Drill boom pose display method and apparatus, terminal, and storage medium

Abstract

The application provides a drilling boom pose display method and device, a terminal and a storage medium, and relates to the technical field of pose data processing. The method comprises the following steps: constructing a pose matrix of a drilling boom in a tunnel section coordinate system based on joint values of each joint of the drilling boom; calculating a rotation angle and a unit projection length of the drilling boom based on the pose matrix; calculating screen coordinates of the drilling boom in a screen coordinate system of an industrial computer based on a preset coordinate offset conversion relationship, the rotation angle and the unit projection length, and drawing a projection line of the drilling boom in the screen coordinate system to display the pose of the drilling boom in the tunnel section coordinate system on the industrial computer. The application can display the relative position of the drilling boom in the tunnel in the industrial computer, which facilitates subsequent intelligent control of the drilling boom.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pose data processing, and in particular to a drill boom pose display method and device, a terminal, and a storage medium. BACKGROUND

[0002] Rock drilling equipment is an indispensable mechanical equipment in modern mining and large infrastructure construction projects, and its main function is to drill holes in rock for blasting operations. With the development of engineering technology, higher requirements are put forward for rock drilling precision, efficiency and safety. The operation of traditional rock drilling equipment depends on the experience and technical level of the operator, which not only limits the construction efficiency, but also cannot guarantee the drilling precision, and the operator also faces the problem of life safety at any time.

[0003] In order to realize the intelligent level of rock drilling equipment, reduce human errors, reduce operation difficulty and labor intensity, and thus improve overall work efficiency and safety, some technologies propose to use a computer to control the mechanical arm to work, and a plurality of high-precision sensors are installed on the rock drilling equipment to reflect the pose information of the drill boom of the rock drilling equipment in real time. However, the joint values of the drill boom obtained from the sensor cannot be directly applied to the control computer (industrial computer). SUMMARY

[0004] The embodiments of the present application provide a drill boom pose display method, device, terminal and storage medium to solve the problem that the joint values of the drill boom obtained from the sensor cannot be directly applied to the industrial computer.

[0005] In a first aspect, the embodiments of the present application provide a drill boom pose display method, comprising:

[0006] Based on the joint values of each joint of the drill boom, a pose matrix of the drill boom in a tunnel section coordinate system is constructed;

[0007] Based on the pose matrix, the rotation angle and the unit projection length of the drill boom are calculated;

[0008] Based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, the screen coordinates of the drill boom in the screen coordinate system of the industrial computer are calculated, and the projection line of the drill boom in the screen coordinate system is drawn, so as to display the pose of the drill boom in the tunnel section coordinate system on the industrial computer.

[0009] In a possible implementation manner, based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, the screen coordinates of the drill boom in the screen coordinate system of the industrial computer are calculated, and the projection line of the drill boom in the screen coordinate system is drawn, comprising:

[0010] The center of the device where the drill boom is located and the coordinates of each point on the drill boom in the tunnel section coordinate system are converted into screen coordinates in the screen coordinate system based on a preset coordinate offset conversion relationship, wherein the coordinate offset conversion relationship comprises a scale factor;

[0011] For each point on the drill boom, the screen coordinates of the projection point of the point are calculated based on the unit projection length, the rotation angle, the scale factor, and the drill length corresponding to the point.

[0012] The screen coordinates of each point and the screen coordinates of the projection point of the point are connected to draw a projection line of the drill boom in the screen coordinate system.

[0013] In a possible implementation, the coordinate offset conversion relationship further comprises a screen width and a height of the center of the device where the drill boom is located from the ground; the center of the device where the drill boom is located and the coordinates of each point on the drill boom in the tunnel section coordinate system are converted into screen coordinates in the screen coordinate system based on the coordinate offset conversion relationship, comprising:

[0014] Half of the screen width of the industrial computer is taken as the x-axis offset;

[0015] The ratio of the height of the center of the device where the drill boom is located from the ground to the scale factor is calculated as the y-axis offset; wherein the scale factor is the ratio of the actual tunnel section width to the set display tunnel section width.

[0016] The coordinates of the center of the device where the drill boom is located in the tunnel section coordinate system are adjusted based on the x-axis offset and the y-axis offset to obtain the screen coordinates of the center of the device where the drill boom is located in the screen coordinate system.

[0017] For each point on the drill boom, the x-axis coordinate of the point in the screen coordinate system is obtained by calculating the ratio of the x-axis coordinate of the point in the tunnel section coordinate system to the scale factor, and the y-axis coordinate of the point in the screen coordinate system is obtained by calculating the ratio of the y-axis coordinate of the point in the tunnel section coordinate system to the scale factor and taking the negative.

