CN108663032A - Working surface hydraulic support posture and linearity testing apparatus based on robot and method - Google Patents
Working surface hydraulic support posture and linearity testing apparatus based on robot and method Download PDFInfo
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- CN108663032A CN108663032A CN201810358596.0A CN201810358596A CN108663032A CN 108663032 A CN108663032 A CN 108663032A CN 201810358596 A CN201810358596 A CN 201810358596A CN 108663032 A CN108663032 A CN 108663032A
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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
-
- 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
-
- 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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to intelligence to exploit field, specifically a kind of working surface hydraulic support posture and linearity testing apparatus and method based on robot.Solve the problems, such as detection manless working face Hydraulic Support Posture and straightness, including running gear, fixed reference reference laser emitter on first frame and tailstock pedestal, detection operation device mounted on running gear top, the communication control system and power-supply system that are mounted on inside running gear and the laser radar navigation device before and after running gear.Inherent structure on hydraulic support is not transformed by the present invention, using laser rays as fixed reference benchmark, is based on mobile robot, spatial attitude and integrated hydraulic holder straightness to each hydraulic support are detected, and effectively eliminate accumulated error.
Description
Technical field
The invention belongs to intelligence to exploit field, specifically a kind of working surface hydraulic support posture and straight line based on robot
Spend detection device and method.
Background technology
Currently, coal mining is just developed from fully-mechanized mining to automation and intelligent direction, the target pursued
Few peopleization with it is unmanned.But manless working face Linearity surveying and control problem greatly annoying domestic manless working face
Intelligent Process often occurs passage drag conveyor due to some and draws moving hydraulic support not in place, so two or three knife
It just will appear the crooked distortion of holder dislocation afterwards, lead to not normally produce down and necessary artificial detection holder posture and straightness
And adjust and can just work on, greatly reduce the production efficiency of manless working face.
Invention content
The present invention provides a kind of based on machine to solve the problems, such as detection manless working face Hydraulic Support Posture and straightness
The working surface hydraulic support posture and linearity testing apparatus and method of device people.
The present invention takes following technical scheme：A kind of working surface hydraulic support posture and Linearity surveying based on robot
Device, including running gear, the fixed reference reference laser emitter being mounted on first frame and tailstock pedestal, installation are expert at
The detection operation device on walking apparatus top, communication control system and power-supply system inside running gear and is mounted on
Laser radar navigation device before and after running gear.
Further, detection operation device includes bottom plate, laser receiver board, feature contour scanning means, diffusing reflection plate, takes the photograph
As head and gas concentration detection sensor, bottom plate both ends are equipped with two pieces and are arranged in parallel and laser receiver board that height is different, high
It spends low laser receiver board lower part and feature contour scanning means is installed, once mounting has another piece of laser receiver board from top to bottom
Diffusing reflection plate, camera and gas concentration detection sensor.
Further, fixed reference reference laser emitter includes controller, drop front, laser range finder, fixation
Frame and reference laser beam transmitter are equipped with controller on fixed border, drop front are equipped with inside fixed border, fixed
Frame top, which is equipped with, controls the drop front adjusting apparatus that drop front moves, and there are two reference lasers for installation on drop front
Beam transmitter, is provided with laser range finder between two reference laser beam transmitters, controller control drop front adjusting apparatus,
Reference laser beam transmitter and laser range finder.
A kind of detection method of working surface hydraulic support posture and linearity testing apparatus based on robot, including it is following
Step：
S100~fixed reference reference laser the emitter on first frame is allowed to be started to work first, utilizes at 2 points（From beginning to end
Two framves）Determine that straight line principle, controller control adjusting apparatus mix up the direction of drop front and send out laser beam, then open
Beginning allows the present apparatus to be moved successively since the second frame on hydraulic support.
S200~in moving process receives the coordinate of two beam laser and from fixation using two parallel laser receiver boards
The robot distance that reference data laser beam emitting device measures determines that robot is relatively fixed the posture of reference data, while profit
With feature contour scanner, the figuratrix shape for representing Hydraulic Support Posture is measured, holder to be measured is opposite to be swept to calculate
The relative position for retouching instrument obtains the relative attitude of each hydraulic pressure and fixed reference benchmark and the straightness of institute's survey holder.
