Attitude measuring device and drill jumbo

Abstract

The utility model discloses an attitude measuring device and a drill jumbo. The attitude measuring device comprises a base arranged on an object to be measured; the base bracket is arranged on the base; the rotary motor is arranged at the end part of the base bracket; the rotary bracket is connected with the rotary motor; the pitching motor is arranged at the end part of the rotary bracket; the pitching bracket is connected with the pitching motor; the camera shooting mechanism is arranged on the pitching support; the aperture assembly is used for capturing a target by the camera shooting mechanism; and the circuit board is electrically connected with the rotary motor, the pitching motor and the camera mechanism. According to the technical scheme disclosed by the utility model, the attitude information of the yaw angle of the propulsion beam can be accurately obtained, the measurement accuracy of the yaw angle is improved, the measurement cost is saved, and the construction efficiency of a drill jumbo is accelerated.

Description

Technical Field

[0001] The utility model relates to the technical field of rock drilling trolleys, and more specifically, to a posture measuring device and a rock drilling trolley. Background Art

[0002] A drilling rig is a mechanical device used in drill-and-blast construction of tunnels and underground projects. Equipped with multiple rock drills, a drilling rig can simultaneously drill multiple blastholes. Compared to traditional manual drilling methods, it can complete a large number of blastholes in a shorter time, accelerating project progress. During drilling operations, the propeller beam must be controlled in an appropriate position. Typically, the propeller beam is perpendicular to the tunnel face to ensure drilling accuracy and construction quality.

[0003] At present, when measuring the position and posture of the propulsion beam of a drilling rig, there are generally measurement methods such as using a three-axis posture sensor, using a six-axis inertial measurement unit, and installing sensors on the beam body and each robotic arm to infer the position and posture. For the three-axis posture sensor measurement, the sensor combines a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. When measuring, the sensor is installed on the propulsion beam of the drilling rig, and the posture of the propulsion beam in three-dimensional space can be directly obtained. However, due to the complex construction environment, the geomagnetic field is easily interfered with, which will have a serious impact on the three-axis sensor, or even fail, resulting in an inability to accurately measure the posture information of the propulsion beam; for the measurement using the six-axis inertial measurement unit, it only uses a three-axis accelerometer and a three-axis gyroscope for measurement, which can usually obtain the roll angle and pitch angle more accurately, but the determination of the yaw angle, the yaw angle refers to the axial direction of the propulsion beam, that is, its construction direction relative to the body of the drilling rig. The angle of the projection of the angle in the horizontal plane can only be obtained by integrating the measurement data of the gyroscope. However, due to the error in the measurement data of the gyroscope and the influence of factors such as temperature, the integral angle will have a deviation, and the deviation will gradually accumulate and amplify over time, thereby gradually deviating from the actual value, and it will also make it impossible to obtain accurate attitude information. By installing various sensors on the propulsion beam and the robotic arm respectively for measurement through geometric solution, the measurement requires the installation of multiple sensors and the geometric calculation of the measurement data of multiple sensors, which leads to large cumulative errors, increased costs, and is easily affected by mechanical deformation, which will also reduce the measurement accuracy of the propulsion beam attitude, thereby affecting the measurement results of the sensor. In summary, under the current technical background, many measurement devices and methods have not been able to truly solve the problem of accurate measurement of the propulsion beam attitude of the drilling rig, seriously affecting the construction efficiency and quality of the drilling rig, and greatly limiting the application and development of the drilling rig.

[0004] Therefore, how to provide a posture measurement device and a drilling rig that can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the drilling rig has become a technical problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a posture measurement device and a rock drilling rig, which can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the rock drilling rig.

[0006] The technical solutions provided by this utility model are as follows:

[0007] The utility model provides a posture measurement device, comprising: a base arranged on an object to be measured; a base bracket arranged on the base; a rotary motor arranged at the end of the base bracket; a rotary bracket connected to the rotary motor; a pitch motor arranged at the end of the rotary bracket; a pitch bracket connected to the pitch motor; a camera mechanism arranged on the pitch bracket; an aperture assembly for the camera mechanism to capture a target; and a circuit board electrically connected to the rotary motor, the pitch motor, and the camera mechanism.

[0008] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further comprises:

[0009] An accelerometer and a gyroscope are provided on the circuit board; or an electrical interface is provided on the circuit board for communicating with an external accelerometer and gyroscope.

[0010] Furthermore, in a preferred embodiment of the present invention, the swivel bracket includes:

[0011] A coupling cylinder connected to the output end of the rotary motor;

[0012] A motor bracket is arranged at the lower end of the coupling cylinder;

[0013] The pitch motor is arranged at the end of the motor bracket.

[0014] Furthermore, in a preferred embodiment of the present invention, the pitch bracket includes:

[0015] A T-shaped bracket connected to the output end of the pitch motor;

[0016] Connected to the T-shaped bracket, used for installing the camera bracket of the camera mechanism.

