WO2018214730A1 - 一种掘进机绝对空间位姿检测装置与方法 - Google Patents

一种掘进机绝对空间位姿检测装置与方法 Download PDF

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Publication number
WO2018214730A1
WO2018214730A1 PCT/CN2018/086132 CN2018086132W WO2018214730A1 WO 2018214730 A1 WO2018214730 A1 WO 2018214730A1 CN 2018086132 W CN2018086132 W CN 2018086132W WO 2018214730 A1 WO2018214730 A1 WO 2018214730A1
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Prior art keywords
laser
roadheader
pose
module
cantilever
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PCT/CN2018/086132
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English (en)
French (fr)
Inventor
刘送永
吴洪状
江红祥
程诚
韩玉辉
李伟
沈刚
唐玮
刘后广
杨建华
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—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 with passive imaging devices, e.g. cameras
    • 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
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • the invention relates to an absolute space posture detecting device and method for a roadheader, and belongs to an automatic tunneling technology.
  • the cantilever tunneling machine is a A common mining machine widely used in the excavation of roadways and tunnels. Because the working environment of the roadheader is poor, the danger is large, and the limitation of manual operation is very large, the automation operation of the roadheader is an inevitable trend of development. China started late in the automation of roadheader. Although it has made great progress and formed a part of semi-automatic tunneling face, it can not meet the needs of China's safe and efficient coal production. There are low positioning accuracy of tunneling machine and automatic roadway section.
  • the present invention provides an apparatus and method for detecting an absolute spatial position and attitude of a roadheader, which can accurately detect a six-degree-of-freedom pose parameter of a roadheader, and has good real-time performance and anti-interference. Strong and reliable, it can provide conditions for the automatic control of the roadheader.
  • An absolute space posture detecting device for a roadheader comprising a laser emitting module, an image acquiring module, a strapdown inertial navigation module and a data processing and control module, wherein the laser emitting module is fixed in the middle of a rear lane of a cantilever type roadheader body with a known coordinate Position, image acquisition module, strapdown inertial navigation module and data processing and control module are fixed on the main body of the cantilever roadhead; laser emission module is used to generate laser image, image acquisition module is used to acquire laser image, and strapdown inertial navigation module is used To provide navigation information, the data processing and control module calculates the pose state of the six degrees of freedom of the cantilever roadheader based on the laser image and the navigation information.
  • the laser emitting module comprises a laser emitter mount, a point laser emitter and a sector laser emitter, and the point laser emitter and the sector laser emitter are intrinsically safe flameproof laser emitters, point laser emitters and
  • the sector laser transmitter is fixed to the middle of the rear lane of the main body of the cantilever roadhead with a known coordinate by a laser transmitter mounting frame;
  • the sector laser emitter is arranged at a middle position of the cross section of the roadway, and the laser emitted from the sector laser emitter Parallel to the roadway floor;
  • the number of point laser emitters is three, distributed on both sides of the sector laser emitter, one of which is installed on one side and one on the other side, and the connection of two point laser emitters on the same side
  • the line is perpendicular to the sector laser emitter, one of the two point laser emitters on the same side is the same height as the one point laser emitter on the other side, and the lasers emitted by the three point laser emitters are all parallel to the laneway Ax
  • the data processing and control module comprises an embedded microprocessor and a PLC controller, and the embedded microprocessor and the PLC controller are respectively integrated and installed in the explosion-proof box, and are fixed on the main body of the cantilever type roadhead through the vibration isolator;
  • the strapdown inertial navigation module is installed in the explosion-proof box, and is fixed on the main body of the cantilever roadhead through the vibration isolator;
  • the embedded microprocessor performs real-time calculation on the navigation information to obtain six degrees of freedom of the cantilever type roadheader
  • the pose parameter simultaneously performs calculations including image processing, feature extraction, coordinate calculation, and pose solution on the laser image, and obtains a five-degree-of-freedom pose state other than the forward direction of the cantilever roadheader.
  • the embedded microprocessor communicates with the man-machine interface and the PLC controller respectively, and can transmit the posture information to the human-machine interface for remote monitoring on the one hand, and can transmit the position information to the PLC controller on the other hand, facilitating the PLC.
  • the controller performs corresponding adjustment and control according to the pose information.
