Equipment relative positioning method and device and electronic equipment

Abstract

The embodiment of the invention provides an equipment relative positioning method and device and electronic equipment, and relates to the technical field of engineering machinery positioning, and the method comprises the steps: obtaining a conversion relation between a preset origin coordinate system and each preset joint coordinate system; after the construction equipment reaches the working area, the working face and the tunnel slope are determined; according to the working face, posture constraint and position constraint are conducted on the mechanical arm so that the mechanical arm can be in a target posture and a target position, and real-time clinometer data and a real-time mechanical arm joint value are obtained; according to the multiple conversion relations, the tunnel gradient, the clinometer data and the mechanical arm joint value, an optimization model is established; and obtaining an initial positioning relationship between the working face and the construction equipment, and inputting the initial positioning relationship into the optimization model to obtain a positioning relationship between the working face and the construction equipment. According to the equipment relative positioning method, the optimization model is used for calculating the real-time positioning relation between the working face and the construction equipment, a total station does not need to be used, and the construction efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery positioning, and particularly relates to a method, device and electronic device for relative positioning of equipment. Background Art

[0002] During engineering construction, a relative positioning system for equipment can determine the positional relationship between construction equipment and the working surface. Subsequently, components such as robotic arms, sensors, and lasers on the construction equipment can be adjusted based on the positional relationship to accurately perform construction tasks and prevent the components on the construction equipment from colliding with the surrounding environment or other equipment, ensuring the safety of the construction process.

[0003] In the prior art, a total station is usually used for positioning. The coordinates of specific points on the construction equipment and pre-set reference points within the working area are measured using a total station. The spatial relationship between these two sets of points is calculated, and then a transformation matrix is generated. This transformation matrix is used to convert the position and orientation of the construction equipment into the coordinate system of the working area, thereby obtaining the position information of the construction equipment within the working area.

[0004] However, the prior art has the problem of low construction efficiency. During the process of positioning using a total station, although the transformation matrix can be generated by measuring the accurate coordinates of specific points on the construction equipment and reference points within the working area to achieve positioning, in a narrow space, the laser of the total station is easily blocked, resulting in the need to frequently set the position of the total station. This repetitive operation reduces the construction efficiency. Summary of the Invention

[0005] Embodiments of this application provide a method, device and electronic device for relative positioning of equipment to solve the problem of low construction efficiency in the prior art.

[0006] In a first aspect, embodiments of this application provide a method for relative positioning of equipment. The method is applied to the control center of a relative positioning system for equipment. The relative positioning system for equipment further includes construction equipment, a robotic arm composed of multiple joints and multiple linkages, sensors, and an inclinometer. Then the method includes:

[0007] Obtain the conversion relationship between a preset origin coordinate system and each preset joint coordinate system; wherein, the origin coordinate system is constructed on the construction equipment, and the multiple joint coordinate systems are respectively constructed on each of the joints;

[0008] After the construction equipment reaches the working area, determine the working surface and the tunnel slope; wherein, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane;

[0009] Perform attitude constraint and position constraint on the robotic arm according to the working surface, so that the robotic arm is in the target attitude and target position, and obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the target attitude refers to one of multiple preset attitudes of the robotic arm, the target position refers to one of multiple preset positions of the robotic arm, the inclinometer data is used to represent the inclination angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of the respective joints;

[0010] Establish an optimization model according to the multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values;

[0011] Obtain the initial positioning relationship between the working surface and the construction equipment, and input the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment.

[0012] In a possible design, the equipment relative positioning system further includes a reference tool and a laser installed at the end of the robotic arm. The performing attitude constraint and position constraint on the robotic arm according to the working surface, so that the robotic arm is in the target attitude and target position, and obtain real-time inclinometer data and real-time robotic arm joint values includes:

[0013] Perform position constraint on the robotic arm so that the end of the robotic arm coincides with a preset point on the working surface;

[0014] Perform attitude constraint on the robotic arm so that the projection of the laser emitted by the laser on the working surface coincides with a preset area on the working surface; wherein, the preset area is set on the working surface by the reference tool;

[0015] Obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the robotic arm joint values include the angles and lengths of the respective joints.

[0016] In a possible design, the establishing an optimization model according to the multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values includes:

[0017] Establish constraint conditions according to the multiple conversion relationships and the robotic arm joint values;

[0018] Establish an objective function according to the tunnel slope and the inclinometer data;

[0019] Establish the optimization model according to the constraint conditions and the objective function.

[0020] In a possible design, establishing the constraint condition according to the multiple conversion relationships and the robotic arm joint values includes:

[0021] Obtain the first coordinate of the preset point in the coordinate system of the robotic arm end; wherein, the coordinate system of the robotic arm end refers to the coordinate system located at the end of the robotic arm among the multiple joint coordinate systems;

[0022] Construct a first constraint condition according to the first coordinate and the multiple conversion relationships;

[0023] Establish a working surface coordinate system on the working surface;

[0024] Construct a second constraint condition according to the working surface coordinate system and the robotic arm joint values;

[0025] Generate the constraint condition according to the first constraint condition and the second constraint condition.

[0026] In a possible design, constructing the first constraint condition according to the first coordinate and the multiple conversion relationships includes:

[0027] Calculate the second coordinate of the preset point in the origin coordinate system according to the first coordinate and the first conversion relationship; wherein, the first conversion relationship refers to the conversion relationship between the origin coordinate system and the coordinate system of the robotic arm end among the multiple conversion relationships;

[0028] Construct the first constraint condition according to the first coordinate and the second coordinate.

[0029] In a possible design, constructing the second constraint condition according to the working surface coordinate system and the robotic arm joint values includes:

[0030] Obtain the first unit vector in the coordinate system of the robotic arm end and the second unit vector in the working surface coordinate system; wherein, the first unit vector is perpendicular to the second unit vector;

[0031] According to the first conversion relationship, convert both the first unit vector and the second unit vector into the origin coordinate system to obtain the third unit vector obtained by converting the first unit vector and the fourth unit vector obtained by converting the second unit vector;

[0032] Generate the second constraint condition according to the third unit vector and the fourth unit vector.

[0033] In a possible design, obtaining the initial positioning relationship between the working surface and the construction equipment and inputting the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment includes:

[0034] Obtaining an optimization algorithm and the initial positioning relationship between the working surface and the construction equipment;

[0035] Inputting the optimization algorithm and the initial positioning relationship into the optimization model so that the optimization model iteratively optimizes the initial positioning relationship;

[0036] Taking the positioning relationship when the change amount of the objective function is less than a preset threshold as the real-time positioning relationship between the working surface and the construction equipment.

[0037] In a second aspect, the present application provides an equipment relative positioning system, including: a construction equipment, a robotic arm composed of multiple joints and multiple linkages, a sensor, a reference tool, an inclinometer, and a laser provided at the end of the robotic arm;

[0038] The control center is used to implement the equipment relative positioning method as described in any item of the first aspect;

[0039] The construction equipment is used to provide an operation platform and power support in the working area;

[0040] The robotic arm is used to complete construction tasks;

[0041] The sensor is used to monitor the angles and lengths of the respective joints;

[0042] The inclinometer is used to measure the inclination angle of the construction equipment;

[0043] The laser is used to emit laser light and make the laser light coincide with a preset area on the working surface.