[0017] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further comprises:

[0018] A first limiting component connected to the coupling cylinder and used to limit the rotation range of the rotary motor;

[0019] A second limiting component connected to the T-shaped bracket is used to limit the rotation range of the pitch motor.

[0020] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further comprises:

[0021] A first brake mechanism provided in the rotary motor, or a first power-off self-locking mechanism connected to the base bracket for locking the rotary motor;

[0022] A second brake mechanism provided in the pitch motor, or a second power-off self-locking mechanism connected to the T-shaped bracket for locking the pitch motor,

[0023] Furthermore, in a preferred embodiment of the present invention, the posture measurement device further comprises:

[0024] a cylindrical shell disposed on the base;

[0025] A light-transmitting cover is arranged on the cylindrical shell.

[0026] Furthermore, in a preferred embodiment of the present invention, the aperture assembly is arranged on the cylindrical shell or the light-transmitting cover, or is arranged on the pitch bracket and moves with the pitch bracket, or is arranged on the object to be measured and electrically connected to the circuit board.

[0027] In addition, the utility model also provides a rock drilling rig, comprising a body, a mechanical arm connected to the body, a propulsion beam connected to the mechanical arm, and also comprising: the posture measuring device.

[0028] In summary, the present invention provides a posture measurement device, method and rock drilling rig, wherein the posture measurement device includes: a base arranged on the object to be measured; a base bracket arranged on the base; a rotary motor arranged at the end of the base bracket; a rotary bracket connected to the rotary motor; a pitch motor arranged at the end of the rotary bracket; a pitch bracket connected to the pitch motor; a camera mechanism arranged on the pitch bracket; an aperture component arranged perpendicular to the camera mechanism and used as the camera mechanism to capture the target; and a circuit board electrically connected to the rotary motor, the pitch motor and the camera mechanism. In the posture measurement device provided by the present invention, its main structure consists of the base, base bracket, rotary motor, rotary bracket, pitch motor, pitch bracket, aperture assembly, camera mechanism and circuit board; wherein, the base is fixedly mounted on the object to be measured, and follows the object to be measured to perform pitch, swing and roll movements; the base bracket is vertically arranged on the base, the base bracket is used to set the rotary motor, and the rotary motor is vertically arranged at the end of the base bracket for providing rotary power; the pitch motor is mounted on the end of the rotary bracket, and the pitch bracket is arranged at the output end of the pitch motor, The camera mechanism and the aperture assembly are mounted on a frame. Under the action of the rotary motor and the pitch motor, the camera mechanism can perform rotary and pitch movements, and the aperture assembly serves as a capture target for the camera mechanism. By driving the rotary motor and the pitch motor, the camera mechanism in one attitude measurement device can capture and align the aperture assembly in another attitude measurement device. The circuit board is provided with an accelerometer or a gyroscope, or is provided with an electrical interface for communication with an external accelerometer and gyroscope, and the accelerometer and gyroscope are used to accurately obtain the pitch angle and roll angle of the current object to be measured. Based on the structural composition and working principle of the attitude measurement device, the utility model provides an attitude measurement method, which can accurately measure the attitude information of the propulsion beam, especially the attitude information of the yaw angle. In the steps of this method, the attitude measurement devices are first arranged in pairs on the object to be measured, and the pitch angle and roll angle of the current object to be measured are obtained through the accelerometer and the gyroscope; for the yaw angle of the object to be measured, the aperture is captured by using the rotary motor and the pitch motor. After the device is initialized, the camera mechanism in one attitude measurement device is aligned with the aperture component in another attitude measurement device. At the same time, the camera mechanism in the other attitude measurement device is also aligned with the aperture component in the previous attitude measurement device until the two camera mechanisms are coaxially aligned. By obtaining the angle values ​​of the rotation of the rotary motor and the pitch motor during the alignment process, and analyzing and calculating the angle values, the yaw angle of the object to be measured is obtained, and combined with the obtained pitch angle and roll angle, the accurate position attitude information of the object to be measured is obtained.Therefore, compared with the existing technology, the technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a structural diagram of the posture measurement device involved in an embodiment of the present utility model;

[0031] Figure 2 The internal structure of the posture measurement device according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 3 The internal structure of the posture measurement device according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0033] Figure 4 This is a schematic diagram of the installation structure of the cylindrical shell involved in an embodiment of the present utility model;

[0034] Figure 5 This is a right side view of the internal structure of the posture measurement device according to an embodiment of the present utility model;

[0035] Figure 6 This is a left side view of the internal structure of the posture measurement device according to an embodiment of the present utility model;

[0036] Figure 7 A cross-sectional view of the posture measurement device according to an embodiment of the present utility model;

[0037] Figure 8 This is a schematic diagram of the installation position of the roll motor involved in an embodiment of the present utility model;

[0038] Figure 9 This is a flowchart of the steps of the posture measurement method involved in an embodiment of the present utility model;

[0039] Figure 10 Schematic diagram of the installation position of the posture measurement device in the posture measurement method according to an embodiment of the present utility model;

[0040] Figure 11This is a schematic structural diagram of the rock drilling rig involved in an embodiment of the present utility model. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0042] It should be noted that when an element is referred to as being “fixed on” or “set on” another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.

