WO2018219062A1 - 一种采煤机绝对位姿检测方法 - Google Patents

一种采煤机绝对位姿检测方法 Download PDF

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Publication number
WO2018219062A1
WO2018219062A1 PCT/CN2018/083775 CN2018083775W WO2018219062A1 WO 2018219062 A1 WO2018219062 A1 WO 2018219062A1 CN 2018083775 W CN2018083775 W CN 2018083775W WO 2018219062 A1 WO2018219062 A1 WO 2018219062A1
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Prior art keywords
laser
embedded controller
shearer
emitting device
pose
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English (en)
French (fr)
Inventor
刘送永
程诚
吴洪状
江红祥
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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/06—Equipment for positioning the whole machine in relation to its sub-structure
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • the invention relates to a method for detecting a position of a coal mining machine, in particular to a method for detecting an absolute position of a drum type coal mining machine in a mining working face, which belongs to the technical field of automatic mining equipment.
  • China is a major mining and consumption country for coal mines, and coal mining machines are the main equipment for coal mining.
  • the traditional mining face is mainly operated manually. It is not only labor-intensive, low-efficiency, but also has a very poor working environment and a high degree of danger. Therefore, it is an irresistible trend to develop automated and intelligent mining equipment.
  • the first problem to be solved is the positioning and positioning problem of the mining equipment.
  • the coal mining machine positioning methods mainly include gear counting method, infrared beam shooting method, inertial navigation, etc.
  • the present invention provides a method for detecting an absolute attitude of a shearer, which can accurately detect a six-degree-of-freedom pose parameter of a shearer in an absolute coordinate system of a mine. Good performance and high reliability can provide conditions for the construction of unmanned mining face.
  • An absolute attitude detecting method for a shearer which detects an absolute position of a shearer in a three-machine supporting mining equipment mainly composed of a shearer, a scraper and a hydraulic support when the working face is recovered;
  • the method uses the strapdown inertial navigation module to carry out the position estimation of the dead reckoning position, and the laser pose detection is carried out by the laser emitting device, the laser receiving device and the intelligent total station, and then the two poses are detected by the optimal estimation algorithm such as Kalman filtering.
  • the asynchronous fusion is performed to obtain an accurate position of the shearer.
  • the laser emitting device comprises a vehicle body, a stepping motor, a traveling mechanism, a crank rocker mechanism, a steering gear, a laser transmitter and an embedded controller I
  • the stepping motor is an explosion-proof stepping motor
  • the laser is emitted.
  • the device is an explosion-proof fan laser transmitter; the stepping motor, the traveling mechanism and the crank rocker mechanism are mounted on the vehicle body, and the crank rocker mechanism is driven by the stepping motor, and the steering gear and the laser transmitter are mounted on the shaker.
  • the laser transmitter drives the laser transmitter to scan in the range of ⁇ 45°;
  • the embedded controller I is fixed on the vehicle body after the explosion-proof treatment, and the embedded controller I provides control to the stepping motor and the steering gear. Commanding and solving the three-dimensional coordinates of the laser emitter in the coordinate system of the laser emitting device and the normal vector of the sector laser emitted.
  • the laser receiving device includes three laser receivers and an embedded controller II.
  • the three laser receivers are not collinearly fixed on the shearer, and all three laser receivers are capable of receiving the laser transmitter.
  • the emitted fan laser, embedded controller II is fixed on the shearer after flameproof treatment, and the embedded controller II is simultaneously connected with the laser receiver and the embedded controller I, combined with the receiving signal of each laser receiver,
  • the three-dimensional coordinates of the laser emitter in the coordinate system of the laser emitting device and the normal vector of the fan laser emitted by the laser emitter are used to calculate the coordinates of each laser receiver in the coordinate system of the laser emitting device, and then the laser emission of the shearer is calculated.
  • the intelligent total station and the laser emitting device are disposed in the same lane, and the embedded controller III is fixed on the intelligent total station after being flameproofed, and the embedded controller III is simultaneously embedded with the intelligent total station and embedded.
  • the controller I is connected in communication, and the positioning prism is set at a reasonable position on the laser emitting device (4), and the position and posture parameters of the laser emitting device in the absolute coordinate system of the mine are detected by the intelligent total station, and the coordinates of the laser launching device are combined with the shearer.
  • the pose parameters in the system and the pose parameters of the laser launcher in the mine absolute coordinate system obtain the pose parameters of the shearer in the mine absolute coordinate system, and the result is used as the laser pose detection result.
