CN114662259A - Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation - Google Patents
Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation Download PDFInfo
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Abstract
The invention provides a three-dimensional positioning method and a three-dimensional positioning system for a coal mining machine based on high-precision inertial navigation, which can solve the problem of accurate autonomous positioning of the coal mining machine. The method comprises the following steps: constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine; receiving three-dimensional position information of a machine body collected by high-precision inertial navigation equipment and two-dimensional position information of a cutting mechanism collected by a positioning module; inputting the three-dimensional position information of the machine body into a three-dimensional model of a coal mining machine to obtain virtual position information of a cutting mechanism; inputting the two-dimensional position information and the virtual position information of the cutting mechanism into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism; and adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine. The system is based on the method described above. The method compensates the positioning error of the high-precision inertial navigation module by utilizing the position information of the cutting mechanism, and realizes the real-time positioning of the coal mining machine in the coal seam environment.
Description
Technical Field
The invention relates to the field of three-dimensional positioning, in particular to a coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation.
Background
The autonomous positioning of the coal mining machine is one of the key technologies for realizing an intelligent unmanned coal mining system. When coal is produced, the dust quantity of a fully mechanized mining working surface is huge, and a laser positioning technology cannot be used; the method is limited by a coal mining process, and satellite positioning technologies such as GPS and Beidou can not be adopted, so that the existing design scheme for autonomous positioning of the coal mining machine mostly adopts a high-precision inertial navigation module.
The high-precision inertial navigation module is an autonomous navigation module which does not depend on any external information and does not radiate energy to the outside, has good concealment, and can work in various complex environments such as air, underground, underwater and the like. The common high-precision inertial navigation module comprises a plurality of gyros, a plurality of linear accelerometers and a microcomputer, wherein the gyros and the accelerometers are respectively used for measuring angular motion information and linear motion information of the coal mining machine, and the microcomputer is used for calculating the direction, the posture, the speed and the position of the coal mining machine according to the measurement information.
However, the accurate autonomous positioning of the coal mining machine cannot be realized only by relying on the high-precision inertial navigation module. For example: the cutting mechanism (e.g., the cutter portion) of the shearer needs to be adjusted in real time to form a desired cutting section shape, and the loading mechanism (e.g., the loading portion) of the shearer needs to be matched in real time with the position of the cutting mechanism in order to accurately load the coal pieces broken down by the cutting mechanism into the face conveyor.
In view of this, there is a need to develop a three-dimensional positioning method and system for a coal mining machine based on high-precision inertial navigation, so as to solve the problem of precise positioning of the coal mining machine at a depth of hundreds of meters underground.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional positioning method and a three-dimensional positioning system for a coal mining machine based on high-precision inertial navigation.
The technical scheme for realizing the purpose of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a three-dimensional positioning method for a coal mining machine based on high-precision inertial navigation, including:
constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine;
receiving three-dimensional position information of a machine body acquired by high-precision inertial navigation equipment in real time and two-dimensional position information of a cutting mechanism acquired by a positioning module in real time;
inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;
inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
and adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine.
In this embodiment, constructing the three-dimensional model of the coal mining machine includes:
acquiring three-dimensional environmental data around the coal mining machine;
extracting a reference object profile around the coal mining machine based on the three-dimensional environment data;
matching the reference object outline with pre-collected coal bed information and roadway information;
and constructing a three-dimensional model of the coal mining machine according to the matching result.
In this embodiment, constructing the dynamic compensation model of the coal mining machine includes:
constructing a quantitative compensation model based on a nonlinear system;
collecting compensation data and uncompensated data of at least three dimensions of the coal mining machine, manually marking and mechanically expanding the compensation data to obtain expanded compensation parameters;
training a quantitative compensation model based on the extended compensation parameters;
the quantitative compensation model is verified using the compensated data and the uncompensated data.
In this embodiment, receive the three-dimensional position information of fuselage that high accuracy inertial navigation equipment gathered in real time, include:
installing high-precision inertial navigation equipment on a machine body of a coal mining machine;
the high-precision inertial navigation equipment collects three-dimensional position information of a machine body of the machine body in real time;
the high-precision inertial navigation equipment sends the three-dimensional position information of the machine body to a server through a communication module;
and the server receives the three-dimensional position information of the fuselage.
In this embodiment, the server runs a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine.
