CN108663032B - Working face hydraulic support posture and straightness detection device and method based on robot - Google Patents
Working face hydraulic support posture and straightness detection device and method based on robot Download PDFInfo
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- CN108663032B CN108663032B CN201810358596.0A CN201810358596A CN108663032B CN 108663032 B CN108663032 B CN 108663032B CN 201810358596 A CN201810358596 A CN 201810358596A CN 108663032 B CN108663032 B CN 108663032B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention belongs to the field of intelligent mining, and particularly relates to a device and a method for detecting the posture and the straightness of a working face hydraulic support based on a robot. The problem of detect unmanned working face hydraulic support gesture and straightness accuracy is solved, including running gear, install the fixed reference laser emitter on first frame and tailstock base, install the detection operation device on running gear upper portion, install control communication system and electrical power generating system and install the laser radar navigation head around running gear in running gear. The invention does not change the inherent structure of the hydraulic support, takes the laser line as the fixed reference, and detects the space attitude of each hydraulic support and the straightness of the whole hydraulic support based on the mobile robot, thereby effectively eliminating the accumulated error.
Description
Technical Field
The invention belongs to the field of intelligent mining, and particularly relates to a device and a method for detecting the posture and the straightness of a working face hydraulic support based on a robot.
Background
Currently, coal mining is moving from comprehensive mechanical mining to automation and intelligence, and the pursuit of the goal is to make coal mining less and unmanned. However, the problem of straightness detection and control of the unmanned working face greatly troubles the intelligent progress of the domestic unmanned working face, and due to the fact that pushing the scraper conveyor and pulling the hydraulic support are not in place frequently, the support is misplaced, skewed and distorted after two or three cutters, so that normal production cannot be carried out, the support can continue to work only by manually detecting the posture and the straightness of the support and adjusting, and the production efficiency of the unmanned working face is greatly reduced.
Disclosure of Invention
The invention provides a device and a method for detecting the posture and the straightness of a working surface hydraulic support based on a robot, aiming at solving the problem of detecting the posture and the straightness of the hydraulic support of an unmanned working surface.
The invention adopts the following technical scheme: the device comprises a walking device, fixed reference datum laser emitting devices arranged on a first frame and a tail frame base, a detection operation device arranged on the upper portion of the walking device, a control communication system and a power supply system arranged in the walking device, and laser radar navigation devices arranged in the front of and behind the walking device.
Furthermore, the detection operation device comprises a bottom plate, two laser receiving plates, a characteristic contour scanning device, a diffuse reflection plate, a camera and a gas concentration detection sensor, wherein the two laser receiving plates are arranged in parallel and are different in height, the characteristic contour scanning device is arranged on the lower portion of the laser receiving plate with the lower height, and the diffuse reflection plate, the camera and the gas concentration detection sensor are arranged on the other laser receiving plate from top to bottom.
Further, fixed reference benchmark laser emitter includes the controller, the activity panel, laser range finder, fixed frame and reference laser beam transmitter, install the controller on the fixed frame, fixed frame internally mounted has the activity panel, the movable panel adjusting device that control activity panel removed is installed on fixed frame upper portion, install two reference laser beam transmitters on the activity panel, be provided with laser range finder between two reference laser beam transmitters, controller control activity panel adjusting device, reference laser beam transmitter and laser range finder.
A detection method of a device for detecting the posture and the straightness of a hydraulic support on a working surface based on a robot comprises the following steps:
s100, firstly, the fixed reference laser emitting device arranged on the first frame starts to work, a straight line principle is determined by two points (a head frame and a tail frame), the controller controls the adjusting device to adjust the direction of the movable panel and emit laser beams, and then the device starts to move on the hydraulic support from the second frame in sequence.