[0018] In a possible implementation, the screen coordinates of each point and the screen coordinates of the projection point of the point are connected to obtain the projection line of the drill boom in the screen coordinate system, comprising:

[0019] The tunnel section contour is displayed according to the set display tunnel section width, and the projection line of the drill boom in the screen coordinate system is drawn in the tunnel section contour; wherein the tunnel section contour is divided into a plurality of grids, and the size of each grid is in a positive proportional relationship with the scale factor.

[0020] In a possible implementation, the calculation formula of the screen coordinates of the projection point of the point on the drill boom is:

[0021]

[0022]

[0023] wherein opt_tail.setX is an x-axis coordinate of the screen coordinate of the projection point, length is a drilling length of the point on the drilling arm, opt2_cos is a drilling depth of the point on the drilling arm, D is a unit projection length, divisor is a scale factor, the scale factor is a ratio of an actual cross-sectional width of the tunnel to a set display cross-sectional width of the tunnel, opt_tail.setY is a y-axis coordinate of the screen coordinate of the projection point, and opt2_sin is a drilling horizontal component of the point on the drilling arm.

[0024] In a possible implementation, the pose matrix of the drilling arm is constructed based on the joint values of the joints of the drilling arm, comprising:

[0025] The pose matrix of the end of the drilling arm in the vehicle body coordinate system is calculated by using a D-H method based on the joint values of the joints of the drilling arm;

[0026] The pose matrix of the drilling arm in the tunnel cross-sectional coordinate system is obtained by converting the pose matrix of the drilling arm in the vehicle body coordinate system to the tunnel cross-sectional coordinate system by using a preset pose conversion matrix.

[0027] In a possible implementation, before the pose matrix of the drilling arm in the vehicle body coordinate system is converted to the tunnel cross-sectional coordinate system by using the preset pose conversion matrix, the method further comprises:

[0028] The first pose matrix of the end of the drilling arm in the vehicle body coordinate system and the second pose matrix of the end of the drilling arm in the tunnel cross-sectional coordinate system are obtained under the same pose;

[0029] The pose conversion matrix between the vehicle body coordinate system and the tunnel cross-sectional coordinate system is determined based on the first pose matrix and the second pose matrix.

[0030] In a second aspect, an embodiment of the present application provides a drilling arm pose display device, comprising:

[0031] The construction module is configured to construct a pose matrix of the drilling arm in a tunnel cross-sectional coordinate system based on joint values of joints of the drilling arm;

[0032] The calculation module is configured to calculate a rotation angle and a unit projection length of the drilling arm based on the pose matrix;

[0033] The drawing module is configured to calculate screen coordinates of the drilling arm in a screen coordinate system of the industrial computer based on a preset coordinate offset conversion relationship, the rotation angle and the unit projection length, and draw a projection line of the drilling arm in the screen coordinate system, so as to display the pose of the drilling arm in the tunnel cross-sectional coordinate system on the industrial computer.

[0034] In a third aspect, an embodiment of the present application provides a terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect or any possible implementation manner of the first aspect when executing the computer program.

[0035] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program is executable by a processor to implement the steps of the method according to the first aspect or any possible implementation manner of the first aspect.

[0036] The embodiment of the present application provides a drilling arm pose display method and device, a terminal and a storage medium, information such as a rotation angle and a unit projection length capable of representing a drilling arm pose is extracted through a pose matrix, then a coordinate offset conversion relationship constructed in advance is combined to determine a coordinate of the drilling arm in a screen coordinate system, and a projection line is drawn, so that the relative position of the drilling arm in a tunnel can be displayed in an industrial computer, and subsequent intelligent control of the drilling arm is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0038] Figure 1 is an implementation flowchart of the drilling arm pose display method provided by an embodiment of the present application;

[0039] Figure 2 is an effect schematic diagram of the drilling arm pose display method provided by an embodiment of the present application;

[0040] Figure 3 is an implementation flowchart of the drilling arm pose display method provided by an embodiment of the present application;

[0041] Figure 4 is a structural schematic diagram of the drilling arm pose display device provided by an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0044] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be described in conjunction with the accompanying drawings and specific embodiments.

[0045] Referring to Figure 1 , it shows the implementation flowchart of the drill boom pose display method provided by the embodiments of the present application, which is described in detail as follows.

[0046] Step 101, based on the joint values of each joint of the drill boom, a pose matrix of the drill boom in the tunnel section coordinate system is constructed.