In this embodiment, the receiving and positioning module receives two-dimensional position information of the cutting mechanism, which is acquired by the positioning module in real time, and the receiving and positioning module includes:
selecting a reference point on a coal mining machine based on high-precision inertial navigation equipment, and constructing coordinates by taking the reference point as a coordinate point;
selecting or adding a plurality of positioning points on a cutting mechanism of the coal mining machine;
monitoring a plurality of positioning points in real time, and determining real-time coordinate points of the plurality of positioning points based on coordinates;
connecting all the real-time coordinate points to form a real-time outline of the cutting mechanism;
and the positioning module determines two-dimensional position information of the cutting mechanism according to the real-time contour.
In this embodiment, the inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain the virtual position information of the cutting mechanism includes:
inputting the speed, position posture and traveling direction of the coal mining machine in the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine;
inputting the current excavation depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed in the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine;
calculating position parameters and volume parameters of the current cutting coal blocks based on the speed, position posture and advancing direction of the coal mining machine, the current mining depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed;
and simulating virtual position information of the cutting mechanism according to the position parameters and the volume parameters of the cutting coal blocks.
In this embodiment, the inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain the real-time state parameters and the virtual state parameters of the cutting mechanism includes:
extracting two-dimensional virtual information corresponding to the two-dimensional position information from the virtual position information of the cutting mechanism;
inputting the two-dimensional position information into the dynamic compensation model of the coal mining machine to obtain real-time state parameters of the cutting mechanism;
and inputting the two-dimensional virtual information into the dynamic compensation model of the coal mining machine to obtain virtual state parameters of the cutting mechanism.
In this embodiment, the adjusting the three-dimensional model of the coal mining machine based on the difference between the real-time state parameter and the virtual state parameter to obtain three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine includes:
the real-time state parameters and the virtual state parameters are corresponded one by one;
calculating the deviation of each parameter;
obtaining relative errors of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation;
compensating the maximum positioning error of the position posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error to obtain compensated three-dimensional positioning information of the coal mining machine;
and acquiring the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.
In a second aspect, an embodiment of the present invention provides a three-dimensional positioning system for a coal mining machine based on high-precision inertial navigation, including:
the high-precision inertial navigation equipment is arranged on a machine body of the coal mining machine, and is used for acquiring three-dimensional position information of the machine body in real time, and the three-dimensional position information of the machine body is used as first position information and is transmitted to a computer through a communication module;
the positioning module is positioned on a cutting mechanism of the coal mining machine and used for acquiring two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is used as second position information and is transmitted to the computer through the communication module;
the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the computer module;
and the server is used for constructing a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine, receiving the first position information and the second position information in real time, and obtaining the three-dimensional positioning information of the coal mining machine by using the high-precision inertial navigation-based three-dimensional positioning method of the coal mining machine.
In this embodiment, the server inputs the first position information in the three-dimensional model of the coal mining machine to obtain virtual position information of the cutting mechanism;
the server respectively adjusts the dynamic compensation model of the coal mining machine according to the second position information and the virtual position information to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
and the server calculates the difference value between the real-time state parameter and the virtual state parameter, adjusts the virtual position information in the three-dimensional model of the coal mining machine based on the difference value, matches the virtual position information with the second position information in real time, and obtains the positioning information of the coal mining machine in the three-dimensional model of the coal mining machine until the virtual position information is consistent with the second position information.
Compared with the prior art, the invention has the beneficial effects that:
1. the high-precision inertial navigation equipment provided by the embodiment of the invention can position the machine body in real time, but the cutting mechanism can move relative to the machine body in the working process of the coal mining machine, so that the high-precision inertial navigation equipment cannot accurately position the cutting mechanism of the coal mining machine.
2. The high-precision inertial navigation equipment provided by the embodiment of the invention is matched with an inertial navigation system, a three-dimensional model of the coal mining machine can be embedded into the inertial navigation system for use, and the positioning information of the coal mining machine input in the inertial navigation system is compensated three-dimensional positioning information in the three-dimensional model of the coal mining machine.
3. According to the embodiment of the invention, a plurality of positioning points are selected under the same coordinate, the positioning points are used as marking points to obtain the position information of the cutting mechanism, and the position information of the cutting mechanism is utilized to compensate the positioning error of the high-precision inertial navigation module, so that the coal mining machine can be positioned in the coal seam environment in real time.