[0044] In a third aspect, the present application provides an equipment relative positioning device. The device is applied to the control center of the equipment relative positioning system. The equipment relative positioning system further includes a construction equipment, a robotic arm composed of multiple joints and multiple linkages, a sensor, and an inclinometer. Then the device includes:

[0045] An acquisition module, configured to acquire the conversion relationship between a preset origin coordinate system and each preset joint coordinate system; wherein, the origin coordinate system is constructed on the construction equipment, and the multiple joint coordinate systems are respectively constructed on each of the joints;

[0046] A determination module, configured to determine a working surface and a tunnel slope after the construction equipment reaches the working area; wherein, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane;

[0047] A constraint module, configured to perform attitude constraint and position constraint on the robotic arm according to the working surface, so that the robotic arm is in a target attitude and a target position, and obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the target attitude refers to one of a plurality of preset attitudes of the robotic arm, the target position refers to one of a plurality of preset positions of the robotic arm, the inclinometer data is used to represent the tilt angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of the respective joints;

[0048] A model establishment module, configured to establish an optimization model according to a plurality of the conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values;

[0049] A calculation module, configured to obtain an initial positioning relationship between the working surface and the construction equipment, and input the initial positioning relationship into the optimization model to obtain a real-time positioning relationship between the working surface and the construction equipment.

[0050] In a possible design, the equipment relative positioning system further includes a reference tool and a laser device provided at the end of the robotic arm, and the constraint module includes:

[0051] A position constraint unit, configured to perform position constraint on the robotic arm, so that the end of the robotic arm coincides with a preset point on the working surface;

[0052] An attitude constraint unit, configured to perform attitude constraint on the robotic arm, so that the projection of the laser emitted by the laser device on the working surface coincides with a preset area on the working surface; wherein, the preset area is set on the working surface by the reference tool;

[0053] A first acquisition unit, configured to obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the robotic arm joint values include the angles and lengths of the respective joints.

[0054] In a possible design, the model establishment module includes:

[0055] A constraint condition establishment unit, configured to establish constraint conditions according to a plurality of the conversion relationships and the robotic arm joint values;

[0056] A target function establishment unit, configured to establish a target function according to the tunnel slope and the inclinometer data;

[0057] An optimization model building unit for building the optimization model according to the constraint conditions and the objective function.

[0058] In a possible design, the constraint condition building unit includes:

[0059] An acquisition device for acquiring a first coordinate of the preset point in the coordinate system at the end of the robotic arm; wherein, the coordinate system at the end of the robotic arm refers to the coordinate system located at the end of the plurality of joint coordinate systems;

[0060] A first construction device for constructing a first constraint condition according to the first coordinate and a plurality of the conversion relationships;

[0061] A coordinate system building device for building a working surface coordinate system on the working surface;

[0062] A second construction device for constructing a second constraint condition according to the working surface coordinate system and the robotic arm joint values;

[0063] A constraint condition generating device for generating the constraint conditions according to the first constraint condition and the second constraint condition.

[0064] In a possible design, the first construction device includes:

[0065] A calculation component for calculating a second coordinate of the preset point in the origin coordinate system according to the first coordinate and a first conversion relationship; wherein, the first conversion relationship refers to the conversion relationship between the origin coordinate system and the coordinate system at the end of the robotic arm among the plurality of conversion relationships;

[0066] A construction component for constructing the first constraint condition according to the first coordinate and the second coordinate.

[0067] In a possible design, the second construction device includes:

[0068] A vector acquisition component for acquiring a first unit vector in the coordinate system at the end of the robotic arm and a second unit vector in the working surface coordinate system; wherein, the first unit vector is perpendicular to the second unit vector;

[0069] A conversion component for converting both the first unit vector and the second unit vector to the origin coordinate system according to the first conversion relationship, to obtain a third unit vector obtained by converting the first unit vector, and a fourth unit vector obtained by converting the second unit vector;

[0070] A condition generating component for generating the second constraint condition according to the third unit vector and the fourth unit vector.

[0071] In a possible design, the computing module includes:

[0072] A second acquisition unit, configured to acquire an optimization algorithm and an initial positioning relationship between the working face and the construction equipment;

[0073] An input unit, configured to input the optimization algorithm and the initial positioning relationship into the optimization model, so that the optimization model iteratively optimizes the initial positioning relationship;

[0074] A calculation unit, configured to take the positioning relationship when the change amount of the objective function is less than a preset threshold as the real-time positioning relationship between the working face and the construction equipment.

[0075] In a fourth aspect, the present application provides an electronic device, including: a processor and a memory communicatively connected to the processor;

[0076] The memory stores computer-executable instructions;

[0077] When the processor executes the computer-executable instructions stored in the memory, it is configured to implement the equipment relative positioning method according to any one of the first aspect.

[0078] The equipment relative positioning method, device and electronic device provided by the present application, the method includes: acquiring a conversion relationship between a preset origin coordinate system and each preset joint coordinate system; after the construction equipment reaches the working area, determining the working face and the tunnel slope; according to the working face, performing attitude constraint and position constraint on the robotic arm, so that the robotic arm is in a target attitude and a target position, and acquiring real-time inclinometer data and real-time robotic arm joint values; establishing an optimization model according to the multiple conversion relationships, the tunnel slope, the inclinometer data and the robotic arm joint values; acquiring an initial positioning relationship between the working face and the construction equipment, and inputting the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working face and the construction equipment. The equipment relative positioning method of the present application constructs coordinate systems on multiple joints of the construction equipment and the robotic arm, and acquires the conversion relationships between these coordinate systems. Combining the real-time collected inclinometer data and robotic arm joint values, an optimization model is established. This model uses the initial positioning relationship after the construction equipment reaches the working area to calculate the precise positioning relationship of the current working face relative to the construction equipment. This method reduces the dependence on the total station. Especially in a narrow space, the laser of the total station is easily blocked, resulting in the problem that the position needs to be frequently reset is effectively solved. Through the application of the optimization model, the construction equipment can quickly and accurately position and adjust without using the total station, thereby improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0080] Figure 1 Schematic diagram of the application scenario of the equipment relative positioning method provided by the embodiment of the present application Figure 1 ;

[0081] Figure 2 Schematic diagram of the application scenario of the equipment relative positioning method provided by the embodiment of the present application Figure 2 ;

[0082] Figure 3 Flow chart of the equipment relative positioning method provided by the embodiment of the present application;

[0083] Figure 4 Schematic diagram of the structure of the equipment relative positioning device provided by the embodiment of the present application;

[0084] Figure 5 Schematic diagram of the structure of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0085] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description involves the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all the implementation manners consistent with the present application. On the contrary, they are only examples of the devices and methods consistent with some aspects of the present application detailed in the appended claims.

[0086] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more.

[0087] It should be noted that in the embodiments of the present application, "when..." can be at the instant when a certain situation occurs, or within a period of time after a certain situation occurs. The embodiments of the present application do not make specific limitations in this regard. In addition, the equipment relative positioning method provided by the embodiments of the present application is only an example, and the equipment relative positioning method may also include more or less content.

[0088] To facilitate a clear description of the technical solutions of the embodiments of the present application, the following briefly introduces some terms and technologies involved in the embodiments of the present application:

[0089] Inclinometer: An instrument used to measure the inclination angle of an object relative to the direction of gravity. It is commonly used in fields such as geological exploration, construction engineering, and mechanical installation to ensure the precise positioning and stability of structures. By detecting the movement of a liquid or a suspended object caused by gravity, the inclinometer can provide accurate angle measurements.