[0043] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0045] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by people familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size should still fall within the scope of the technical contents disclosed in this utility model without affecting the efficacy and objectives that can be achieved by the present utility model.

[0046] Please Figures 1 to 11As shown, the present invention provides a posture measurement device, method, and rock drilling rig, wherein the posture measurement device includes: a base 1 disposed on an object to be measured; a base bracket 2 disposed on the base 1; a rotary motor 3 disposed at the end of the base bracket 2; a rotary bracket 4 connected to the rotary motor 3; a pitch motor 5 disposed at the end of the rotary bracket 4; a pitch bracket 6 connected to the pitch motor 5; a camera mechanism 8 disposed on the pitch bracket 6; an aperture assembly 7 disposed perpendicular to the camera mechanism 8 and used for the camera mechanism 8 to capture a target; and a circuit board 9 electrically connected to the rotary motor 3, the pitch motor 5, and the camera mechanism 8. The technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, accelerate the construction efficiency of the rock drilling rig, and facilitate the rock drilling rig to realize the automated posture determination and positioning function.

[0047] The following is a detailed description of the posture measurement device provided by the present invention in conjunction with specific embodiments:

[0048] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: an accelerometer and a gyroscope provided on the circuit board 9; or an electrical interface provided on the circuit board 9 for communicating with an external accelerometer and gyroscope.

[0049] In the present invention, the accelerometer and gyroscope can be arranged in the device, and the attitude measurement device can also be connected to an external accelerometer and gyroscope via an electrical interface; and in this embodiment, as Figure 2 、 Figure 3 As shown, the circuit board 9 is arranged on the base 1, and the accelerometer and gyroscope are installed in the circuit board 9. The pitch angle and roll angle attitude information of the object to be measured are accurately obtained through the accelerometer and gyroscope.

[0050] Specifically, in a specific embodiment of the present utility model, the slewing bracket 4 includes: a coupling cylinder 4-1 connected to the output end of the slewing motor 3; a motor bracket 4-2 arranged at the lower end of the coupling cylinder 4-1; and the pitch motor 5 is arranged at the end of the motor bracket 4-2.

[0051] like Figure 2 、 3As shown in Figures 5 and 6, the slewing bracket 4 is used to install the pitch motor 5 and transmit the rotational power provided by the rotary motor 3. In this embodiment, the main structure of the slewing bracket 4 is composed of the coupling cylinder 4-1 and the motor bracket 4-2. The upper end of the coupling cylinder 4-1 is open and is sleeved on the output end of the rotary motor 3 to rotate with the rotary motor 3. The motor bracket 4-2 is vertically arranged on the lower end surface of the coupling cylinder 4-1. The pitch motor 5 is installed at the end of the motor bracket 4-2. Under the action of the rotary motor 3, the slewing bracket 4 together with the pitch motor 5 can perform rotational motion.

[0052] Specifically, in a specific embodiment of the present invention, the pitch bracket 6 includes: a T-shaped bracket 6 - 1 connected to the output end of the pitch motor 5 ; and a camera bracket 6 - 2 connected to the T-shaped bracket 6 - 1 for mounting the camera mechanism 8 .

[0053] like Figure 2 、 3 As shown in Figure 6, in an embodiment of the utility model, the pitch bracket 6 is used to install the camera mechanism 8 and drive the camera mechanism 8 to perform pitch movement; wherein, the main structure of the pitch bracket 6 is composed of the T-shaped bracket 6-1 and the camera bracket 6-2, the T-shaped bracket 6-1 includes a horizontal plate and a vertical plate, the horizontal plate is connected to the output end of the pitch motor 5, the vertical plate is vertically arranged on the horizontal plate, the camera bracket 6-2 is connected to the horizontal plate, the camera mechanism 8 is preferably vertically arranged on the camera bracket 6-2, and the camera mechanism 8, under the action of the pitch motor 5, follows the pitch bracket 6 to perform pitch movement.

[0054] Specifically, in a specific embodiment of the present utility model, the posture measurement device also includes: a first limit component 10 connected to the coupling cylinder 4-1 for limiting the rotation range of the rotary motor 3; and a second limit component 11 connected to the T-shaped bracket 6-1 for limiting the rotation range of the pitch motor 5.