[0047] In the present embodiment, the drill boom generally includes 8 joints, and the joint values generally include the displacement and angle of the joints. For the drill boom with 8 joints, the joint values of the 8 joints under the current action of the drill boom are acquired in real time, and the pose matrix of the drill boom end in the vehicle body coordinate system is obtained , wherein is the transformation matrix of the drill boom end relative to the 8th joint. By multiplying the transformation matrices between the joints in sequence, the pose matrix from the base coordinate system to the vehicle body coordinate system can be obtained.

[0048] The pose matrix of the drill boom end in the tunnel section coordinate system is a 4*4 matrix including six degrees of freedom, which can be calculated by , wherein is the xyz coordinate of the drill boom end in the tunnel section coordinate system, the numerical value of which is calculated to obtain the rotation angle and the sticking-out angle of the drill boom end in the tunnel section coordinate system.

[0049] Step 102, based on the pose matrix, the rotation angle and the unit projection length of the drill boom are calculated.

[0050] In the present embodiment, according to the drilling length length of each joint in the drill rod, and the rotation angle alpha and the sticking-out angle gamma of the drill boom, the drilling depth, the projection direction and the unit projection length D can be calculated, so as to calculate the coordinates of each joint and perform conversion.

[0051] In step 103, based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, the screen coordinates of the drilling arm in the screen coordinate system of the industrial computer are calculated, and the projection line of the drilling arm in the screen coordinate system is drawn to display the pose of the drilling arm in the tunnel section coordinate system on the industrial computer.

[0052] In the embodiment, this step includes two parts of coordinate conversion and projection line drawing. The xyz coordinates calculated in real time are converted into screen coordinates of the industrial computer, and the coordinates of the drilling arm and the projection of the drilling arm are displayed on the screen, so that the relative position of the drilling arm in the tunnel is displayed on the industrial computer, facilitating subsequent intelligent control of the drilling arm.

[0053] In the embodiment, the rotation angle and the unit projection length capable of representing the pose of the drilling arm are extracted through the pose matrix, and then the coordinate offset conversion relationship constructed in advance is combined to determine the coordinates of the drilling arm in the screen coordinate system and draw the projection line, so that the relative position of the drilling arm in the tunnel can be displayed on the industrial computer, facilitating subsequent intelligent control of the drilling arm.

[0054] In a possible implementation, based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, the screen coordinates of the drilling arm in the screen coordinate system of the industrial computer are calculated, and the projection line of the drilling arm in the screen coordinate system is drawn, including:

[0055] Based on the preset coordinate offset conversion relationship, the coordinates of the center of the device where the drilling arm is located and each point on the drilling arm in the tunnel section coordinate system are converted into screen coordinates in the screen coordinate system. The coordinate offset conversion relationship includes a scale factor.

[0056] For each point on the drilling arm, based on the unit projection length, the rotation angle, the scale factor and the drilling length corresponding to the point, the screen coordinates of the projection point of the point are calculated.

[0057] The screen coordinates of each point and the screen coordinates of the projection point of the point are connected to draw the projection line of the drilling arm in the screen coordinate system.

[0058] In the embodiment, the coordinate offset conversion relationship is used to describe the mathematical mapping relationship between the tunnel section coordinate system and the screen coordinate system, and can map the points (such as the center point of the drilling arm and each point on the drilling arm) in the tunnel section coordinate system to the industrial computer screen coordinate system. The scale factor can ensure that the display size on the screen is proportional to the actual physical size. The drilling length refers to the total length of the drill rod in space or the distance of a certain point along the drill rod.

[0059] In the embodiment, through the preset coordinate offset conversion relationship, the rotation angle and the drilling length of each point on the drilling arm, the position of the drilling arm in the tunnel section coordinate system can be accurately mapped to the screen coordinate system, ensuring that the screen display is consistent with the actual physical position.

[0060] Meanwhile, by calculating the projection point of each point on the drill arm and drawing the projection line, the spatial posture and drilling depth of the drill arm in the screen coordinate system can be intuitively displayed, which helps the operator quickly judge the working state and direction of the drill arm and improves the working efficiency.