[0090] Attitude constraint: Refers to the restrictive conditions imposed on the attitude of an object or a system in kinematics and robotics. These constraints are used to ensure that the object or system maintains a specific orientation or avoids unstable postures when performing tasks, thereby improving the accuracy and safety of operations. Attitude constraints are commonly used in fields such as robot control, aircraft navigation, and virtual reality to achieve the expected motion and positioning.

[0091] Position constraint: Refers to the restrictive conditions imposed on the position of an object or a system in space in fields such as mechanical design, robotics, and computer animation. These constraints are used to ensure that the object or system remains within a specific path or area when performing tasks, thereby achieving precise positioning and motion control. Position constraints can help avoid collisions, maintain structural integrity, or ensure the effectiveness and safety of operations.

[0092] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0093] The following uses specific embodiments to detail the technical solutions of the present invention. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe the embodiments of the present invention in conjunction with the drawings.

[0094] To clearly understand the technical solution of this application, the solutions of the prior art will be introduced in detail first. During the construction process, it is necessary to determine the positional relationship between the construction equipment and the working face. Precise positioning can ensure that the construction equipment performs construction operations at the appropriate position, thereby improving work efficiency and saving time and resources. Secondly, correct positioning helps to avoid potential collisions and interferences between the construction device and personnel or other equipment. Therefore, it is crucial to accurately position the construction equipment and the working face during the construction process.

[0095] Currently, total stations are commonly used at the construction site to determine the positional relationship between the construction equipment and the working face. Although this method can generate a transformation matrix by measuring the precise coordinates of specific points on the construction equipment and reference points within the working area, thereby achieving precise positioning, there are problems of low construction efficiency in practical applications. Especially in narrow or complex construction spaces, the laser signals of total stations are easily blocked by obstacles, resulting in measurement interruption or increased errors. To solve these problems, operators have to frequently reposition the total station to ensure unobstructed line of sight and measurement continuity. This repeated adjustment and setting process not only consumes time but also may lead to delays in the construction progress and waste of resources, thereby reducing the overall construction efficiency.

[0096] Therefore, aiming at the problem of low construction efficiency in the prior art, it is found in the research that to solve this problem, the coordinate system transformation relationship of each part of the construction equipment and the robotic arm can be integrated, combined with real-time inclinometer data and robotic arm joint values, to establish an optimization model to achieve the positioning between the construction equipment and the working face: ① Local coordinate systems can be established for each joint of the construction equipment and the robotic arm, and through mathematical models such as homogeneous transformation matrices, these local coordinate systems can be transformed into a unified global coordinate system, and then by comparing their positions and postures in the global coordinate system, the precise positional relationship of the construction equipment relative to the working face can be determined. ② The real-time inclinometer and robotic arm joint data can be used to establish a dynamic feedback and adjustment mechanism, enabling the construction equipment to automatically adjust its posture and position according to real-time data. This mechanism reduces the time and error of human intervention and improves the accuracy and efficiency of construction.

[0097] Specifically:

[0098] A multi-coordinate system transformation mechanism can be introduced and combined with real-time sensor data, such as tilt angles and robotic arm states, to construct an optimization model to dynamically adjust the relative position between the construction equipment and the working area. After the equipment enters the working area, the system controls the posture and position of the robotic arm according to the environmental characteristics to keep it in a preset state. By inputting the initial position relationship into the optimization model, the system can update the relative position between the equipment and the working area in real time.

[0099] The equipment relative positioning method according to the embodiments of the present application establishes the conversion relationship between multiple coordinate systems on the construction equipment, and combines the tilt meter data and the robotic arm joint status obtained in real time to establish an optimization model to dynamically adjust the positioning relationship between the construction equipment and the working surface. This method allows the system to perform attitude and position constraints on the robotic arm according to the working surface and the tunnel slope after the construction equipment reaches the working area, so that the robotic arm maintains the target attitude and position. By inputting the initial positioning relationship into the optimization model, the system can update the positioning relationship between the construction equipment and the working surface in real time, significantly improving the accuracy and continuity of positioning, reducing the inefficiency caused by obstacle occlusion and frequent adjustment of the total station position, and thus improving the overall construction efficiency.

[0100] Based on the above creative findings, the technical solution of the present application is proposed.

[0101] The application scenarios of the equipment relative positioning method provided by the embodiments of the present invention are introduced below. Figure 1 Schematic diagram of the application scenario of the equipment relative positioning method provided by the embodiments of the present application Figure 1 。 Figure 2 Schematic diagram of the application scenario of the equipment relative positioning method provided by the embodiments of the present application Figure 2 。As Figure 1 and Figure 2 shown, the application scenario includes a construction equipment 101, a robotic arm 102, a sensor 103, a reference tool 104, a laser 105, a tilt meter 106, a control center 107, and a working surface 108. The construction equipment 101 provides an operation platform and power support in the working area, the robotic arm 102 performs construction operations, the sensor 103 monitors the angles and lengths of multiple joints of the robotic arm 102 respectively, the reference tool 104 sets a preset area on the working surface 108, the laser 105 emits laser light to assist the robotic arm 102 in position constraint and attitude constraint, so that the end of the robotic arm 102 coincides with the marking point 1081 on the working surface 108, and at the same time the projection of the laser on the working surface 108 coincides with or is parallel to the preset area, the tilt meter 106 measures the tilt angle of the construction equipment 101, and the control center 107 calculates the position relationship between the construction equipment 101 and the working surface 108.

[0102] The embodiments of the present invention are introduced below in conjunction with the accompanying drawings of the specification.

[0103] Figure 3 Schematic flow chart of the equipment relative positioning method provided by the embodiments of the present application. As Figure 3 shown, the execution subject of the embodiments of the present invention is the control center. Then the equipment relative positioning method provided by this embodiment includes the following steps:

[0104] S301. Obtain the conversion relationship between the preset origin coordinate system and each preset joint coordinate system.

[0105] Specifically, the conversion relationship obtained through the kinematic parameter calibration of the robotic arm before leaving the factory can be obtained, or the conversion relationship between the preset origin coordinate system and each preset joint coordinate system can be obtained by installing positioning sensors on each joint of the construction equipment and the robotic arm or using the method of mathematical modeling. These sensors or models can measure and calculate the relative position and orientation between the origin coordinate system and each joint coordinate system, so as to establish a conversion matrix or conversion equation. These conversion relationships are used for accurate position and attitude conversion between different coordinate systems, so that the movement of the robotic arm can be accurately controlled during construction to make it reach the preset target attitude and position, and at the same time ensure that the real-time positioning relationship between the construction equipment and the working surface is optimized and corrected. Among them, the origin coordinate system is constructed on the construction equipment, and multiple joint coordinate systems are constructed on each joint respectively.

[0106] S302. After the construction equipment arrives at the working area, determine the working surface and the tunnel slope.