S300~Hydraulic Support Posture and the specific computation model of straightness are as follows, it is assumed that holder shares N+1 framves, chooses hydraulic pressure
Characteristic point on bracket base in a feature contour is unified measurement point, when uplink, first frame（Number 0）For fixed reference base
Standard, if its coordinate is actual zero point T0=（a0, b0, c0, d0, e0, f0）=（X is moved（mm）, Y shiftings（mm）, Z shiftings（mm）, X turns（Degree）, Y
Turn（Degree）, Z turns（Degree））=（0,0,0,0,0,0）；Similarly, when downlink, tailstock（Number N）For fixed reference benchmark.
The first step measures the relatively first frame feature point coordinates of scanner in mobile robot：First turn on fixed reference reference
Laser beam emitting device and to launch two harness shapes be criss-cross parallel laser, while laser range finder thereon starts to detect
The distance value of running gear and first frame simultaneously wirelessly emits to robot；When running gear walking to number is 1 to wait for
When surveying on holder and adjusting good position, the seat of two beam laser on it is measured with two self-contained parallel laser receiver boards
Mark, while the distance value that laser range finder is sent is received, it is calculated, is obtained by the geometry such as three plane projections and solution plane triangle
The coordinate T of the relatively first frame feature origin of scanner1’=（a1', b1', c1', d1', e1', f1’）.
Second step measures characteristic point on the holder to be measured that number is 1 while measuring scanner spatial position and sweeps relatively
The coordinate for retouching instrument scans spatial position and the shape of feature contour using spatial digitizer, then according to its location and shape
Extract coordinate T of the characteristic point relative to scanner1’’=（a1' ', b1' ', c1' ', d1' ', e1' ', f1’’）.
Third walks, and calculates the posture and straightness of holder to be measured, the posture of holder 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 appearance of holder i to be measured
State is Ti= Ti’+Ti’’；The straightness of entire holder group (0-N) is fIt is horizontal=max(b0~bN)- min(b0~bN), fVertically=max(c0
~cN)- min(c0~cN)。
S400~working face inspection, the camera and gas concentration sensor being mounted in detection operation mechanism are constantly work
Make each equipment image information in face and gas concentration information passes to surface personnel, feelings are run with each equipment in monitoring face
Condition.
Compared with prior art, inherent structure on hydraulic support is not transformed by the present invention, using laser rays as fixed reference benchmark,
Based on mobile robot, spatial attitude and integrated hydraulic holder straightness to each hydraulic support are detected, and are effectively disappeared
In addition to accumulated error.Larger or when losing reference laser light due to fortuitous event robot in surface relief, robot can be cut automatically
It is changed to the program for the relative attitude for detecting adjacent two frame.Mobile robot carries camera and gas concentration sensor etc., gives work
The personnel made outside face provide video image and data.Integrate intelligent and synthesization.
Description of the drawings
Fig. 1 is the method schematic diagram of the present invention；
Fig. 2 is the rocking arm schematic diagram of the present invention；
Fig. 3 is the detection operation schematic device of the present invention；
Fig. 4 is the fixed reference reference laser beam emitter schematic diagram of the present invention；
Fig. 5 is the hydraulic support feature contour measurement point and its coordinate direction schematic diagram of the present invention；
Wherein, the first frame holders of 1-, 2- fixed reference reference laser beam emitters, 3- navigation laser radars, 4- reference lasers
Beam, 5- feature contour scanners, 6- laser receiver boards, 7- robots detection operation device, 8- robots crawler belt rocking arm, 9- movements
Robot chassis, 10- hydraulic supports to be measured, 21- rocking arm driving wheels, 22- idle pulleys, 23- Mecanum wheels, 24- crawler belts, 25- turn
To wheel, 31- diffusing reflection plates, 32- cameras, 33- gas concentration sensors, 34- bottom plates, 41- controllers and power supply, 42- activities
Panel, 43- laser range finders, 44- fixed borders, 45- reference laser beam transmitters, 46- drop front adjusting apparatus.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
A kind of working surface hydraulic support posture and linearity testing apparatus based on robot, including running gear, installation
Fixed reference reference laser emitter on first frame and tailstock pedestal, the detection operation for being mounted on running gear top fill
It sets, the communication control system and power-supply system that are mounted on inside running gear and the laser radar before and after running gear
Navigation device.
