掘进机姿态参数测量及解算方法

郭伦锋; 郭一楠; 蒋康庆; 葛世荣

doi:10.13272/j.issn.1671-251x.2021070010

掘进机姿态参数测量及解算方法

doi: 10.13272/j.issn.1671-251x.2021070010

1.
1. 中国矿业大学(北京) 机电与信息工程学院, 北京 100083;
2.
2. 中国矿业大学(北京) 智慧矿山与机器人研究院, 北京 100083

基金项目:

国家自然科学基金项目(61973305)；国家自然科学基金联合基金重点项目(U1610251)。

详细信息

作者简介:
郭伦锋(1996-)，男，湖南湘乡人，博士研究生，研究方向为井下移动装备定位、仿生机器人导航，E-mail:lunfengguo@126.com。

中图分类号: TD632
计量
- 文章访问数: 211
- HTML全文浏览量: 13
- PDF下载量: 35
- 被引次数: 0
出版历程
- 收稿日期: 2021-07-03
- 修回日期: 2021-12-05
- 刊出日期: 2021-12-20

Measurement and calculation method of attitude parameters of roadheader

1.
School of Mechanical Electronic & Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China;
2.
Institute of Intelligent Mines & Robotics, China University of Mining and Technology(Beijing), Beijing 100083, China

摘要

摘要: 针对现有掘进机姿态参数测量方法将双轴倾角仪输出角度直接作为掘进机的俯仰角和横滚角的现象，通过分析掘进机姿态参数测量及双轴倾角仪测量原理，得出不论是在水平巷道还是倾斜巷道中，单独使用双轴倾角仪均无法进行俯仰角和横滚角测量，需将双轴倾角仪与包含掘进机航向信息的定位方法进行融合，才能同时解算出掘进机全姿态参数。针对水平巷道和倾斜巷道2种典型掘进工况，给出了融合扇形激光和双轴倾角仪的姿态解算方法（方法1）、融合机身两点坐标和双轴倾角仪的姿态解算方法（方法2）。方法1根据扇形激光束光斑位置实时确定掘进机相对于巷道坐标系的偏航角，通过双轴倾角仪获得掘进机机身相对于巷道坐标系的俯仰角和翻滚角，从而解算出掘进机的偏航角、俯仰角和横滚角。方法2先测量掘进机机身上2个待测点在巷道坐标系下的三维坐标，然后根据双矢定姿原理，利用双轴倾角仪测量并解算出掘进机姿态参数。Matlab与Gazebo联合仿真结果表明，在水平巷道中和4种不同倾角的倾斜巷道中，将双轴倾角仪输出角度直接作为掘进机的俯仰角和横滚角的方法误差较大，难以满足掘进机姿态参数测量需要；方法1和方法2的误差都很小，在水平巷道中的最大角度误差均值为0.004 9°，在倾斜巷道中的最大角度误差均值为0.025°，验证了2种掘进机姿态解算方法的合理性。
- 掘进机 /
- 姿态参数测量 /
- 姿态解算 /
- 双轴倾角仪 /
- 扇形激光 /
- 双矢定姿
Abstract: The current roadheader attitude parameter measurement method uses the output angle of the biaxial inclinometer directly as the pitch angle and roll angle of the roadheader. By analyzing the attitude parameter measurement of the roadheader and the measurement principle of the biaxial inclinometer, it is concluded that whether it is in a horizontal or inclined roadway, the pitch angle and roll angle cannot be measured by using the biaxial inclinometer alone. The biaxial inclinometer must be integrated with the positioning method containing the heading information of the roadheader to calculate the full attitude parameters of the roadheader simultaneously. Aiming at two typical driving conditions of horizontal roadway and inclined roadway, the attitude calculation method of combining sector laser and biaxial inclinometer (method 1) and the attitude calculation method of combining roadheader two-point coordinates and biaxial inclinometer (method 2) are proposed. In method 1, the yaw angle of the roadheader relative to the roadway coordinate system is determined in real time according to the spot position of the sector laser beam, and the pitch angle and the roll angle of the roadheader body relative to the roadway coordinate system are obtained by a biaxial inclinometer, so that the yaw angle, the pitch angle and the roll angle of the roadheader are calculated. In method 2, the three-dimensional coordinates of two points to be measured on the roadheader body in the roadway coordinate system are firstly measured, and then according to the principle of double-vector attitude determination, the attitude parameters of the roadheader are measured and calculated by using the biaxial inclinometer. The co-simulation results of Matlab and Gazebo show that in horizontal roadway and inclined roadway with four different inclination angles, the method of taking the output angle of biaxial inclinometer as the pitch angle and roll angle of roadheader directly has large errors, which can not meet the needs of attitude parameter measurement of roadheader. The errors of method 1 and method 2 are very small. The average maximum angle error in the horizontal roadway is 0.004 9°, and the average maximum angle error in the inclined roadway is 0.025°, which verifies the rationality of the two roadheader attitude calculation methods.
- roadheader /
- attitude parameter measurement /
- attitude calculation /
- biaxial inclinometer /
- sector laser /
- dual-vector attitude determination

