| Citation: |
SUN Lingfei，LIU Ya，PENG Jiguo，et al. Integrated positioning method of roadheader based on inertial technology[J]. Coal Science and Technology，2024，52（12）：300−310. DOI: 10.12438/cst.2023-1648
|
In view of the environmental constraints such as long working cycle and large vibration amplitude during the cutting of the roadheader in the fully mechanized excavation face, it is difficult for a single inertial navigation system to realize autonomous, real-time and accurate perception of the attitude and position of the roadheader in the fully mechanized excavation process due to the influence of navigation error accumulation with time. Taking the inertial navigation system as the main system, a combined positioning and orientation method based on inertial navigation system and laser sensing system is proposed. The inertial navigation system is used to obtain the real-time attitude information of the roadheader, which is transmitted to the laser sensing system and combined with its detection light point feature information. The spatial coordinate transformation is used to solve the position information, and the inertial navigation system is transmitted back to the inertial navigation system for pose auxiliary calibration. By integrating the advantages and disadvantages of each detection subsystem, the accurate detection of the pose of the roadheader is realized, which effectively overcomes the problems of single inertial navigation system detection value drift and poor system reliability. Finally, through the ground simulation test and the underground industrial test, the effectiveness and detection accuracy of the detection system are verified under different working conditions. The results show that the average error of the lateral offset detection of the integrated positioning system is less than 10 mm, and the average error of the longitudinal detection is less than 20 mm, which can meet the accuracy requirements of the lower position detection under different working conditions. The introduction of advanced information fusion technology into coal mining technology provides theoretical guidance and practical support for the further development of unmanned and intelligent coal roadway excavation.
| [1] |
王国法. 煤矿智能化最新技术进展与问题探讨[J]. 煤炭科学技术,2022,50(1):1−27. doi: 10.3969/j.issn.0253-2336.2022.1.mtkxjs202201001
WANG Guofa. New technological progress of coal mine intelligence and its problems[J]. Coal Science and Technology,2022,50(1):1−27. doi: 10.3969/j.issn.0253-2336.2022.1.mtkxjs202201001
|
| [2] |
王国法,庞义辉,任怀伟. 智慧矿山技术体系研究与发展路径[J]. 金属矿山,2022(5):1−9.
WANG Guofa,PANG Yihui,REN Huaiwei. Research and development path of smart mine technology system[J]. Metal Mine,2022(5):1−9.
|
| [3] |
王国法. 综采自动化智能化无人化成套技术与装备发展方向[J]. 煤炭科学技术,2014,42(9):30−34,39.
WANG Guofa. Development orientation of complete fully- mechanized automation,intelligent and unmanned mining technology and equipment[J]. Coal Science and Technology,2014,42(9):30−34,39.
|
| [4] |
杨文娟,张旭辉,张超,等. 基于三激光束标靶的煤矿井下长距离视觉定位方法[J]. 煤炭学报,2022,47(2):986−1001.
YANG Wenjuan,ZHANG Xuhui,ZHANG Chao,et al. Long distance vision localization method based on triple laser beams target in coal mine[J]. Journal of China Coal Society,2022,47(2):986−1001.
|
| [5] |
张旭辉,沈奇峰,杨文娟,等. 基于三激光点标靶的掘进机机身视觉定位技术研究[J]. 电子测量与仪器学报,2022,36(6):178−186.
Zhang Xuhui,Shen Qifeng,Yang Wenjuan,et al. Research on visual positioning technology of roadheaderbody based on three laser point target[J]. Journal of Electronic Measurement and Instrumentation,2022,36(6):178−186.
|
| [6] |
杜雨馨,刘停,童敏明,等. 基于机器视觉的悬臂式掘进机机身位姿检测系统[J]. 煤炭学报,2016,41(11):2897−2906.
DU Yuxin,LIU Ting,TONG Minming,et al. Pose measurement system of boom-type roadheader based on machine vision[J]. Journal of China Coal Society,2016,41(11):2897−2906.
|
| [7] |
周玲玲,董海波,杜雨馨. 基于双激光标靶图像识别的掘进机位姿检测方法[J]. 激光与光电子学进展,2017,54(4):041205.