[0107] Specifically, after the construction equipment arrives at the working area, determining the working surface and the tunnel slope can be achieved by using measurement tools such as laser rangefinders, total stations, tilt sensors, or 3D scanning devices. These devices can accurately measure the geometric shape of the working surface and the inclination angle relative to the horizontal plane. Obtaining this information can accurately understand the spatial characteristics of the construction environment, thereby providing the necessary data support for the attitude and position constraints of the robotic arm, ensuring that the robotic arm can operate in a suitable attitude and position in a complex tunnel environment, and improving construction accuracy and efficiency. Among them, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane.

[0108] S303. According to the working surface, perform attitude constraints and position constraints on the robotic arm so that the robotic arm is in the target attitude and target position, and obtain real-time inclinometer data and real-time robotic arm joint values.

[0109] Specifically, the attitude constraint and position constraint of the robotic arm according to the working face can be achieved through control algorithms and sensor feedback. First, sensors are used to obtain the geometric information of the working face, and combined with the requirements of the construction task, the target attitude and target position of the robotic arm are determined. Then, the control system adjusts the joint angles and telescopic lengths of the robotic arm to make it reach the preset attitude and position. During this process, the real-time inclinometer data is used to compensate for the inclination influence of the construction equipment to ensure the precise positioning of the robotic arm, while the real-time robotic arm joint values provide feedback information on the current state of the robotic arm. These measures are used to ensure that the robotic arm can accurately execute tasks in a dynamic construction environment, improving construction accuracy and safety. Among them, the target attitude refers to one of the multiple preset attitudes of the robotic arm, the target position refers to one of the multiple preset positions of the robotic arm, the inclinometer data is used to represent the inclination angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of each of the multiple joints.

[0110] S304. Establish an optimization model based on multiple conversion relationships, tunnel slope, inclinometer data, and robotic arm joint values.

[0111] Specifically, the establishment of the optimization model can be achieved by integrating multiple conversion relationships, tunnel slope, inclinometer data, and robotic arm joint values into a mathematical model. First, the conversion relationships are used to unify the data in different coordinate systems into a reference coordinate system, and then combined with the tunnel slope and inclinometer data, the attitudes and positions of the construction equipment and the robotic arm are corrected. Then, the robotic arm joint values are used as input parameters to construct an optimization algorithm to minimize the error between the robotic arm and the target position and attitude. This optimization model is used to adjust the movement of the robotic arm in real time to keep it in a suitable operating state in a dynamic construction environment, improving construction accuracy and efficiency, and at the same time ensuring that the real-time positioning relationship between the construction equipment and the working face is optimized.

[0112] S305. Obtain the initial positioning relationship between the working face and the construction equipment, and input the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working face and the construction equipment.

[0113] Specifically, the initial positioning relationship between the working face and the construction equipment can be obtained through initial measurement and sensor data acquisition. Usually, tools such as laser rangefinders, total stations, or camera devices are used to measure the initial position and attitude of the construction equipment relative to the working face. These initial data provide the reference position of the construction equipment in the working area. Inputting these initial positioning relationships into the optimization model and combining with real-time sensor data, the optimization model can dynamically adjust the positioning of the construction equipment and calculate the real-time positioning relationship between the construction equipment and the working face. The purpose of doing this is to continuously correct the position and attitude of the equipment during construction to ensure construction accuracy and safety, and at the same time adapt to changes in the working environment.

[0114] A relative positioning method for equipment provided in this embodiment includes: obtaining the conversion relationship between a preset origin coordinate system and each preset joint coordinate system; after the construction equipment reaches the working area, determining the working surface and the tunnel slope; according to the working surface, performing attitude constraint and position constraint on the robotic arm to make the robotic arm in a target attitude and a target position, and obtaining real-time inclinometer data and real-time robotic arm joint values; establishing an optimization model according to multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values; obtaining the initial positioning relationship between the working surface and the construction equipment, and inputting the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment. A relative positioning method for equipment achieves the following technical effects: By constructing coordinate systems on multiple joints of the construction equipment and the robotic arm, and obtaining the conversion relationships between these coordinate systems, combined with the real-time collected inclinometer data and the robotic arm joint values, an optimization model is established. This model uses the initial positioning relationship after the construction equipment reaches the working area to calculate the precise positioning relationship of the current working surface relative to the construction equipment. This method reduces the dependence on the total station. Especially in a narrow space, the laser of the total station is easily blocked, effectively solving the problem of frequent repositioning. Through the application of the optimization model, the construction equipment can quickly and accurately position and adjust without using a total station, thereby improving the construction efficiency.

[0115] In a possible design, the relative positioning system for equipment further includes a reference tool and a laser installed at the end of the robotic arm. S303. According to the working surface, performing attitude constraint and position constraint on the robotic arm to make the robotic arm in a target attitude and a target position, and obtaining real-time inclinometer data and real-time robotic arm joint values, includes:

[0116] S3031. Performing position constraint on the robotic arm to make the end of the robotic arm coincide with a preset point on the working surface.

[0117] Specifically, performing position constraint on the robotic arm to make its end coincide with a preset point on the working surface can be achieved through precise motion control algorithms and sensor feedback. First, use sensors to accurately measure the distance and direction between the end of the robotic arm and the preset point on the working surface. Then, based on these measurement data, the control system calculates the angles and lengths that the joints of the robotic arm need to adjust to drive the robotic arm to move, so that its end gradually approaches and finally coincides with the preset point. This position constraint is used to ensure that the robotic arm can accurately reach the specified working position during construction, improve construction accuracy and efficiency, and at the same time provide an accurate starting position for subsequent attitude adjustment.

[0118] S3032. Performing attitude constraint on the robotic arm to make the projection of the laser emitted by the laser on the working surface coincide with a preset area on the working surface.

[0119] Specifically, the attitude of the robotic arm is constrained so that the projection of the laser emitted by the laser on the working surface coincides with the preset area, which can be achieved through an attitude control algorithm and real-time sensor feedback. First, determine the target projection position of the laser, that is, the position and shape of the preset area on the working surface. Then, use the sensor to detect the position deviation of the laser projection. Based on this deviation, the control system adjusts the joint angles and positions of the robotic arm to change the direction of the laser so that its projection gradually coincides with the preset area. This attitude constraint is used to ensure that the laser can accurately calibrate a specific area on the working surface, improving the accuracy and consistency of construction, especially in tasks that require high-precision positioning. Among them, the preset area is set on the working surface by a reference tool.

[0120] S3033. Obtain real-time inclinometer data and real-time robotic arm joint values.

[0121] Specifically, obtaining real-time inclinometer data and real-time robotic arm joint values can be achieved through a sensor system installed on the construction equipment and the robotic arm. The inclinometer sensor measures the inclination angle of the construction equipment in real time to provide the attitude information of the equipment in the current environment. At the same time, encoders or angle sensors installed at each joint of the robotic arm collect the angle and length data of each joint in real time. These real-time data are used to dynamically adjust and control the movement and attitude of the robotic arm to ensure that it can accurately perform tasks during construction and adapt to environmental changes, improving the accuracy and safety of construction. Among them, the robotic arm joint values include the angles and lengths of each joint.

[0122] The technical effect of this solution in this embodiment is that by adding a reference tool and a laser at the end of the robotic arm, the positioning accuracy and operation reliability of the robotic arm during construction are further improved. By precisely constraining the position and attitude of the robotic arm, the end of the robotic arm coincides with the preset points and preset areas on the working surface, ensuring that the laser can accurately calibrate the specified area on the working surface. This precise positioning and attitude control not only improve the construction accuracy and efficiency, but also reduce the influence of human errors and environmental factors on the construction quality, and are applicable to complex construction environments that require high-precision operations.