  • the strapdown inertial navigation module is fixed on the shearer after being flameproofed, and the embedded controller II is simultaneously connected with the strapdown inertial navigation module, and the navigation of the strapdown inertial navigation module is performed by the embedded controller II.
  • the information is solved and the six-degree-of-freedom pose parameters of the shearer in the mine absolute coordinate system are obtained. The result is taken as the result of the strapdown inertial attitude pose detection.
  • the communication mode between the embedded controller I, the embedded controller II, and the embedded controller III is ultra-wideband wireless communication, and the embedded controller I and the embedded controller II are clock synchronized.
  • the direction of movement of the shearer on the scraper is axial, and the direction of pushing and pushing of the hydraulic support is radial.
  • the method specifically includes the following steps:
  • the laser emitting device is moved to be aligned with the mining area and fixed to ensure that the laser emitted by the laser emitter can be scanned into the shearer, and the strapdown inertial navigation module on the shearer is real-time.
  • the embedded controller II solves the pose parameters of the shearer in the mine absolute coordinate system;
  • the embedded controller I sends a signal to the embedded controller III, and then the embedded controller III controls the intelligent total station to work, and the laser transmitting device acquired by the intelligent total station is obtained.
  • the pose parameter in the mine absolute coordinate system is sent to the embedded controller I;
  • the embedded controller I controls the stepper motor and the steering gear to operate, so that the laser emitter emits different angles of the rotary sector laser at at least three different positions, and the normal of the fan laser in the coordinate system of the laser emitting device is real-time.
  • the coordinates of the laser emitter in the coordinate system of the laser emitting device can be solved in real time; the laser signal received by each of the three laser receivers will be corresponding to the laser receiver ID number and receiving time by the embedded controller II.
  • the embedded controller I combines the received signal of each laser receiver, the three-dimensional coordinates of the laser emitter in the coordinate system of the laser emitting device and the normal vector of the sector laser emitted by the laser emitting device
  • the pose parameters in the absolute coordinate system of the mine are used to calculate the pose parameters of the shearer in the mine absolute coordinate system as the laser pose detection result;
  • the embedded controller II performs data processing and asynchronous fusion according to the results of the strapdown inertial attitude detection and the laser pose detection, and obtains the absolute position of the shearer, and sends the absolute pose to the person.
  • the machine interface is remotely monitored and sent to the mining equipment controller for automatic control of the shearer;
  • the absolute attitude detection method of the shearer compares the absolute attitude parameters of the six degrees of freedom of the shearer by using the integrated navigation method based on strapdown inertial navigation and laser scanning positioning compared with the prior art.
  • Stradown inertial navigation has the advantages of simple solution, good real-time and no need for external reference, but its solution method determines the cumulative error of strapdown inertial pose detection;
  • laser scanning positioning method requires external reference, real-time Not good, but its high precision, no cumulative error, the integration of internal positioning mode and external positioning mode, the advantages of the two positioning methods, suitable for the harsh environment of the mining face, the system uses ultra-wideband wireless Communication, high reliability.
  • the invention has the advantages of high detection precision, good real-time performance, high reliability, and low cost.
  • FIG. 1 is a schematic view showing a working surface of an absolute position detecting method of a shearer according to the present invention
  • FIG. 2 is a schematic view of a laser emitting device of the present invention
  • FIG. 3 is a block diagram of the system of the present invention.
  • a method for detecting the absolute position of the shearer is used in the three-machine supporting mining equipment mainly composed of the shearer 1, the scraper 2 and the hydraulic support 3 when the working face is recovered.
  • the absolute position of the shearer 1 is detected; the method performs the dead reckoning pose detection by the strapdown inertial navigation module, and the laser pose detection is performed by the laser emitting device 4, the laser receiving device and the intelligent total station 5, and then The two pose detection results are asynchronously fused by the optimal estimation algorithm to obtain the exact position of the shearer 1.
  • the laser emitting device 4 includes a vehicle body, a stepping motor 4-5, a traveling mechanism 4-1, a crank rocker mechanism 4-2, a steering gear 4-3, a laser transmitter 4-4, and an embedded controller I.
  • the stepping motor is an explosion-proof stepping motor
  • the laser emitter 4-4 is an explosion-proof fan laser transmitter
  • the stepping motor 4-5, the traveling mechanism 4-1 and the crank rocker mechanism 4-2 are installed in On the vehicle body, the crank rocker mechanism 4-2 is driven by the stepping motor 4-5, the steering gear 4-3 and the laser transmitter 4-4 are mounted on the top end of the rocker, and the laser transmitter is driven by the steering gear 4-3.
