CN111412911A - Multi-sensor combined navigation system of coal mine underground continuous coal mining robot - Google Patents
Multi-sensor combined navigation system of coal mine underground continuous coal mining robot Download PDFInfo
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- 239000003245 coal Substances 0.000 title claims abstract description 45
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Abstract
The invention relates to a multi-sensor combined navigation system of a continuous coal mining robot in a coal mine, which comprises a continuous mining machine body, a main controller assembly, an inclination angle sensor, a distance measuring radar, an inertial navigation assembly, a total station assembly and an upper computer system, realizes high-precision positioning orientation and pose adjustment of the continuous mining machine under the condition of a mineworker, solves the problem of inaccurate measurement caused by too much float coal and too many caterpillar bands of a mileometer, and has high accuracy and strong reliability of calibration information acquired by the total station; the visualization degree is high, and the continuous miner driver can be effectively and remotely guided to carry out mining operation.
Description
Technical Field
The invention relates to the technical field of underground coal mine navigation, in particular to a multi-sensor combined navigation system of a continuous coal mining robot in an underground coal mine.
Background
In the industrial production of coal in China, the technical development and progress of the continuous mining machine and the anchor driving machine have important significance for developing comprehensive mechanical mining, improving the mining efficiency, guaranteeing the safe production of mines and reducing the labor intensity of workers. Although the continuous coal mining machine technology in China has been advanced sufficiently, the equipment can not solve the problems of self-positioning navigation and accurate posture acquisition all the time due to the specific mechanical structure of each tunneling and mining equipment system and the complex mining operation mode requirements.
In the coal mining operation process of the continuous miner, the width of a target roadway is often wider than that of a cutting head of the continuous miner, and a second cutter is needed for cutting. In the process of cutting by the second cutter, the heading of the continuous mining machine needs to be controlled, the relative position relation of the continuous mining machine and the cutting head in the roadway needs to be determined, and the distance between the side edge of the machine body and the side wall of the roadway is determined so as to control the integral forming width of the roadway after the cutting by the second cutter to meet the requirement.
In the Chinese patent document with the publication number of CN109540130A and the name of 'a continuous mining machine inertial navigation positioning and orientation method', a continuous mining machine inertial navigation positioning and orientation method is provided, in which a speedometer is combined with an inertial navigation component, position information measured by the speedometer is fused with position information measured by the inertial navigation component through a fast Kalman filtering algorithm, so as to reduce drift errors generated by time dispersion of the inertial navigation component, in the Chinese patent document with the publication number of CN208314566U and the name of 'a continuous mining machine fast collimation control system', a continuous mining machine fast collimation control system is provided, the continuous mining machine compares the motion trajectory information of the continuous mining machine measured by a gyroscope, an accelerometer and the speedometer mounted thereon with the motion trajectory information of the continuous mining machine calculated by a P L C control system, and corrects the motion direction of the continuous mining machine in real time and reflects the motion direction of the continuous mining machine in real time, the control of the continuous mining machine is calculated by a P L C control system, the information is compared with the real-time high-precision motion trajectory information of the continuous mining machine and the real-time correction of the continuous mining machine motion trajectory information of the continuous mining machine, the continuous mining machine is provided by a laser navigation device, the overhead video camera is provided by a remote video camera, the overhead video camera is provided by the overhead video camera, the video camera is provided by the video camera, the video camera.
In the above patent application documents related to the inertial navigation combination positioning of the continuous miner, a measuring element, i.e., an odometer, is used as an auxiliary position measuring means of the continuous miner to compensate for drift errors caused by time accumulation of inertial navigation, but in actual underground working conditions, the track slipping phenomenon is caused because the track is often submerged by float coal, and at the moment, the position information measured by the odometer has a large deviation, so that the error compensation performed on the inertial navigation as accurate information can generate a larger error.
In the above patent application documents relating to the control of the heading direction of the continuous mining machine and the heading and anchoring machine, the reference is provided for the continuous mining machine and the heading and anchoring machine only in the course angle direction, the pose information of the machine body and the cutting head under the geographic coordinate system is not measured, the specific position and posture of the cutting arm and the machine body cannot be visually presented, and the deviation is increased if the yaw occurs.
In the four patent documents for solving the navigation problem of the continuous miner, the direction problem of the continuous miner is only considered when the continuous miner carries out first-cut mining operation, and the cutting width of the second cutter cannot be ensured to be consistent with the expected width only by using inertial navigation laser to carry out direction navigation because the side distance of the machine body relative to the roadway side wall cannot be known when the second cutter is used for cutting. Assuming that the width of the target roadway is 5.0m and the width of the standard cutting head of the continuous mining machine is 3.6m, the roadway with the width of 1.4m needs to be cut again in the second cutter cutting process, and the distance between the body of the continuous mining machine and the side wall is 1.4m at the moment. The distance of the machine body relative to the side wall and the working face can be measured in real time by the ranging radar, and the side wall distance is measured by the ranging radar when the continuous mining machine cuts the second cutter so as to ensure that the width of the mining roadway is consistent with that of the target roadway.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-sensor combined navigation system of a continuous coal mining robot in a coal mine, aiming at the defects and shortcomings of the prior art, the position and posture information of a continuous mining machine body and a cutting head can be fed back and corrected in real time by utilizing a distance measuring radar in cooperation with an inertial navigation component, an inclination angle sensor component and a total station component, and the width of a formed roadway of the continuous mining machine during cutting by a second cutter and even a third cutter is ensured to be consistent with the width of a target roadway.
The technical scheme adopted by the invention for solving the technical problems is as follows: the multi-sensor combined navigation system of the coal mine underground continuous coal mining robot is constructed, and comprises a continuous mining machine body, an inclination angle sensor, a distance measuring radar, an inertial navigation component, a main controller component, a total station component and an upper computer system; the inclination angle sensor assembly is arranged at the position of the cutting arm of the continuous miner; the ranging radar component is arranged at the center of the continuous miner body; the inertial navigation component is arranged at the left side position of the continuous miner body and is parallel to the axis of the miner body; the main controller assembly is arranged at the right side position of the continuous miner body; the total station assembly comprises a total station and a prism group, the total station is arranged on a track at the rear side of the continuous miner, and the prism group is arranged at the rear part of the machine body of the continuous miner.
Furthermore, the inclination angle sensor assembly obtains the pitching angle of the cutting arm through measurement and transmits the pitching angle back to the main control machine assembly for calculation.
Furthermore, the ranging radar component is arranged at the center of the continuous mining machine body, and the effective measurement range of the ranging radar is 270 degrees. And taking the axis of the machine body as a reference, taking 45-degree areas on the left and right sides of the rear side of the machine body as the positions of the formed tunnels, not measuring, and taking the other 270-degree areas as effective measuring positions. The distance information measured by the ranging radar is transmitted back to the main controller assembly, the distance between the machine body and the side wall and the distance between the machine body and the front side can be obtained, the relative position of the continuous mining machine in the roadway is determined, meanwhile, the main controller assembly can calculate the relative course angle information of the machine body relative to the roadway through inverse trigonometric function operation, a real-time three-dimensional model of the roadway and the machine body can be obtained through system calculation simulation, and a reference is provided when the continuous mining machine performs second-cutter cutting so as to ensure that the actual roadway width is consistent with the target roadway width.
Further the inertial navigation assembly is composed of an accelerometer and a gyroscope. The accelerometer can calculate the speed and position information of the continuous mining machine under the body coordinate system by measuring the acceleration of the continuous mining machine in three coordinate directions under the body coordinate system and integrating the acceleration with time, and the speed and position information under the geographic coordinate system can be obtained by a mathematical platform in the navigation system and by utilizing a coordinate system transformation matrix for calculation. Meanwhile, angular velocity information under a navigation system measured by a gyroscope is subtracted from angular velocity information under a machine body coordinate system obtained by resolving the measured angular velocity information under the machine body coordinate system, so that angular velocity information under a geographic coordinate system can be obtained, an attitude matrix can be further obtained, and a course angle, a pitch angle and a roll angle of the machine body under the geographic coordinate system can be resolved by combining trigonometric function information in a coordinate conversion matrix.
