Volume 48 Issue 3
Mar.  2022
Turn off MathJax
Article Contents
Article Navigation >  Journal of Mine Automation  > 2022  >  48(3): 63-70
MA Hongwei, YANG Jinke, MAO Qinghua, et al. Research on precise positioning of shield roadheader robot system in coal mine[J]. Journal of Mine Automation，2022，48(3)：63-70.  doi: 10.13272/j.issn.1671-251x.2021070082
Citation: MA Hongwei, YANG Jinke, MAO Qinghua, et al. Research on precise positioning of shield roadheader robot system in coal mine[J]. Journal of Mine Automation，2022，48(3)：63-70.  doi: 10.13272/j.issn.1671-251x.2021070082
shu

Research on precise positioning of shield roadheader robot system in coal mine

doi: 10.13272/j.issn.1671-251x.2021070082
  • 1.

    College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China

  • 2.

    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China

  • Received Date: 2021-07-29
  • Accepted Date: 2022-03-05
  • Rev Recd Date: 2022-01-20
    • Available Online: 2022-03-11
    Abstract
  • At present, most of the positioning methods of underground tunneling equipment in coal mines adopt single auxiliary measurement methods such as machine vision, odometer and total station to combine with inertial navigation measurement to suppress the cumulative position error caused by inertial navigation solution over time. However, the single auxiliary measurement method is easy to be affected by the underground environment, and there are certain errors in position measurement, which leads to the reduction of the precision of the combined measurement method with inertial navigation. In order to solve the above problems, taking shield roadheader robot system in coal mine as the research object, a combined positioning method of strapdown inertial navigation+digital total station+displacement sensor is proposed. Firstly, the position and attitude angle parameters of the roadheader robot are calculated by using strapdown inertial navigation. Secondly, the position information of the roadheader robot measured by the digital total station and calculated by the displacement sensor are used to feedback and correct the position information calculated by the strapdown inertial navigation, so as to reduce the cumulative position error generated by the inertial navigation over time. Finally, the position and attitude angle information calculated by the strapdown inertial navigation, the position information obtained by the total station measurement and the position information estimated by the displacement sensor are fused by the multi-information fusion algorithm based on the federated filter, so as to obtain the accurate position and attitude information of the roadheader robot. The simulation and industrial experiment results show that the combined positioning method can well suppress the accumulative position solution errors of pure inertial navigation and realize the precise positioning of the shield roadheader robot in coal mines. The position errors in the x-axis and y-axis directions are controlled at ±0.03 m and ±0.02 m respectively, which meets the requirements of the underground driving face.

     

    • FullText(HTML)
  • loading
    • References(16)
  • [1]
    马宏伟,王鹏,张旭辉,等. 煤矿巷道智能掘进机器人系统关键技术研究[J]. 西安科技大学学报,2020,40( 5):751-759.

    MA Hongwei,WANG Peng,ZHANG Xuhui,et al. Research on key technology of intelligent tunneling robotic system in coal mine[J]. Journal of Xi'an University of Science and Technology,2020,40( 5):751-759.
    [2]
    王步康. 煤矿巷道掘进技术与装备的现状及趋势分析[J]. 煤炭科学技术,2020,48( 11):6-16.

    WANG Bukang. Current status and trend analysis of roadway driving technology and equipment in coal mine[J]. Coal Science and Technology,2020,48( 11):6-16.
    [3]
    张东宝. 煤巷智能快速掘进技术发展现状与关键技术[J]. 煤炭工程,2018,50(5):56-59.

    ZHANG Dongbao. Development status and key technology of intelligent rapid driving technology in coal seam roadway[J]. Coal Engineering,2018,50(5):56-59.
    [4]
    朱信平. 基于全站仪的掘进机机身位姿参数测量方法[J]. 煤炭工程,2011,43(6):113-115. doi: 10.3969/j.issn.1671-0959.2011.06.044

    ZHU Xinping. Position parameter measuring method of mine roadheader body based on total station[J]. Coal Engineering,2011,43(6):113-115. doi: 10.3969/j.issn.1671-0959.2011.06.044
    [5]
    解则晓,陈文柱,迟书凯,等. 基于结构光视觉引导的工业机器人定位系统[J]. 光学学报,2016,36( 10):162-169.

    XIE Zexiao,CHEN Wenzhu,CHI Shukai,et al. Industrial robot positioning system based on the guidance of the structured-light vision[J]. Acta Optica Sinica,2016,36( 10):162-169.
    [6]
    符世琛,李一鸣,杨健健,等. 基于超宽带技术的掘进机自主定位定向方法研究[J]. 煤炭学报,2015,40(11):107-114.