S200, in the moving process, two parallel laser receiving plates are used for receiving the coordinates of two beams of laser and the robot distance measured from a fixed reference laser emitting device, the posture of the robot relative to a fixed reference is determined, and meanwhile, a characteristic surface shape representing the posture of the hydraulic support is measured by using a characteristic profile scanner, so that the relative position of the support to be measured relative to the scanner is calculated, and the relative posture of each hydraulic pressure and the fixed reference and the straightness of the measured support are obtained.
S300, specifically calculating the attitude and the straightness of the hydraulic support, wherein the support has N +1 frames, the feature point in a feature profile on the base of the hydraulic support is selected as a uniform measurement point, the first frame (number 0) is used as a fixed reference during ascending, and the coordinate of the first frame is set as an absolute zero point T0=（a0，b0，c0，d0，e0，f0) = (X moves (mm), Y moves (mm), Z moves (mm), X turns (degrees), Y turns (degrees), Z turns (degrees)) = (0, 0, 0, 0, 0, 0); similarly, when going down, the tailstock (number N) is a fixed reference.
Firstly, measuring the coordinates of the relative first frame characteristic points of the scanner on the mobile robot: firstly, starting a fixed reference laser emitting device and emitting two beams of parallel laser in a cross shape, and simultaneously starting a laser range finder on the fixed reference laser emitting device to detect the distance value between a walking device and a first frame and emit the distance value to a robot in a wireless mode; when the walking device walks onto the bracket to be measured with the serial number of 1 and the position of the bracket to be measured is well adjusted, two parallel laser receiving plates carried by the walking device are used for measuring the coordinates of two beams of laser on the bracket, simultaneously receiving the distance value sent by the laser range finder, and obtaining the coordinate T of the scanner relative to the original point of the first frame characteristic through three-plane projection, solution of plane triangle and other geometric calculations1’=（a1’，b1’，c1’，d1’，e1’，f1’）。
Secondly, measuring the spatial position of the scanner and the coordinates of the feature points on the bracket to be measured with the serial number of 1 relative to the scanner, scanning the spatial position and the shape of the feature outline by using the three-dimensional scanner, and extracting the coordinates T of the feature points relative to the scanner according to the position and the shape of the feature points1’’=（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）。
Thirdly, calculating the posture and the straightness of the support to be measured, wherein the posture of the support 1 to be measured is T1=（a，b，c，d，e，f）=（a1’，b1’，c1’，d1’，e1’，f1’）+（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）= T1’+ T1'' the posture of the support i to be measured is Ti= Ti’+Ti''; the straightness of the whole stent group (0-N) is fLevel of=max(b0~bN)- min(b0~bN)，fIs perpendicular to=max(c0~cN)- min(c0~cN)。
S400, performing inspection on the working surface, wherein a camera and a gas concentration sensor which are arranged on the detection operation mechanism transmit image information and gas concentration information of each device on the working surface to ground workers at any time so as to monitor the operation condition of each device on the working surface.
Compared with the prior art, the invention does not change the inherent structure of the hydraulic support, takes the laser line as the fixed reference, and detects the space attitude of each hydraulic support and the straightness of the whole hydraulic support based on the mobile robot, thereby effectively eliminating the accumulated error. When the ground fluctuation is large or the robot loses the laser reference due to an accident situation, the robot can be automatically switched to a program for detecting the relative postures of the two adjacent frames. The mobile robot carries a camera, a gas concentration sensor and the like, and provides video images and data for personnel outside the working surface. Integrates intellectualization and synthesis.