And further, the pose information of the machine body measured by the inertial navigation component is transmitted back to the main controller component, is fused with the position information of the cutting arm measured by the tilt angle sensor, and can be used for calculating the position information of the cutting arm in a geographic coordinate system through a coordinate system conversion matrix.
Furthermore, the total station assembly measures the position information of the fuselage under a geographic coordinate system in real time, and transmits the position information back to the main controller assembly in real time in a wireless transmission mode to be compared with the position information measured by inertial navigation, so that the position information measured by the inertial navigation is compensated, and the error drift caused by the time-dependent dispersion of the inertial navigation is reduced.
And further, the main controller component collects and receives data of the tilt angle sensor component, the distance measuring radar component, the inertial navigation component and the total station component, and resolves the data, and transmits the resolved data back to the upper computer for visual display.
Compared with the prior art, the invention has the beneficial effects that: the multi-sensor combined navigation system of the underground continuous coal mining robot for the coal mine adopts the inclination angle sensor and the inertial navigation system to carry out combined measurement, can obtain the pose information of the cutting arm and the machine body in a geographic coordinate system through a coordinate system matrix conversion equation, has more complete information measured by the combined navigation system compared with laser-assisted positioning and video pointing targets, can realize high-precision positioning, orientation and pose adjustment of the continuous coal mining robot, and is used as a set of self-adaptive navigation system, so that the system is less interfered under the condition of underground work and has stronger reliability. The total station is adopted, the position of the continuous coal mining robot relative to a geographical coordinate system can be calibrated in real time, and information measured by the information transmission main controller assembly and the inertial navigation assembly is compared and compensated in a wireless transmission mode, so that drift errors of the inertial navigation system caused by time accumulation are reduced. Compared with the scheme that the inertial navigation system is combined with the odometer, the problem that the odometer is inaccurate in measurement due to too much float coal and too much caterpillar band slipping can be solved, and the calibration information acquired by the total station is high in accuracy and strong in reliability. The distance between the two sides of the continuous mining machine and the front side of the side wall can be measured by using a distance measuring radar, the relative position and the relative course angle of the machine body relative to the roadway can be obtained, the distance between the machine body and the side wall can be ensured when the continuous mining machine is subjected to second cutter cutting, the width of the roadway is effectively controlled, a real-time three-dimensional model of the roadway and the machine body can be obtained by resolving and simulating through a main controller assembly, the real-time three-dimensional model is transmitted to an upper computer for displaying, the visualization degree is.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a top view of the combined navigation system and continuous miner body of the present invention.
FIG. 2 is a front view of the combined navigation system and continuous miner body of the present invention.
FIG. 3 is a schematic diagram of a range radar measurement of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described are only for illustrating the present invention and are not to be construed as limiting the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the multi-sensor combined navigation system of the coal mine underground continuous coal mining robot comprises a continuous mining machine body 1, an inclination angle sensor assembly 2, a distance measuring radar assembly 3, an inertial navigation assembly 4, a main controller assembly 5, a total station assembly 6 and an upper computer system 7; the inclination angle sensor component 2 is arranged at the position of the cutting arm of the continuous miner; the ranging radar component 3 is arranged at the center of the continuous miner body; the inertial navigation component 4 is arranged at the left side of the continuous miner body and is parallel to the axis of the miner body; the main controller component 5 is arranged on the right side of the continuous miner body; the total station assembly 6 is divided into a total station 61 and prism groups 62 and 63, the total station is arranged on a track at the rear side of the continuous miner, and the prism groups are arranged at the rear part of the fuselage of the continuous miner.
The inclination angle sensor component 2 obtains the pitching angle of the cutting arm through measurement and transmits the pitching angle back to the main control machine component 5 for calculation.