  • embedded controller I is fixed on the vehicle body after flameproof treatment, and embedded controller I provides control commands to stepping motor 4-5 and steering gear 4-3.
  • the three-dimensional coordinates of the laser emitter 4-4 in the coordinate system of the laser emitting device and the normal vector of the emitted laser light are calculated.
  • the laser receiving device comprises three laser receivers and an embedded controller II, three laser receivers are not collinearly fixed on the shearer 1, and three laser receivers are capable of receiving the laser emitters 4- 4 the fan laser emitted, the embedded controller II is fixed on the shearer 1 after the explosion-proof treatment, and the embedded controller II is simultaneously connected with the laser receiver and the embedded controller I, and each laser receiver is combined.
  • the received signal, the three-dimensional coordinates of the laser emitter 4-4 in the coordinate system of the laser emitting device and the normal vector of the emitted sector laser calculate the coordinates of each laser receiver in the coordinate system of the laser emitting device, and then solve the solution
  • the six-degree-of-freedom pose parameter of the shearer 1 in the laser launcher coordinate system is calculated.
  • the intelligent total station 5 and the laser emitting device 4 are disposed in the same lane, and the embedded controller III is fixed on the intelligent total station 5 after being flameproofed, and the embedded controller III is simultaneously combined with the intelligent total station 5
  • the embedded controller I is connected in communication, and the positioning prism is set at a reasonable position on the laser emitting device 4, and the position and posture parameters of the laser emitting device 4 in the absolute coordinate system of the mine are detected by the intelligent total station 5, and the laser is launched in combination with the shearer 1
  • the pose parameter in the device coordinate system and the pose parameter of the laser emitting device 4 in the mine absolute coordinate system obtain the pose parameter of the shearer 1 in the mine absolute coordinate system, and the result is used as the laser pose detection result.
  • the strapdown inertial navigation module is fixed on the shearer 1 after being flameproofed, and the embedded controller II is simultaneously connected with the strapdown inertial navigation module, and the navigation information of the strapdown inertial navigation module is embedded through the embedded controller II.
  • the solution is calculated to obtain the six-degree-of-freedom pose parameter of the shearer 1 in the mine absolute coordinate system, and the result is taken as the result of the strapdown inertial attitude pose detection.
  • the communication mode between the embedded controller I, the embedded controller II and the embedded controller III is ultra-wideband wireless communication, and the embedded controller I and the embedded controller II clock are synchronized.
  • the direction of movement of the shearer 1 on the scraper 2 is the axial direction, and the direction of the push and slide of the hydraulic support 3 is radial.
  • the method specifically includes the following steps:
  • the laser emitting device 4 is moved to be aligned with the mining area and fixed to ensure that the laser beam emitted by the laser emitter 4-4 can be scanned to the shearer 1 while the shearer 1 is
  • the Strapdown Inertial Navigation Module works in real time, and the embedded controller II solves the pose parameters of the shearer 1 in the mine absolute coordinate system;
  • the embedded controller I sends a signal to the embedded controller III, and then the embedded controller III controls the intelligent total station 5 to work, and acquires the intelligent total station 5
  • the positional parameter of the laser emitting device 4 in the mine absolute coordinate system is sent to the embedded controller I;
  • the embedded controller I controls the stepping motor 4-5 and the steering gear 4-3 to operate, so that the laser emitter 4-4 emits a different angle of the rotary sector laser at least at three different positions, and the sector laser is in the laser
  • the normal vector in the coordinate system of the transmitting device can be solved in real time, and the coordinates of the laser emitter 4-4 in the coordinate system of the laser emitting device can be solved in real time; the laser signals received by each of the three laser receivers are controlled by the embedded control.
  • the device II sends the corresponding laser receiver ID number and the receiving time to the embedded controller I, and the embedded controller I combines the receiving signal of each laser receiver with the laser emitter 4-4 in the laser emitting device coordinate system.
  • the embedded controller II performs data processing and asynchronous fusion according to the laser pose detection result of the strapdown inertial attitude detection result, and obtains the absolute position of the shearer 1, and sends the absolute pose to the person.