[0061] In a possible implementation, the coordinate offset conversion relationship further includes a screen width and a center-to-ground height of the device where the drill arm is located; and the coordinates of the center of the device where the drill arm is located and each point on the drill arm in the tunnel section coordinate system are converted into screen coordinates in the screen coordinate system based on the coordinate offset conversion relationship, including:

[0062] 1 / 2 of the screen width of the industrial computer is taken as the x-axis offset amount;

[0063] a ratio of the center-to-ground height of the device where the drill arm is located to the scale factor is taken as the y-axis offset amount; the scale factor is a ratio of an actual tunnel section width to a set display tunnel section width;

[0064] the coordinates of the center of the device where the drill arm is located in the tunnel section coordinate system are adjusted based on the x-axis offset amount and the y-axis offset amount, to obtain screen coordinates of the center of the device where the drill arm is located in the screen coordinate system;

[0065] for each point on the drill arm, a ratio of the x-axis coordinate of the point in the tunnel section coordinate system to the scale factor is calculated to obtain the x-axis coordinate of the point in the screen coordinate system, and a ratio of the y-axis coordinate of the point in the tunnel section coordinate system to the scale factor is calculated and inverted to obtain the y-axis coordinate of the point in the screen coordinate system.

[0066] In this embodiment, the code for setting the screen coordinates of the center of the device where the drill arm is located by using the C++ development language is as follows:

[0067] opt_p.setX(boundingRect().width() / 2);

[0068] opt_p.setY(boundingRect().hight() - distance / divisor);

[0069] Wherein, opt_p is a point object, setX function is a set X coordinate, setY function is a set Y coordinate; boundingRect is the size of the screen, function width() is the screen width, function hight() is the screen height, distance is a preset value, indicating the center of the drilling arm device from the ground height. Since the origin (0, 0) of the computer screen is at the top left corner of the screen, and the center position of the drilling device is usually 1.5 meters away from the ground (which can be set), the origin (0, 0) of the screen needs to be translated to this position (1.5 meters away from the ground), and the value of distance can be set to 1500, or adjusted according to actual needs.

[0070] Then the relative offset of x and y axis coordinates of each point on the drilling arm is set, and the same is divided by the scaling factor divisor to achieve equal scaling, ensuring that the screen display pose is consistent with the actual physical pose. Since the y value of the computer screen coordinate is opposite to the y value of the mathematical coordinate system, the y coordinate needs to be taken as the opposite:

[0071] opt_p.setX(opt_p.x() + x / divisor);

[0072] opt_p.setY(opt_p.y() - y / divisor);

[0073] In a possible implementation, the screen coordinates of each point are connected with the screen coordinates of the projection point of the point to obtain the projection line of the drilling arm in the screen coordinate system, including:

[0074] According to the set display tunnel section width, the tunnel section contour is displayed, and the projection line of the drilling arm in the screen coordinate system is drawn in the tunnel section contour; wherein the tunnel section contour is divided into a plurality of grids, and the size of each grid is in a positive proportional relationship with the scaling factor.

[0075] In this embodiment, the scale can be set according to the size of the tunnel section, specifically, the display effect of the tunnel section contour and the grid can be as shown in Figure 2 The size line scale box is set, the screen width-height ratio is 3:2, the scale unit is 10 cm, and it is the minimum scale box. By default, the grid line is displayed based on the width of the tunnel section contour.

[0076] In this embodiment, by increasing the divisor variable, the scale frame scale factor can be automatically changed as the tunnel section width increases. The value of the divisor variable is the ratio of the actual tunnel section width to the set tunnel section width on the screen. Specifically, it can be set that each screen pixel is 1 cm, when the scale unit is 10 cm, the divisor is 1; when the scale unit is 20 cm, the divisor is 2; when the scale unit is 50 cm, the divisor is 5, and so on. Then all the graphics drawn in the contour need to be divided by the divisor to restore their relative positions.

[0077] In one possible implementation, the calculation formula of the screen coordinates of the projection point of the point on the drill arm is as follows:

[0078]

[0079]

[0080] Wherein, opt_tail.setX is the x-axis coordinate of the screen coordinates of the projection point, length is the drilling length of the point on the drill arm, opt2_cos is the drilling depth of the point on the drill arm, D is the unit projection length, divisor is the scale factor, the scale factor is the ratio of the actual tunnel section width to the set display tunnel section width, opt_tail.setY is the y-axis coordinate of the screen coordinates of the projection point, and opt2_sin is the drilling horizontal component of the point on the drill arm.