  • the image acquisition module is installed in two numbers, and is respectively installed on two image acquisition module mounting frames, and is fixed on the two sides of the main body of the cantilever type tunnel by the vibration isolator staggered and the same height;
  • the image acquisition module includes a dustproof box, a translucent plate, a camera and an LED lamp, the camera is an explosion-proof camera for the explosion-proof type, the LED lamp is an explosion-proof LED lamp, and the translucent plate serves as a side plate of the dustproof box facing the rear.
  • the side plate is perpendicular to the central axis of the roadway; the reference point is marked or processed at a fixed position of the four corner points on the inner side of the translucent plate, and the laser imaging position is provided by the reference point; the camera is mounted inside the dustproof box, and the lens axis of the camera Coincident with the central axis of the translucent plate ensures that the camera can capture all reference points, and the LED lights are evenly arranged circumferentially along the lens axis of the camera.
  • the dustproof box of the image acquisition module can be designed as a side openable structure, and can be disassembled and repaired.
  • the laser emitted by the laser emitting module is red light
  • the translucent plate in the image obtaining module is a green acrylic plate, and the contrast between green and red is most obvious.
  • An absolute space pose detection method for a roadheader is a method of combining the strapdown inertial guide pose detection method and the visual pose detection method, specifically: using the strapdown inertial attitude pose detection method to obtain the cantilever in real time.
  • the pose information of the main body of the roadheader is obtained by using the visual pose detection method to obtain the pose information of the main body of the cantilever roadhead at intervals of t, and then using the optimal estimation method to perform the pose information obtained by the two pose detection methods.
  • Asynchronous fusion obtain accurate pose information, and update the initial value of the strapdown inertial pose detection method; adjust the position of the laser image generation source when the laser image clarity obtained by the visual pose detection method is lower than the set threshold .
  • the optimal estimation method is a Kalman filtering method.
  • the characteristics of the single strapdown inertial attitude detection method are: simple solution, good real-time performance, no external reference, and autonomous positioning navigation. However, due to its solution method, the unique strapdown inertial attitude detection method exists. Cumulative error.
  • the characteristics of the separate visual pose detection method are: external reference and image processing are required, so the calculation amount is large and the real-time performance is not good, but the precision is high, and there is no cumulative error.
  • the invention combines the two methods and can complement the advantages; since the position information of the forward direction of the cantilever type roadheader has little effect on the automatic control of the cantilever type roadheader, the accumulated error of the degree of freedom can be ignored in a certain time; When the cantilever roadheader advances a length of roadway, the laser imaging becomes blurred, so the laser emitting module needs to be moved forward a certain distance as a whole, and the system is recalibrated and initialized.
  • the present invention provides an apparatus for detecting an absolute spatial position and attitude of a roadheader.
  • the method of combining the strapdown inertial attitude pose detection method and the visual pose detection method is used to dig the six freedoms of the roadheader.
  • the positional parameters of the degree are detected with high precision, high reliability and good real-time performance.
  • the internal positioning mode is integrated with the external positioning mode, which takes advantage of the two positioning methods and is suitable for the harsh environment in the underground roadway.
  • the automated operation of the roadheader provides conditions.
  • FIG. 1 is a schematic view showing the installation of an absolute space posture detecting device of the roadheader according to the present invention
  • FIG. 2 is a schematic view showing the installation of the main body of the cantilever roadheader
  • FIG. 3 is a block diagram of the system of the present invention.
  • FIG. 4 is a schematic diagram of an image acquisition module
  • Figure 5 is a laser imaging diagram of a cantilever type roadheader body on a translucent plate without a posture deviation
  • an absolute space posture detecting device for a roadheader includes a laser transmitting module 7, an image acquiring module 6, a strapdown inertial navigation module 2, and a data processing and control module 3, and the laser emitting module 7 is fixed.
  • the image acquisition module 6, the strapdown inertial navigation module 2 and the data processing and control module 3 are fixed on the cantilever roadhead main body 1 at an intermediate position of the rear lane of the cantilever roadheader body 1 with known coordinates; the laser emission module 7 is used For generating a laser image, the image acquisition module 6 is configured to acquire a laser image, the strapdown inertial navigation module 2 is configured to provide navigation information, and the data processing and control module 3 calculates a position of the six degrees of freedom of the cantilever roadheader according to the laser image and the navigation information. State of posture.