HTML全文

参考文献(18)

[1]	李睿.悬臂掘进机机身位姿参数检测系统研究[D].北京:中国矿业大学(北京),2012. LI Rui.Research on an automatic detection system for the position and orientation parameters of boom-type roadheader body[D].Beijing:China University of Mining & Technology(Beijing),2012.
[2]	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.
[3]	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.
[4]	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.
[5]	YANG Wenjuan,ZHANG Xuhui,MA Hongwei,et al.Laser beams-based localization methods for boom-type roadheader using underground camera non-uniform blur model[J].IEEE Access,2020,8:190327-190341.
[6]	杨文娟,张旭辉,马宏伟,等.悬臂式掘进机机身及截割头位姿视觉测量系统研究[J].煤炭科学技术,2019,47(6):50-57. YANG Wenjuan,ZHANG Xuhui,MA Hongwei,et al.Research on position and posture measurement system of body and cutting head for boom-type roadheader based on machine vision[J].Coal Science and Technology,2019,47(6):50-57.
[7]	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):2603-2610. 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):2603-2610.
[8]	FU Shichen,LI Yiming,ZONG Kai,et al.Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader[J].AEU-International Journal of Electronics and Communications,2018,99:70-80.
[9]	吴淼,贾文浩,华伟,等.基于空间交汇测量技术的悬臂式掘进机位姿自主测量方法[J].煤炭学报,2015,40(11):2596-2602. WU Miao,JIA Wenhao,HUA Wei,et al.Autonomous measurement of position and attitude of boom-type roadheader based on space intersection measurement[J].Journal of China Coal Society,2015,40(11):2596-2602.
[10]	田原.悬臂式掘进机自动定位技术研究与试验[J].矿山机械,2019,47(7):6-10. TIAN Yuan.Research and test on automatic positioning technology for boomed roadheader[J].Mining & Processing Equipment,2019,47(7):6-10.
[11]	田原.悬臂掘进机自动导向和定位技术探索[J].工矿自动化,2010,36(8):26-29. TIAN Yuan.Discussion of automatic guidance and location technology for cantilever excavator[J].Industry and Mine Automation,2010,36(8):26-29.
[12]	严恭敏,翁浚.捷联惯导算法与组合导航原理[M].西安:西北工业大学出版社,2019. YAN Gongmin,WENG Jun.Strapdown inertial navigation algorithm and integrated navigation principle[M].Xi'an:Northwestern Polytechnical University Press,2019.
[13]	佟刚,王涛,吴志勇,等.高精度倾角传感器在测量车载平台变形中的应用[J].光学精密工程,2010,18(6):1347-1353. TONG Gang,WANG Tao,WU Zhiyong,et al.Application of high accuracy inclinometer to deformation measurement for vehicular platform[J].Optics and Precision Engineering,2010,18(6):1347-1353.
[14]	约翰J.克雷格.机器人学导论[M].贠超,王伟,译.北京:机械工业出版社,2018. CRAIG J J.Introduction to robotics[M].YUN Chao,WANG Wei,translate.Beijing:China Machine Press,2018.
[15]	陶云飞.掘进机位姿激光自动测量方法及系统研究[D].北京:中国矿业大学(北京),2017. TAO Yunfei.Research on automatic measurement method and system of position and attitude of roadheader based on laser measurement system[D].Beijing:China University of Mining & Technology(Beijing),2017.
[16]	陶云飞,宗凯,张敏骏,等.基于iGPS的掘进机单站多点分时机身位姿测量方法[J].煤炭学报,2015,40(11):2611-2616. TAO Yunfei,ZONG Kai,ZHANG Minjun,et al.A position and orientation measurement method of single-station,multipoint and time-sharing for roadheader body based on iGPS[J].Journal of China Coal Society,2015,40(11):2611-2616.
[17]	GAO Yang,LIN Jiarui,HE Feiyan,et al.A monocular vision and inclinometer combined system for 6DOF measurement of double shield TBM[J].Sensors and Actuators A:Physical,2016,249:155-162.
[18]	胡春旭.ROS机器人开发实践[M].北京:机械工业出版社,2018. HU Chunxu.ROS robot development practice[M].Beijing:China Machine Press,2018.