    FU Shichen,LI Yiming,YANG Jianjian,et al. Research on autonomous positioning and orientation method of roadheader based on ultra wide-band technology[J]. Journal of China Coal Society,2015,40(11):107-114.
    [7]
    谢义方. 脉冲超宽带通信与测距技术初步研究[J]. 飞行器测控学报,2013,32(6):496-500.

    XIE Yifang. A preliminary study on UWB communication and ranging technology[J]. Journal of Spacecraft TT & C Technology,2013,32(6):496-500.
    [8]
    陶云飞,杨健健,李嘉赓,等. 基于惯性导航技术的掘进机位姿测量系统研究[J]. 煤炭技术,2017,36(1):235-237.

    TAO Yunfei,YANG Jianjian,LI Jiageng,et al. Research on position and attitude measurement system of roadheader based on inertial navigation technology[J]. Coal Technology,2017,36(1):235-237.
    [9]
    黄东,杨凌辉,罗文,等. 基于视觉/惯导的掘进机实时位姿测量方法研究[J]. 激光技术,2017,41(1):19-23. doi: 10.7510/jgjs.issn.1001-3806.2017.01.005

    HUANG Dong,YANG Linghui,LUO Wen,et al. Study on measurement method of real-time position and attitude of roadheader based on vision/inertial navigation system[J]. Laser Technology,2017,41(1):19-23. doi: 10.7510/jgjs.issn.1001-3806.2017.01.005
    [10]
    于永军,徐锦法,张梁,等. 惯导/双目视觉位姿估计算法研究[J]. 仪器仪表学报,2014,35( 10):2170-2176.

    YU Yongjun,XU Jinfa,ZHANG Liang,et al. Research on SINS/binocular vision integrated position and attitude estimation algorithm[J]. Chinese Journal of Scientific Instrument,2014,35( 10):2170-2176.
    [11]
    毛清华,张旭辉,马宏伟,等. 多传感器信息的悬臂式掘进机空间位姿监测系统研究[J]. 煤炭科学技术,2018,46( 12):41-47.

    MAO Qinghua,ZHANG Xuhui,MA Hongwei,et al. Study on spatial position and posture monitoring system of boom-type roadheader based on multi sensor information[J]. Coal Science and Technology,2018,46( 12):41-47.
    [12]
    马宏伟,张璞,毛清华,等. 基于捷联惯导和里程计的井下机器人定位方法研究[J]. 工矿自动化,2019,45(4):38-45.

    MA Hongwei,ZHANG Pu,MAO Qinghua,et al. Research on positioning method of underground robot based on strapdown inertial navigation and odometer[J]. Industry and Mine Automation,2019,45(4):38-45.
    [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/OL]. 煤炭科学技术: 1-7. [2021-07-21]. http://kns.cnki.net/kcms/detail/11.2402.TD.20210512.1417.006.html.

    MA Hongwei, MAO Jingen, MAO Qinghua, et al. Autonomous positioning and orientation method of roadheader based on inertial navigation/total station combination [J/OL]. Coal Science and Technology: 1-7. [2021-07-21]. http://kns.cnki.net/kcms/detail/11.2402.TD.20210512.1417.006.html.
    [14]
    张旭辉,刘博兴,张超,等. 掘进机全站仪与捷联惯导组合定位方法[J]. 工矿自动化,2020,46(9):1-7.

    ZHANG Xuhui,LIU Boxing,ZHANG Chao,et al. Roadheader positioning method combining total station and strapdown inertial navigation system[J]. Industry and Mine Automation,2020,46(9):1-7.
    [15]
    秦永元. 惯性导航[M]. 北京: 科学出版社, 2006.

    QIN Yongyuan. Inertial navigation[M]. Beijing: Science Press, 2006.
    [16]
    秦永元, 张洪钺, 汪叔华. 卡尔曼滤波与组合导航原理[M]. 3 版. 西安: 西北工业大学出版社, 2015.

    QIN Yongyuan, ZHANG Hongyue, WANG Shuhua. Kalman filter and integrated navigation principle [M]. 3rd Edition. Xi'an: Northwestern Polytechnical University Press, 2015.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(12)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (2179) PDF downloads(49) Cited by()
    Proportional views
    Related

    苏ICP备 05016349号-2

    Supported by: Beijing Renhe Information Technology Co. Ltd.  Visits：    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return