Drawings
Fig. 1 is a flow chart of a three-dimensional positioning method of a coal mining machine based on high-precision inertial navigation according to an embodiment of the present invention;
fig. 2 is a flowchart of the process of constructing the three-dimensional model of the coal mining machine in step S110 in fig. 1;
fig. 3 is a flowchart of the dynamic compensation model of the coal mining machine constructed in step S110 in fig. 1;
fig. 4 is a flowchart of the process of receiving the three-dimensional position information of the body acquired by the high-precision inertial navigation device in real time in step S120 in fig. 1; (ii) a
FIG. 5 is a flow chart of the two-dimensional position information of the cutting mechanism collected in real time by the receiving and positioning module of step S120 in FIG. 1;
FIG. 6 is a flowchart of step S130 in FIG. 1;
FIG. 7 is a flowchart of step S150 in FIG. 1;
fig. 8 is a schematic block diagram of a three-dimensional positioning system of a coal mining machine based on high-precision inertial navigation according to an embodiment of the present invention.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
The average well depth of coal mines in China exceeds 700 meters, and the average well depth of coal mines in Australia and America is 350 meters. The biggest difficult problem of coal mining in China is three-high, namely high casualty, high damage and high emission. The coal green mining target with zero casualty, zero damage and zero emission is realized, is difficult to realize by only common mechanized mining, and a path must be found out from intelligent mining.
The intelligent mining is robot-like production, multiple robots cooperatively work, the intelligent mining has the functions of autonomous positioning, automatic sensing and self-adaptive operation, the digitization and the internet of things of the whole mining process are realized, and the unmanned and the visual operation of equipment are realized. A robotized mining technology system comprises a coal mining robot, an unmanned scraper conveyor, an unmanned elevator, an unmanned vehicle and the like.
The coal mining operation robot is one of factors for changing manned mining into unmanned mining, namely, the manned mining is changed into the unmanned mining from original manpower mining to robot mining, and although the robot is also a human, the human is not a human of an original organism, but is a fusion body of the robot and intellectualization. The robot mining is from bionic, and the future is to be humanoid. The heading machine simulates the function of pangolin, the coal mining machine simulates the function of digging a ground mouse, the belt conveyor simulates the function of moving ant colony, and each carrier roller is equivalent to one ant. The coal mine robotized mining is realized by embedding or grafting artificial intelligence.
Based on the above, it is necessary to develop a three-dimensional positioning method and system for a coal mining machine based on high-precision inertial navigation, so as to realize accurate positioning of the coal mining machine in the ground by about 700 meters.
A coal mining machine in the conventional sense is one of the main devices of a fully mechanized mining plant, and is a coal mining machine that breaks down coal from a coal body (breaking coal) with a cutting mechanism and loads the coal into a face conveyor (charging coal) on a longwall coal face. The coal cutter runs (pulls) according to the traction speed of setting, makes broken coal and coal charging process can carry out continuously. The coal mining machine generally comprises a cutting mechanism, a loading mechanism, a traveling mechanism (traction mechanism), a motor, an operation control system, an auxiliary device and the like. Working mechanism and its mechanical transmission or driving device. When the cutting part is driven by a special motor, the cutting mechanism also comprises a cutting motor, the cutting mechanism is a part directly realizing the main functions of cutting, crushing and the like, a cutting pick is arranged on the cutting mechanism, the cutting pick breaks down coal from a coal body, and the cutting mechanism of some coal mining machines is provided with one or more auxiliary cutting mechanisms besides one main cutting mechanism in order to form the required cutting section shape. The mechanical transmission device of the cutting mechanism is used for transmitting power to the cutting mechanism so as to meet the requirements of the movement mode, the movement direction and the cutting speed of the cutting mechanism. The mechanical transmission device usually adopts gear transmission, generally can not change speed in the use process, but is provided with a special speed changing gear pair for replacement in installation so as to meet the requirement of cutting speed. The loading mechanism is a component for loading the coal blocks broken down by the cutting mechanism into the working face conveyor. The loading mechanism generally includes a loading assembly and a mechanical transmission. When the loading mechanism has a dedicated motor, which also comprises a loading motor, the loading mechanism can also be driven by the mechanical transmission of the cutting part.