[0055] Specifically, in a specific embodiment of the present utility model, the first limiting assembly 10 includes: a rotation limiting rod 10-1 arranged on the coupling cylinder 4-1 and rotating along the fixed axis of the coupling cylinder 4-1; and a rotation blocking block 10-2 arranged on the bottom surface of the base bracket 2 for limiting the rotation range of the rotation limiting rod 10-1.

[0056] Specifically, in a specific embodiment of the present utility model, the second limiting assembly 11 includes: a pitch limiting rod 11-1 provided on the T-shaped bracket 6-1 and rotating with the T-shaped bracket 6-1; and a pitch blocking block 11-2 provided on the motor bracket 4-2 and used to limit the rotation range of the pitch limiting rod 11-1.

[0057] like Figure 5 、 6 As shown in Figures 7 and 8, in the embodiment of the present utility model, the first limiting assembly 10 is composed of the rotation limiting rod 10-1 and the rotation blocking block 10-2, and the second limiting assembly 11 is composed of the pitch limiting rod 11-1 and the pitch blocking block 11-2; in the first limiting assembly 10, the rotation limiting rod 10-1 is provided with two pieces, which are vertically arranged on the upper end surface of the coupling cylinder 4-1 and rotate together with the coupling cylinder 4-1, and the rotation blocking block 10-2 is provided with two pieces, which are respectively vertically arranged on the lower end surface of the base bracket 2, and the rotation limiting rod 10-1 is arranged between the rotation blocking blocks 10-2. When the rotation limiting rod 10-1 rotates clockwise or counterclockwise to a certain position, the rotation blocking block The stopper 10-2 will prevent the limit rod from continuing to rotate, thereby limiting the rotation range of the rotary motor 3; the working principle of the second limit assembly 11 is similar to that of the first limit assembly 10, and the pitch limit rod 11-1 is provided with two pieces, which are vertically arranged on the vertical plate of the T-shaped bracket 6-1 and rotate with the T-shaped bracket 6-1, and the pitch stop block 11-2 is provided with two pieces, which are arranged on the lower end surface of the coupling cylinder 4-1, and the pitch limit rod 11-1 is arranged between the pitch stop blocks 11-2. When the pitch limit rod 11-1 rotates clockwise or counterclockwise to a certain position, the pitch stop block 11-2 will prevent the limit rod from continuing to rotate, thereby limiting the rotation range of the pitch motor 5.

[0058] Specifically, in a specific embodiment of the present utility model, the posture measurement device further includes: a first brake mechanism provided in the rotary motor 3, or connected to the base bracket 2, for locking the first power-off self-locking mechanism 12 of the rotary motor 3; a second brake mechanism provided in the pitch motor 5, or connected to the T-shaped bracket 6-1, for locking the second power-off self-locking mechanism 13 of the pitch motor 5,

[0059] Specifically, in a specific embodiment of the present utility model, the first power-off self-locking mechanism 12 includes: a rotary lock groove 12-1 arranged on the side wall of the coupling cylinder 4-1; and a rotary electronic lock 12-2 arranged on the bottom surface of the base bracket 2 and engaged with the rotary lock groove 12-1.

[0060] Specifically, in a specific embodiment of the present utility model, the second power-off self-locking mechanism 13 includes: a pitch lock groove 13-1 provided on the bottom surface of the coupling cylinder 4-1; and a pitch electronic lock 13-2 provided on the T-shaped bracket 6-1 and engaged with the pitch lock groove 13-1.

[0061] like Figure 5 、6 As shown in Figure 7, in this embodiment, the rotary motor 3 and the pitch motor 5 are locked by a power-off self-locking mechanism; wherein the first power-off self-locking mechanism 12 is composed of the rotary lock slot 12-1 and the rotary electronic lock 12-2, and the second power-off self-locking mechanism 13 is composed of the pitch lock slot 13-1 and the pitch electronic lock 13-2; the rotary electronic lock 12-2 and the pitch electronic lock 13-2 are specifically micro electromagnets, and the micro electromagnets are installed on the same horizontal plane as the rotary lock slot 12-1. When the power is off at the micro electromagnet, the electromagnet The iron pops out automatically and engages with the rotary lock slot 12-1 to lock the rotary motor 3 to prevent the device from shaking and causing damage to the device during driving or transportation. When the micro electromagnet is energized, the electromagnet retracts to allow the rotary motor 3 to rotate normally. The working principle of the second power-off self-locking mechanism 13 is similar to that of the first power-off self-locking mechanism 12. The micro electromagnet and the pitch lock slot 13-1 are installed in the same vertical plane. When the micro electromagnet is powered off, the electromagnet pops out automatically and engages with the pitch lock slot 13-1 to lock the pitch motor 5.

[0062] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: a cylindrical shell 14 provided on the base 1 ; and a light-transmitting cover 15 provided on the cylindrical shell 14 .