As shown in Fig. 2, robot walking device rocking arm is by driving wheel, deflecting roller, the idle pulley being connect with driving wheel（Wherein two
A rocking arm is two idle pulleys, other two is an idle pulley）, the Mecanum wheel being connect with idle pulley connects driving wheel and steering
The crawler belt of wheel forms.
As shown in figure 3, detection operation device includes bottom plate 34, laser receiver board 6, feature contour scanning means 5, diffusing reflection
Plate 31, camera 32 and gas concentration detection sensor 33,34 both ends of bottom plate be equipped with two pieces be arranged in parallel and height it is different
Laser receiver board 6, low 6 lower part of laser receiver board of height are equipped with feature contour scanning means 5, another piece of laser receiver board 6
Once mounting has diffusing reflection plate 31, camera 32 and gas concentration detection sensor 33 from top to bottom.
As shown in figure 4, fixed reference reference laser emitter includes controller 41, drop front 42, laser range finder
43, fixed border 44 and reference laser beam transmitter 45 are equipped with controller 41,44 inside peace of fixed border on fixed border 44
Equipped with drop front 42,44 top of fixed border is equipped with the drop front adjusting apparatus 46 that control drop front 42 moves, living
Reference laser beam transmitter 45 there are two being installed on panel 42 is moved, Laser Measuring is provided between two reference laser beam transmitters 45
Distance meter 43, controller 41 control drop front adjusting apparatus 46, reference laser beam transmitter 45 and laser range finder 43.
A kind of detection method of working surface hydraulic support posture and linearity testing apparatus based on robot, including it is following
Step：
S100~fixed reference reference laser the emitter on first frame is allowed to be started to work first, one is determined using 2 points
Straight line principle, controller control adjusting apparatus mix up the direction of drop front and send out laser beam, then start to allow the present apparatus
It is moved successively since the second frame on hydraulic support.
S200~in moving process receives the coordinate of two beam laser and from fixation using two parallel laser receiver boards
The robot distance that reference data laser beam emitting device measures determines that robot is relatively fixed the posture of reference data, while profit
With feature contour scanner, the figuratrix shape for representing Hydraulic Support Posture is measured, holder to be measured is opposite to be swept to calculate
The relative position for retouching instrument obtains the relative attitude of each hydraulic pressure and fixed reference benchmark and the straightness of institute's survey holder.
S300~Hydraulic Support Posture and the specific computation model of straightness are as follows, it is assumed that holder shares N+1 framves, chooses hydraulic pressure
Characteristic point on bracket base in a feature contour is unified measurement point, when uplink, first frame（Number 0）For fixed reference base
Standard, if its coordinate is actual zero point T0=（a0, b0, c0, d0, e0, f0）=（X is moved（mm）, Y shiftings（mm）, Z shiftings（mm）, X turns（Degree）, Y
Turn（Degree）, Z turns（Degree））=（0,0,0,0,0,0）；Similarly, when downlink, tailstock（Number N）For fixed reference benchmark.
The first step utilizes " principle of six-point fixing " to measure the relatively first frame feature point coordinates of scanner in mobile robot：It is first
It is criss-cross parallel laser first to open fixed reference reference laser emitter and launch two beams to have certain distance shape,
Laser range finder thereon starts to detect the distance value of robot and first frame and wirelessly emit to robot simultaneously；When
Robot ambulation measures two beams with two self-contained parallel laser receiver boards and swashs to when on holder 1 and when adjusting good position
The coordinate of light on it, while the distance value that laser range finder is sent is received, pass through three plane projections and solution plane triangle etc.
Geometry calculates, obtains the coordinate T of the relatively first frame feature origin of scanner1’=（a1', b1', c1', d1', e1', f1’）.