In a first aspect, an embodiment of the present invention provides a three-dimensional positioning method for a coal mining machine based on high-precision inertial navigation, with reference to fig. 1, including the following steps:
s110, constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine;
s120, receiving three-dimensional position information of a machine body acquired by high-precision inertial navigation equipment in real time and two-dimensional position information of a cutting mechanism acquired by a positioning module in real time;
s130, inputting the three-dimensional position information of the machine body into a three-dimensional model of a coal mining machine to obtain virtual position information of a cutting mechanism;
step S1140, inputting the two-dimensional position information and the virtual position information of the cutting mechanism into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
and S150, adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine.
The three-dimensional model of the coal mining machine and the dynamic compensation model of the coal mining machine are constructed in the server, and the three-dimensional model of the coal mining machine is constructed based on the inertial navigation platform. According to the dynamic compensation model of the coal mining machine, disclosed by the embodiment of the invention, each compensation parameter is completed through training and learning. The training and learning of the dynamic compensation model of the coal mining machine is based on the environmental characteristic learning of the minimum deviation range, and when the virtual position of the cutting mechanism is observed on the three-dimensional model of the coal mining machine, the complex nonlinear relation exists among vectors of a coal mining machine body, a coal bed, a roadway, the excavation amount and the cutting coal block amount. The objective of discriminant learning is to reduce the number of misclassifications by minimizing the average cost function, (1) defining a discriminant function, (2) defining a misclassification measure, (3) defining a cost function, (4) defining a minimization of the average cost function, and (5) defining an average cost function. Thus, the environmental characteristics can be iteratively optimized continuously along the gradient descending direction of the average cost function. After the deviation characteristics are estimated, the deviation position of the cutting mechanism can be estimated on the basis, and training and identification are carried out by using the estimated deviation position.
The high-precision inertial navigation equipment provided by the embodiment of the invention is provided with the high-precision closed-loop fiber-optic gyroscope and the accelerometer, and the inertial navigation system is considered to be provided with the inertial navigation system, and the inertial navigation system is embedded with the inertial navigation algorithm to realize centimeter-level or even millimeter-level positioning on coal mine navigation.
In this embodiment, referring to fig. 2, the building of the three-dimensional model of the coal mining machine in step S110 includes the following steps:
step S110a, acquiring three-dimensional environment data around the coal mining machine;
step S110b, extracting a reference object profile around the coal mining machine based on the three-dimensional environment data;
step S110c, matching the outline of the reference object with the coal bed information and the roadway information which are collected in advance;
and S110d, constructing a three-dimensional model of the coal mining machine according to the matching result.
The three-dimensional environment data of the embodiment of the invention is scanned by a high-definition camera. The high-definition camera is a high-precision and high-resolution camera which can be used in an explosive gas environment.
In the embodiment of the invention, the pre-acquired coal bed information and roadway information are firstly coal bed information explored based on a coal mine, for example, in order to reveal a coal system and acquire a coal sample, various roadways are excavated by using a roadway detection technology to detect the coal bed information, and the coal bed information comprises a layer structure, coal types, coal quality and change, coal bed occurrence, faults with a fall larger than 20m and the like of the coal bed.
Reference object profiles for embodiments of the present invention include, but are not limited to, a shearer head, a shearer tail, a shearer front drum, a shearer rear drum, a coal shoveling plate, a roadway support, a shearer scraper conveyor, and the like.
In this embodiment, referring to fig. 3, the step S110 of constructing a dynamic compensation model of a coal mining machine includes:
step S110e, constructing a quantitative compensation model based on a nonlinear system;
s110f, collecting compensation data and uncompensated data of at least three dimensions of the coal mining machine, manually marking and mechanically expanding the compensation data to obtain expanded compensation parameters;
step S110g, training a quantitative compensation model based on the expansion compensation parameters;
step S110h, verifying the quantitative compensation model using the compensated data and the uncompensated data.
As the complex nonlinear relation exists among vectors of the coal mining machine body, the coal seam, the roadway, the excavation amount and the cutting coal block amount, all variables forming the nonlinear relation form a nonlinear system, and a quantitative compensation model is constructed according to the nonlinear system.