  • the laser emitting module 7 includes a laser emitter mounting bracket 7-3, a point laser emitter 7-1, and a sector laser emitter 7-2, and the point laser emitter 7-1 and the sector laser emitter 7-2 are both a flameproof laser emitter, a point laser emitter 7-1 and a sector laser emitter 7-2 are fixed by a laser emitter mounting bracket 7-3 to a position intermediate the rear lane of the cantilever roadhead main body 1 of known coordinates;
  • the sector laser emitter 7-2 is disposed at a middle position of the cross section of the roadway, and the laser beam emitted by the sector laser emitter 7-2 is parallel to the roadway floor;
  • the number of the point laser emitters 7-1 is three, distributed in the sector Two sides of the laser emitter 7-2, one of which is mounted on one side and one on the other side, and the line of the two point laser emitters 7-1 on the same side is perpendicular to the sector laser emitter 7-2, located One of the two point laser emitters 7-1 on the same side is the same
  • the data processing and control module 3 includes an embedded microprocessor and a PLC controller, and the embedded microprocessor and the PLC controller are respectively integrated and installed in the explosion-proof box, and are fixed on the cantilever type roadhead main body 1 through the vibration isolator 4;
  • the strapdown inertial navigation module 2 is installed in the explosion-proof box, and is fixed on the main body of the cantilever roadheader through the vibration isolator 4;
  • the embedded microprocessor performs real-time solution calculation on the navigation information to obtain the cantilever type roadheader
  • the six-degree-of-freedom pose parameter is used to perform image processing, feature extraction, coordinate calculation, and pose calculation on the laser image, and the five-degree-of-freedom pose state outside the forward direction of the cantilever roadheader is obtained.
  • the image acquisition module 6 is installed in two numbers, and is respectively mounted on the two image acquisition module mounting frames 5, and is fixed to the two sides of the cantilever type roadhead main body 1 through the vibration isolator 4 in a staggered manner and at the same height;
  • the image acquisition module 6 includes a dustproof box 6-1, a translucent plate 6-2, a camera 6-3, and an LED lamp 6-4.
  • the camera 6-3 is an explosion-proof camera of the present security
  • the LED lamp 6-4 is The flameproof LED lamp
  • the translucent plate 6-2 serves as a side plate facing the rear of the dustproof box 6-1, the side plate is perpendicular to the central axis of the roadway; and the fixed position of the four corner points on the inner side of the translucent plate 6-2 Mark or process reference point 6-2-1, provide reference for laser imaging position through reference point 6-2-1;
  • camera 6-3 is installed inside dustproof box 6-1, lens axis and half of camera 6-3
  • the central axes of the transparent plates 6-2 coincide, ensuring that the camera 6-3 can capture all of the reference points 6-2-1, and the LED lights 6-4 are uniformly arranged circumferentially along the lens axis of the camera 6-3.
  • An absolute space pose detection method for a roadheader is a method of combining the strapdown inertial guide pose detection method and the visual pose detection method, specifically: using the strapdown inertial attitude pose detection method to obtain the cantilever in real time.
  • the pose information of the main body of the roadheader is obtained by using the visual pose detection method to obtain the pose information of the main body of the cantilever roadheader, and then using the optimal estimation method such as Kalman filter method to obtain the two pose detection methods.
  • the pose information is asynchronously merged to obtain accurate pose information, and the initial value of the strapdown inertial pose detection method is updated; when the laser image sharpness obtained by the visual pose detection method is lower than the set threshold, the laser is adjusted.
  • the location of the image generation source is a method of combining the strapdown inertial guide pose detection method and the visual pose detection method, specifically: using the strapdown inertial attitude pose detection method to obtain the cantilever in real time.
  • the pose information of the main body of the roadheader is obtained by
  • the fan-side laser imaging 6-2-3 is located at the upper and middle positions of the translucent plate 6-2
  • the spot laser The image 6-2-2 is located at the left and right intermediate positions of the translucent plate 6-2, wherein the imaging positions of the two spot laser emitters 7-1 on the same side on the translucent plate 6-2 are imaged with respect to the sector laser 6- 2-3 symmetry.

