CN104729538B - Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine - Google Patents
Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine Download PDFInfo
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- CN104729538B CN104729538B CN201510159056.6A CN201510159056A CN104729538B CN 104729538 B CN104729538 B CN 104729538B CN 201510159056 A CN201510159056 A CN 201510159056A CN 104729538 B CN104729538 B CN 104729538B
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- coal
- turntable
- winning machine
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a calibration method and a calibration device of a positioning and attitude determination system for a laser-scanning based coal mining machine, and belongs to a positioning method and a positioning device of the coal mining machine. The device is characterized in that more than two laser signal receiving modules and a data processing storage module are mounted on the coal mining machine, and the opposite positions of the laser signal receiving modules and the coal mining machine are recorded; the data processing storage module is connected with the laser signal receiving modules; rotating table systems are installed on hydraulic supports, and a distance between the two hydraulic supports is less than 50m. The method is characterized in that based on a laser scanning technology, rotating tables are driven by a servo motor; the laser scans all around, and when the laser signal receiving modules receive laser signals, the position and attitude information, calculated by a time information signal processing module, of the coal mining machine is recorded, and the attitude information of the coal mining machine is transmitted to a coal mining machine control center through a signal transmission module. The scanning accuracy of the calibration device is within the range of 50 meters and can reach the centimeter level, so that the requirement on the positioning and attitude determination accuracy of the coal mining machine can be completely met.
Description
Technical field
The present invention relates to a kind of coal-winning machine localization method and device, particularly a kind of coal-winning machine positioning based on laser scanning
The calibration steps and device of attitude determination system.
Background technology
Coal is so still the present theme energy of China, but because underground environment is severe, complexity, coal in China industry
The more low reason of automaticity level of equipment, coal in China industry Frequent Accidents.
Realize that fully mechanized coal face is unmanned, automate, be the effective way for solving this problem, wherein, essence is realized to coal-winning machine
Really positioning and orientation is particularly important.Realize that positioning and orientation is overall in the range of hundreds of rice easily to coal-winning machine using existing means
Positioning precision is not universal high, therefore, calibration is carried out to the pose of coal-winning machine using some means in end necessary.At present
Existing coal-winning machine positioning and orientation calibration steps main method is：Trackage meter method, infrared method, supersonic reflection method, inertia
Navigation method and radio sensing network method.
In said method, trackage meter method has that error is larger, and gear counting method has cumulative errors；It is infrared
, due to its protection out-of-flatness of base plate, dust concentration is excessive, the problems such as blocking so that receiver does not receive infrared signal for method；It is super
The reason for Acoustic Reflection Method is mainly due to non line of sight, causes calibration accuracy low；Inertial navigation method due to inertia device export with
Time drift, integral operation can cause slightly long etc. the reason of initialized time of the accumulation of error, system to still need to improve；Therefore,
One kind is needed to cope with down-hole high concentrate dust, and the less calibration steps of error.
The content of the invention
Technical problem：It is an object of the invention to provide a kind of calibration side of the coal-winning machine positioning and orientation based on laser scanning
Method and device, solve coal-winning machine pose calibration problem under underground coal mine fully mechanized coal face.
Technical scheme：What the mesh of the present invention was realized in：Dress based on the coal-winning machine positioning and orientation system of laser scanning
Put including：Turntable system, laser signal receiver module, data processing memory module and hydraulic support；Install on coal-winning machine
Laser signal receiver module and data processing memory module, described laser signal receiver module is no less than two, records every
The relative position of individual laser signal receiver module and coal-winning machine；Data processing memory module laser signal receiver module is connected；
Turntable system is arranged on hydraulic support, and the distance between two hydraulic supports are less than 50m；Electronic horizontal ruler is placed in comprehensive
Adopt two, face to be provided between the hydraulic support of turntable system, determined using electronic horizontal ruler and be placed on hydraulic support
The relative position of turntable system, determines position coordinates of each turntable system in whole coal-winning machine alignment system；Rotation
Platform system works, and laser signal receiver module receives laser signal and infrared signal, with laser signal receiver module phase
The data processing storage mould of connection is connect and signal is processed and is stored, and by data transmission module, is transferred to coal-winning machine control
Center.