The compensation data of the coal mining machine with at least three dimensions comprises coal mining machine hydraulic system data, coal mining machine chain wheel and chain tensioning data, coal mining machine roller swing hydraulic data, roadway trend data and roadway bottom surface smoothness data. The uncompensated data of the coal mining machine comprises self size data of the coal mining machine, data of all components of a cutting mechanism of the coal mining machine, data of all components of a transportation system of the coal mining machine and the like.
The embodiment of the invention expands compensation data according to parameters such as coal seam change, roadway trend, specification change of a coal mining machine, change of a cutting mechanism and the like.
In this embodiment, referring to fig. 4, the step S120 of receiving the three-dimensional position information of the body, which is acquired by the high-precision inertial navigation device in real time, includes the following steps:
step S120a, mounting high-precision inertial navigation equipment on a body of the coal mining machine;
s120b, acquiring three-dimensional position information of the body in real time by the high-precision inertial navigation equipment;
step S120c, the high-precision inertial navigation equipment sends the three-dimensional position information of the machine body to a server through a communication module;
step S120d, the server receives the three-dimensional position information of the body.
The high-precision inertial navigation equipment provided by the embodiment of the invention is a reliable solid-state inertial measurement unit. A three-axis silicon gyroscope and a three-axis silicon accelerometer are arranged in the device, and the performance requirements under different conditions are met through the precision calibration of a three-axis turntable. Real-time and accurate carrier attitude and sensor data can be output. The zero point, the zero point temperature coefficient, the sensitivity temperature coefficient, the orthogonality error and the acceleration effect of the gyroscope and the zero point, the zero point temperature coefficient, the sensitivity temperature coefficient and the orthogonality error of the accelerometer can be calibrated.
In most embodiments, a three-dimensional model of the shearer and a dynamic compensation model of the shearer are run in the server.
In this embodiment, referring to fig. 5, the step S120 of receiving the two-dimensional position information of the cutting mechanism, which is acquired by the positioning module in real time, includes the following steps:
s120e, selecting a reference point on the coal mining machine based on high-precision inertial navigation equipment, and constructing coordinates by taking the reference point as a coordinate point;
step S120f, selecting or adding a plurality of positioning points on a cutting mechanism of the coal mining machine;
step S120g, monitoring a plurality of positioning points in real time, and determining real-time coordinate points of the positioning points based on coordinates;
step S120h, connecting all real-time coordinate points to form a real-time outline of the cutting mechanism;
and step S120i, the positioning module determines two-dimensional position information of the cutting mechanism according to the real-time contour.
The coal mining machine reference points selected by the embodiment of the invention comprise supporting legs of the coal mining machine, a coal mining chute, a swing arm of the coal mining machine, a rocker arm of the coal mining machine, a roller of the coal mining machine, a sliding shoe of a working face, a main frame of the coal mining machine and the like.
The embodiment of the invention selects the positioning point on the cutting mechanism of the coal mining machine, and comprises the selection of the cutting depth of the cutting mechanism, the drum of the cutting mechanism and the angle of the cutting mechanism. The embodiment of the invention adds a plurality of positioning points on the cutting mechanism of the coal mining machine, including adding a left angle sensor, a right angle sensor, a pitching/swinging sensor, coal mining machine working surface positioning and goaf positioning.
In this embodiment, referring to fig. 6, in step S130, inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain the virtual position information of the cutting mechanism, which includes:
step S130a, inputting the speed, position posture and traveling direction of the coal mining machine in the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine;
step S130b, inputting the current excavation depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed in the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine;
step S130c, calculating position parameters and volume parameters of the current cutting coal blocks based on the speed, position posture and advancing direction of the coal mining machine, the current mining depth, the track position of the coal mining machine, the thickness of the coal pillar and the thickness of the coal bed;
step S130d, simulating virtual position information of the cutting mechanism according to the position parameter and the volume parameter of the cutting coal block.
In this embodiment, in step S140, inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain the real-time state parameters and the virtual state parameters of the cutting mechanism, including:
extracting two-dimensional virtual information corresponding to the two-dimensional position information from the virtual position information of the cutting mechanism;
inputting the two-dimensional position information into a dynamic compensation model of the coal mining machine to obtain real-time state parameters of the cutting mechanism;
and inputting the two-dimensional virtual information into a dynamic compensation model of the coal mining machine to obtain virtual state parameters of the cutting mechanism.