[0123] In a possible design, S304. Establish an optimization model according to multiple conversion relationships, tunnel slope, inclinometer data, and robotic arm joint values, including:

[0124] S3041. Establish constraint conditions according to multiple conversion relationships and robotic arm joint values.

[0125] Specifically, the constraint conditions can be established through mathematical modeling and sensor data integration. First, using the conversion relationships of the joints of the robotic arm, the data in the joint coordinate system is converted into a unified reference coordinate system. Combining the real-time obtained robotic arm joint values, the motion range and pose limitations of the robotic arm can be defined to form a set of mathematical constraint conditions. These constraint conditions are used to ensure that the robotic arm follows physical and operational limitations during movement, avoiding exceeding the working space of the robotic arm or causing mechanical interference, thereby providing the necessary boundary conditions in the optimization model to achieve precise and safe positioning control.

[0126] S3042. Establish an objective function based on the tunnel slope and inclinometer data.

[0127] Specifically, establishing an objective function based on the tunnel slope and inclinometer data can be achieved by converting this data into performance indicators in the optimization problem. First, the tunnel slope and inclinometer data provide the pose information of the construction equipment in the current environment, and this information can be used to calculate the ideal operation path and pose of the construction equipment and the robotic arm. The objective function can be defined as minimizing the deviation between the construction equipment and the robotic arm and the ideal path and pose during task execution. By minimizing these deviations, the objective function guides the optimization model to adjust the pose and position of the robotic arm and the construction equipment to improve operation efficiency and accuracy. This method is used to ensure that the construction equipment maintains stable and precise positioning in the complex tunnel environment, thereby improving construction quality and safety.

[0128] S3043. Establish an optimization model based on the constraint conditions and the objective function.

[0129] Specifically, establishing an optimization model based on the constraint conditions and the objective function can be realized by integrating these elements into a mathematical optimization framework. First, combine the previously defined constraint conditions and the objective function to form an optimization problem. The purpose of the optimization model is to, under the premise of satisfying all constraint conditions, make the objective function reach the optimal value by adjusting the operation parameters of the robotic arm and the construction equipment. This optimization model is used to adjust the motion and pose of the construction equipment and the robotic arm in real time to ensure high-precision and high-efficiency construction operations in the complex construction environment, while adapting to environmental changes and task requirements.

[0130] The technical effect of this solution in this embodiment is as follows: By establishing a comprehensive optimization model, integrating multiple conversion relationships, tunnel gradients, inclinometer data, and robotic arm joint values, precise positioning and attitude control of construction equipment and robotic arms are achieved. By defining constraint conditions and objective functions, the optimization model can dynamically adjust the movement path and attitude of the robotic arm in a complex construction environment, minimizing the deviation from the ideal operating state while satisfying physical and operational limitations. This method improves the accuracy and efficiency of the construction process, ensures the stability and safety of construction equipment in complex environments such as tunnels, thereby enhancing the overall construction quality and reliability.

[0131] In a possible design, S3041: Based on multiple conversion relationships and robotic arm joint values, establish constraint conditions, including:

[0132] S30411: Obtain the first coordinate of a preset point in the coordinate system of the robotic arm end.

[0133] Specifically, obtaining the first coordinate of a preset point in the coordinate system of the robotic arm end can be achieved through measurement and coordinate transformation techniques. First, use sensors to measure the physical position of the preset point relative to the end of the robotic arm. Then, apply the coordinate transformation relationship to convert the measured physical position data into the coordinate system of the robotic arm end to obtain the first coordinate of this preset point. This process is used to provide basic data for subsequent construction of constraint conditions, ensuring that the robotic arm can accurately identify and position the preset point during operation, thereby improving positioning accuracy and construction efficiency. Among them, the coordinate system of the robotic arm end refers to the coordinate system located at the end of the robotic arm in multiple joint coordinate systems.

[0134] S30412: Construct the first constraint condition based on the first coordinate and multiple conversion relationships.

[0135] Specifically, constructing the first constraint condition based on the first coordinate and multiple conversion relationships can be achieved through mathematical modeling and coordinate system transformation. First, use the first coordinate at the end of the robotic arm, combined with the conversion relationships of each joint of the robotic arm, to convert this coordinate into a unified reference coordinate system. Through this conversion, the position of the preset point in the entire system can be accurately described. Then, based on these converted coordinate data, define the movement limitations and operating ranges of the robotic arm to form the first constraint condition. This constraint condition is used to ensure that the robotic arm can accurately reach and maintain the preset point position during operation, avoiding exceeding the working space or mechanical interference, thereby improving positioning accuracy and operational safety.

[0136] S30413: Establish a working surface coordinate system on the working surface.

[0137] Specifically, establishing a working surface coordinate system on the working surface can be achieved through on-site measurement and coordinate system definition techniques. First, use measurement tools such as total stations, laser scanners, or other precision measurement equipment to obtain the geometric features and position data of the working surface. Then, select a reference point on the working surface as the origin of the coordinate system, and define the direction and unit of the coordinate axes according to construction requirements to form a complete working surface coordinate system. This coordinate system is used to uniformly describe and locate each point and area on the working surface, ensuring that construction equipment and robotic arms can perform precise positioning and operations in this coordinate system, thereby improving the accuracy and efficiency of construction.

[0138] S30414. Construct a second constraint condition based on the working surface coordinate system and the robotic arm joint values.

[0139] Specifically, constructing a second constraint condition based on the working surface coordinate system and the robotic arm joint values can be achieved by combining the kinematic model of the robotic arm with the working surface coordinate system. First, calculate the position and orientation of the end of the robotic arm in the working surface coordinate system using the joint values of the robotic arm. Then, define the motion range and orientation limits of the robotic arm in this coordinate system according to the preset operation requirements and restrictions in the working surface coordinate system to form the second constraint condition. This constraint condition is used to ensure that the robotic arm can accurately align with the target position and orientation on the working surface during operation, thereby achieving precise construction operations and improving construction quality and efficiency.

[0140] S30415. Generate a constraint condition based on the first constraint condition and the second constraint condition.

[0141] Specifically, generating a comprehensive constraint condition based on the first constraint condition and the second constraint condition can be achieved through mathematical combination and the construction of an optimization problem. First, integrate the first constraint condition and the second constraint condition to form a unified set of constraint conditions. This can be achieved by combining the mathematical expressions of the two to ensure their coordination in the same coordinate system. The generated comprehensive constraint condition is used to provide complete boundary conditions in the optimization model, ensuring that the robotic arm can accurately reach the preset points during operation and maintain the correct orientation and position with respect to the working surface, thereby achieving high-precision and high-efficiency construction operations.

[0142] The technical effect of this solution in this embodiment is as follows: By constructing detailed constraint conditions, it is ensured that the robotic arm can achieve precise positioning and operation in a complex construction environment. By obtaining the first coordinate of the preset point in the coordinate system of the robotic arm end and combining multiple transformation relationships, a first constraint condition is formed. At the same time, a second constraint condition is constructed based on the working surface coordinate system and the robotic arm joint values, and finally a comprehensive constraint condition is generated. This method ensures that the robotic arm can accurately align with the target position and posture on the working surface during operation, avoiding exceeding the working space or mechanical interference, thereby improving the accuracy, safety and efficiency of the construction process and meeting the requirements of complex construction tasks.

