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基于多传感器组合的钻锚机器人机身定位方法研究

马宏伟, 姚阳, 薛旭升, 王川伟, 高佳晨

马宏伟, 姚阳, 薛旭升, 王川伟, 高佳晨. 基于多传感器组合的钻锚机器人机身定位方法研究[J]. 煤炭科学技术, 2021, 49(1): 278-285. DOI: 10.13199/j.cnki.cst.2021.01.025
引用本文: 马宏伟, 姚阳, 薛旭升, 王川伟, 高佳晨. 基于多传感器组合的钻锚机器人机身定位方法研究[J]. 煤炭科学技术, 2021, 49(1): 278-285. DOI: 10.13199/j.cnki.cst.2021.01.025
MA Hongwei, YAO Yang, XUE Xusheng, WANG Chuanwei, GAO Jiachen. Research on body positioning method of drill-anchor robot based on multi-sensor combination[J]. COAL SCIENCE AND TECHNOLOGY, 2021, 49(1): 278-285. DOI: 10.13199/j.cnki.cst.2021.01.025
Citation: MA Hongwei, YAO Yang, XUE Xusheng, WANG Chuanwei, GAO Jiachen. Research on body positioning method of drill-anchor robot based on multi-sensor combination[J]. COAL SCIENCE AND TECHNOLOGY, 2021, 49(1): 278-285. DOI: 10.13199/j.cnki.cst.2021.01.025

基于多传感器组合的钻锚机器人机身定位方法研究

Research on body positioning method of drill-anchor robot based on multi-sensor combination

  • 摘要: 针对目前煤矿钻锚作业仍以人工为主,作业强度大、环境恶劣且效率低的问题,为提高效率、保障工人生命安全,研发了煤矿钻锚机器人以提升钻锚作业自动化水平。针对工况环境下的钻锚机器人机身定位困难、干扰大、精度低、效率低等问题,提出了一种基于激光测距传感器和激光雷达的组合传感器定位方法。根据钻锚作业需求,研究基于分布式激光测距传感器的钻锚机器人与掘进工作面之间的距离信息,建立“机器人-工作面”定位模型,解算钻锚机器人前移过程中与掘进工作面的位置关系;以机器人后端顶部锚杆为目标,利用激光雷达扫描获取锚杆与钻锚机器人的动态点图信息,建立“机器人-锚杆”定位模型,解算钻锚机器人后移过程中与锚杆的空间位置关系。搭建组合定位系统,通过样机试验验证表明:“机器人-工作面”定位模型距离误差≤10 mm,偏航夹角误差≤1 °;“机器人-锚杆”定位模型距离误差≤20 mm,偏航夹角误差≤1.5 °,可以实现煤矿巷道钻锚机器人机身自动、准确、实时的定位目标。
    Abstract: At present, the drilling and anchoring operations in coal mines are still dominated by manual operations with high operation intensity, harsh environment and low efficiency. In order to improve the efficiency and ensure the safety of workers, the coal mine drilling and anchoring robots have been developed to improve the automation level of drilling and anchoring operations. In order to solve the problems of difficult positioning, large interference, low accuracy and low efficiency of the anchor drilling robot body under working conditions, a positioning method based on the combination of laser ranging sensor and lidar was proposed. According to the requirements of the drilling and anchoring operation, the distance information between the drill-anchor robot and the developemnt face based on the distributed laser ranging sensor was studied, and the “robot-working face” positioning model was established, and the position relationship between the drill-anchor robot and the driving face in the process of moving forward was solved; Taking the top bolt at the back end of the robot as the target, the dynamic point map information of the bolt and the drill-anchor robot was obtained by using the laser radar scanning, and the “robot-bolt” positioning model was established, and the spatial position relationship between the robot and the anchor rod during the backward moving process was calculated. The combined positioning system was built and verified by the prototype experiment. The results show that the distance error of the “robot-working face” positioning model is less than 10 mm, the yaw angle error is not more than 1°, the distance error of the “robot-bolt” positioning model is not more than 20 mm, and the yaw angle error is not more than 1.5°, which can realize automatic, accurate and real-time positioning target of drill-anchor robot body
  •   钻锚机器人定位系统结构

      定位试验场地示意

      机器人前移模型定位误差

      激光扫描锚杆定位效果

      机器人后移模型定位误差

      激光测距传感器布放示意

      前移时钻锚机器人位姿示意

      钻锚机器人前移定位模型

      激光雷达布放示意

      激光雷达测距原理

      钻锚机器人后移位姿示意

      钻锚机器人后移定位模型

      定位系统试验平台搭建

  • 期刊类型引用(7)

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    2. 许敏,邵向阳. 伸缩式钻孔机器人动力学模型及仿真分析研究. 机械设计与制造. 2024(08): 333-338+345 . 百度学术
    3. 张君. 基于WOA-FOPID算法的钻锚机器人机械臂运动控制研究. 煤炭科学技术. 2022(06): 292-302 . 本站查看
    4. 马宏伟,毛金根,毛清华,张旭辉,刘博兴. 基于惯导/全站仪组合的掘进机自主定位定向方法. 煤炭科学技术. 2022(08): 189-195 . 本站查看
    5. 马宏伟,晁勇,薛旭升,毛清华,王川伟. 基于双目视觉的掘锚机器人行驶位移检测方法. 工矿自动化. 2022(12): 16-25 . 百度学术
    6. 王虹,王步康,张小峰,李发泉. 煤矿智能快掘关键技术与工程实践. 煤炭学报. 2021(07): 2068-2083 . 百度学术
    7. 康红普,姜鹏飞,高富强,王子越,刘畅,杨建威. 掘进工作面围岩稳定性分析及快速成巷技术途径. 煤炭学报. 2021(07): 2023-2045 . 百度学术

    其他类型引用(4)

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  • 被引次数: 11
出版历程
  • 网络出版日期:  2023-04-02
  • 发布日期:  2021-01-24

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