[0063] Specifically, in a specific embodiment of the present invention, a first mounting groove is provided on the cylindrical shell 14 , and an annular protrusion is provided in the first mounting groove; the light-transmitting cover 15 is provided in the first mounting groove and is engaged with the annular protrusion.

[0064] like Figure 1 、 2 As shown, in the embodiment of the present utility model, the base 1, the cylindrical shell 14 and the light-transmitting cover 15 form a sealed whole, which can effectively prevent water from entering the internal structure and improve its working reliability; the upper and lower ends of the cylindrical shell 14 are open, and the lower end is arranged on the base 1, and the first mounting groove is provided in the annular plane of the upper end, and the annular protrusion is provided in the groove. Through the first mounting groove and the annular protrusion, it is clamped with the light-transmitting cover 15 to seal the upper end opening of the cylindrical shell 14, and the provision of the light-transmitting cover 15 can enable the camera mechanism 8 in the cylindrical shell 14 to clearly and conveniently capture external light and images.

[0065] Specifically, in a specific embodiment of the present invention, the aperture assembly 7 is arranged on the cylindrical shell 14 or the transparent cover 15, or is arranged on the pitch bracket 6 and moves with the pitch bracket 6, or is arranged on the object to be measured and electrically connected to the circuit board 9.

[0066] Specifically, in a specific embodiment of the present invention, the aperture assembly 7 includes: a column 7-1 arranged on the camera bracket 6-2; an aperture body 7-2 arranged on the column 7-1; and the camera mechanism 8 is arranged at the center of the aperture body 7-2.

[0067] In the present invention, the aperture assembly 7 is used as a capture target for the camera mechanism 8, and can be installed in multiple locations such as the cylindrical housing 14, the light-transmitting cover 15, the pitch bracket 6 or the object to be measured; in this embodiment, as Figure 5 、 6 As shown, the aperture assembly 7 is vertically mounted on the pitch bracket 6 and moves along with the pitch bracket 6. It consists of the column 7-1 and the aperture body 7-2. The column 7-1 is used to mount the aperture body 7-2, and the aperture body 7-2 is used to capture the object of the camera 8. In another embodiment of the present invention, the aperture body 7-2 is provided with two or more pieces, and the aperture bodies 7-2 are concentrically arranged. Different aperture bodies 7-2 emit light of different colors, so that the camera 8 can compare the aperture positions of different colors by capturing them, eliminating the interference of other light and shadow at the work site, so that the camera 8 can align the opposite aperture faster and more accurately.

[0068] Specifically, in a specific embodiment of the present invention, the base 1 includes: a mounting base arranged on the object to be measured; an ear plate arranged on the circumferential side wall of the mounting base, and the ear plate is provided with a mounting through hole; a frustum arranged on the upper surface of the mounting base; a second mounting groove is provided on the frustum, and the circuit board 9 is arranged in the second mounting groove.

[0069] Specifically, in a specific embodiment of the present invention, the posture measurement device further includes: a roll motor 16 provided on the base 1; the roll motor 16 is provided between the base 1 and the base bracket 2, and is used to drive the base bracket 2 to perform a roll motion.

[0070] like Figure 8 As shown, in another embodiment of the present invention, the attitude measuring device is equipped with the roll motor 16, and the roll motor 16 is arranged between the base 1 and the base bracket 2; when measuring the position attitude of the propulsion beam of the rock drilling rig, if the propulsion beam has a certain roll angle, the roll angle of the base bracket 2 can be kept at 0° by driving the roll motor 16, which simplifies the calculation difficulty of the propulsion beam position attitude information and makes it easier to measure the yaw angle through a simple calculation method.

[0071] At the same time, an embodiment of the present invention further relates to a posture measurement method, which is based on the posture measurement device and is used to measure the position posture information of the propulsion beam of the drilling trolley. The method includes the following steps: S1. Select two posture measurement devices, which are recorded as devices A and B. Device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A and an aperture assembly A, and device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B and an aperture assembly B; S2. Device A is set at the end of the propulsion beam of the drilling trolley, and device B is set on the body of the drilling trolley, and devices A and B are set relative to each other; S3. Initialize the devices A and B, so that the axes of the camera mechanism A and the camera mechanism B are perpendicular to the plane of their base, and set the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero; S4. Determine the horizontal state of the propulsion beam and the body of the drilling trolley; S5. If the propulsion beam and the body of the drilling trolley are both horizontal, first drive the rotary motor in the device Motor, pitch motor, so that its camera mechanism performs aperture capture, let aperture component A be located at the image center point of camera mechanism B, aperture component B be located at the image center point of camera mechanism A, and camera mechanism A and camera mechanism B are aligned coaxially; then determine the angle value α rotated by rotary motor A and the angle value β rotated by rotary motor B; based on the angle values ​​α and β, obtain the yaw angle ψ=|β-α| of the propulsion beam in the current state; S6, if the propulsion beam or the vehicle body is not in a horizontal position, first obtain the current pitch angle θ1 and roll angle φ1 of the propulsion beam, and the pitch angle θ2 and roll angle φ2 of the vehicle body according to the accelerometer and gyroscope in devices A and B, or the external accelerometer and gyroscope connected to the circuit board; then use the rotary motor and pitch motor in the device to make the camera mechanism perform aperture capture, similarly make camera mechanism A and camera mechanism B aligned coaxially, and determine the angle values ​​rotated by the rotary motor A, pitch motor A, rotary motor B and pitch motor B in this process; combine the angle values ​​with the pitch angle θ 1、 The roll angle φ1, pitch angle θ2, and roll angle φ2 are used to perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state; finally, the yaw angle ψ, pitch angle θ1, and roll angle φ1 of the propulsion beam are combined to obtain the position and posture information of the propulsion beam in this state.

[0072] The following is a detailed description of the posture measurement method provided by the present invention in conjunction with specific embodiments. The measurement steps of the posture measurement method specifically include:

[0073] S1. Select two posture measurement devices, denoted as devices A and B. Device A is equipped with a rotary motor A, a pitch motor A, a camera mechanism A, and an aperture assembly A. Device B is equipped with a rotary motor B, a pitch motor B, a camera mechanism B, and an aperture assembly B.

[0074] S2. Install device A at the end of the propulsion beam of the drilling rig, and install device B on the body of the drilling rig, with devices A and B arranged opposite to each other.

[0075] Specifically, steps S1 and S2 are used to configure the equipment and install the posture measurement device on the object to be measured; in the embodiment of the present utility model, the object to be measured is a rock drilling rig propulsion beam, such as Figure 11 As shown, the attitude measuring devices are used in pairs, the attitude measuring device A is installed at the end of the propulsion beam of the rock drilling rig, and the device B is installed on the body of the rock drilling rig. Since the circuit board in the attitude measuring device is fixedly connected to the base, and the base is fixedly installed on the propulsion beam or the body, the attitude angle at this time reflects both the attitude angle of the base and the attitude angle of the propulsion beam or the body.

[0076] S3. Initialize the devices A and B so that the axes of the camera mechanisms A and B are perpendicular to the planes of their bases, and set the rotation angles of the rotary motor A and the pitch motor A to zero, and the rotation angles of the rotary motor B and the pitch motor B to zero.

[0077] In the embodiment of the present utility model, step S3 is used to initialize devices A and B, such as Figure 5 、 6 As shown, when the attitude measurement device is in the initial state, the positions of the rotary motor and the pitch motor can ensure that the axis of the camera mechanism is perpendicular to the base plane, so as to facilitate the subsequent acquisition of the position and attitude information of the propulsion beam;

[0078] The position and posture information of the propulsion beam includes roll angle, pitch angle, and yaw angle. The roll angle refers to the angle of rotation of an object around a longitudinal axis, which is typically the X-axis. In this embodiment, the X-axis is the axis of the propulsion beam, the forward direction of the vehicle body, or the vertical direction of the base plane. The pitch angle refers to the angle of rotation of an object around a transverse horizontal axis. Strictly speaking, this angle is the angle formed by the X-axis direction and the horizontal plane. The transverse horizontal axis is typically the Y-axis, and the Y-axis direction is perpendicular to the X-axis. In this embodiment, the Y-axis is the transverse direction of the propulsion beam or the transverse direction of the vehicle body. The yaw angle refers to the angle of rotation of an object around a vertical axis, which is the Z-axis. Strictly speaking, the vertical axis direction is the direction of gravity. In this embodiment of the utility model, the roll motion of the propulsion beam refers to the rotation of the propulsion beam around the propulsion beam as the axis, the pitch motion of the propulsion beam refers to the rotation of the propulsion beam in a vertical plane, and the yaw motion of the propulsion beam refers to the rotation of the propulsion beam in a horizontal plane.

[0079] S4. Determine the horizontal state of the propulsion beam and the drilling rig body.

[0080] S5. If the propulsion beam and the drilling rig body are both horizontal, first drive the rotary motor and pitch motor in the device to enable the camera mechanism to capture the aperture, so that the aperture component A is located at the center point of the image of the camera mechanism B, the aperture component B is located at the center point of the image of the camera mechanism A, and the camera mechanism A and the camera mechanism B are coaxially aligned; then determine the angle value α rotated by the rotary motor A and the angle value β rotated by the rotary motor B; based on the angle values ​​α and β, obtain the yaw angle ψ = |β - α| of the propulsion beam in the current state.