Second step measures the seat of characteristic point relative scanning instrument on holder 1 to be measured while measuring scanner spatial position
Mark, principle is that spatial position and the shape of feature contour are scanned using spatial digitizer, then according to its location and shape
Extract coordinate T of the characteristic point relative to scanner1’’=（a1' ', b1' ', c1' ', d1' ', e1' ', f1’’）.
Third walks, and calculates the posture and straightness of holder to be measured, the posture of holder 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 appearance of holder i to be measured
State is Ti= Ti’+Ti’’；The straightness of entire holder group (0-N) is fIt is horizontal=max(b0~bN)- min(b0~bN), fVertically=max(c0
~cN)- min(c0~cN)。
S400~working face inspection, the camera and gas concentration sensor being mounted in detection operation mechanism are constantly work
Make each equipment image information in face and gas concentration information passes to surface personnel, feelings are run with each equipment in monitoring face
Condition.
The advantages of the present invention is based on the coal mine fully-mechanized mining working Hydraulic Support Posture of robot and Linearity surveying methods exists
In：
, with Hydraulic Support Posture and straightness be detection target, but the structure of hydraulic support is not transformed, no accumulation may be implemented
The straightness of the posture of error-detecting hydraulic support six-freedom degree and examined hydraulic support group.
, when losing reference laser light benchmark, can intelligently be switched to the relative attitude for detecting adjacent two framves hydraulic support,
To extrapolate the posture and straightness of entire holder.
, constantly can dynamically pass working face image information and gas concentration information back, collection is intelligent and synthesis turns to one
Body.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of working surface hydraulic support posture and linearity testing apparatus based on robot, it is characterised in that：Including walking
Device, the fixed reference reference laser emitter being mounted on first frame and tailstock pedestal are mounted on running gear top
Detection operation device, the communication control system and power-supply system being mounted on inside running gear and before and after the running gear
Laser radar navigation device.
2. working surface hydraulic support posture and linearity testing apparatus according to claim 1 based on robot, special
Sign is：The detection operation device includes bottom plate（34）, laser receiver board（6）, feature contour scanning means（5）, it is unrestrained anti-
Penetrate plate（31）, camera（32）With gas concentration detection sensor（33）, bottom plate（34）Both ends be equipped with two pieces be arranged in parallel and
Just different laser receiver board（6）, the low laser receiver board of height（6）Lower part is equipped with feature contour scanning means（5）, separately
One piece of laser receiver board（6）Once mounting has diffusing reflection plate from top to bottom（31）, camera（32）It detects and senses with gas concentration
Device（33）.
3. working surface hydraulic support posture and linearity testing apparatus according to claim 2 based on robot, special
Sign is：The fixed reference reference laser emitter includes controller（41）, drop front（42）, laser range finder
（43）, fixed border（44）With reference laser beam transmitter（45）, fixed border（44）On controller is installed（41）, fixed edge
Frame（44）Inside is equipped with drop front（42）, fixed border（44）Top is equipped with control drop front（42）Mobile activity
Panel adjusting devices（46）, drop front（42）There are two reference laser beam transmitters for upper installation（45）, two reference laser beams
Transmitter（45）Between be provided with laser range finder（43）, controller（41）Control drop front adjusting apparatus（46）, with reference to swash
Light-beam transmitter（45）And laser range finder（43）.