[0143] In a possible design, S30412. Construct a first constraint condition according to the first coordinate and multiple transformation relationships, including:

[0144] S304121. Calculate the second coordinate of the preset point in the origin coordinate system according to the first coordinate and the first transformation relationship.

[0145] Specifically, calculating the second coordinate of the preset point in the origin coordinate system according to the first coordinate and the first transformation relationship can be achieved by applying a coordinate transformation matrix. First, determine the first coordinate in the coordinate system of the robotic arm end, which represents the relative position of the preset point at the end of the robotic arm. Then, use the first transformation relationship, that is, the transformation matrix from the coordinate system of the robotic arm end to the origin coordinate system, to transform the first coordinate into the origin coordinate system, thereby obtaining the second coordinate. This process is used to describe the position of the preset point in a unified reference coordinate system, ensuring accurate positioning and path adjustment in the optimization model and improving the operation accuracy and coordination of the construction equipment. Among them, the first transformation relationship refers to the transformation relationship between the origin coordinate system and the coordinate system of the robotic arm end among the multiple transformation relationships.

[0146] S304122. Construct a first constraint condition according to the first coordinate and the second coordinate.

[0147] Specifically, through coordinate transformation, the first coordinate of the preset point in the coordinate system of the robotic arm end is transformed into the second coordinate in the origin coordinate system. Then, define the geometric and kinematic relationships of the robotic arm end in the two coordinate systems to ensure consistency and accuracy during the transformation process. Based on these relationships, construct mathematical expressions or inequalities to form the first constraint condition. This constraint condition is used to limit the movement of the robotic arm in the optimization model, enabling it to accurately reach and maintain the preset point position during operation, thereby improving the positioning accuracy and reliability of construction operations.

[0148] The technical effect of this solution in this embodiment is as follows: By constructing precise coordinate transformation and constraint conditions, it is ensured that the robotic arm can achieve high-precision positioning and operation in complex construction environments. By transforming the preset point from the end coordinate system of the robotic arm to the origin coordinate system to obtain the second coordinate, and constructing the first constraint condition based on the first coordinate and the second coordinate, the motion limitations of the robotic arm can be accurately described in a unified coordinate system. This method improves the positioning accuracy of the robotic arm during construction, ensures that the robotic arm can accurately reach the target position, reduces errors and deviations, and thus improves construction efficiency and quality.

[0149] In a possible design, S30414. Construct a second constraint condition according to the working face coordinate system and the robotic arm joint values, including:

[0150] S304141. Obtain the first unit vector in the end coordinate system of the robotic arm and the second unit vector in the working face coordinate system.

[0151] Specifically, obtaining the first unit vector in the end coordinate system of the robotic arm and the second unit vector in the working face coordinate system can be achieved through geometric analysis and coordinate system definition. First, in the end coordinate system of the robotic arm, select a vector representing the end direction of the robotic arm or a specific axis and normalize it to a unit vector. Similarly, in the working face coordinate system, select a vector representing the normal of the working face or a specific direction and normalize it to a unit vector. These two unit vectors are used to describe the relative direction relationship between the end of the robotic arm and the working face, ensuring that the attitude of the robotic arm can be accurately defined and constrained in the optimization model, so that it can maintain the correct direction and position during operation, thereby improving construction accuracy and consistency. Among them, the first unit vector is perpendicular to the second unit vector.

[0152] S304142. According to the first conversion relationship, convert both the first unit vector and the second unit vector to the origin coordinate system, obtaining the third unit vector obtained by converting the first unit vector and the fourth unit vector obtained by converting the second unit vector.

[0153] Specifically, converting the first unit vector and the second unit vector to the origin coordinate system according to the first conversion relationship can be achieved by applying the coordinate transformation matrix in linear algebra. First, determine the representation forms of the first and second unit vectors in their original coordinate systems. Then, use the first conversion relationship, that is, the conversion matrix from the original coordinate system to the origin coordinate system, to perform matrix multiplication operations on these two unit vectors to obtain the third and fourth unit vectors in the origin coordinate system respectively. This process is used to describe the direction and magnitude of the vectors in a unified reference coordinate system, ensuring that the attitude adjustment of the robotic arm can be accurately performed in the optimization model, thereby improving the accuracy and consistency of the operation.

[0154] S304143. Generate a second constraint condition based on the third unit vector and the fourth unit vector.

[0155] Specifically, generating the second constraint condition based on the third unit vector and the fourth unit vector can be achieved by analyzing the geometric relationship between these two vectors in the origin coordinate system. First, determine the directions and relative positions of the third and fourth unit vectors in the origin coordinate system. Then, use these vectors to describe the attitude and direction requirements of the end effector of the robotic arm, and construct mathematical expressions or inequalities to form the second constraint condition. This constraint condition is used to limit the attitude of the robotic arm in the optimization model, enabling it to maintain a preset direction and position state during operation, thereby ensuring precise attitude control and stable operation performance of the robotic arm in construction or operation tasks.

[0156] The technical effect of this solution in this embodiment is: Through precise vector conversion and the construction of constraint conditions, it ensures high-precision attitude control and position control of the robotic arm during construction. By converting the first and second unit vectors into the origin coordinate system, the third and fourth unit vectors are obtained, and based on these vectors, the second constraint condition is generated, which can effectively limit the attitude and direction of the robotic arm. This method improves the operation stability and precision of the robotic arm in complex construction environments, ensuring that it can execute tasks according to the preset attitude and direction, thereby enhancing construction quality and efficiency and reducing errors and deviations.

[0157] In a possible design, S305. Obtain the initial positioning relationship between the working surface and the construction equipment, and input the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment, including:

[0158] S3051. Obtain the optimization algorithm and the initial positioning relationship between the working surface and the construction equipment.

[0159] Specifically, obtaining the optimization algorithm and the initial positioning relationship between the working surface and the construction equipment can be achieved through predefined and measured methods. The optimization algorithm is usually pre-programmed into the control system based on specific optimization techniques or methods, such as gradient descent, genetic algorithms, etc., for finding the optimal solution in the model. The initial positioning relationship is measured by sensors and measuring devices when the construction equipment reaches the working area, recording the initial position and attitude of the construction equipment relative to the working surface. This process is used to provide the initial conditions and algorithm basis for the optimization model, enabling the model to iteratively optimize and gradually adjust the position and attitude of the construction equipment to improve construction accuracy and efficiency.

[0160] S3052. Input the optimization algorithm and the initial positioning relationship into the optimization model to enable the optimization model to iteratively optimize the initial positioning relationship.

[0161] Specifically, the process of implementing the optimization algorithm and the initial positioning relationship into the optimization model involves importing both of them as input parameters into the calculation framework. First, the optimization algorithm is programmed as a set of calculation rules and steps for performing iterative calculations in the optimization model. The initial positioning relationship provides the initial position and orientation of the construction equipment relative to the working face through sensor data and measurement results. By inputting these two into the optimization model, the model can use the optimization algorithm to continuously iteratively adjust the initial positioning relationship and gradually approach the optimal solution. This process is used to dynamically adjust the position and orientation of the construction equipment, thereby improving construction accuracy, efficiency, and safety.

