综采工作面巡检机器人自主定位方法

黄西平; 杨飞

doi:10.13272/j.issn.1671-251x.2022060005

综采工作面巡检机器人自主定位方法

doi: 10.13272/j.issn.1671-251x.2022060005

黄西平,
杨飞

武汉大学电气与自动化学院, 湖北武汉　430072

详细信息

作者简介:
黄西平（1998—），男，湖北荆州人，硕士研究生，主要研究方向为煤矿智能化建设，E-mail：2016301470059@whu.edu.cn

中图分类号: TD67
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出版历程
- 收稿日期: 2022-06-01
- 修回日期: 2023-04-11
- 网络出版日期: 2022-11-28

Autonomous positioning method for inspection robots in fully mechanized working face

School of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, China

摘要

摘要: 目前综采工作面巡检机器人中应用较广泛的是轨道式机器人，机器人经过轨道连接件时会产生抖动，造成惯性导航/里程计组合定位误差增大。针对该问题，在惯性导航/里程计组合导航算法的基础上，采用基于抖动检测的分段滤波方法，实现巡检机器人的自主定位。根据巡检机器人经过轨道连接件时的陀螺仪数据，采用滑动窗口方法对机器人俯仰角速度进行动态分析，通过求导数和判断局部最大上升沿和局部最大下降沿，当最大上升沿与最大下降沿交替出现时，即认为识别到轨道连接件，实现抖动检测，从而将机器人运动状态分为平稳运行状态和抖动状态。当机器人处于平稳运行状态时，陀螺仪和里程计数据均较平稳，此时用惯性导航/里程计组合导航方式进行滤波解算，同时根据陀螺仪数据应该稳定在零值附近的特性来矫正陀螺仪误差；当机器人处于抖动状态时，里程计可能会由于车轮打滑、弹起悬空而产生误差，此时采用纯惯性导航算法消除里程计误差对组合导航定位的影响。实验结果表明，抖动检测算法可准确判断轨道连接件，基于抖动检测的分段滤波方法能有效提升巡检机器人定位精度，平均定位误差小于5 mm，满足综采工作面精确定位要求。
- 巡检机器人 /
- 轨道式机器人 /
- 自主定位 /
- 抖动检测 /
- 分段滤波 /
- 惯性导航 /
- 里程计
Abstract: At present, the track type robot is widely used in the inspection robot of the fully mechanized working face. When the robot passes through the track connection, it will produce jitter. It causes an increase in the positioning error of the inertial navigation/odometer combination. In order to solve this problem, based on the integrated navigation algorithm of inertial navigation/odometer, a piecewise filtering method based on jitter detection is adopted to achieve autonomous positioning of the inspection robot. Based on the gyroscope data of the inspection robot passing through the track connector, a sliding window method is used to dynamically analyze the pitch angular velocity of the robot. The local maximum rising edge and local maximum falling edge are determined by calculating the derivative sum. When the maximum rising edge and maximum falling edge alternately appear, it is considered that the track connector has been recognized. The jitter detection is achieved, thus dividing the robot's motion state into stable operation state and jitter state. When the robot is in a stable operation state, both the gyroscope and odometer data are relatively stable. At this time, the inertial navigation/odometer combination navigation method is used for filtering and solving. The gyroscope error is corrected based on the characteristic that the gyroscope data should be stable near zero. When the robot is in a jitter state, the odometer may generate errors due to wheel slip and bouncing in the air. At this time, a pure inertial navigation algorithm is used to eliminate the impact of odometer errors on the integrated navigation positioning. The experimental results show that the jitter detection algorithm can accurately determine the track connections. The segmented filtering method based on jitter detection can effectively improve the positioning precision of the inspection robot. The average positioning error is less than 5 mm, meeting the precise positioning requirements of the fully mechanized working face.
- inspection robot /
- orbital robots /
- autonomous positioning /
- jitter detection /
- piecewise filtering /
- inertial navigation /
- odometer

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图 1 刚柔一体化轨道

Figure 1. Rigid-flexible integrated track

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图 2 陀螺仪和加速度计数据

Figure 2. Data of gyroscope and acceleromete

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图 3 陀螺仪X轴角速度

Figure 3. X-axis angular velocity of gyroscope

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图 4 巡检机器人在轨道上的运动状态

Figure 4. Motion state of inspection robot on track

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图 5 模拟实验结果

Figure 5. Simulation experiment result

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图 6 实验装置

Figure 6. Experimental device

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图 7 基于抖动检测的分段滤波方法组合导航定位结果

Figure 7. Positioning result of integrated navigation by piecewise filtering method based on jitter detection

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表 1 刚性导轨长度解算结果及误差

Table 1. Calculation result and error of rigid guides length

轨道编号	前轮/后轮解算	刚性导轨长度解算结果/m	误差/m
1	前轮	1.540 3	−0.001 7
1	后轮	1.542 7	0.000 7
2	前轮	1.538 3	−0.003 7
2	后轮	1.552 1	0.010 1
3	前轮	1.546 6	0.004 6
3	后轮	1.545 0	0.003 0

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