. Combining the two-point coordinates P1 and P2 of the guiding laser and the real-time attitude information of the jumbo (including the horizontal angle measured by the inclinometer and the joint angles measured by the boom joint sensors), the rotational alignment between the jumbo coordinate system and the tunnel coordinate system can be accurately calculated. The positioning matrix T combines the rotation matrix R and the tunnel coordinates of the target center point P3 to further determine the specific position and attitude of the jumbo in the tunnel. Through this operation, the real-time spatial position and attitude information of the jumbo can be accurately mapped into the tunnel coordinate system, providing a spatial reference for the precise operation of construction equipment and subsequent construction planning, and ensuring that the positioning accuracy of the jumbo meets the technical requirements of tunnel construction.

[0056] The specific operation is as follows: First, based on the two-point coordinates P1(x1, y1, z1) and P2(x2, y2, z2) of the guiding laser obtained in step S200, calculate the direction vector d of the guiding laser = (x2 - x1, y2 - y1, z2 - z1), which represents the direction of the guiding laser in the tunnel coordinate system. Then, obtain the real-time attitude information of the jumbo, including the horizontal angle of the jumbo measured by the inclinometer and the rotation angles of each boom joint measured by the joint sensors. These attitude information are used to describe the current spatial attitude of the jumbo coordinate system. Next, convert the real-time attitude information of the jumbo into the direction vector of the jumbo coordinate system and compare it with the direction vector of the guiding laser. According to the included angle and rotation relationship between the two, calculate the rotation matrix R of the jumbo coordinate system relative to the tunnel coordinate system through the rotation matrix formula. The specific calculation formula of the rotation matrix R is obtained through matrix operations based on the geometric relationship between the direction vectors and the jumbo attitude data to ensure the accurate expression of the angular conversion relationship between the jumbo coordinate system and the tunnel coordinate system. After calculating the rotation matrix R, combine the tunnel coordinates of the target center point P3(x3, y3, z3) measured in step S400 to calculate the positioning matrix T from the jumbo coordinate system to the tunnel coordinate system. The positioning matrix T includes the rotation matrix R and the displacement information of the jumbo relative to the tunnel, and is used to describe the real-time spatial position and attitude of the jumbo. Finally, input the calculation results of the rotation matrix R and the positioning matrix T into the upper computer of the jumbo for storage and real-time update, thereby completing the precise positioning of the jumbo in the tunnel coordinate system and providing a complete spatial reference for subsequent construction and operation.

[0057] The positioning matrix T combines the rotation matrix R and the tunnel coordinates of the center point P3 of the target M1 to calculate the relative pose relationship between the jumbo and the tunnel, thereby achieving precise positioning of the jumbo. The real-time attitude information of the jumbo includes the horizontal angle of the jumbo and the rotation angles of the boom joints, and this information is obtained through a biaxial inclinometer installed on the vehicle body and sensors at the boom joints.

[0058] The positioning matrix T accurately correlates the jumbo coordinate system with the tunnel coordinate system. By combining the rotation matrix R and the tunnel coordinates of the center point P3 of the target M1, the relative pose relationship between the jumbo and the tunnel is calculated, thereby achieving precise positioning of the jumbo in the tunnel. The horizontal angle of the jumbo obtained through the biaxial inclinometer and the joint rotation angles obtained through the boom joint sensors can describe the spatial attitude of the jumbo in real time and combine it with the fixed spatial reference of the guiding laser. The positioning matrix T is not only used to describe the real-time position of the jumbo but also can dynamically reflect the changes in the attitude of the jumbo, providing a high-precision reference for the precise adjustment and operation of the jumbo during tunnel construction.

[0059] The specific operation is as follows: The real-time horizontal angle information of the jumbo is obtained through a biaxial inclinometer installed on the body of the jumbo. The angles measured by the inclinometer reflect the pitch and yaw states of the jumbo in the tunnel coordinate system. At the same time, the rotation angles of each boom joint are obtained in real time through sensors installed at the boom joints, and these data are used to describe the current attitude of the jumbo boom. Then, according to the known two-point coordinates P1 and P2 of the guiding laser, the direction vector of the laser in the tunnel coordinate system is calculated, and the tunnel coordinates of the center point P3 of the target M1 measured in step S400 are used as the spatial reference point. Next, by combining the horizontal angle of the jumbo, the boom joint angles, and the direction vector of the guiding laser, a rotation matrix R between the jumbo coordinate system and the tunnel coordinate system is established through kinematic calculations. The rotation matrix R is used to describe the attitude relationship between the two coordinate systems. Subsequently, the tunnel coordinates of the center point P3 of the target M1 are substituted into the calculation. According to the rotation matrix R and the real-time attitude information of the jumbo, the positioning matrix T is calculated. The positioning matrix T consists of the rotation matrix R and the translational displacement of the jumbo in the tunnel coordinate system, and is used to accurately describe the relative pose relationship between the jumbo and the tunnel. Finally, the calculation results of the rotation matrix R and the positioning matrix T are transmitted to the upper computer of the jumbo to update the three-dimensional spatial position and attitude data of the jumbo in real time, providing an accurate positioning reference for boom adjustment, laser target penetration, and jumbo movement in subsequent construction.