Drawings
FIG. 1 is a schematic of the process of the present invention;
FIG. 2 is a schematic view of a rocker arm of the present invention;
FIG. 3 is a schematic view of the inspection work apparatus of the present invention;
FIG. 4 is a schematic view of a fixed reference laser beam emitting apparatus of the present invention;
FIG. 5 is a schematic diagram of the characteristic profile measurement points of the hydraulic support and their coordinate directions of the present invention;
the system comprises a first frame support, a 2-fixed reference laser beam emitting device, a 3-navigation laser radar, a 4-reference laser beam, a 5-characteristic profile scanner, a 6-laser receiving plate, a 7-robot detection operation device, an 8-robot track rocker, a 9-mobile robot chassis, a 10-hydraulic support to be detected, a 21-rocker driving wheel, a 22-idle wheel, a 23-Mecanum wheel, a 24-track, a 25-steering wheel, a 31-diffuse reflection plate, a 32-camera, a 33-gas concentration sensor, a 34-bottom plate, a 41-controller and power supply, a 42-movable panel, a 43-laser range finder, a 44-fixed frame, a 45-reference laser beam emitter and a 46-movable panel adjusting device.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The device comprises a walking device, fixed reference datum laser emitting devices arranged on a first frame and a tail frame base, a detection operation device arranged on the upper portion of the walking device, a control communication system and a power supply system arranged in the walking device, and laser radar navigation devices arranged in the front of and behind the walking device.
As shown in fig. 2, the swing arm of the robot running gear is composed of a driving wheel, a steering wheel, idle wheels connected with the driving wheel (two swing arms are two idle wheels, and the other two swing arms are one idle wheel), mecanum wheels connected with the idle wheels, and a track connecting the driving wheel and the steering wheel.
As shown in fig. 3, the detection device includes a bottom plate 34, two laser receiving plates 6 arranged in parallel and having different heights, a feature profile scanning device 5, a diffuse reflection plate 31, a camera 32, and a gas concentration detection sensor 33, the two laser receiving plates 6 are mounted at two ends of the bottom plate 34, the feature profile scanning device 5 is mounted at the lower part of the laser receiving plate 6 having a lower height, and the diffuse reflection plate 31, the camera 32, and the gas concentration detection sensor 33 are mounted on the other laser receiving plate 6 from top to bottom.
As shown in fig. 4, the fixed reference laser emitting device includes a controller 41, a movable panel 42, a laser distance meter 43, a fixed frame 44 and a reference laser beam emitter 45, the controller 41 is installed on the fixed frame 44, the movable panel 42 is installed inside the fixed frame 44, a movable panel adjusting device 46 for controlling the movable panel 42 to move is installed on the upper portion of the fixed frame 44, two reference laser beam emitters 45 are installed on the movable panel 42, the laser distance meter 43 is installed between the two reference laser beam emitters 45, and the controller 41 controls the movable panel adjusting device 46, the reference laser beam emitters 45 and the laser distance meter 43.
A detection method of a device for detecting the posture and the straightness of a hydraulic support on a working surface based on a robot comprises the following steps:
s100, firstly, the fixed reference laser emitting device arranged on the first frame starts to work, a controller controls the adjusting device to adjust the direction of the movable panel and emit laser beams by utilizing the principle that two points determine a straight line, and then the device starts to move on the hydraulic support from the second frame in sequence.
S200, in the moving process, two parallel laser receiving plates are used for receiving the coordinates of two beams of laser and the robot distance measured from a fixed reference laser emitting device, the posture of the robot relative to a fixed reference is determined, and meanwhile, a characteristic surface shape representing the posture of the hydraulic support is measured by using a characteristic profile scanner, so that the relative position of the support to be measured relative to the scanner is calculated, and the relative posture of each hydraulic pressure and the fixed reference and the straightness of the measured support are obtained.
S300, specifically calculating the attitude and the straightness of the hydraulic support, wherein the support has N +1 frames, the feature point in a feature profile on the base of the hydraulic support is selected as a uniform measurement point, the first frame (number 0) is used as a fixed reference during ascending, and the coordinate of the first frame is set as an absolute zero point T0=（a0，b0，c0，d0，e0，f0) = (X moves (mm), Y moves (mm), Z moves (mm), X turns (degrees), Y turns (degrees), Z turns (degrees)) = (0, 0, 0, 0, 0, 0); in the same way, when going downwards, the tail frame (Number N) is a fixed reference.