[0081] In the embodiment of the present invention, since the accelerometer and gyroscope can only obtain accurate pitch and roll angles, but the yaw angle is inaccurate, the following steps S4, S5 and S6 of the attitude measurement method are to obtain the yaw angle according to the horizontal state of the propulsion beam. Figure 10 As shown, the yaw angle is the angle of the propulsion beam's axis relative to the vehicle body projected onto the water surface, also known as angle ψ in the figure. Ideally, the propulsion beam and vehicle body are horizontal, with both the propulsion beam's roll and pitch angles at 0°. Therefore, in this state, the propulsion beam's position and attitude information only needs to determine the yaw angle. As shown in the figure, after the camera captures the image through aperture, camera A and camera B are coaxially positioned relative to each other. The angle formed by camera A and the propulsion beam is projected onto the horizontal plane as angle α, while the angle formed by camera B and the vehicle body is projected onto the horizontal plane as angle β. This indicates that the yaw angle ψ = (β - α). Based on this principle, when the propulsion beam and the vehicle body are in a horizontal state, for obtaining the yaw angle, the camera mechanism can capture the aperture position by driving the slewing and pitching motors, so that the main position of the aperture is always at the center point of the camera image. At this time, camera A is always aimed at aperture B, and camera B is always aimed at aperture A. By obtaining the angle rotated by the slewing motor A, the angle α can be obtained, and by obtaining the angle rotated by the slewing motor B, the angle β can be obtained. Then, further calculation can be performed to obtain the yaw angle ψ=|β-α| of the propulsion beam. Since the pitch angle and roll angle are zero at this time, the yaw angle of the propulsion beam is the current position and posture information of the propulsion beam.

[0082] S6. If the propulsion beam or the vehicle body is not horizontal, first, based on the accelerometers and gyroscopes in devices A and B, or the external accelerometers and gyroscopes connected to the circuit board, obtain the current pitch angle θ1 and roll angle φ1 of the propulsion beam, and the pitch angle θ2 and roll angle φ2 of the vehicle body; then, using the rotary motor and pitch motor in the device, the camera mechanism performs aperture capture, and similarly, the camera mechanism A and the camera mechanism B are coaxially aligned, and the angle values ​​rotated by the rotary motor A, pitch motor A, rotary motor B, and pitch motor B during this process are determined; the angle values ​​are combined with the pitch angle θ1, roll angle φ1, pitch angle θ1, and roll angle φ1 to perform spatial coordinate transformation calculation to obtain the yaw angle ψ of the propulsion beam in the current state; finally, combining the yaw angle ψ, pitch angle θ1, and roll angle φ1 of the propulsion beam to obtain the position and posture information of the propulsion beam in this state.

[0083] Among them, in an embodiment of the present invention, when the propulsion beam or the vehicle body is not horizontal, or the propulsion beam and the vehicle body are not horizontal, the propulsion beam and the vehicle body have certain pitch angles and roll angles; at this time, the position and posture information of the propulsion beam includes the pitch angle, roll angle and yaw angle. At this time, to measure the posture information of the propulsion beam, it is first necessary to use the accelerometer and gyroscope in device A to obtain the current pitch angle θ1 and roll angle φ1 of the propulsion beam; and for obtaining the yaw angle, the camera mechanism is still used to capture the other party's aperture position, so that the camera mechanism is aligned with the other party's aperture body. When both camera mechanisms are aligned with each other, that is, when the camera mechanisms A and B are coaxial, there must be an angle α and an angle β. The yaw angle of the propulsion beam at this time can be obtained by difference calculation. Therefore, when the propulsion beam and the vehicle body are not in a horizontal position, the current pitch angle and roll angle of each base can be obtained by utilizing the accelerometer and gyroscope in the circuit board, or the external accelerometer and gyroscope connected to the circuit board, that is, the pitch angle θ1 and roll angle φ1 of the propulsion beam, the pitch angle θ2 and roll angle φ2 of the vehicle body, combined with the angle values ​​of the rotation motors A, B, and the pitch motors A, B, these angles can be integrated to perform spatial coordinate transformation to calculate the current angle α and β, and further the yaw angle of the propulsion beam can be obtained, and then the pitch angle θ1 and roll angle φ1 obtained by the accelerometer and gyroscope can be combined to obtain the current position and posture information of the propulsion beam.

[0084] In addition, the present invention also provides a drilling rig, comprising a vehicle body 17, a mechanical arm 18 connected to the vehicle body 17, a propulsion beam 19 connected to the mechanical arm 18, and the aforementioned posture measuring device.