[0081] In this embodiment, the code for calculating the projection point opt_tail of the drill arm according to the unit projection length D, the rotation angle alpha and the drilling length length of the drill rod is as follows:

[0082] double opt2_sin = sin(alpha);

[0083] double opt2_cos = cos(alpha);

[0084] opt_tail.setX((length * opt2_cos * D) / divisor);

[0085] opt_tail.setY(-(length * opt2_sin * D) / divisor);

[0086] After the coordinates of the projection point are calculated, each point opt_p is connected with its corresponding projection point opt_tail, and the drill arm projection line is drawn, and the code is as follows:

[0087] painter->drawLine(opt_p.x(), opt_p.y(), opt_tail.x(),opt_tail.y());

[0088] Finally, the device center point, projection direction and projection line are combined to obtain the display effect diagram shown in FIG. 6. Figure 2 The closed arch represents the tunnel section, the line segment in the rectangular frame represents the projection line of the drill arm, one end of the line segment in the center of the rectangular frame represents the drill arm end, the other end represents the projection point of the drill arm end, and the angle of the projection line represents the actual angle of the drill arm. Through the projection line, the pose of the drill arm drilling into the working surface can be viewed in real time.

[0089] In a possible implementation, a pose matrix of the drill arm is constructed based on the joint values of the joints of the drill arm, including:

[0090] Based on the joint values of the joints of the drill arm, a D-H method is used to calculate a pose matrix of the end of the drill arm in the vehicle body coordinate system;

[0091] The pose matrix of the drill arm in the vehicle body coordinate system is converted to the tunnel section coordinate system by using a preset pose conversion matrix to obtain a pose matrix of the drill arm in the tunnel section coordinate system.

[0092] In this embodiment, the joint values of the 8 joints of the drill arm are obtained by means of highly sensitive sensor technology through displacement and angle sensors of the drill arm, and a D-H method is used to calculate a pose matrix of the end m of the drill arm in the vehicle body coordinate system S. Then, according to the pose conversion formula , a pose conversion matrix is calculated by using a pre-calibrated pose conversion matrix , which is the pose matrix of the vehicle body coordinate system S relative to the tunnel section coordinate system H, and the numerical value in the matrix is the x y z coordinate value of the vehicle body coordinate system in the tunnel section coordinate system.

[0093] In a possible implementation, before the pose matrix of the drill arm in the vehicle body coordinate system is converted to the tunnel section coordinate system by using the preset pose conversion matrix, the method further includes:

[0094] Obtaining a first pose matrix of the end of the drill arm in the vehicle body coordinate system and a second pose matrix of the end of the drill arm in the tunnel section coordinate system at the same pose;

[0095] Determining the pose conversion matrix between the vehicle body coordinate system and the tunnel section coordinate system based on the first pose matrix and the second pose matrix.

[0096] ​In the embodiment, before displaying the real-time pose of the drilling arm, the x y z coordinates of the drilling arm end m in the tunnel section coordinate system and the rotation angle and the probe angle are obtained from a fixed point on the drilling arm (the mounting base or the center point of the drilling arm) in advance, and a pose matrix of the drilling arm end m in the tunnel section coordinate system H is constructed. Then, the pose conversion matrix is obtained by combining the pose matrix of the drilling arm end m in the vehicle body coordinate system and the pose conversion matrix.

[0097] Therefore, when displaying the real-time pose of the drilling arm subsequently, the transformation between the vehicle body coordinate system and the tunnel section coordinate system can be directly performed, so that the calculation efficiency is improved and the complexity is reduced.

[0098] In a specific embodiment, the overall process is as shown in Figure 3 , which includes:

[0099] First, the drilling arm joint values are obtained at the fixed point in advance, the pose conversion matrix is calibrated, and the transformation between the vehicle body coordinate system and the tunnel section coordinate system is realized.

[0100] Then, the transformation relationship between the tunnel section coordinate system and the screen coordinate system is analyzed, so that the x y z coordinates of the drilling arm calculated by the pose matrix are converted into the screen coordinates of the industrial computer, which are associated with the vehicle body position on the screen, and the logic is as follows:

[0101] (a) Positioning the origin coordinate to the center position of the trolley: Since the origin (0, 0) of the computer screen is at the top left corner of the screen, and the center position of the drilling equipment is 1.5 meters away from the ground (which can be set), the origin (0, 0) of the screen needs to be converted to this position (1.5 meters away from the ground);

[0102] (b) Unifying the mathematical coordinate system with the screen coordinate system: The y value of the computer screen coordinate is opposite to the y value of the mathematical coordinate system, so the y value of the mathematical coordinate system needs to be multiplied by -1 for unification.

[0103] Screen display code:

[0104] The following uses C++ development language, where opt_p is a point object, setX function is a set X coordinate, setY function is a set Y coordinate; boundingRect is the size of the screen, function width() is the screen width, and function hight() is the screen height.