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Abstract

一种掘进机绝对空间位姿检测装置与方法，由捷联惯导位姿检测方法和视觉位姿检测方法复合而成：使用捷联惯导位姿检测方法实时获取悬臂式掘进机主体（1）的位姿信息，每间隔t时长使用视觉位姿检测方法获取一次悬臂式掘进机主体（1）的位姿信息，然后使用最优估计方法对两种位姿检测方法得到的位姿信息进行异步融合，得到精准的位姿信息，同时更新捷联惯导位姿检测方法的初值；当视觉位姿检测方法获取的激光图像清晰度低于设定阈值时，调整激光图像发生源的位置。掘进机绝对空间位姿检测装置与方法适用于巷道中掘进机绝对空间位姿检测，能够实时检测掘进机主体（1）六自由度位姿状态信息，精度高，可靠性好，为实现掘进机的自动化、智能化作业提供条件。

Description

一种掘进机绝对空间位姿检测装置与方法 技术领域
本发明涉及一种掘进机绝对空间位姿检测装置与方法，属于自动化掘进技术。
背景技术
我围是煤矿的开采与消费大国，与此同时我国对公路、铁路、隧道工程、水电工程等基础设施建设要求不断增强，这些工程中都面临对隧道或巷道的掘进，悬臂式掘进机是一种常见的采掘机械，广泛应用于巷道和隧道的挖掘。因掘进机工作环境差，危险性大，人工操作局限性很大，故掘进机的自动化作业是发展的必然趋势。我国在掘进机的自动化工作上起步较晚，虽然也取得了长足发展，形成了一部分半自动化掘进工作面，但是还不能适应我国煤炭安全高效生产的需要，存在掘进机定位精度低、巷道断面自动成形质量差、系统可靠性低、工人劳动强度大等问题。为了进一步提高掘进机的自动化水平，首先需要解决掘进机机体的精确定位问题，一些文献资料中提出了掘进机机体定位的方法，但是在井下的复杂环境中，很多定位方法都存在一定的局限性，或者定位精度达不到要求，无法为掘进机的自动控制提供条件。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种掘进机绝对空间位姿检测装置与方法，能够精确检测掘进机的六自由度位姿参数，且实时性好、抗干扰性强、可靠性高，能够为掘进机的自动控制提供条件。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种掘进机绝对空间位姿检测装置，包括激光发射模块、图像获取模块、捷联惯导模块和数据处理与控制模块，激光发射模块固定于坐标已知的悬臂式掘进机主体的后方巷道中间位置，图像获取模块、捷联惯导模块和数据处理与控制模块固定在悬臂式掘进机主体上；激光发射模块用于产生激光图像，图像获取模块用于获取激光图像，捷联惯导模块用于提供导航信息，数据处理与控制模块根据激光图像与导航信息解算出悬臂式掘进机六自由度的位姿状态。
具体的，所述激光发射模块包括激光发射器安装架、点激光发射器和扇面激光发射器，点激光发射器和扇面激光发射器均为本安隔爆型激光发射器，点激光发射器和扇面激光发射器通过激光发射器安装架固定于坐标已知的悬臂式掘进机主体的后方巷道中间位置；所述扇面激光发射器布置在巷道横截面的中部位置，扇面激光发射器发射出的激光平行于巷道地面；点激光发射器的数量为三个，分布在扇面激光发射器的两侧，其中一侧安装两个，另一侧安装一个，位于同一侧的两个点激光发射器的连线垂直于扇面激光发射器，位于同一侧的两个点激光发射器中的一个与另一侧的一个点激光发射器的高度相同，三个点激光发射器发射出的激光均平行于巷道中轴线。
具体的，所述数据处理与控制模块包括嵌入式微处理器和PLC控制器，嵌入式微处理器和PLC控制器分别集成安装在隔爆箱内，通过隔振器固定在悬臂式掘进机主体上；所述 捷联惯导模块安装在隔爆箱内，通过隔振器固定在悬臂式掘进机主体上；所述嵌入式微处理器对导航信息进行实时解算，得到悬臂式掘进机的六自由度位姿参数，同时对激光图像进行包括图像处理、特征提取、坐标运算、位姿求解在内的运算，得到悬臂式掘进机前进方向位置之外的五自由度位姿状态。