[0085] In summary, the embodiment of the present invention involves a posture measurement device, method and drilling trolley, which can solve the problem of accurate measurement of the posture of the drilling trolley propulsion beam in the prior art, and specifically involves the problem of accurate measurement of the yaw angle of the propulsion beam. In the posture measurement device provided by the present invention, its main structure is composed of the base 1, the base bracket 2, the rotary motor 3, the rotary bracket 4, the pitch motor 5, the pitch bracket 6, the aperture assembly 7, the camera mechanism 8 and the circuit board 9; wherein, the base 1 is fixedly mounted on the object to be measured, and follows the object to be measured to perform pitch, swing and roll movements; the base bracket 2 is vertically arranged on the base 1, and the base bracket 2 is used to set the rotary motor 3, and the rotary motor 3 is vertically arranged at the end of the base bracket 2 for providing rotary power; the pitch motor 5 is installed at the end of the rotary bracket 4, and the pitch bracket 6 is arranged at the output end of the pitch motor 5. The bracket 6 has the camera mechanism 8 and the aperture assembly 7 mounted on it. Under the action of the rotary motor 4 and the pitch motor 5, the camera mechanism 8 can perform rotary and pitch movements, and the aperture assembly 7 is used as a capture target of the camera mechanism 8. By driving the rotary motor 4 and the pitch motor 5, the camera mechanism in one attitude measurement device can capture and align the aperture assembly 7 in another attitude measurement device. As for the circuit board 9, an accelerometer or a gyroscope is provided on it, or an electrical interface for communication with an external accelerometer and gyroscope is provided, and the accelerometer and gyroscope are used to accurately obtain the pitch angle and roll angle of the current object to be measured. Based on the structural composition and working principle of the attitude measurement device, the utility model provides an attitude measurement method, which can accurately measure the attitude information of the propulsion beam, especially the attitude information of the yaw angle. In the steps of this method, the attitude measurement devices are first arranged in pairs on the object to be measured, and the pitch angle and roll angle of the current object to be measured are obtained through the accelerometer and the gyroscope; for the yaw angle of the object to be measured, the aperture is captured by using the rotary motor and the pitch motor. After the device is initialized, the camera mechanism in one attitude measurement device is aligned with the aperture component in another attitude measurement device. At the same time, the camera mechanism in the other attitude measurement device is also aligned with the aperture component in the previous attitude measurement device until the two camera mechanisms are coaxially aligned. By obtaining the angle values ​​of the rotation of the rotary motor and the pitch motor during the alignment process, and analyzing and calculating the angle values, the yaw angle of the object to be measured is obtained, and combined with the obtained pitch angle and roll angle, the accurate position attitude information of the object to be measured is obtained. Therefore, compared with the existing technology, the technical solution involved in the present invention can accurately obtain the posture information of the yaw angle of the propulsion beam, improve the measurement accuracy of the yaw angle, save measurement costs, and speed up the construction efficiency of the drilling rig.

[0086] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A posture measurement device, characterized in that: include: A base disposed on the object to be measured; a base bracket disposed on the base; A rotary motor is provided at the end of the base bracket; A rotary bracket connected to the rotary motor; A pitch motor provided at the end of the slewing bracket; a pitch bracket connected to the pitch motor; A camera mechanism provided on the pitch bracket and an aperture assembly used for the camera mechanism to capture a target; A circuit board electrically connected to the rotary motor, the pitch motor, and the camera mechanism.

2. The posture measurement device according to claim 1, characterized in that: The posture measurement device also includes: An accelerometer and a gyroscope are provided on the circuit board; or an electrical interface is provided on the circuit board for communicating with an external accelerometer and gyroscope.

3. The posture measurement device according to claim 1, characterized in that: The slewing bracket comprises: A coupling cylinder connected to the output end of the rotary motor; A motor bracket is arranged at the lower end of the coupling cylinder; The pitch motor is arranged at the end of the motor bracket.

4. The posture measurement device according to claim 3, characterized in that: The pitch bracket comprises: A T-shaped bracket connected to the output end of the pitch motor; Connected to the T-shaped bracket, used for installing the camera bracket of the camera mechanism.

5. The posture measurement device according to claim 4, characterized in that: The posture measurement device also includes: A first limiting component connected to the coupling cylinder and used to limit the rotation range of the rotary motor; A second limiting component connected to the T-shaped bracket is used to limit the rotation range of the pitch motor.

6. The posture measurement device according to claim 4, characterized in that: The posture measurement device also includes: A first brake mechanism provided in the rotary motor, or a first power-off self-locking mechanism connected to the base bracket for locking the rotary motor; A second brake mechanism is provided in the pitch motor, or a second power-off self-locking mechanism is connected to the T-shaped bracket and is used to lock the pitch motor.

7. The posture measurement device according to claim 1, characterized in that: The posture measurement device also includes: a cylindrical shell disposed on the base; A light-transmitting cover is arranged on the cylindrical shell.

8. The posture measurement device according to claim 7, characterized in that: The aperture assembly is arranged on the cylindrical housing or the light-transmitting cover or on the pitch bracket, and moves along with the pitch bracket.

9. The posture measurement device according to claim 7, characterized in that: The aperture assembly is arranged on the object to be measured and is electrically connected to the circuit board.

10. A drilling rig comprising a vehicle body, a mechanical arm connected to the vehicle body, and a propulsion beam connected to the mechanical arm, wherein: Also includes: The posture measurement device according to any one of claims 1 to 9.

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