摘要:
从悬臂式掘进机位姿检测原理出发，介绍了分别基于扇面激光、室内GPS（iGPS）、全站仪、机器视觉、超宽带（UWB）和惯导的掘进机位姿检测方法。基于扇面激光的掘进机位姿检测方法具有计算简单、掘进机机身航向角及X轴（垂直两帮煤壁方向）坐标测量精度高的优点，但无法检测掘进机机身Y轴（掘进方向）、Z轴（垂直地面方向）坐标；基于iGPS的掘进机位姿检测方法能实现全参数位姿测量，检测精度高，但有效测量距离小；基于全站仪的掘进机位姿检测方法能实现全参数位姿测量，但标定、移站复杂；基于机器视觉的掘进机位姿检测方法具有掘进机截割头位置及掘进机机身姿态测量精度高、X轴和Z轴坐标测量精度高的优点，但无法检测掘进机机身Y轴坐标；基于UWB的掘进机位姿检测方法具有自主移站便利、Y轴坐标测量精度高的优点，但Z轴坐标误差较大；基于惯导的掘进机位姿检测方法具有姿态角测量精度较高、测量过程独立非接触的优点，但三轴坐标测量存在累计误差。为满足有效测量距离大于100 m、三轴定位误差小于10 cm、姿态角误差小于1°的实际应用要求，需要进一步研究机器视觉、UWB、惯导相结合的掘进机位姿组合检测方法，以实现掘进机全自主、全参数、非接触位姿检测。
Abstract:
According to principle of pose detection of boom-type roadheader, pose detection methods of roadheader respectively based on sector laser, indoor GPS (iGPS), total station, machine vision, ultra wide band (UWB) and inertial navigation were introduced. The pose detection method of roadheader based on sector laser has advantages of concise calculation, high accuracy of heading angle and X-axis (vertical direction of two sides of coal wall) coordinate measurement, but it cannot detect Y-axis (heading direction) coordinate and Z-axis (vertical direction of ground) coordinate of roadheader fuselage. The pose detection method of roadheader based on iGPS can realize full-parameter pose measurement with high detection accuracy, but effective measurement distance is small. The pose detection method of roadheader based on total station can also realize full-parameter pose measurement, but calibration and station shift are complicated. The pose detection method of roadheader based on machine vision has advantages of high measurement accuracy of cutting head position, fuselage posture of roadheader as well as X-axis and Z-axis coordinate, but it cannot detece Y-axis coordinate of roadheader. The pose detection method of roadheader based on UWB has advantages of convenient automatic station shift and high accuracy of Y-axis coordinate measurement, but Z-axis coordinate error is large. The pose detection method of roadheader based on inertial navigation has advantages of high measurement accuracy of posture angle and independent non-contact measurement process, but there is cumulative error in three-axis coordinate measurement. In order to meet practical application requirements that effective measurement distance is greater than 100 m, three-axis positioning error is less than 10 cm and posture angle error is less than 1°, it is necessary to further research combined roadheader pose detection method of machine vision, UWB and inertial navigation, so as to realize automatic, full-parameter and non-contact pose detection of roadheader.
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