[0105] (a) Positioning the origin trolley center X coordinate position: opt_p.setX(boundingRect().width() / 2);

[0106] (b) Positioning the origin trolley center Y coordinate position, where the Y coordinate is taken as the opposite, and the position is set to 1.5 meters away from the ground:

[0107] opt_p.setY(boundingRect().width() - 1500 / divisor);

[0108] (c) update view display: m_mapView.update().

[0109] Finally, draw the projection line, and combine the device center point, the projection direction and the projection line, to obtain Figure 2 the display effect diagram as shown.

[0110] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0111] The following is a device embodiment of the application, and for details not described in detail, reference can be made to the corresponding method embodiments described above.

[0112] Figure 4 A structure diagram of a drill boom pose display device provided by an embodiment of the application is shown, only parts related to the embodiment of the application are shown for ease of description, and are described in detail as follows:

[0113] As shown in Figure 4 , the drill boom pose display device 4 comprises:

[0114] A construction module 41 is configured to construct a pose matrix of the drill boom in a tunnel section coordinate system based on joint values of each joint of the drill boom.

[0115] A calculation module 42 is configured to calculate a rotation angle and a unit projection length of the drill boom based on the pose matrix.

[0116] A drawing module 43 is configured to calculate screen coordinates of the drill boom in a screen coordinate system of an industrial computer based on a preset coordinate offset conversion relationship, the rotation angle and the unit projection length, and draw a projection line of the drill boom in the screen coordinate system, so as to display the pose of the drill boom in the tunnel section coordinate system on the industrial computer.

[0117] In a possible implementation manner, the drawing module 43 is specifically configured to:

[0118] convert coordinates of a center of a device where the drill boom is located and each point on the drill boom in the tunnel section coordinate system into screen coordinates in the screen coordinate system based on a preset coordinate offset conversion relationship; wherein the coordinate offset conversion relationship comprises a scale factor.

[0119] For each point on the drill boom, calculate screen coordinates of a projection point of the point based on the unit projection length, the rotation angle, the scale factor and a drill-in length corresponding to the point.

[0120] Connecting the screen coordinates of each point with the screen coordinates of the projection point of the point, a projection line of the drilling arm in the screen coordinate system is drawn.

[0121] In a possible implementation, the coordinate offset conversion relationship further comprises a screen width and a height of a center of the device where the drilling arm is located from the ground; and the drawing module 43 is specifically configured to:

[0122] Taking 1 / 2 of the screen width of the industrial computer as the x-axis offset amount;

[0123] Taking a ratio of the height of the center of the device where the drilling arm is located from the ground to the scale factor as the y-axis offset amount; wherein the scale factor is a ratio of an actual cross-sectional width of the tunnel to a set display cross-sectional width of the tunnel;

[0124] Adjusting the coordinates of the center of the device where the drilling arm is located in the tunnel cross-sectional coordinate system based on the x-axis offset amount and the y-axis offset amount, to obtain screen coordinates of the center of the device where the drilling arm is located in the screen coordinate system;

[0125] For each point on the drilling arm, calculating a ratio of the x-axis coordinate of the point in the tunnel cross-sectional coordinate system to the scale factor to obtain the x-axis coordinate of the point in the screen coordinate system, and calculating a ratio of the y-axis coordinate of the point in the tunnel cross-sectional coordinate system to the scale factor and taking the inverse to obtain the y-axis coordinate of the point in the screen coordinate system.

[0126] In a possible implementation, the drawing module 43 is specifically configured to:

[0127] Displaying a tunnel cross-sectional contour according to the set display cross-sectional width of the tunnel, and drawing the projection line of the drilling arm in the screen coordinate system in the tunnel cross-sectional contour; wherein the tunnel cross-sectional contour is divided into a plurality of grids, and a size of each grid is in a positive proportional relationship with the scale factor.

[0128] In a possible implementation, the calculation formula of the screen coordinates of the projection point of the point on the drilling arm is:

[0129]

[0130]

[0131] opt_tail.setX, the x-axis coordinate of the screen coordinates of the projection point, length, the drilling length of the point on the drilling arm, opt2_cos, the drilling depth of the point on the drilling arm, D, the unit projection length, divisor, the scale factor, the ratio of the actual cross-sectional width of the tunnel to the set display cross-sectional width of the tunnel, opt_tail.setY, the y-axis coordinate of the screen coordinates of the projection point, and opt2_sin, the drilling horizontal component of the point on the drilling arm.