Described turntable system includes：Generating laser, turntable, servomotor, infrared transmitter, wireless power transmission
Module, big travelling gear and small transmission gear；Generating laser is installed on turntable, and wireless power transmission coil is installed on turntable
Bottom, power transfer module is respectively arranged in servomotor both sides with level meter, and big travelling gear installation turns with servomotor
On axle, small transmission gear is installed on the bearing of turntable, and big travelling gear is intermeshed with small transmission gear, infrared light emission
Device is installed and turntable top.
Comprised the steps based on the calibration steps of the coal-winning machine positioning and orientation system of laser scanning：
(1) the laser signal receiver module more than two is installed on coal-winning machine, is recorded each laser signal and is received mould
The relative position of block and coal-winning machine；On coal-winning machine installation data process memory module, and with the laser being installed on coal-winning machine
Signal receiving module is connected；Turntable is placed in into liquid according to principle of the distance between the two turntable systems less than 50m
On pressure support；Determine the relative position of the turntable system being placed on hydraulic support using electronic horizontal ruler, determine each
Position coordinates of the turntable system in whole coal-winning machine alignment system；
(2) two turntable system servomotors drive turntable, laser transmitter projects covering of the fan to swash by travelling gear
Light, laser signal receiver module receives first fan laser signal, records time t1, t1 now ', laser signal connects
Receive module and receive second fan laser signal, record time t2, t2 now ', turntable returns to position in fact, infrared
Optical transmitting set launches infrared light, and laser signal receiver module receives infrared signal, records time t3, t3 now '；
(3) data processing memory module passes through system algorithm, and the rotating speed 500r/min of set servomotor, will
The time signal recorded is processed as position signalling coordinate, and positional information is stored, by data transmission module, will
Location coordinate information is transferred to coal-winning machine control centre；
(4) judge coal-winning machine in end whether at least in the generating laser range of exposures of two turntable systems
It is interior, if it is, circulation execution step (2)-(3), otherwise, operating procedure (5)；
(5) reciprocal first turntable system that coal-winning machine vertically moves direction is vertically moved into direction to coal-winning machine
Mobile, the position after the turntable system movement is little with the distance of first turntable system that former coal-winning machine vertically moves direction
In 50m, determine the relative position of first, second turntable system that coal-winning machine vertically moves direction occur using electronic horizontal ruler
Put, while the position coordinates being transformed in whole positioning and orientation system；
(6) system works on, and circulation execution step (2)-(5), coal-winning machine control centre obtains in real time the position of coal-winning machine
Appearance information.
Beneficial effect：As a result of such scheme, laser signal receiver module and number are installed on coal-winning machine fuselage
According to memory module is processed, pacify under selected hydraulic support top beam according to principle of the distance between two turntables less than 50m
Dress turntable system, by the energy for strengthening laser in coverage so that the laser signal on coal-winning machine is received
Module can receive the laser signal of turntable system in end；Can be with the movement of coal-winning machine, moving rotary platform system
System, by electronic horizontal ruler, calculates the relative position of the turntable system after movement, and the initial position for being converted to system is sat
Mark；By location algorithm, missing inspection situation is excluded, improve overall positioning precision.
Advantage：The invention can be applied to the calibration of fully mechanized coal face end coal-winning machine pose, be reached with each laser signal
Time signal be angle measurement technique, distance is calculated with the relative position of adjacent turntable, with stable positioning precision, Er Qiechuan
Sensor has flexible deployment way, easy for installation.
Description of the drawings
Fig. 1 is that the coal-winning machine of the present invention is located at fully mechanized coal face pose calibration structure schematic diagram.
Fig. 2 is that the present invention utilizes electronic horizontal ruler to turntable system Relatively orientation structural representation.
Fig. 3 is the turntable system structure diagram of the present invention.
Fig. 4 is the system principle diagram of the present invention.
In figure：1st, turntable system；2nd, laser signal receiver module；3rd, data processing memory module；4th, coal-winning machine；5th, liquid
Pressure support；6th, generating laser；7th, turntable；8th, servomotor；9th, infrared transmitter；10th, wireless power transmission module；11st, water
Level；12nd, power transfer module；13rd, electronic horizontal ruler.
Specific embodiment
Embodiment 1：In fig. 1 and 2, included based on the device of the coal-winning machine positioning and orientation system of laser scanning：Rotation
Platform system 1, laser signal receiver module 2, data processing memory module 3 and hydraulic support 5；Laser letter is installed on coal-winning machine 4
Number receiver module 2 and data processing memory module 3, described laser signal receiver module 2 is no less than two, records each and swashs
The relative position of optical signal receiving module 2 and coal-winning machine 4；The laser signal receiver module 2 of data processing memory module 3 is connected；
Turntable system is arranged on hydraulic support 1, and the distance between two hydraulic supports are less than 50m；Electronic horizontal ruler 13 is disposed
In fully mechanized coal face, two are provided between the hydraulic support of turntable system, are determined using electronic horizontal ruler 13 and be placed in hydraulic pressure
The relative position of the turntable system on frame, determines that position of each turntable system in whole coal-winning machine alignment system is sat
Mark；Turntable system works, and laser signal receiver module receives laser signal and infrared signal, receives with laser signal
The data processing storage mould that module is connected is connect and signal is processed and is stored, and by data transmission module, is transferred to coal mining
Machine control centre.
Described turntable system includes：It is generating laser 6, turntable 7, servomotor 8, infrared transmitter 9, wireless
Transmission of electricity module 10, big travelling gear and small transmission gear；Generating laser 6 is installed on turntable 7, and wireless power transmission coil is installed
In the bottom of turntable 7, power transfer module 12 is respectively arranged in the both sides of servomotor 8 with level meter 11, and big travelling gear is installed
In rotating shaft with servomotor 8, small transmission gear is installed on the bearing of turntable 7, big travelling gear and small transmission gear phase
Mutually engagement, infrared transmitter 9 is installed and turntable top.
Comprised the steps based on the calibration steps of the coal-winning machine positioning and orientation system of laser scanning：
(1) the laser signal receiver module 2 more than two is installed on coal-winning machine 4, is recorded each laser signal and is received
The relative position of module and coal-winning machine；Installation data processes memory module 3 on coal-winning machine, and sharp on coal-winning machine with being installed on
Optical signal receiving module is connected；Turntable is placed according to principle of the distance between the two turntable systems 1 less than 50m
On hydraulic support；The relative position of the turntable system being placed on hydraulic support is determined using electronic horizontal ruler, it is determined that often
Position coordinates of the individual turntable system in whole coal-winning machine alignment system；
(2) two turntable system servomotors 8 drive turntable, laser transmitter projects covering of the fan to swash by travelling gear
Light, laser signal receiver module receives first fan laser signal, records time t1, t1 now ', laser signal connects
Receive module and receive second fan laser signal, record time t2, t2 now ', turntable returns to position in fact, infrared
Optical transmitting set launches infrared light, and laser signal receiver module receives infrared signal, records time t3, t3 now '；
(3) data processing memory module passes through system algorithm, and the rotating speed 500r/min of set servomotor, will
The time signal recorded is processed as position signalling coordinate, and positional information is stored, by data transmission module, will
Location coordinate information is transferred to coal-winning machine control centre；
(4) judge coal-winning machine in end whether at least in the generating laser range of exposures of two turntable systems
It is interior, if it is, circulation execution step (2)-(3), otherwise, operating procedure (5)；
(5) reciprocal first turntable system that coal-winning machine vertically moves direction is vertically moved into direction to coal-winning machine
Mobile, the position after the turntable system movement is little with the distance of first turntable system that former coal-winning machine vertically moves direction
In 50m, determined using electronic horizontal ruler 13 occur coal-winning machine vertically move direction first, second turntable system it is relative
Position, while the position coordinates being transformed in whole positioning and orientation system；
(6) system works on, and circulation execution step (2)-(5), coal-winning machine control centre obtains in real time the position of coal-winning machine
Appearance information.
Claims (1)
1. a kind of calibration steps of the coal-winning machine positioning and orientation system calibration equipment based on laser scanning, described calibrating installation bag
Include：Turntable system, laser signal receiver module, data processing memory module and hydraulic support；Laser is installed on coal-winning machine
Signal receiving module and data processing memory module, described laser signal receiver module is no less than two, records each and swashs
The relative position of optical signal receiving module and coal-winning machine；Data processing memory module laser signal receiver module is connected；Rotation
Platform system is arranged on hydraulic support, and the distance between two hydraulic supports are less than 50m；Electronic horizontal ruler is placed in into fully mechanized coal face
Two are provided between the hydraulic support of turntable system, and the rotation being placed on hydraulic support is determined using electronic horizontal ruler
The relative position of platform system, determines position coordinates of each turntable system in whole coal-winning machine alignment system；Turntable system
System work, laser signal receiver module receives laser signal and infrared signal, is connected with laser signal receiver module
Data processing storage mould is connect and signal is processed and is stored, by data transmission module, be transferred to coal-winning machine control centre；
Described turntable system includes：Generating laser, turntable, servomotor, infrared transmitter, wireless power transmission mould
Block, big travelling gear and small transmission gear；Generating laser is installed on turntable, and wireless power transmission coil is installed on turntable bottom
Portion, power transfer module is respectively arranged in servomotor both sides with level meter, and big travelling gear installs the rotating shaft with servomotor
On, small transmission gear is installed on the bearing of turntable, and big travelling gear is intermeshed with small transmission gear, infrared transmitter
It is installed on turntable top；
It is characterized in that：The calibration steps of coal-winning machine positioning and orientation system calibration equipment, comprises the steps：
（1）Install more than the laser signal receiver module of two on coal-winning machine, record each laser signal receiver module with
The relative position of coal-winning machine；On coal-winning machine installation data process memory module, and with the laser signal being installed on coal-winning machine
Receiver module is connected；Turntable is placed in into hydraulic pressure according to principle of the distance between the two turntable systems less than 50m
On frame；Determine the relative position of the turntable system being placed on hydraulic support using electronic horizontal ruler, determine each rotation
Position coordinates of the platform system in whole coal-winning machine alignment system；
（2）Two turntable system servomotors drive turntable, laser transmitter projects fan laser to swash by travelling gear
Optical signal receiving module receives first fan laser signal, records time t1, t1 now ', laser signal receives mould
Block receives second fan laser signal, records time t2, t2 now ', turntable returns to original position, and infrared light is sent out
Emitter launches infrared light, and laser signal receiver module receives infrared signal, records time t3, t3 now '；
（3）Data processing memory module passes through system algorithm, and the rotating speed 500r/min of set servomotor, will record
Under time signal be processed as position signalling coordinate, and each laser signal receiver module positional information is stored, and
And data processing memory module passes through between the positional information and laser signal receiver module of each laser signal receiver module
Relative position calculate the attitude information and positional information of coal-winning machine, by data transmission module, by attitude information and
Positional information is transferred to coal-winning machine control centre；
（4）Judge coal-winning machine in end whether at least in the generating laser range of exposures of two turntable systems, such as
Fruit is then to circulate execution step（2）-（3）, otherwise, operating procedure（5）；
（5）Reciprocal first turntable system that coal-winning machine vertically moves direction is vertically moved into direction to coal-winning machine to move