Ranging radar subassembly 3 is installed in 1 fuselage central point of continuous miner body and is put, and ranging radar's effective measuring range is 270. And taking the axis of the machine body as a reference, taking 45-degree areas on the left and right sides of the rear side of the machine body as the positions of the formed tunnels, not measuring, and taking the other 270-degree areas as effective measuring positions. The distance information measured by the ranging radar is transmitted back to the main controller component 5, the distance between the machine body and the side wall and the distance between the machine body and the front side can be obtained, the relative position of the continuous mining machine in the roadway is determined, meanwhile, the main controller can calculate the relative course angle information of the machine body relative to the roadway through inverse trigonometric function operation, a real-time three-dimensional model of the roadway and the machine body can be obtained through system calculation simulation, and a reference is provided when the continuous mining machine performs second-cutter cutting so as to ensure that the actual roadway width is consistent with the target roadway width. FIG. 3 is a schematic diagram of a range radar measurement.
The inertial navigation component 3 is composed of an accelerometer 31 and a gyroscope 32. The accelerometer 31 can calculate the speed and position information of the continuous mining machine in the body coordinate system by measuring the accelerations in three coordinate directions in the body coordinate system and integrating the accelerations with time, and the speed and position information in the geographic coordinate system can be obtained by the mathematical platform in the navigation system and the calculation of the coordinate system transformation matrix. Meanwhile, angular velocity information under the navigation system measured by the gyroscope 32 is subtracted from angular velocity information under the body coordinate system, which is solved by the measured velocity information under the body coordinate system, so that angular velocity information under the geographic coordinate system can be obtained, and further, an attitude matrix can be obtained.
The pose information of the machine body measured by the inertial navigation component 4 is transmitted back to the main controller component 5, and is fused with the position information of the cutting arm measured by the tilt angle sensor, and the position information of the cutting arm under a geographic coordinate system can be calculated through coordinate system conversion.
The total station assembly 6 measures the position information of the fuselage under the geographic coordinate system in real time, and transmits the position information back to the main controller assembly 5 and the position information measured by the inertial navigation assembly 4 in real time in a wireless transmission mode to be compared, so that the position information measured by the inertial navigation assembly 4 is compensated, and the error drift caused by the time divergence of the inertial navigation assembly 4 is reduced.
The main controller component 5 collects and receives data of the tilt angle sensor component 2, the distance measuring radar component 3, the inertial navigation component 4 and the total station component 6, and resolves the data, and transmits the resolved data back to the upper computer system 7 for visual display.
Compared with the prior art, the invention has the beneficial effects that: the multi-sensor combined navigation system of the underground continuous coal mining robot for the coal mine adopts the inclination angle sensor and the inertial navigation system to carry out combined measurement, can obtain the pose information of the cutting arm and the machine body in a geographic coordinate system through a coordinate system matrix conversion equation, has more complete information measured by the combined navigation system compared with laser-assisted positioning and video pointing targets, can realize high-precision positioning, orientation and pose adjustment of the continuous coal mining robot, and is used as a set of self-adaptive navigation system, so that the system is less interfered under the condition of underground work and has stronger reliability. The total station is adopted, the position of the continuous coal mining robot relative to the geographical coordinate system can be calibrated in real time, and information is transmitted back to the main controller component in a wireless transmission mode, so that drift errors of the inertial navigation system caused by accumulation along with time are reduced. Compared with the scheme that the inertial navigation system is combined with the odometer, the problem that the odometer is inaccurate in measurement due to too much float coal and too much caterpillar band slipping can be solved, and the calibration information acquired by the total station is high in accuracy and strong in reliability. The distance between the two sides and the front side of the continuous mining machine and the front side of the side wall can be measured by using a distance measuring radar, the relative position and the relative course angle of the machine body relative to the roadway can be obtained, the distance between the machine body and the side wall can be ensured when the continuous mining machine is cut by a second cutter, the width of the roadway is effectively controlled, meanwhile, the real-time three-dimensional model of the roadway and the machine body can be obtained by resolving and simulating through a main controller assembly and is transmitted back to an upper computer system for displaying, the visualization degree is high, and the continuous mining machine driver can.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A multi-sensor combined navigation system of a continuous coal mining robot in a coal mine is characterized by comprising a continuous mining machine body, an inclination angle sensor, a distance measuring radar, an inertial navigation component, a main controller component, a total station component and an upper computer system; the inclination angle sensor assembly is arranged at the position of the cutting arm of the continuous miner; the ranging radar component is arranged at the center of the continuous miner body; the inertial navigation component is arranged at the left side position of the continuous miner body and is parallel to the axis of the miner body; the main controller assembly is arranged at the right side position of the continuous miner body; the total station assembly comprises a total station and a prism group, the total station is installed at a roadway fixing position behind the continuous mining machine, and the prism group is installed at the rear part of the machine body of the continuous mining machine.