[0132] In a possible implementation, the constructing module 41 is specifically configured to:

[0133] based on the joint values of the joints of the drill arm, calculate a pose matrix of the end of the drill arm in the vehicle body coordinate system by using a D-H method;

[0134] convert the pose matrix of the drill arm in the vehicle body coordinate system to the tunnel section coordinate system by using a preset pose conversion matrix, to obtain a pose matrix of the drill arm in the tunnel section coordinate system.

[0135] In a possible implementation, the constructing module 41 is further configured to:

[0136] before converting the pose matrix of the drill arm in the vehicle body coordinate system to the tunnel section coordinate system by using the preset pose conversion matrix, obtain a first pose matrix of the end of the drill arm in the vehicle body coordinate system and a second pose matrix of the end of the drill arm in the tunnel section coordinate system at the same pose;

[0137] based on the first pose matrix and the second pose matrix, determine the pose conversion matrix between the vehicle body coordinate system and the tunnel section coordinate system.

[0138] The embodiment of the present application extracts the rotation angle and the unit projection length and other information capable of representing the pose of the drill arm by using the pose matrix, then combines the pre-constructed coordinate offset conversion relationship to determine the coordinates of the drill arm in the screen coordinate system, and draws the projection line, so that the relative position of the drill arm in the tunnel can be displayed in the industrial computer, and the intelligent control of the drill arm is facilitated.

[0139] Figure 5 is a schematic diagram of a terminal provided by the embodiment of the present application. As shown in the figure, the terminal 5 of the embodiment includes a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. The processor 50 implements the steps in each of the drill arm pose display method embodiments when executing the computer program 52, for example, steps 101 to 103 as shown in the figure. Alternatively, the processor 50 implements the functions of each module / unit in each of the device embodiments when executing the computer program 52, for example, the functions of the modules / units 41 to 43 as shown in the figure. Figure 5 Figure 1 Figure 4

[0140] ​​​By way of example, the computer program 52 can be segmented into one or more modules / units that are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules / units can be a series of computer program instruction segments that accomplish a specific function, which are used to describe the execution process of the computer program 52 in the terminal 5. For example, the computer program 52 can be segmented into Figure 4 the illustrated modules / units 41 to 43.

[0141] The terminal 5 can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The terminal 5 can include, but is not limited to, the processor 50 and the memory 51. Those skilled in the art can understand that the terminal 5 can include more or fewer components than those shown, or combine some components, or include different components, for example, the terminal can also include an input / output device, a network access device, a bus, and the like. Figure 5 The terminal 5 shown is merely an example and does not constitute a limitation on the terminal 5, and can include more or fewer components than those shown, or combine some components, or include different components, for example, the terminal can also include an input / output device, a network access device, a bus, and the like.

[0142] The processor 50 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0143] The memory 51 can be an internal storage unit of the terminal 5, such as a hard disk or a memory of the terminal 5. The memory 51 can also be an external storage device of the terminal 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the memory 51 can include both an internal storage unit and an external storage device of the terminal 5. The memory 51 is used to store the computer program and other programs and data required by the terminal. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0144] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0145] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0146] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0147] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / terminal and method can be implemented by other ways. For example, the above-mentioned apparatus / terminal embodiments are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0148] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0149] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0150] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each drilling boom pose display method embodiment can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the contents included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0151] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for displaying the position and orientation of a drill arm, characterized in that, The method comprises the following steps: Based on the joint values of each joint of the drill boom, a pose matrix of the drill boom in the tunnel section coordinate system is constructed; Based on the pose matrix, the rotation angle and the unit projection length of the drill boom are calculated; Based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, the screen coordinates of the drill boom in the screen coordinate system of the industrial computer are calculated, and the projection line of the drill boom in the screen coordinate system is drawn to display the pose of the drill boom in the tunnel section coordinate system on the industrial computer; The calculation of the screen coordinates of the drill boom in the screen coordinate system of the industrial computer based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, and the drawing of the projection line of the drill boom in the screen coordinate system comprises: Based on the preset coordinate offset conversion relationship, the coordinates of the center of the device where the drill boom is located and each point on the drill boom in the tunnel section coordinate system are converted into screen coordinates in the screen coordinate system; wherein the coordinate offset conversion relationship comprises a scale factor; For each point on the drill boom, the screen coordinates of the projection point of the point are calculated based on the unit projection length, the rotation angle, the scale factor and the drill-in length corresponding to the point; The screen coordinates of each point and the screen coordinates of the projection point of the point are connected to draw the projection line of the drill boom in the screen coordinate system.