Dynamic, the distance of first turntable system that the position after the turntable system movement vertically moves direction with former coal-winning machine is less than
50m, determines the relative position of first, second turntable system that coal-winning machine vertically moves direction occur using electronic horizontal ruler
Put, while the position coordinates being transformed in whole positioning and orientation system；
（6）System works on, and circulates execution step（2）-（5）, coal-winning machine control centre obtain in real time coal-winning machine pose letter
Breath.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510159056.6A CN104729538B (en) | 2015-04-03 | 2015-04-03 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| PCT/CN2015/093625 WO2016155310A1 (en) | 2015-04-03 | 2015-11-03 | Method and device for calibrating positioning and orientation system of coal mining machine based on laser scan |
| ZA2016/08103A ZA201608103B (en) | 2015-04-03 | 2016-11-23 | Method and device for calibrating positioning and orientation system of coal mining machine based on laser scan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510159056.6A CN104729538B (en) | 2015-04-03 | 2015-04-03 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104729538A CN104729538A (en) | 2015-06-24 |
| CN104729538B true CN104729538B (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510159056.6A Expired - Fee Related CN104729538B (en) | 2015-04-03 | 2015-04-03 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104729538B (en) |
| WO (1) | WO2016155310A1 (en) |
| ZA (1) | ZA201608103B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104729538B (en) * | 2015-04-03 | 2017-05-10 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CN107238385B (en) * | 2017-05-31 | 2019-07-12 | 中国矿业大学 | A kind of absolute pose detection system of coalcutter and method |
| CN108590657B (en) * | 2018-04-16 | 2021-01-05 | 三一重型装备有限公司 | Excavation control method and control system for underground roadway |
| CN112304335B (en) * | 2020-09-28 | 2022-09-13 | 北京天玛智控科技股份有限公司 | Hydraulic support inclination angle sensor calibration method and system |
| CN112229394B (en) * | 2020-10-14 | 2024-04-16 | 中国矿业大学 | Colliery underground mobile device location attitude determination system based on infrared motion is caught |
| CN113685177B (en) * | 2021-07-09 | 2024-06-11 | 中煤科工开采研究院有限公司 | Position measurement system and method for coal mining machine |
| CN113565567B (en) * | 2021-07-12 | 2023-08-08 | 天地科技股份有限公司 | Anti-collision early warning method and device for hydraulic support top beam and coal mining machine roller |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0262764A1 (en) * | 1986-09-30 | 1988-04-06 | Spectra-Physics, Inc. | Elevation indication system for a large earthworking implement |
| WO2000022380A1 (en) * | 1998-10-13 | 2000-04-20 | Arc Second, Inc. | Rotating head optical transmitter for position measurement system |
| GB0200621D0 (en) * | 2002-01-11 | 2002-02-27 | Morgan Est Plc | Method and apparatus for surveying the geometry of tunnels |
| CN101629807B (en) * | 2009-08-20 | 2011-02-02 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN102997914B (en) * | 2012-10-24 | 2015-04-29 | 中国矿业大学 | Three-dimensional locating and detecting device and method for coal cutter |
| CN103278132B (en) * | 2013-04-20 | 2015-04-08 | 北京工业大学 | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot |
| CN204479086U (en) * | 2015-04-03 | 2015-07-15 | 中国矿业大学 | Based on the calibrating installation of the coalcutter positioning and orientation system of laser scanning |
| CN104729538B (en) * | 2015-04-03 | 2017-05-10 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
-
2015
- 2015-04-03 CN CN201510159056.6A patent/CN104729538B/en not_active Expired - Fee Related
- 2015-11-03 WO PCT/CN2015/093625 patent/WO2016155310A1/en active Application Filing
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2016
- 2016-11-23 ZA ZA2016/08103A patent/ZA201608103B/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN104729538A (en) | 2015-06-24 |
| WO2016155310A1 (en) | 2016-10-06 |
| ZA201608103B (en) | 2023-01-25 |
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Address after: 221116 Research Institute of China University of Mining and Technology,, Jiangsu Applicant after: China University of Mining & Technology Address before: 221116 Research Institute, China University of Mining and Technology, Xuzhou University, Jiangsu, China, Applicant before: China University of Mining & Technology |
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