Firstly, measuring the coordinates of the relative first frame characteristic points of the scanner on the mobile robot by utilizing a six-point positioning principle: firstly, starting a fixed reference laser emitting device and emitting two beams of parallel laser with certain distance and cross shape, and simultaneously starting a laser range finder thereon to detect the distance value between the robot and a first frame and emit the distance value to the robot in a wireless mode; when the robot walks onto the stand 1 and adjusts the position, two parallel laser receiving plates carried by the robot are used for measuring the coordinates of two beams of laser on the two parallel laser receiving plates, the distance value sent by the laser range finder is received at the same time, and the coordinate T of the scanner relative to the original point of the first frame characteristic is obtained through three-plane projection, solution of plane triangle and other geometric calculations1’=（a1’，b1’，c1’，d1’，e1’，f1’）。
Secondly, measuring the space position of the scanner and the coordinate of the feature point on the bracket 1 to be measured relative to the scanner, wherein the principle is that the space position and the shape of the feature outline are scanned by using a three-dimensional scanner, and then the coordinate T of the feature point relative to the scanner is extracted according to the position and the shape1’’=（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）。
Thirdly, calculating the posture and the straightness of the support to be measured, wherein the posture of the support 1 to be measured is T1=（a，b，c，d，e，f）=（a1’，b1’，c1’，d1’，e1’，f1’）+（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）= T1’+ T1'' the posture of the support i to be measured is Ti= Ti’+Ti''; the straightness of the whole stent group (0-N) is fLevel of=max(b0~bN)- min(b0~bN)，fIs perpendicular to=max(c0~cN)- min(c0~cN)。
S400, performing inspection on the working surface, wherein a camera and a gas concentration sensor which are arranged on the detection operation mechanism transmit image information and gas concentration information of each device on the working surface to ground workers at any time so as to monitor the operation condition of each device on the working surface.
The method for detecting the attitude and the straightness of the hydraulic support of the fully mechanized coal mining face based on the robot has the advantages that:
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (2)
1. The utility model provides a working face hydraulic support gesture and straightness accuracy detection device based on robot which characterized in that: the device comprises a walking device, fixed reference laser emitting devices arranged on bases of a head frame and a tail frame, a detection operation device arranged on the upper part of the walking device, a control communication system and a power supply system arranged in the walking device, and laser radar navigation devices arranged in front of and behind the walking device; the detection operation device comprises a bottom plate (34), a laser receiving plate (6), a characteristic contour scanning device (5), a diffuse reflection plate (31), a camera (32) and a gas concentration detection sensor (33), wherein two laser receiving plates (6) which are arranged in parallel and have different heights are installed at two ends of the bottom plate (34), the characteristic contour scanning device (5) is installed at the lower part of the laser receiving plate (6) with the lower height, and the diffuse reflection plate (31), the camera (32) and the gas concentration detection sensor (33) are installed on the other laser receiving plate (6) from top to bottom; fixed reference benchmark laser emitter include controller (41), activity panel (42), laser range finder (43), fixed frame (44) and reference laser beam transmitter (45), install controller (41) on fixed frame (44), fixed frame (44) internally mounted has movable panel (42), movable panel adjusting device (46) that control activity panel (42) and remove are installed on fixed frame (44) upper portion, install two reference laser beam transmitter (45) on activity panel (42), be provided with laser range finder (43) between two reference laser beam transmitter (45), controller (41) control movable panel adjusting device (46), reference laser beam transmitter (45) and laser range finder (43).