2. The method of claim 1, wherein, The coordinate offset conversion relationship further comprises a screen width and a height of the center of the device where the drill boom is located from the ground; the conversion of the coordinates of the center of the device where the drill boom is located and each point on the drill boom in the tunnel section coordinate system into screen coordinates in the screen coordinate system based on the coordinate offset conversion relationship comprises: Taking 1 / 2 of the screen width of the industrial computer as the x-axis offset; Calculating the ratio of the height of the center of the device where the drill boom is located from the ground to the scale factor as the y-axis offset; wherein the scale factor is the ratio of the actual tunnel section width to the set display tunnel section width; Based on the x-axis offset and the y-axis offset, the coordinates of the center of the device where the drill boom is located in the tunnel section coordinate system are adjusted to obtain the screen coordinates of the center of the device where the drill boom is located in the screen coordinate system; For each point on the drill boom, the x-axis coordinate of the point in the tunnel section coordinate system is calculated, and the y-axis coordinate of the point in the tunnel section coordinate system is calculated.

3. The method of claim 2, wherein, The connection of the screen coordinates of each point and the screen coordinates of the projection point of the point to obtain the projection line of the drill boom in the screen coordinate system comprises: Displaying the tunnel section contour according to the set display tunnel section width, and drawing the projection line of the drill boom in the screen coordinate system within the tunnel section contour; wherein the tunnel section contour is divided into a plurality of grids, and the size of each grid is in a positive proportional relationship with the scale factor.

4. The method of claim 1, wherein, The calculation formula of the screen coordinates of the projection point of the point on the drill boom is: double opt2_sin = sin(alpha) double opt2_cos = cos(alpha) Wherein, opt_tail.setX is the x-axis coordinate of the screen coordinate of the projection point, length is the drilling length of the point on the drilling arm, opt2_cos is the drilling depth of the point on the drilling arm, D is a unit projection length, divisor is a scale factor, the scale factor is the ratio of the actual cross-sectional width of the tunnel to the set display tunnel cross-sectional width, opt_tail.setY is the y-axis coordinate of the screen coordinate of the projection point, opt2_sin is the drilling horizontal component of the point on the drilling arm, and alpha is the rotation angle.

5. The method of claim 1, wherein, The method comprises the following steps: constructing a pose matrix of the drilling arm based on the joint values of the joints of the drilling arm; calculating the pose matrix of the end of the drilling arm in the vehicle body coordinate system by using a D-H method based on the joint values of the joints of the drilling arm; 6. The drill boom pose display method according to claim 5, characterized by, converting the pose matrix of the drilling arm in the vehicle body coordinate system to the tunnel cross-sectional coordinate system by using a preset pose conversion matrix to obtain the pose matrix of the drilling arm in the tunnel cross-sectional coordinate system. Before the pose matrix of the drilling arm in the vehicle body coordinate system is converted to the tunnel cross-sectional coordinate system by using the preset pose conversion matrix, the method further comprises the following steps: obtaining a first pose matrix of the end of the drilling arm in the vehicle body coordinate system and a second pose matrix of the end of the drilling arm in the tunnel cross-sectional coordinate system at the same pose; 7. A drill boom pose display apparatus, characterized by, determining the pose conversion matrix between the vehicle body coordinate system and the tunnel cross-sectional coordinate system based on the first pose matrix and the second pose matrix. The method comprises the following steps: constructing a pose matrix of the drilling arm in the tunnel cross-sectional coordinate system based on the joint values of the joints of the drilling arm by using the construction module; calculating the rotation angle and the unit projection length of the drilling arm based on the pose matrix by using the calculation module; calculating the screen coordinates of the drilling arm in the screen coordinate system of the industrial computer based on the preset coordinate offset conversion relationship, the rotation angle and the unit projection length, and drawing the projection line of the drilling arm in the screen coordinate system to display the pose of the drilling arm in the tunnel cross-sectional coordinate system on the industrial computer by using the drawing module. The drawing module is specifically configured to: convert the coordinates of the center of the device where the drilling arm is located and each point on the drilling arm in the tunnel cross-sectional coordinate system to the screen coordinates in the screen coordinate system based on the preset coordinate offset conversion relationship; wherein the coordinate offset conversion relationship comprises a scale factor; for each point on the drilling arm, calculate the screen coordinates of the projection point of the point based on the unit projection length, the rotation angle, the scale factor and the drilling length corresponding to the point; 8. A terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, connect the screen coordinates of each point with the screen coordinates of the projection point of the point to draw the projection line of the drilling arm in the screen coordinate system.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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