In this embodiment, referring to fig. 7, in step S150, adjusting a three-dimensional model of a coal mining machine based on a difference between a real-time state parameter and a virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine from the three-dimensional model of the coal mining machine includes:
step S150a, the real-time state parameters and the virtual state parameters are corresponded one by one;
step S150b, calculating the deviation of each parameter;
step S150c, obtaining the relative error between the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation;
s150d, compensating the maximum positioning error of the position posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error to obtain compensated three-dimensional positioning information of the coal mining machine;
and S150e, acquiring the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.
(1) The high-precision inertial navigation equipment provided by the embodiment of the invention can position the machine body in real time, but the cutting mechanism can move relative to the machine body in the working process of the coal mining machine, so that the high-precision inertial navigation equipment cannot accurately position the cutting mechanism of the coal mining machine. (2) The high-precision inertial navigation equipment provided by the embodiment of the invention is matched with an inertial navigation system, a three-dimensional model of the coal mining machine can be embedded into the inertial navigation system for use, and the positioning information of the coal mining machine input in the inertial navigation system is compensated three-dimensional positioning information in the three-dimensional model of the coal mining machine. (3) According to the embodiment of the invention, a plurality of positioning points are selected under the same coordinate, the positioning points are used as marking points to obtain the position information of the cutting mechanism, and the position information of the cutting mechanism is utilized to compensate the positioning error of the high-precision inertial navigation module, so that the coal mining machine can be positioned in the coal seam environment in real time.
In a second aspect, referring to fig. 8, an embodiment of the present invention provides a three-dimensional positioning system for a coal mining machine based on high-precision inertial navigation, including:
the high-precision inertial navigation equipment is arranged on a machine body of the coal mining machine, collects three-dimensional position information of the machine body in real time, and transmits the three-dimensional position information of the machine body as first position information to the computer through the communication module;
the positioning module is positioned on a cutting mechanism of the coal mining machine, collects two-dimensional position information of the cutting mechanism in real time, and transmits the two-dimensional position information of the cutting mechanism as second position information to the computer through the communication module;
the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the computer module;
and the server is used for constructing a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine, receiving the first position information and the second position information in real time, and obtaining the three-dimensional positioning information of the coal mining machine by using the high-precision inertial navigation-based three-dimensional positioning method of the coal mining machine.
In the embodiment, the server inputs first position information in a three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;
the server respectively adjusts the dynamic compensation model of the coal mining machine according to the second position information and the virtual position information to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
and the server calculates the difference value between the real-time state parameter and the virtual state parameter, adjusts the virtual position information in the three-dimensional model of the coal mining machine based on the difference value, matches the virtual position information with the second position information in real time, and obtains the positioning information of the coal mining machine in the three-dimensional model of the coal mining machine until the virtual position information is consistent with the second position information.
The process of the server for obtaining the three-dimensional positioning information of the coal mining machine is as follows:
(1) constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine: constructing a three-dimensional model of a coal mining machine, comprising: acquiring three-dimensional environmental data around the coal mining machine; extracting a reference object profile around the coal mining machine based on the three-dimensional environment data; matching the outline of the reference object with pre-collected coal bed information and roadway information; and constructing a three-dimensional model of the coal mining machine according to the matching result. Constructing a dynamic compensation model of the coal mining machine, comprising the following steps: constructing a quantitative compensation model based on a nonlinear system; collecting compensation data and uncompensated data of at least three dimensions of the coal mining machine, manually marking and mechanically expanding the compensation data to obtain expanded compensation parameters; training a quantitative compensation model based on the extended compensation parameters; the quantitative compensation model is validated using the compensated data and the uncompensated data.
(2) Receiving machine body three-dimensional position information acquired by high-precision inertial navigation equipment in real time and cutting mechanism two-dimensional position information acquired by a positioning module in real time: receiving three-dimensional position information of a machine body acquired by high-precision inertial navigation equipment in real time, comprising: installing high-precision inertial navigation equipment on a machine body of a coal mining machine; the high-precision inertial navigation equipment collects three-dimensional position information of a machine body of the machine body in real time; the high-precision inertial navigation equipment sends the three-dimensional position information of the machine body to a server through a communication module; the server receives the three-dimensional position information of the fuselage. The two-dimensional position information of the cutting mechanism, which is collected by the receiving and positioning module in real time, comprises: selecting a reference point on a coal mining machine based on high-precision inertial navigation equipment, and constructing coordinates by taking the reference point as a coordinate point; selecting or adding a plurality of positioning points on a cutting mechanism of the coal mining machine; monitoring a plurality of positioning points in real time, and determining real-time coordinate points of the positioning points based on coordinates; connecting all the real-time coordinate points to form a real-time outline of the cutting mechanism; and the positioning module determines two-dimensional position information of the cutting mechanism according to the real-time contour.