[0060] The above description is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A laser ranging method based on a rock drilling rig, characterized in that: The steps include: S100, install the laser ranging guidance and positioning device on the anchor rod at the top of the tunnel, and adjust the horizontal and vertical angles of the device; S200, using a total station to obtain coordinates of two points P1 (x1, y1, z1) and P2 (x2, y2, z2) on the guide laser; S300, laser targets M1 and M2 are respectively installed at the front and rear of the drilling rig boom, and the boom is operated to make the guide laser pass through the center hole P3 (x3, y3, z3) of the target M1 and project to the center position of the target M2; S400, using a laser rangefinder to measure the spatial distance L from the guide laser emission point to the target M1, and transmitting the data to the trolley host computer through a wireless transmission module; S500, calculating the specific coordinates of the center point P3 of the target M1 in the tunnel coordinate system according to the two-point coordinates P1 and P2 of the guiding laser and the measured distance L; S600, based on the target coordinates and the real-time posture information of the drilling rig, the rotation matrix R and the positioning matrix T from the rig coordinate system to the tunnel coordinate system are calculated to complete the precise positioning of the rig in the tunnel.

2. The method for positioning a drilling rig according to claim 1, characterized in that: In step S100, the laser ranging guiding and positioning device is fixed to the anchor rod preset on the top of the tunnel by bolts, and the guiding laser is projected to the tunnel face by adjusting the yaw, pitch and roll angles of the device.

3. The method for positioning a drilling rig according to claim 1, characterized in that: In step S200, the two-point coordinates P1 (x1, y1, z1) and P2 (x2, y2, z2) of the guide laser obtained by setting up the total station are used to determine the laser line of the guide laser; if the position and posture of the laser ranging and guiding positioning device does not change, the coordinate data can be reused.

4. The method for positioning a drilling rig according to claim 1, characterized in that: In step S400, the distance L collected by the laser rangefinder represents the spatial distance from the guide laser emission point to the center point P3 of the target M1, and the distance is sent to the trolley host computer in real time through the wireless transmission module for calculation.

5. The method for positioning a drilling rig according to claim 1, characterized in that: The coordinate calculation formula of the center point P3 (x3, y3, z3) of the target M1 in step S500 is:

6. The method for positioning a drilling rig according to claim 1, characterized in that: The real-time posture information of the trolley includes the horizontal angle of the trolley and the rotation angle of the boom joint, and the information is obtained through a dual-axis inclinometer installed on the vehicle body and a sensor at the boom joint.

7. The method for positioning a drilling rig according to claim 1, characterized in that: The rotation matrix R in step S600 is calculated based on the two-point coordinates P1 and P2 of the guide laser and the trolley posture information, and is used to establish the angle conversion relationship between the trolley coordinate system and the tunnel coordinate system.

8. The method for positioning a drilling rig according to claim 1, characterized in that: The positioning matrix T is combined with the rotation matrix R and the tunnel coordinates of the center point P3 of the target M1 to calculate the relative posture relationship between the trolley and the tunnel, thereby achieving accurate positioning of the trolley.

9. Laser ranging guidance and positioning device, characterized in that: The invention comprises a fixed base (4), on which a guide laser (1) and a laser rangefinder (2) are arranged, the guide laser (1) is used to project a laser to indicate that the arm frame penetrates a target, the laser rangefinder (2) is used to measure the projection distance of the laser, the lasers emitted by the guide laser (1) and the laser rangefinder (2) are arranged in parallel, the fixed base (4) is provided with an adjustment structure (3) for adjusting the angle of the guide laser (1) and a locking mechanism (5) for locking the angle of the guide laser (1), and the fixed base (4) is provided with a protective shell (8) for protecting the guide laser (1) and the laser rangefinder (2).

10. The laser ranging and guiding positioning device according to claim 9, characterized in that: The protective housing (8) is provided with a wireless transmission module (6) and an antenna (7) for transmitting distance data measured by the laser rangefinder (2).

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