2. A detection method of a robot-based working surface hydraulic mount attitude and straightness detection apparatus according to claim 1, characterized in that: comprises the following steps
S100, firstly, enabling a fixed reference laser emitting device arranged on a first frame to start working, determining a straight line principle by two points, controlling the adjusting device by a controller to adjust the direction of a movable panel and emit laser beams, and then starting to enable the device to move on a hydraulic support from a second frame in sequence;
s200, in the moving process, two parallel laser receiving plates are used for receiving the coordinates of two beams of laser and the robot distance measured from a fixed reference laser emitting device, the posture of the robot relative to a fixed reference is determined, and meanwhile, a characteristic surface shape representing the posture of the hydraulic support is measured by using a characteristic profile scanner, so that the relative position of the support to be measured relative to the scanner is calculated, and the relative posture of each hydraulic pressure and the fixed reference and the straightness of the measured support are obtained;
s300, specifically calculating the attitude and the straightness of the hydraulic support, wherein the support has N +1 frames, the characteristic point in a characteristic profile on a base of the hydraulic support is selected as a uniform measurement point, the first frame with the number of 0 is taken as a fixed reference during ascending, and the coordinate of the first frame is taken as an absolute zero point T0=（a0，b0，c0，d0，e0，f0) = (X move, Y move, Z move, X transfer, Y transfer, Z transfer) = (0, 0, 0, 0, 0, 0); when the tail frame goes down, the tail frame with the number N is used as a fixed reference;
firstly, measuring the coordinates of the relative first frame characteristic points of the scanner on the mobile robot: firstly, starting a fixed reference laser emitting device and emitting two beams of parallel laser in a cross shape, and simultaneously starting a laser range finder on the fixed reference laser emitting device to detect the distance value between a walking device and a first frame and emit the distance value to a robot in a wireless mode; when the walking device walks onto the bracket to be measured with the serial number of 1 and the position of the bracket to be measured is well adjusted, two parallel laser receiving plates carried by the walking device are used for measuring the coordinates of two beams of laser on the bracket, simultaneously receiving the distance value sent by the laser range finder, and obtaining the coordinate T of the scanner relative to the original point of the first frame characteristic through three-plane projection, solution of plane triangle and other geometric calculations1’=（a1’，b1’，c1’，d1’，e1’，f1’）；
Secondly, measuring the spatial position of the scanner and the coordinates of the feature points on the bracket to be measured with the serial number of 1 relative to the scanner, scanning the spatial position and the shape of the feature outline by using the three-dimensional scanner, and extracting the coordinates T of the feature points relative to the scanner according to the position and the shape of the feature points1’’=（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）；
In the third step, the first step is,calculating the posture and the straightness of the support to be measured, wherein the posture of the support to be measured 1 is T1=（a，b，c，d，e，f）=（a1’，b1’，c1’，d1’，e1’，f1’）+（a1’’，b1’’，c1’’，d1’’，e1’’，f1’’）= T1’+ T1'' the posture of the support i to be measured is Ti= Ti’+Ti''; the straightness of the whole stent group (0-N) is fLevel of=max(b0~bN)- min(b0~bN)，fIs perpendicular to=max(c0~cN)- min(c0~cN)；
S400, performing inspection on the working surface, wherein a camera and a gas concentration sensor which are arranged on the detection operation mechanism transmit image information and gas concentration information of each device on the working surface to ground workers at any time so as to monitor the operation condition of each device on the working surface.
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| CN110108202B (en) * | 2019-03-01 | 2021-07-06 | 太原理工大学 | Hydraulic support pose detection device and method |
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| CN110455279B (en) * | 2019-08-28 | 2021-07-06 | 燕山大学 | Six-degree-of-freedom indirect measuring instrument |
| CN111442759B (en) * | 2020-03-05 | 2023-10-31 | 天地科技股份有限公司 | Unified monitoring system for pose of fully-mechanized coal mining face equipment |
| CN113847876A (en) * | 2021-07-09 | 2021-12-28 | 中煤科工开采研究院有限公司 | Coal mining height measuring device and method for hydraulic support of fully mechanized coal mining face |
| CN115075857B (en) * | 2022-08-18 | 2022-11-04 | 中煤科工开采研究院有限公司 | Quantitative pushing method and system for hydraulic support |
| CN115371597B (en) * | 2022-09-13 | 2023-08-04 | 山东科技大学 | Method for checking position accuracy of hydraulic support base of working face |
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