(3) Inputting the three-dimensional position information of the machine body into a three-dimensional model of a coal mining machine to obtain virtual position information of a cutting mechanism: specifically, the speed, position posture and traveling direction of the coal mining machine in the three-dimensional position information of the machine body are input into a three-dimensional model of the coal mining machine; inputting the current excavation depth, the track position of the coal mining machine, the thickness of the coal pillar and the thickness of the coal bed in the three-dimensional position information of the machine body into a three-dimensional model of the coal mining machine; calculating position parameters and volume parameters of the current cutting coal blocks based on the speed, position posture and advancing direction of the coal mining machine, the current mining depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed; and simulating virtual position information of the cutting mechanism according to the position parameters and the volume parameters of the cutting coal blocks.
(4) Inputting the two-dimensional position information and the virtual position information of the cutting mechanism into a dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism: specifically, two-dimensional virtual information corresponding to the two-dimensional position information is extracted from the virtual position information of the cutting mechanism; inputting the two-dimensional position information into a dynamic compensation model of the coal mining machine to obtain real-time state parameters of the cutting mechanism; and inputting the two-dimensional virtual information into a dynamic compensation model of the coal mining machine to obtain virtual state parameters of the cutting mechanism.
(5) Adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine: specifically, the real-time state parameters and the virtual state parameters are corresponded one by one; calculating the deviation of each parameter; obtaining relative errors of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation; compensating the maximum positioning error of the position posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error to obtain compensated three-dimensional positioning information of the coal mining machine; and acquiring the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.
The three-dimensional positioning technology of the coal mining machine is one of key technologies for realizing an intelligent unmanned (or few) long-wall fully-mechanized mining face, and has important significance for automatic height adjustment of a roller of the coal mining machine and automatic alignment of a scraper conveyor. Therefore, one of the difficulties in realizing autonomous positioning of the coal mining machine is how to realize centimeter-level or even millimeter-level positioning of each mechanism of the coal mining machine at a depth of hundreds of meters underground.
The dynamic compensation model of the coal mining machine provided by the embodiment of the invention simulates and generates multi-dimensional parameter compensation data and non-compensation data, and carries out parameter estimation by using the multi-dimensional parameter compensation model and the non-compensation model. And comparing the RMSE values of the project parameters and the capability parameters to realize parameter fidelity return comparison of the multi-dimensional compensation model and the non-compensation model under various experimental conditions. As a result, the parameter fidelity of the three-parameter multidimensional compensation model is better than that of the three-parameter multidimensional uncompensated model no matter whether the multidimensional compensation data or the uncompensated data are estimated. The three-dimensional position information of the machine body comprises the current mining depth, the track position of the coal mining machine, the thickness of a coal pillar, the thickness of a coal bed, the speed of the coal mining machine, the position posture and the advancing direction. The high-precision inertial navigation equipment collects three-dimensional position information of the machine body in real time, the deterministic deviation is effectively reduced by the dynamic compensation model of the coal mining machine, and the maximum positioning errors in at least three directions are compensated.
The three-dimensional positioning design concept of the embodiment of the invention is that the high-precision inertial navigation equipment is utilized to acquire the three-dimensional position information of the machine body of the coal mining machine in real time; acquiring two-dimensional position information of a cutting mechanism of the coal mining machine in real time by using a positioning module; and compensating the three-dimensional position information of the machine body of the high-precision inertial navigation equipment by using the two-dimensional position information of the cutting mechanism.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. A three-dimensional positioning method of a coal mining machine based on high-precision inertial navigation is characterized by comprising the following steps:
constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine;
receiving three-dimensional position information of a machine body acquired by high-precision inertial navigation equipment in real time and two-dimensional position information of a cutting mechanism acquired by a positioning module in real time;
inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;
inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;
and adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine.
2. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein constructing the three-dimensional model for the coal mining machine comprises:
acquiring three-dimensional environmental data around the coal mining machine;
extracting a reference object profile around the coal mining machine based on the three-dimensional environment data;
matching the reference object outline with pre-collected coal bed information and roadway information;
and constructing a three-dimensional model of the coal mining machine according to the matching result.
3. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein constructing the dynamic compensation model for the coal mining machine comprises:
constructing a quantitative compensation model based on a nonlinear system;
collecting compensation data and uncompensated data of at least three dimensions of a coal mining machine, manually marking and mechanically expanding the compensation data to obtain expanded compensation parameters;
training a quantitative compensation model based on the extended compensation parameters;
the quantitative compensation model is verified using the compensated data and the uncompensated data.
4. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein the step of receiving the three-dimensional position information of the machine body, which is acquired by the high-precision inertial navigation device in real time, comprises the following steps:
installing high-precision inertial navigation equipment on a machine body of a coal mining machine;
the high-precision inertial navigation equipment collects three-dimensional position information of a machine body of the machine body in real time;
the high-precision inertial navigation equipment sends the three-dimensional position information of the machine body to a server through a communication module;
and the server receives the three-dimensional position information of the fuselage.
5. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein the receiving of the two-dimensional position information of the cutting mechanism, which is acquired by the positioning module in real time, comprises:
selecting a reference point on a coal mining machine based on high-precision inertial navigation equipment, and constructing coordinates by taking the reference point as a coordinate point;
selecting or adding a plurality of positioning points on a cutting mechanism of the coal mining machine;
monitoring a plurality of positioning points in real time, and determining real-time coordinate points of the plurality of positioning points based on coordinates;
connecting all the real-time coordinate points to form a real-time outline of the cutting mechanism;
and the positioning module determines two-dimensional position information of the cutting mechanism according to the real-time contour.
6. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein the step of inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain the virtual position information of the cutting mechanism comprises the following steps:
inputting the speed, position posture and traveling direction of the coal mining machine in the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine;
inputting the current excavation depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed in the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine;
calculating position parameters and volume parameters of the current cutting coal blocks based on the speed, position posture and advancing direction of the coal mining machine, the current mining depth, the track position of the coal mining machine, the thickness of a coal pillar and the thickness of a coal bed;
and simulating virtual position information of the cutting mechanism according to the position parameters and the volume parameters of the cutting coal blocks.
7. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein the step of inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism comprises the steps of:
extracting two-dimensional virtual information corresponding to the two-dimensional position information from the virtual position information of the cutting mechanism;
inputting the two-dimensional position information into the dynamic compensation model of the coal mining machine to obtain real-time state parameters of the cutting mechanism;
and inputting the two-dimensional virtual information into the dynamic compensation model of the coal mining machine to obtain virtual state parameters of the cutting mechanism.
8. The three-dimensional positioning method for the coal mining machine according to claim 1, wherein the adjusting the three-dimensional model of the coal mining machine based on the difference between the real-time state parameter and the virtual state parameter to obtain three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine comprises:
the real-time state parameters and the virtual state parameters are corresponded one by one;
calculating the deviation of each parameter;
obtaining relative errors of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation;
compensating the maximum positioning error of the position posture of the coal mining machine in the three-dimensional model of the coal mining machine according to the relative error to obtain compensated three-dimensional positioning information of the coal mining machine;
and acquiring the three-dimensional positioning information of the coal mining machine according to the compensated three-dimensional positioning information of the coal mining machine.
9. The utility model provides a coal-winning machine three-dimensional positioning system based on high accuracy inertial navigation which characterized in that includes:
the high-precision inertial navigation equipment is arranged on a machine body of the coal mining machine, and is used for acquiring three-dimensional position information of the machine body in real time, and the three-dimensional position information of the machine body is used as first position information and is transmitted to a computer through a communication module;
the positioning module is positioned on a cutting mechanism of the coal mining machine and used for acquiring two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is used as second position information and is transmitted to the computer through the communication module;
the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the computer module;
the server is used for constructing a three-dimensional model of the coal mining machine and a dynamic compensation model of the coal mining machine, receiving the first position information and the second position information in real time, and obtaining the three-dimensional positioning information of the coal mining machine by using the high-precision inertial navigation-based three-dimensional positioning method of the coal mining machine as claimed in any one of claims 1 to 8.
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