2. The multi-sensor combined navigation system for the continuous coal mining robot in the underground coal mine according to claim 1, wherein the pitching angle of the cutting arm is measured by the inclination angle sensor assembly and is transmitted back to the main controller assembly for calculation.
3. The multi-sensor combined navigation system for the continuous coal mining robot in the underground coal mine according to claim 1, wherein a ranging radar component is arranged at the center of a continuous mining machine body, and the effective measurement range of the ranging radar is 270 degrees; taking the axis of the machine body as a reference, taking 45-degree areas on the left and right sides of the rear side of the machine body as the positions of the formed tunnels, not measuring, and taking the other 270-degree areas as effective measuring positions; the distance information measured by the ranging radar is transmitted back to the main controller assembly, the distance between the machine body and the side wall and the distance between the machine body and the front side are obtained, the relative position of the continuous mining machine in the roadway is determined, meanwhile, the main controller assembly can calculate the relative course angle information of the machine body relative to the roadway through inverse trigonometric function operation, a real-time three-dimensional model of the roadway and the machine body is obtained through simulation, and a reference is provided when the continuous mining machine performs second-knife cutting to ensure that the actual roadway width is consistent with the target roadway width.
4. The multi-sensor combined navigation system for the continuous coal mining robot in the underground coal mine according to claim 1, wherein the inertial navigation component consists of an accelerometer and a gyroscope, the accelerometer calculates speed and position information of the continuous coal mining machine under a machine body coordinate system by measuring acceleration in three coordinate directions under the machine body coordinate system and integrating time, and the speed and position information under a geographic coordinate system is obtained by a mathematical platform of the navigation component by utilizing a coordinate system conversion matrix; meanwhile, angular velocity information under a navigation system measured by a gyroscope is subtracted from angular velocity information under a machine body coordinate system, which is solved by the measured velocity information under the machine body coordinate system, so that angular velocity information under a geographic coordinate system is obtained, an attitude matrix is further obtained, and a course angle, a pitch angle and a roll angle of the machine body under the geographic coordinate system can be solved by combining trigonometric function information in a coordinate conversion matrix.
5. The multi-sensor combined navigation system for the continuous coal mining robot in the coal mine well according to claim 2, is characterized in that the pose information of the machine body measured by the inertial navigation component is transmitted back to the main controller component, is fused with the position information of the cutting arm, and is resolved into the position information of the cutting arm under a geographic coordinate system through a coordinate system transformation matrix.
6. The multi-sensor integrated navigation system for the continuous coal mining robot in the coal mine well according to claim 1, wherein the total station assembly measures position information of the body under a geographic coordinate system in real time, transmits the position information back to the main controller assembly in real time through a wireless transmission mode, compares the position information with the position information measured by inertial navigation, compensates the position information measured by inertial navigation, and reduces error drift caused by time dispersion of the inertial navigation.
7. The multi-sensor integrated navigation system for the continuous coal mining robot in the underground coal mine according to claim 1, wherein the main controller component collects and receives data of the inclination angle sensor component, the distance measuring radar component, the inertial navigation component and the total station component, calculates the data, and transmits the calculated data back to an upper computer for visual display.
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| CN112378399A (en) * | 2020-07-16 | 2021-02-19 | 西安科技大学 | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station |
| CN113064149A (en) * | 2021-03-12 | 2021-07-02 | 中国煤炭科工集团太原研究院有限公司 | Distance measuring radar-based navigation positioning method for tunneling equipment |
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