4. a kind of inspection of working surface hydraulic support posture and linearity testing apparatus based on robot as claimed in claim 3
Survey method, it is characterised in that：Include the following steps
S100~fixed reference reference laser the emitter on first frame is allowed to be started to work first, one is determined using 2 points
Straight line principle, controller control adjusting apparatus mix up the direction of drop front and send out laser beam, then start to allow the present apparatus
It is moved successively since the second frame on hydraulic support；
S200~in moving process receives the coordinate of two beam laser and from fixed reference using two parallel laser receiver boards
The robot distance that reference laser emitter measures determines that robot is relatively fixed the posture of reference data, while utilizing spy
Profile scanner is levied, the figuratrix shape for representing Hydraulic Support Posture is measured, to calculate holder relative scanning instrument to be measured
Relative position, obtain the relative attitude of each hydraulic pressure and fixed reference benchmark and the straightness of institute's survey holder；
S300~Hydraulic Support Posture and the specific computation model of straightness are as follows, it is assumed that holder shares N+1 framves, chooses hydraulic support
Characteristic point on pedestal in a feature contour is unified measurement point, and when uplink, the first frame that number is 0 is fixed reference benchmark,
If its coordinate is actual zero point T0=（a0, b0, c0, d0, e0, f0）=（X is moved, and Y is moved, and Z is moved, and X turns, and Y turns, and Z turns）=（0,0,0,0,0,
0）；When downlink, the tailstock that number is N is fixed reference benchmark；
The first step measures the relatively first frame feature point coordinates of scanner in mobile robot：First turn on fixed reference reference laser
Emitter and to launch two harness shapes be criss-cross parallel laser, while laser range finder thereon starts detection walking
The distance value of device and first frame simultaneously wirelessly emits to robot；When the branch to be measured that running gear walking is 1 to number
On frame and when adjusting good position, the coordinate of two beam laser on it is measured with two self-contained parallel laser receiver boards, together
When receive the distance value sent of laser range finder, calculated by the geometry such as three plane projections and solution plane triangle, obtain scanning
The coordinate T of the relatively first frame feature origin of instrument1’=（a1', b1', c1', d1', e1', f1’）；
Second step measures characteristic point relative scanning instrument on the holder to be measured that number is 1 while measuring scanner spatial position
Coordinate, spatial position and the shape of feature contour are scanned using spatial digitizer, then according to its location and shape extract
Go out coordinate T of the characteristic point relative to scanner1’’=（a1' ', b1' ', c1' ', d1' ', e1' ', f1’’）；
Third walks, and calculates the posture and straightness of holder to be measured, the posture of holder 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 holder i to be measured is
Ti= Ti’+Ti’’；The straightness of entire holder group (0-N) is fIt is horizontal=max(b0~bN)- min(b0~bN), fVertically=max(c0~
cN)- min(c0~cN)；
S400~working face inspection, the camera and gas concentration sensor being mounted in detection operation mechanism are constantly working face
Each equipment image information and gas concentration information pass to surface personnel, with each equipment operation condition in monitoring face.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810358596.0A CN108663032B (en) | 2018-04-20 | 2018-04-20 | Working face hydraulic support posture and straightness detection device and method based on robot |
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|---|---|---|---|
| CN201810358596.0A CN108663032B (en) | 2018-04-20 | 2018-04-20 | Working face hydraulic support posture and straightness detection device and method based on robot |
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| CN108663032A true CN108663032A (en) | 2018-10-16 |
| CN108663032B CN108663032B (en) | 2020-07-03 |
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Cited By (7)
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|---|---|---|---|---|
| CN110108202A (en) * | 2019-03-01 | 2019-08-09 | 太原理工大学 | A kind of hydraulic support apparatus for detecting position and posture and method |
| CN110260824A (en) * | 2019-06-14 | 2019-09-20 | 广东博智林机器人有限公司 | The acquisition device and method of wallboard recess edge angle |
| CN110455279A (en) * | 2019-08-28 | 2019-11-15 | 燕山大学 | A kind of indirect measuring instrument of six degree of freedom |
| CN111442759A (en) * | 2020-03-05 | 2020-07-24 | 天地科技股份有限公司 | Combine and adopt unified monitoring system of working face equipment position appearance |
| 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 |
| CN115075857A (en) * | 2022-08-18 | 2022-09-20 | 中煤科工开采研究院有限公司 | Quantitative pushing method and system for hydraulic support |
| CN115371597A (en) * | 2022-09-13 | 2022-11-22 | 山东科技大学 | Working face hydraulic support base position precision checking method |
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| 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 |
| CN115075857A (en) * | 2022-08-18 | 2022-09-20 | 中煤科工开采研究院有限公司 | Quantitative pushing method and system for hydraulic support |
| CN115371597A (en) * | 2022-09-13 | 2022-11-22 | 山东科技大学 | Working face hydraulic support base position precision checking method |
| 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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