[0162] S3053. Take the positioning relationship when the change amount of the objective function is less than the preset threshold as the real-time positioning relationship between the working face and the construction equipment.

[0163] Specifically, in the optimization model, the objective function is used to evaluate the alignment degree of the construction equipment relative to the working face. As the iterative optimization progresses, the value of the objective function will gradually tend to be stable. When it is detected that the change amount of the objective function, that is, the difference between adjacent iterations, is less than the preset threshold, it means that the model has reached the convergence state, and the positioning relationship at this time is regarded as the real-time positioning relationship. This process ensures that the construction equipment stops adjusting after reaching the alignment state, thereby achieving high-precision positioning and stable construction operations.

[0164] The technical effect of this solution in this embodiment is: achieving high-precision real-time positioning between the construction equipment and the working face through the iterative optimization process. By obtaining and inputting the optimization algorithm and the initial positioning relationship, the optimization model can dynamically adjust the position and orientation of the equipment and gradually approach the preset alignment state. When the change amount of the objective function is less than the preset threshold, the positioning relationship is determined to be the real-time state, ensuring that the equipment remains aligned during the construction process. This method improves construction accuracy and efficiency, reduces the error of manual adjustment, and enhances the automation and reliability of the construction process.

[0165] This application embodiment also provides an equipment relative positioning system, including: a construction equipment, a robotic arm composed of multiple joints and multiple linkages, a sensor, a reference tool, an inclinometer, and a laser installed at the end of the robotic arm;

[0166] The control center is used to implement the equipment relative positioning method as Figure 3 described.

[0167] The construction equipment is used to provide an operation platform and power support within the working area.

[0168] The robotic arm is used to complete construction tasks.

[0169] The sensor is used to monitor the angles and lengths of the respective joints.

[0170] The inclinometer is used to measure the inclination angle of the construction equipment.

[0171] The laser is used to emit laser light and make the laser light coincide with a preset area on the working surface.

[0172] Figure 4 The figure is a schematic structural diagram of the equipment relative positioning device provided in the embodiment of the present application. The equipment relative positioning device is applied to the control center of the equipment relative positioning system. The equipment relative positioning system further includes a construction equipment, a robotic arm composed of multiple joints and multiple connecting rods, sensors, and an inclinometer. The device includes:

[0173] An acquisition module 401, configured to acquire the conversion relationship between the preset origin coordinate system and each preset joint coordinate system; wherein, the origin coordinate system is obtained by constructing a coordinate system on the construction equipment, and the multiple joint coordinate systems are obtained by constructing coordinate systems on each joint respectively.

[0174] A determination module 402, configured to determine the working surface and the tunnel slope after the construction equipment reaches the working area; wherein, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane.

[0175] A constraint module 403, configured to perform attitude constraint and position constraint on the robotic arm according to the working surface, so that the robotic arm is in the target attitude and target position, and acquire real-time inclinometer data and real-time robotic arm joint values; wherein, the target attitude refers to one of multiple preset attitudes of the robotic arm, the target position refers to one of multiple preset positions of the robotic arm, the inclinometer data is used to represent the inclination angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of each of the multiple joints.

[0176] A model establishment module 404, configured to establish an optimization model according to the multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values.

[0177] A calculation module 405, configured to acquire the initial positioning relationship between the working surface and the construction equipment, and input the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment.

[0178] In a possible design, the equipment relative positioning system further includes a reference tool and a laser installed at the end of the robotic arm. The constraint module 403 includes:

[0179] A position constraint unit, configured to perform position constraint on the robotic arm, so that the end of the robotic arm coincides with a preset point on the working surface.

[0180] An attitude constraint unit, configured to perform attitude constraint on the robotic arm, so that the projection of the laser emitted by the laser on the working surface coincides with a preset area on the working surface; wherein, the preset area is set on the working surface by the reference tool.

[0181] The first acquisition unit is configured to acquire real-time inclinometer data and real-time robotic arm joint values; wherein, the robotic arm joint values include the angles and lengths of respective joints.

[0182] In a possible design, the model establishment module 404 includes:

[0183] The constraint condition establishment unit is configured to establish constraint conditions according to multiple conversion relationships and robotic arm joint values.

[0184] The objective function establishment unit is configured to establish an objective function according to the tunnel slope and inclinometer data.

[0185] The optimization model establishment unit is configured to establish an optimization model according to the constraint conditions and the objective function.

[0186] In a possible design, the constraint condition establishment unit includes:

[0187] The acquisition device is configured to acquire the first coordinate of a preset point in the coordinate system of the robotic arm end; wherein, the coordinate system of the robotic arm end refers to the coordinate system located at the end of the robotic arm among multiple joint coordinate systems.

[0188] The first construction device is configured to construct a first constraint condition according to the first coordinate and multiple conversion relationships.

[0189] The coordinate system establishment device is configured to establish a working surface coordinate system on the working surface.

[0190] The second construction device is configured to construct a second constraint condition according to the working surface coordinate system and robotic arm joint values.

[0191] The constraint condition generation device is configured to generate constraint conditions according to the first constraint condition and the second constraint condition.

[0192] In a possible design, the first construction device includes:

[0193] The calculation component is configured to calculate the second coordinate of the preset point in the origin coordinate system according to the first coordinate and the first conversion relationship; wherein, the first conversion relationship refers to the conversion relationship between the origin coordinate system and the coordinate system of the robotic arm end among multiple conversion relationships.

[0194] The construction component is configured to construct a first constraint condition according to the first coordinate and the second coordinate.

[0195] In a possible design, the second construction device includes:

[0196] A vector acquisition component for acquiring a first unit vector in the coordinate system at the end of the robotic arm and a second unit vector in the working surface coordinate system; wherein, the first unit vector is perpendicular to the second unit vector.

[0197] A conversion component for converting both the first unit vector and the second unit vector into the origin coordinate system according to the first conversion relationship, obtaining a third unit vector obtained by converting the first unit vector, and a fourth unit vector obtained by converting the second unit vector.

[0198] A condition generation component for generating a second constraint condition according to the third unit vector and the fourth unit vector.

[0199] In a possible design, the calculation module 405 includes:

[0200] A second acquisition unit for acquiring an optimization algorithm and an initial positioning relationship between the working surface and the construction equipment.

[0201] An input unit for inputting the optimization algorithm and the initial positioning relationship into the optimization model so that the optimization model iteratively optimizes the initial positioning relationship.

[0202] A calculation unit for taking the positioning relationship when the change amount of the objective function is less than a preset threshold as the real-time positioning relationship between the working surface and the construction equipment.

[0203] The equipment relative positioning device provided in this embodiment can execute Figure 3 the technical solution of the method embodiment shown, and its implementation principle and technical effect are similar to Figure 3 the method embodiment shown, and will not be elaborated here one by one.

[0204] Figure 5 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 5 shown, the electronic device includes: at least one processor 510 and a memory 520. The electronic device also includes a communication component 530. Among them, the processor 510, the memory 520, and the communication component 530 are connected through a bus 540.

[0205] In a specific implementation process, at least one processor 510 executes computer execution instructions stored in the memory 520, so that at least one processor 510 is used to implement the equipment relative positioning method of the above embodiment.

[0206] The specific implementation process of the processor 510 can refer to the above method embodiment, and its implementation principle and technical effect are similar, and will not be elaborated here in this embodiment.