ZHOU Lingling,DONG Haibo,DU Yuxin. Method of roadheader position detection based on image recognition of double laser targets[J]. Laser & Optoelectronics Progress,2017,54(4):041205.
|
| [8] |
崔玉明. 煤矿巷道掘进机视觉/惯性融合自主定位关键技术研究[D]. 徐州:中国矿业大学,2021.
CUI Yuming. Research on key technologies of autonomous positioning of mine roadheader based on vision/inertia fusion[D]. Xuzhou:China University of Mining and Technology,2021.
|
| [9] |
崔柳,徐会军,刘治翔,等. 基于超宽带定位的掘进机姿态监测仿真与试验研究[J]. 煤炭学报,2017,42(S1):267−274.
CUI Liu,XU Huijun,LIU Zhixiang,et al. Simulation and experimental study on attitude monitoring of roadheader based on ultra-wideband positioning[J]. Journal of China Coal Society,2017,42(S1):267−274.
|
| [10] |
田原. 基于四点式光靶的掘进机自动定位方法研究[J]. 煤炭科学技术,2018,46(12):35−40.
TIAN Yuan. Research on automatic positioning method of roadheader based on four point light target[J]. Coal Science and Technology,2018,46(12):35−40.
|
| [11] |
FU S C,LI Y M,ZONG K,et al. Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader[J]. AEU - International Journal of Electronics and Communications,2019,99:70−80. doi: 10.1016/j.aeue.2018.11.023
|
| [12] |
YAN C Q,ZHAO W X,LU X M. A multi-sensor based roadheader positioning model and arbitrary tunnel cross section automatic cutting[J]. Sensors,2019,19(22):4955. doi: 10.3390/s19224955
|
| [13] |
马宏伟,毛金根,毛清华,等. 基于惯导/全站仪组合的掘进机自主定位定向方法[J]. 煤炭科学技术,2022,50(8):189−195.
MA Hongwei,MAO Jingen,MAO Qinghua,et al. Automatic positioning and orientation method of roadheader based on combination of ins and digital total station[J]. Coal Science and Technology,2022,50(8):189−195.
|
| [14] |
王浩然,王宏伟,李正龙,等. 基于捷联惯导与差速里程计的掘进机组合定位方法[J]. 工矿自动化,2022,48(9):148−156.
WANG Haoran,WANG Hongwei,LI Zhenglong,et al. Roadheader combined positioning method based on strapdown inertial navigation and differential odometer[J]. Journal of Mine Automation,2022,48(9):148−156.
|
| [15] |
杨金永. 煤矿掘进机动态位姿组合式测量方法的研究[D]. 天津:天津科技大学,2018.
YANG Jinyong. Study on combined measurement method of dynamic position and posture of coal mine roadheader[D]. Tianjin:Tianjin University of Science & Technology,2018.
|
| [16] |
薛光辉,张云飞,候称心,等. 基于激光靶向扫描的掘进机位姿测量方法[J]. 煤炭科学技术,2020,48(11):19−25.
XUE Guanghui,ZHANG Yunfei,HOU Chenxin,et al. Measurement of roadheader position and posture based on orientation laser scanning[J]. Coal Science and Technology,2020,48(11):19−25.
|
| [17] |
陶云飞,李瑞,李嘉赓,等. iGPS的单站多点分时测量系统对掘进机偏向位移精度研究[J]. 煤炭技术,2017,36(2):246−247.
TAO Yunfei,LI Rui,LI Jiageng,et al. Research on positioning accuracy of roadheader based on singlestation,multipoint and time-shared of iGPS measurement system[J]. Coal Technology,2017,36(2):246−247.
|
| [18] |
张荣辉,贾宏光,陈涛,等. 基于四元数法的捷联式惯性导航系统的姿态解算[J]. 光学精密工程,2008,16(10):1963−1970.
ZHANG Ronghui,JIA Hongguang,CHEN Tao,et al. Attitude solution for strapdown inertial navigation system based on quaternion algorithm[J]. Optics and Precision Engineering,2008,16(10):1963−1970.
|
Supported by: Beijing Renhe Information Technology Co., Ltd. 
DownLoad: