CN113075650A - Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit - Google Patents
Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit Download PDFInfo
- Publication number
- CN113075650A CN113075650A CN202110360813.1A CN202110360813A CN113075650A CN 113075650 A CN113075650 A CN 113075650A CN 202110360813 A CN202110360813 A CN 202110360813A CN 113075650 A CN113075650 A CN 113075650A
- Authority
- CN
- China
- Prior art keywords
- uwb
- time
- measurement unit
- real
- uwb radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000005641 tunneling Effects 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 43
- 238000009412 basement excavation Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000001914 filtration Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 3
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 16
- 230000008569 process Effects 0.000 abstract description 9
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000002817 coal dust Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention provides an underground roadway excavation equipment real-time positioning method based on UWB and inertial units, which comprises the following steps: measuring coordinates of a UWB radar transmitter and a UWB radar receiver under a geographic coordinate system; and the position relation among the inertia measurement unit, the UWB radar and the tunneling equipment; solving an initial coordinate and an initial attitude angle of the tunneling equipment in the moving process; and further obtaining the real-time position and the real-time attitude angle of the tunneling equipment through an inertial measurement unit, processing the observed value and the action value in a Kalman filtering mode, and correcting the positioning error. The positioning device adopted by the invention has a simple structure, and the obtained positioning information of the machine body is complete and has high reliability; the UWB radar realizes the ranging only related to time parameters and is not influenced by the external environment; the automatic positioning system can automatically position the tunneling equipment in real time, and manual intervention is not needed in the positioning process; the safe and efficient roadway excavation is realized, and the technical support is provided for the unmanned and intelligent coal mine roadway excavation equipment.
Description
Technical Field
The invention relates to the technical field of engineering machinery positioning, in particular to a UWB and inertial unit-based real-time positioning method for underground roadway excavation equipment.
Background
With the development of coal mine equipment technology, the mechanical tunneling of domestic coal mine tunnels is gradually realized in a tunneling mode mainly by manpower in the past, but the manpower cannot be completely liberated from the coal mine tunnels. The cantilever type heading machine is mainly used for coal mine roadway heading in China, the coal mine heading working face is still a coal mine accident frequently-occurring region in China, the automation and intelligentization level of heading equipment needs to be improved urgently, and the method has extremely important significance for ensuring the safe and efficient production of coal mines in China.
The coal mine tunnel excavation mainly adopts a cantilever type excavator or a comprehensive excavator, and is matched with a continuous belt conveying device to realize rapid excavation and transportation. In the excavation link, a measuring team continuously measures from a geodetic standard until the measuring team reaches the roadway, a laser pointing light source is arranged to point to the excavation surface from the rear, and the top surface, the bottom surface and the two sides of the excavation surface are determined by taking pointing laser spots as the standard. Due to the fact that coal dust concentration of a digging site is extremely high and visibility is extremely poor, the excessive and insufficient digging amount of the top bottom plate and the two sides needs to be measured repeatedly by manually holding the tape measure in a hand mode. On one hand, by the construction in the mode, personnel must stand near the excavation face to operate, coal dust is large and is close to an unsupported area, and great health threat and potential safety hazard are caused to operators; on the other hand, the shape control of the excavation section depends on manual visual and empirical judgment, the over-excavation and the fluctuation of the cutting section are serious, the inconvenience is brought to supporting, and the collapse risk is increased.
The existing positioning system has a complex structure, can not obtain six physical parameters of the space pose of an object to realize accurate positioning, needs to set a fixed or movable reference mark or base station in a tunnel, needs to manually fix the reference mark or participate in the navigation process of the heading machine through a plurality of wireless positioning base station robots and point measurement, is not completely released manually, and has certain limitation on coal mine tunnel positioning.
In summary, there is an urgent need for a real-time positioning method for underground roadway excavation equipment based on UWB and inertial units to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a UWB and inertia unit-based underground roadway excavation equipment real-time positioning method, and aims to solve the problems that the existing coal mine roadway excavation equipment positioning method cannot acquire all pose parameters of a machine body in a geodetic coordinate system, real-time measurement is limited, a measurement result is inaccurate, safe and efficient intelligent excavation cannot be realized, and the like.
In order to achieve the aim, the invention provides a real-time positioning method of underground roadway excavation equipment based on a UWB and an inertia unit, which adopts a positioning device, wherein the positioning device comprises a UWB (ultra wide band) radar transmitter, a UWB radar receiver and an inertia measurement unit; the UWB radar transmitter is arranged in the roadway, and the UWB radar receiver and the inertia measurement unit are arranged on the tunneling equipment; the positioning method comprises the following steps:
the method comprises the following steps: measuring coordinates of the UWB radar transmitter and the UWB radar receiver under a geographic coordinate system; measuring the position relation of the inertia measurement unit relative to the tunneling equipment; measuring the position relation of the UWB radar relative to the inertial measurement unit; determining the coordinates (X) of the heading device in the course of movement in a geographical coordinate system0,Y0,Z0) And an initial attitude angle of (beta)0,α0,γ0) Wherein α is0Is a pitch angle, beta0Is a roll angle, gamma0Is a yaw angle;
step two: displacement increments delta X, delta Y and delta Z of the tunneling equipment in X, Y, Z directions and angle offsets delta beta, delta alpha and delta gamma around X, Y, Z axes are obtained through an inertia measurement unit; further obtaining the real-time position (X) of the tunneling equipment in the driving process0+ΔX,Y0+ΔY,Z0+ Δ Z), and a real-time attitude angle of (β)0+Δβ,α0+Δα,γ0+Δγ)；
Step three: observing the position of the tunneling equipment by combining a UWB radar ranging mode to obtain an observed value; and obtaining an action value of the tunneling equipment through an inertia measurement unit, processing the observed value and the action value in a Kalman filtering mode, and correcting a positioning error.
Further, the coordinates of the UWB radar transmitter and the UWB radar receiver in a geographic coordinate system, the position relation of the inertial measurement unit relative to the tunneling device and the position relation of the UWB radar relative to the inertial measurement unit are measured through a total station or a manual paying-off mode.
Further, the inertial measurement unit is provided with a self-calibrated single-axis laser gyroscope.
Furthermore, the inertia measurement unit contains three single-axis accelerometers; the three single-axis accelerometers provide real-time acceleration a of the tunneling equipment in three intersecting vertical directions of the X, Y, Z axes during driving workx、ay、az(ii) a The integral of the acceleration with respect to time yields the velocity component V in each directionx、Vy、VzThen, the time is integrated again to obtain the displacements Δ X, Δ Y, and Δ Z in the respective directions.
Furthermore, the inertia measurement unit contains three single-axis laser gyroscopes; the three uniaxial laser gyroscopes measure angular accelerations alpha around X, Y, Z three axes respectivelyβ、αα、αγAngular velocity ω around X, Y, Z three axes is obtained by integration over timeβ、ωα、ωγFurther integrating the angular velocity with the time to obtain the enclosure of the tunneling equipmentAngular offsets Δ β, Δ α, Δ γ about three axes X, Y, Z.
Furthermore, in the data measured by the inertial measurement unit, the roll angle delta beta and the pitch angle delta alpha are corrected and observed in real time through gravity, and the yaw angle delta gamma is periodically reset to zero through a self-calibration function equipped by the inertial measurement unit; errors generated by the longitudinal offset and the vertical offset are limited by tires of a machine body of the tunneling equipment, so that the precision of accurate positioning is met; the lateral offset error is not limited and cannot be automatically corrected, and the lateral offset error is required to be corrected as time increases quadratically.
The technical scheme of the invention has the following beneficial effects:
the invention is based on UWB radar and inertia measurement unit, and obtains the precise position and attitude information of the equipment in a certain space in real time through a plurality of technical means. Through a UWB radar, the position (lateral offset, longitudinal offset and vertical offset) and the posture (roll angle, yaw angle and pitch angle) of the machine body relative to the ground horizontal plane are obtained through an inertia measuring unit, and finally the real-time pose information of the tunneling equipment is calculated out. The invention has simple structure, can obtain all the information of the positioning of the machine body and has high reliability; the invention solves the problem of real-time acquisition and analysis of information such as spatial position, attitude judgment and the like of engineering machinery and the like in the construction operation processes of underground engineering, coal mine tunnel, tunnel excavation and the like, is not influenced by visibility, air content, harmful gas content and the like due to the determination of a basic principle, and is the first step for realizing intellectualization, remote control and unmanned operation of underground engineering construction equipment. The positioning process does not need manual intervention, safe and efficient roadway tunneling is realized, and unmanned and intelligent technical support is provided for coal mine roadway tunneling equipment.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a coal mine roadway space coordinate system definition;
FIG. 2 is a diagram of a UWB + inertial measurement unit combination measurement positioning system.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 and 2, the embodiment of the invention relates to a method for positioning underground roadway excavation equipment in real time based on a UWB and an inertia unit, and is applied to positioning excavation equipment in a coal mine roadway.
A real-time positioning method of underground roadway excavation equipment based on UWB and inertia units adopts a positioning device, as shown in figure 2, the positioning device comprises a UWB radar transmitter, a UWB radar receiver and an inertia measurement unit; the UWB radar transmitter is installed in the roadway, and the UWB radar receiver and the inertia measurement unit are installed on the tunneling equipment.
Fig. 1 is a schematic diagram of a coal mine roadway space coordinate system definition, and a right-hand coordinate system is established by taking a roadway driving direction as an x axis and a direction perpendicular to the roadway as a z axis. The spatial position of an object can be determined by three offsets, namely the value of X, Y, Z in a coordinate system, which are the lateral offset, the longitudinal offset and the vertical offset of an object in a coordinate reference system. And three rotation angles of a roll angle, a yaw angle and a pitch angle under a coordinate system of the three-dimensional space coordinate system, namely the six physical parameters describe the spatial position and the attitude of any object in the space in detail and accurately.
The positioning method comprises the following steps:
firstly, when the equipment is started, measuring the coordinates and inertia of a UWB radar transmitter and a UWB radar receiver under a geographic coordinate system through various mature measuring means (such as a total station and manual line laying) and other measuring equipmentThe position relation of the navigation relative to the equipment and the position relation of the radar relative to the inertial navigation. In the moving process of the equipment, the position of the UWB radar receiver is constantly changed, the UWB radar measures the distance between the UWB radar transmitter and the UWB radar receiver in real time, the initial position coordinates of the UWB radar transmitter and the UWB radar receiver are combined, the coordinates under the geographic coordinate system of the UWB radar receiver in the moving process can be obtained, and the coordinates (X) of the equipment in the geographic coordinate system in the moving process can be obtained through the corresponding position conversion relation0,Y0,Z0). The inertial measurement unit is provided with a self-calibrated uniaxial laser gyroscope, and the initial yaw angle gamma is set0Is zero, pitch angle alpha0With transverse roll angle beta0Is realized by the acceleration of gravity. The initial attitude angle of the vehicle body is (beta)0,α0,γ0)。
Step two, in the running process of the equipment, real-time acceleration a in X, Y, Z three intersecting vertical directions is provided by the three accelerometers through a vehicle-mounted inertia measurement unit (comprising three single-axis accelerometers and three single-axis laser gyroscopes)x、ay、azThe velocity component V in each direction can be obtained by integrating the acceleration with respect to timex、Vy、VzThe displacements Δ X, Δ Y, Δ Z in the respective directions can be obtained by integrating the time again. The coordinate of the coordinate origin of the coordinate system of the vehicle body relative to the coordinate system of the earth or the roadway is (X)0+ΔX,Y0+ΔY,Z0+ Δ Z). The angular acceleration alpha around X, Y, Z three axes is measured by a laser gyroscope in an on-board inertial measurement unitβ、αα、αγAngular velocity ω around X, Y, Z three axes is obtained by integration over timeβ、ωα、ωγFurther integration of angular velocity over time yields the angular offsets Δ β, Δ α, Δ γ of the device around the three axes X, Y, Z. Further obtaining the real-time attitude angle (beta) of the equipment in the driving process0+Δβ,α0+Δα,γ0+ Δ γ). Therefore, the six pose parameters of the machine body under the roadway coordinate system are all obtained.
And step three, due to the working principle of the inertia measurement unit (comprising three single-axis accelerometers and three single-axis laser gyroscopes), the laser gyroscopes can drift along with time, so that the motion value errors of the machine body are secondarily accumulated to the time, the quadratic growth is presented, and the positioning accuracy is reduced. Therefore, the position of the machine body is observed in a UWB radar ranging mode to obtain an observed value, the observed value and the action value are processed in a Kalman filtering mode, and the error is timely corrected and reduced.
In the data measured by the inertial measurement unit, the roll angle delta beta and the pitch angle delta alpha can be corrected and observed in real time through gravity, and the yaw angle delta gamma can only be periodically reset to zero through a self-calibration function equipped by the inertial measurement unit. The errors generated by the longitudinal offset and the vertical offset are limited by the tires of the machine body, and the precision of accurate positioning is met. The lateral offset error is not limited and cannot be automatically corrected, and the lateral offset error is required to be corrected as time increases quadratically. According to the invention, the observation value of UWB radar ranging and the action value of the inertia measurement unit are analyzed and processed in a Kalman filtering mode, so that the positioning is more accurate.
By the steps, six physical parameters describing the pose of the fuselage can be obtained, and accurate positioning is realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A real-time positioning method of underground roadway excavation equipment based on UWB and inertia units adopts a positioning device, wherein the positioning device comprises a UWB radar transmitter, a UWB radar receiver and an inertia measurement unit; the UWB radar transmitter is arranged in the roadway, and the UWB radar receiver and the inertia measurement unit are arranged on the tunneling equipment; the method is characterized by comprising the following steps:
the method comprises the following steps: measuring coordinates of the UWB radar transmitter and the UWB radar receiver under a geographic coordinate system; measuring the position relation of the inertia measurement unit relative to the tunneling equipment; measuring the position relation of the UWB radar relative to the inertial measurement unit; determining the coordinates (X) of the heading device in the course of movement in a geographical coordinate system0,Y0,Z0) And an initial attitude angle of (beta)0,α0,γ0) Wherein α is0Is a pitch angle, beta0Is a roll angle, gamma0Is a yaw angle;
step two: displacement increments delta X, delta Y and delta Z of the tunneling equipment in X, Y, Z directions and angle offsets delta beta, delta alpha and delta gamma around X, Y, Z axes are obtained through an inertia measurement unit; further obtaining the real-time position (X) of the tunneling equipment in the driving process0+ΔX,Y0+ΔY,Z0+ Δ Z), and a real-time attitude angle of (β)0+Δβ,α0+Δα,γ0+Δγ)；
Step three: observing the position of the tunneling equipment by combining a UWB radar ranging mode to obtain an observed value; and obtaining an action value of the tunneling equipment through an inertia measurement unit, processing the observed value and the action value in a Kalman filtering mode, and correcting a positioning error.
2. The method for real-time positioning of underground roadway excavation equipment based on the UWB and inertial unit of claim 1, wherein the step includes coordinates of the UWB radar transmitter and the UWB radar receiver under a geographic coordinate system, a position relation of the inertial measurement unit relative to the excavation equipment, and a position relation of the UWB radar relative to the inertial measurement unit, which are measured by a total station or a manual line-laying mode.
3. The real-time positioning method for underground tunneling equipment based on UWB and inertial unit according to claim 2, characterized in that the inertial measurement unit is equipped with a self-calibrated single-axis laser gyroscope.
4. The real-time positioning method for underground tunneling equipment based on UWB and inertia unit according to claim 3, characterized in that the inertia measurement unit contains three single-axis accelerometers; the three single-axis accelerometers provide real-time acceleration a of the tunneling equipment in three intersecting vertical directions of the X, Y, Z axes during driving workx、ay、az(ii) a The integral of the acceleration with respect to time yields the velocity component V in each directionx、Vy、VzThen, the time is integrated again to obtain the displacements Δ X, Δ Y, and Δ Z in the respective directions.
5. The real-time positioning method for underground roadway driving equipment based on the UWB and inertia unit as claimed in claim 4, wherein the inertia measurement unit contains three single-axis laser gyroscopes; the three uniaxial laser gyroscopes measure angular accelerations alpha around X, Y, Z three axes respectivelyβ、αα、αγAngular velocity ω around X, Y, Z three axes is obtained by integration over timeβ、ωα、ωγAnd further integrating the angular speed with time to obtain the angular offsets delta beta, delta alpha and delta gamma of the tunneling device around X, Y, Z three axes.
6. The real-time positioning method for the underground roadway tunneling equipment based on the UWB and the inertia unit according to any one of claims 3-5, characterized in that in the data measured by the inertia measurement unit, the roll angle delta beta and the pitch angle delta alpha are corrected and observed in real time through gravity, and the yaw angle delta gamma is periodically reset to zero through a self-calibration function equipped by the inertia measurement unit; errors generated by the longitudinal offset and the vertical offset are limited by tires of a machine body of the tunneling equipment, so that the precision of accurate positioning is met; the lateral offset error is not limited and cannot be automatically corrected, and the lateral offset error is required to be corrected as time increases quadratically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110360813.1A CN113075650A (en) | 2021-04-02 | 2021-04-02 | Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110360813.1A CN113075650A (en) | 2021-04-02 | 2021-04-02 | Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113075650A true CN113075650A (en) | 2021-07-06 |
Family
ID=76615643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110360813.1A Pending CN113075650A (en) | 2021-04-02 | 2021-04-02 | Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113075650A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114018273A (en) * | 2021-10-09 | 2022-02-08 | 天地（常州）自动化股份有限公司 | Precise positioning system and positioning method for autonomous driving vehicles in coal mines |
| CN114440876A (en) * | 2022-01-21 | 2022-05-06 | 北京自动化控制设备研究所 | A kind of underground roadheader positioning and guiding method and underground roadheader positioning and guiding system |
| CN114689046A (en) * | 2022-05-27 | 2022-07-01 | 浙江智慧视频安防创新中心有限公司 | Method and system for unmanned aerial vehicle to inspect tunnel |
| CN118815498A (en) * | 2024-09-19 | 2024-10-22 | 山西沣庆恒能源科技有限公司 | Over-excavation monitoring and early warning method and system for tunneling working face based on artificial intelligence |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111637888A (en) * | 2020-06-15 | 2020-09-08 | 中南大学 | Tunneling machine positioning method and system based on inertial navigation and laser radar single-point distance measurement |
| CN111879314A (en) * | 2020-08-10 | 2020-11-03 | 中国铁建重工集团股份有限公司 | Multi-sensor fusion roadway driving equipment real-time positioning system and method |
| 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 |
| CN112414394A (en) * | 2020-11-05 | 2021-02-26 | 中国铁建重工集团股份有限公司 | Real-time positioning system and method for underground roadway driving equipment |
-
2021
- 2021-04-02 CN CN202110360813.1A patent/CN113075650A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111637888A (en) * | 2020-06-15 | 2020-09-08 | 中南大学 | Tunneling machine positioning method and system based on inertial navigation and laser radar single-point distance measurement |
| 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 |
| CN111879314A (en) * | 2020-08-10 | 2020-11-03 | 中国铁建重工集团股份有限公司 | Multi-sensor fusion roadway driving equipment real-time positioning system and method |
| CN112414394A (en) * | 2020-11-05 | 2021-02-26 | 中国铁建重工集团股份有限公司 | Real-time positioning system and method for underground roadway driving equipment |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114018273A (en) * | 2021-10-09 | 2022-02-08 | 天地（常州）自动化股份有限公司 | Precise positioning system and positioning method for autonomous driving vehicles in coal mines |
| CN114440876A (en) * | 2022-01-21 | 2022-05-06 | 北京自动化控制设备研究所 | A kind of underground roadheader positioning and guiding method and underground roadheader positioning and guiding system |
| CN114440876B (en) * | 2022-01-21 | 2024-04-02 | 北京自动化控制设备研究所 | Positioning and guiding method and system for underground heading machine |
| CN114689046A (en) * | 2022-05-27 | 2022-07-01 | 浙江智慧视频安防创新中心有限公司 | Method and system for unmanned aerial vehicle to inspect tunnel |
| CN118815498A (en) * | 2024-09-19 | 2024-10-22 | 山西沣庆恒能源科技有限公司 | Over-excavation monitoring and early warning method and system for tunneling working face based on artificial intelligence |
| CN118815498B (en) * | 2024-09-19 | 2024-11-15 | 山西沣庆恒能源科技有限公司 | Tunneling working face super-tunneling monitoring and early warning method and system based on artificial intelligence |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113075650A (en) | Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit | |
| CN111412911A (en) | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot | |
| CN109579831B (en) | Visual aided guidance method and system for mining cantilever roadheader | |
| CN105241444B (en) | A kind of boom-type roadheader spatial pose automatic checkout system and its measurement method | |
| CN105737825B (en) | A kind of cutting head of roadheader position measuring system | |
| CN112414394A (en) | Real-time positioning system and method for underground roadway driving equipment | |
| CN109974715B (en) | Tunneling machine autonomous navigation system and method combining strapdown inertial navigation and light spot identification | |
| CN110702109B (en) | Coal mining machine inertial navigation/wireless sensor network combined positioning method | |
| CN109296370B (en) | Tunneling method and system for automatic surveying and mapping positioning | |
| CN111879314B (en) | Multi-sensor fusion roadway driving equipment real-time positioning system and method | |
| CN104776843A (en) | Boom-type roadheader body and cutting head pose detection method | |
| CN110847905A (en) | Autonomous navigation system and method for coal mining machine | |
| CN102322857A (en) | Position and posture measuring system and method for mechanical equipment | |
| CN111637888B (en) | Tunneling machine positioning method and system based on inertial navigation and laser radar single-point distance measurement | |
| CN109540130A (en) | A kind of continuous milling machine inertial navigation positioning and orienting method | |
| CN108868772B (en) | A fast collimation control method for continuous miner | |
| CN113236363B (en) | Mining equipment navigation positioning method, system, equipment and readable storage medium | |
| CN110095135B (en) | Method and device for positioning and orientation of roadheader | |
| CN108132476A (en) | A kind of engineering machinery hopper alignment system and method | |
| CN107121082A (en) | Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method | |
| CN110530358A (en) | Car body navigation positional device and navigation system and method | |
| CN113970329A (en) | Strapdown inertial navigation and laser sensing combined heading machine pose detection system and method | |
| CN204705359U (en) | A kind of boom-type roadheader fuselage and cutting head pose detection system | |
| CN211950491U (en) | Autonomous navigation system of coal mining machine | |
| CN111396047A (en) | Measuring and positioning system and method for coal face equipment group |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210706 |