[0207] In the above embodiments, it should be understood that the processor 510 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the execution of the hardware processor, or can be implemented by the combination of the hardware and software modules in the processor.

[0208] The memory 520 may include high-speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

[0209] The bus 540 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus 540 can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus 540 in the drawings of this application is not limited to only one bus or one type of bus.

[0210] The functions implemented for the electronic device and the main control device are introduced for the solution provided by the embodiments of the present invention. It can be understood that in order for the electronic device or the main control device to implement the above functions, it includes the corresponding hardware structures and / or software modules for executing each function. Combining the units and algorithm steps of each example described in the embodiments disclosed in the embodiments of the present invention, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present invention.

[0211] So far, the technical solutions of this application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, those skilled in the art can easily understand that the protection scope of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A relative positioning method for equipment, characterized in that, Applied to the control center of the equipment relative positioning system, the equipment relative positioning system further includes construction equipment, a robotic arm composed of multiple joints and multiple linkages, sensors, and an inclinometer. Then the method includes: Obtain the conversion relationship between the preset origin coordinate system and each preset joint coordinate system; wherein, the origin coordinate system is constructed on the construction equipment, and the multiple joint coordinate systems are respectively constructed on each of the joints; After the construction equipment reaches the working area, determine the working surface and the tunnel slope; wherein, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane; According to the working surface, perform attitude constraint and position constraint on the robotic arm to make the robotic arm in the target attitude and target position, and obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the target attitude refers to one of multiple preset attitudes of the robotic arm, the target position refers to one of multiple preset positions of the robotic arm, the inclinometer data is used to represent the inclination angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of the multiple joints respectively; Establish an optimization model based on the multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values; Obtain the initial positioning relationship between the working surface and the construction equipment, and input the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment.

2. The method for relative positioning of equipment according to claim 1, characterized in that, The equipment relative positioning system further includes a reference tool and a laser installed at the end of the robotic arm. The performing attitude constraint and position constraint on the robotic arm according to the working surface to make the robotic arm in the target attitude and target position, and obtaining real-time inclinometer data and real-time robotic arm joint values includes: Perform position constraint on the robotic arm to make the end of the robotic arm coincide with a preset point on the working surface; Perform attitude constraint on the robotic arm to make the projection of the laser emitted by the laser on the working surface coincide with a preset area on the working surface; wherein, the preset area is set on the working surface by the reference tool; Obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the robotic arm joint values include the angles and lengths of the multiple joints respectively.

3. The equipment relative positioning method according to claim 2, wherein The establishing an optimization model according to the multiple conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values includes: Establish constraint conditions according to the multiple conversion relationships and the robotic arm joint values; Establish an objective function according to the tunnel slope and the inclinometer data; Establish the optimization model according to the constraint conditions and the objective function.

4. The equipment relative positioning method according to claim 3, characterized in that The establishing constraint conditions according to the multiple conversion relationships and the robotic arm joint values includes: Obtain the first coordinate of the preset point in the coordinate system of the end of the robotic arm; wherein, the coordinate system of the end of the robotic arm refers to the coordinate system located at the end of the multiple joint coordinate systems; Construct the first constraint condition according to the first coordinate and the multiple conversion relationships; Establish a working surface coordinate system on the working surface; Construct a second constraint condition according to the working surface coordinate system and the robotic arm joint values; Generate the constraint condition according to the first constraint condition and the second constraint condition.

5. The equipment relative positioning method according to claim 4, characterized in that The constructing of the first constraint condition according to the first coordinate and the multiple conversion relationships includes: Calculate the second coordinate of the preset point in the origin coordinate system according to the first coordinate and the first conversion relationship; wherein, the first conversion relationship refers to the conversion relationship between the origin coordinate system and the robotic arm end coordinate system among the multiple conversion relationships; Construct the first constraint condition according to the first coordinate and the second coordinate.

6. The equipment relative positioning method according to claim 5, characterized in that The constructing of the second constraint condition according to the working surface coordinate system and the robotic arm joint values includes: Obtain a first unit vector in the robotic arm end coordinate system and a second unit vector in the working surface coordinate system; wherein, the first unit vector is perpendicular to the second unit vector; According to the first conversion relationship, convert both the first unit vector and the second unit vector into the origin coordinate system to obtain a third unit vector obtained by converting the first unit vector and a fourth unit vector obtained by converting the second unit vector; Generate the second constraint condition according to the third unit vector and the fourth unit vector.

7. The equipment relative positioning method according to claim 1, characterized in that The obtaining of the initial positioning relationship between the working surface and the construction equipment and inputting the initial positioning relationship into the optimization model to obtain the real-time positioning relationship between the working surface and the construction equipment includes: Obtain an optimization algorithm and the initial positioning relationship between the working surface and the construction equipment; Input the optimization algorithm and the initial positioning relationship into the optimization model so that the optimization model iteratively optimizes the initial positioning relationship; Take the positioning relationship when the change amount of the objective function is less than a preset threshold as the real-time positioning relationship between the working surface and the construction equipment.

8. An equipment relative positioning system, characterized in that Including: Construction equipment, a robotic arm composed of multiple joints and multiple connecting rods, sensors, a reference tool, an inclinometer, and a laser installed at the end of the robotic arm; The control center is used to implement the equipment relative positioning method according to any one of claims 1 to 7; The construction equipment is used to provide an operation platform and power support in the working area; The robotic arm is used to complete construction tasks; The sensors are used to monitor the angles and lengths of the respective joints; The inclinometer is used to measure the inclination angle of the construction equipment; The laser is used to emit laser light and make the laser light coincide with a preset area on the working surface.

9. An equipment relative positioning device, characterized in that, The device is applied to the control center of the equipment relative positioning system, and the equipment relative positioning system further includes construction equipment, a robotic arm composed of multiple joints and multiple connecting rods, sensors, and an inclinometer. Then the device includes: An acquisition module, configured to acquire the conversion relationship between a preset origin coordinate system and each preset joint coordinate system; wherein, the origin coordinate system is obtained by constructing a coordinate system on the construction equipment, and the multiple joint coordinate systems are obtained by constructing coordinate systems on each of the joints respectively; A determination module, configured to determine a working face and a tunnel slope after the construction equipment arrives at a working area; wherein, the tunnel slope refers to the angle between the tunnel where the construction equipment is located and the horizontal plane; A constraint module, configured to perform attitude constraint and position constraint on the robotic arm according to the working face, so that the robotic arm is in a target attitude and a target position, and obtain real-time inclinometer data and real-time robotic arm joint values; wherein, the target attitude refers to one of a plurality of preset attitudes of the robotic arm, the target position refers to one of a plurality of preset positions of the robotic arm, the inclinometer data is used to represent the inclination angle of the construction equipment, and the robotic arm joint values are used to represent the angles and lengths of the respective joints; A model establishment module, configured to establish an optimization model according to a plurality of the conversion relationships, the tunnel slope, the inclinometer data, and the robotic arm joint values; A calculation module, configured to obtain an initial positioning relationship between the working face and the construction equipment, and input the initial positioning relationship into the optimization model to obtain a real-time positioning relationship between the working face and the construction equipment.

10. An electronic device, characterized in that, Comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer execution instructions; When the processor executes the computer execution instructions stored in the memory, it is configured to implement the equipment relative positioning method according to any one of claims 1 to 7.

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