所述嵌入式微处理器分别与人机界面和PLC控制器进行通信，一方面可以将位姿信息等传送给人机界面进行远程监控，另一方面可以将位置信息传送给PLC控制器，便于PLC控制器根据位姿信息进行相应的调整与控制。
具体的，所述图像获取模块安装在的数量为两个，分别安装在两个图像获取模块安装架上，通过隔振器前后交错、高度相同地固定在悬臂式掘进机主体的两侧；所述图像获取模块包括防尘箱、半透明板、摄像机和LED灯，摄像机为本安隔爆型摄像机，LED灯为隔爆型LED灯，半透明板作为防尘箱朝向后方的一个侧板，该侧板垂直于巷道中轴线；在半透明板内侧四个角点的固定位置处标记或加工参考点，通过参考点为激光成像位置提供参考；摄像机安装在防尘箱内部，摄像机的镜头轴线与半透明板的中心轴线重合，确保摄像机能够拍摄到所有参考点，LED灯沿摄像机的镜头轴线周向均匀布置。
具体的，所述图像获取模块的防尘箱可以设计为侧面可打开的结构，一边拆装维修。
具体的，所述激光发射模块发射出的激光为红光，所述图像获取模块中半透明板为绿色亚克力板，绿色与红色对比最为明显。
一种掘进机绝对空间位姿检测方法，是一种由捷联惯导位姿检测方法和视觉位姿检测方法复合而成的方法，具体为：使用捷联惯导位姿检测方法实时获取悬臂式掘进机主体的位姿信息，每间隔t时长使用视觉位姿检测方法获取一次悬臂式掘进机主体的位姿信息，然后使用最优估计方法对两种位姿检测方法得到的位姿信息进行异步融合，得到精准的位姿信息，同时更新捷联惯导位姿检测方法的初值；当视觉位姿检测方法获取的激光图像清晰度低于设定阈值时，调整激光图像发生源的位置。
具体的，所述最优估计方法为卡尔曼滤波方法。
单独的捷联惯导位姿检测方法的特点是：求解简单、实时性好、不需要外部参考，属于自主定位导航，但是由于其解算方法决定了单独的捷联惯导位姿检测方法存在累计误差。单独的视觉位姿检测方法的特点是：需要外部参考和图像处理，因此计算量大、实时性不好，但其精度高，不存在累计误差。本发明将两种方法进行复合，能够进行优势互补；由于悬臂式掘进机前进方向的位置信息对悬臂式掘进机的自动控制作用不大，在一定时间内，可以忽略该自由度的累计误差；当悬臂式掘进机前进一段长度的巷道后，激光成像变得模糊，因此需要将激光发射模块整体向前移动一定距离，并对系统进行重新标定和初始化。
有益效果：本发明提供的掘进机绝对空间位姿检测装置与方法，与现有技术相比，采用了捷联惯导位姿检测方法和视觉位姿检测方法相复合的方法对掘进机六自由度的位姿参数进行检测，精度高、可靠性高、实时性好，将内部定位方式与外部定位方式进行融合，发挥了两种定位方式的优势，适用于井下巷道中的恶劣环境，能够为掘进机的自动化作业提供条件。
附图说明
图1为本发明掘进机绝对空间位姿检测装置安装示意图；
图2为悬臂式掘进机主体的安装示意图；
图3为本发明的系统框图；
图4为图像获取模块示意图；
图5为悬臂式掘进机主体在没有位姿偏差时半透明板上激光成像图；
图中：1、悬臂式掘进机主体，2、捷联惯导模块，3、数据处理与控制模块，4、隔振器，5、图像获取模块安装架，6、图像获取模块，6-1、防尘箱，6-2、半透明板，6-3、摄像机，6-4、LED灯，6-2-1、参考点，6-2-2、点激光成像，6-2-3、扇面激光成像，7、激光发射模块，7-1、点激光发射器，7-2、扇面激光发射器，7-3、激光发射器安装架。
具体实施方式
下面结合附图对本发明作更进一步的说明。
如图1～图4所示为一种掘进机绝对空间位姿检测装置，包括激光发射模块7、图像获取模块6、捷联惯导模块2和数据处理与控制模块3，激光发射模块7固定于坐标已知的悬臂式掘进机主体1的后方巷道中间位置，图像获取模块6、捷联惯导模块2和数据处理与控制模块3固定在悬臂式掘进机主体1上；激光发射模块7用于产生激光图像，图像获取模块6用于获取激光图像，捷联惯导模块2用于提供导航信息，数据处理与控制模块3根据激光图像与导航信息解算出悬臂式掘进机六自由度的位姿状态。
所述激光发射模块7包括激光发射器安装架7-3、点激光发射器7-1和扇面激光发射器7-2，点激光发射器7-1和扇面激光发射器7-2均为本安隔爆型激光发射器，点激光发射器7-1和扇面激光发射器7-2通过激光发射器安装架7-3固定于坐标已知的悬臂式掘进机主体1的后方巷道中间位置；所述扇面激光发射器7-2布置在巷道横截面的中部位置，扇面激光发射器7-2发射出的激光平行于巷道地面；点激光发射器7-1的数量为三个，分布在扇面激光发射器7-2的两侧，其中一侧安装两个，另一侧安装一个，位于同一侧的两个点激光发射器7-1的连线垂直于扇面激光发射器7-2，位于同一侧的两个点激光发射器7-1中的一个与另一侧的一个点激光发射器7-1的高度相同，三个点激光发射器7-1发射出的激光均平行于巷道中轴线。
所述数据处理与控制模块3包括嵌入式微处理器和PLC控制器，嵌入式微处理器和PLC控制器分别集成安装在隔爆箱内，通过隔振器4固定在悬臂式掘进机主体1上；所述捷联惯导模块2安装在隔爆箱内，通过隔振器4固定在悬臂式掘进机主体1上；所述嵌入式微处理器对导航信息进行实时解算，得到悬臂式掘进机的六自由度位姿参数，同时对激光图像进行包括图像处理、特征提取、坐标运算、位姿求解在内的运算，得到悬臂式掘进机前进方向位置之外的五自由度位姿状态。
所述图像获取模块6安装在的数量为两个，分别安装在两个图像获取模块安装架5上，通过隔振器4前后交错、高度相同地固定在悬臂式掘进机主体1的两侧；所述图像获取模块6包括防尘箱6-1、半透明板6-2、摄像机6-3和LED灯6-4，摄像机6-3为本安隔爆型摄像机，LED灯6-4为隔爆型LED灯，半透明板6-2作为防尘箱6-1朝向后方的一个侧板，该侧板垂直于巷道中轴线；在半透明板6-2内侧四个角点的固定位置处标记或加工参考点6-2-1，通过参考点6-2-1为激光成像位置提供参考；摄像机6-3安装在防尘箱6-1内部，摄像机6-3的镜头 轴线与半透明板6-2的中心轴线重合，确保摄像机6-3能够拍摄到所有参考点6-2-1，LED灯6-4沿摄像机6-3的镜头轴线周向均匀布置。
一种掘进机绝对空间位姿检测方法，是一种由捷联惯导位姿检测方法和视觉位姿检测方法复合而成的方法，具体为：使用捷联惯导位姿检测方法实时获取悬臂式掘进机主体的位姿信息，每间隔t时长使用视觉位姿检测方法获取一次悬臂式掘进机主体的位姿信息，然后使用卡尔曼滤波方法等最优估计方法对两种位姿检测方法得到的位姿信息进行异步融合，得到精准的位姿信息，同时更新捷联惯导位姿检测方法的初值；当视觉位姿检测方法获取的激光图像清晰度低于设定阈值时，调整激光图像发生源的位置。
如图5所示，当悬臂式掘进机主体1没有位姿偏差时，在半透明板6-2上，扇面激光成像6-2-3位于半透明板6-2的上下中间位置，点激光成像6-2-2位于半透明板6-2的左右中间位置，其中，位于同一侧的两个点激光发射器7-1在半透明板6-2上的成像位置关于扇面激光成像6-2-3对称。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (7)

  1. 一种掘进机绝对空间位姿检测装置，其特征在于：包括激光发射模块(7)、图像获取模块(6)、捷联惯导模块(2)和数据处理与控制模块(3)，激光发射模块(7)固定于坐标已知的悬臂式掘进机主体(1)的后方巷道中间位置，图像获取模块(6)、捷联惯导模块(2)和数据处理与控制模块(3)固定在悬臂式掘进机主体(1)上；激光发射模块(7)用于产生激光图像，图像获取模块(6)用于获取激光图像，捷联惯导模块(2)用于提供导航信息，数据处理与控制模块(3)根据激光图像与导航信息解算出悬臂式掘进机六自由度的位姿状态。
  2. 根据权利要求1所述的掘进机绝对空间位姿检测装置，其特征在于：所述数据处理与控制模块(3)包括嵌入式微处理器和PLC控制器，嵌入式微处理器和PLC控制器分别集成安装在隔爆箱内，通过隔振器(4)固定在悬臂式掘进机主体(1)上；所述捷联惯导模块(2)安装在隔爆箱内，通过隔振器(4)固定在悬臂式掘进机主体(1)上；所述嵌入式微处理器对导航信息进行实时解算，得到悬臂式掘进机的六自由度位姿参数，同时对激光图像进行包括图像处理、特征提取、坐标运算、位姿求解在内的运算，得到悬臂式掘进机前进方向位置之外的五自由度位姿状态。
  3. 根据权利要求1所述的掘进机绝对空间位姿检测装置，其特征在于：所述激光发射模块(7)包括激光发射器安装架(7-3)、点激光发射器(7-1)和扇面激光发射器(7-2)，点激光发射器(7-1)和扇面激光发射器(7-2)均为本安隔爆型激光发射器，点激光发射器(7-1)和扇面激光发射器(7-2)通过激光发射器安装架(7-3)固定于坐标已知的悬臂式掘进机主体(1)的后方巷道中间位置；所述扇面激光发射器(7-2)布置在巷道横截面的中部位置，扇面激光发射器(7-2)发射出的激光平行于巷道地面；点激光发射器(7-1)的数量为三个，分布在扇面激光发射器(7-2)的两侧，其中一侧安装两个，另一侧安装一个，位于同一侧的两个点激光发射器(7-1)的连线垂直于扇面激光发射器(7-2)，位于同一侧的两个点激光发射器(7-1)中的一个与另一侧的一个点激光发射器(7-1)的高度相同，三个点激光发射器(7-1)发射出的激光均平行于巷道中轴线。
  4. 根据权利要求1或2所述的掘进机绝对空间位姿检测装置，其特征在于：所述图像获取模块(6)安装在的数量为两个，分别安装在两个图像获取模块安装架(5)上，通过隔振器(4)前后交错、高度相同地固定在悬臂式掘进机主体(1)的两侧；所述图像获取模块(6)包括防尘箱(6-1)、半透明板(6-2)、摄像机(6-3)和LED灯(6-4)，摄像机(6-3)为本安隔爆型摄像机，LED灯(6-4)为隔爆型LED灯，半透明板(6-2)作为防尘箱(6-1)朝向后方的一个侧板，该侧板垂直于巷道中轴线；在半透明板(6-2)内侧四个角点的固定位置处标记或加工参考点(6-2-1)，通过参考点(6-2-1)为激光成像位置提供参考；摄像机(6-3)安装在防尘箱(6-1)内部，摄像机(6-3)的镜头轴线与半透明板(6-2)的中心轴线重合，确保摄像机(6-3)能够拍摄到所有参考点(6-2-1)，LED灯(6-4)沿摄像机(6-3)的镜头轴线周向均匀布置。
  5. 根据权利要求4所述的掘进机绝对空间位姿检测装置，其特征在于：所述激光发射模块(7)发射出的激光为红光，所述图像获取模块(6)中半透明板(6-2)为绿色亚克力板。
  6. 一种掘进机绝对空间位姿检测方法，其特征在于：是一种由捷联惯导位姿检测方法和视觉位姿检测方法复合而成的方法，具体为：使用捷联惯导位姿检测方法实时获取悬臂式掘进机主体的位姿信息，每间隔t时长使用视觉位姿检测方法获取一次悬臂式掘进机主体的位姿信息，然后使用最优估计方法对两种位姿检测方法得到的位姿信息进行异步融合，得到精准的位姿信息，同时更新捷联惯导位姿检测方法的初值；当视觉位姿检测方法获 取的激光图像清晰度低于设定阈值时，调整激光图像发生源的位置。
  7. 根据权利要求6所述的掘进机绝对空间位姿检测方法，其特征在于：所述最优估计方法为卡尔曼滤波方法。
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