  • the machine interface is remotely monitored and sent to the mining equipment controller for automatic control of the shearer 1;

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  • Radar, Positioning & Navigation (AREA)
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  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
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Abstract

一种采煤机（1）绝对位姿检测方法，在回采工作面时，对主要由采煤机（1）、刮板机（2）和液压支架（3）构成的三机配套开采装备中的采煤机（1）的绝对位姿进行检测；采煤机（1）绝对位姿检测方法通过捷联惯导模块进行航位推算位姿检测，通过激光发射装置（4）、激光接收装置和智能全站仪（5）进行激光位姿检测，然后通过最优估计算法对两种位姿检测结果进行异步融合，得到精确的采煤机（1）的绝对位姿。采煤机（1）绝对位姿检测方法使用卡尔曼滤波等最优估计算法对两种导航信息进行异步融合，得到更加精确的采煤机（1）绝对位姿参数，精度高、可靠性好，为实现采煤机（1）的自动化、智能化作业提供条件。

Description

一种采煤机绝对位姿检测方法 技术领域
本发明涉及一种采煤机位姿检测方法，尤其涉及一种回采工作面滚筒式采煤机绝对位姿检测方法，属于自动化开采装备技术领域。
背景技术
我国是煤矿的开采与消费大国，采煤机是煤矿开采的主要装备。传统的回采工作面主要是以人工操作，不仅劳动强度大、效率低，而且工作环境极差、危险程度极高，故发展自动化、智能化的开采装备是大势所趋。对于自动化的回采工作面开采装备，首先要解决的问题是开采装备的定位定姿问题，然而，由于矿井下的特殊条件，其环境复杂性使得很多通常采用的定位手段在矿井下达不到定位精度的要求，甚至无法在井下实现定位。目前采煤机定位方法主要有齿轮计数法、红外对射法、惯性导航等，但是很多定位方法只能实现相对定位，无法实现矿山坐标系中采煤机绝对位姿检测，或者能够实现采煤机绝对位姿检测，但是精度较低，总体不能为无人化的回采工作面建设提供足够的条件。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种采煤机绝对位姿检测方法，能够精确检测采煤机在矿山绝对坐标系中的六自由度位姿参数，该方法实时性好、可靠性高，能够为无人化的回采工作面建设提供条件。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种采煤机绝对位姿检测方法，在回采工作面时，对主要由采煤机、刮板机和液压支架构成的三机配套开采装备中的采煤机的绝对位姿进行检测；该方法通过捷联惯导模块进行航位推算位姿检测，通过激光发射装置、激光接收装置和智能全站仪进行激光位姿检测，然后通过卡尔曼滤波等最优估计算法对两种位姿检测结果进行异步融合，得到精确的采煤机的绝对位姿。
具体的，所述激光发射装置包括车体、步进电机、行走机构、曲柄摇杆机构、舵机、激光发射器和嵌入式控制器I，步进电机为隔爆型步进电机，激光发射器为本安隔爆型扇面激光发射器；步进电机、行走机构和曲枘摇杆机构安装在车体上，通过步进电机驱动曲柄摇杆机构动作，舵机与激光发射器安装在摇杆的顶端，由舵机带动激光发射器在±45°范围内回转扫描；嵌入式控制器I经隔爆处理后固定在车体上，嵌入式控制器I向步进电机和舵机提供控制指令，并解算激光发射器在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量。
具体的，所述激光接收装置包括三个激光接收器和嵌入式控制器II，三个激光接收器不共线地固定在采煤机上，且三个激光接收器均能够接收到激光发射器所发射的扇面激光，嵌入式控制器II经隔爆处理后固定在采煤机上，嵌入式控制器II同时与激光接收器和嵌入式控制器I通信连接，结合每个激光接收器的接收信号、激光发射器在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量，解算出每个激光接收器在激光发射 装置坐标系中的坐标，进而解算出采煤机在激光发射装置坐标系中的六自由度位姿参数。
具体的，所述智能全站仪与激光发射装置设置在同一巷道中，嵌入式控制器III经隔爆处理后固定在智能全站仪上，嵌入式控制器III同时与智能全站仪和嵌入式控制器I通信连接，在激光发射装置(4)上合理位置设置定位棱镜，通过智能全站仪检测激光发射装置在矿山绝对坐标系中的位姿参数，结合采煤机在激光发射装置坐标系中的位姿参数和激光发射装置在矿山绝对坐标系中的位姿参数，得到采煤机在矿山绝对坐标系中的位姿参数，将该结果作为激光位姿检测结果。
具体的，所述捷联惯导模块经隔爆处理后固定在采煤机上，嵌入式控制器II同时与捷联惯导模块通信连接，通过嵌入式控制器II对捷联惯导模块的导航信息进行解算，获得采煤机在矿山绝对坐标系中的六自由度位姿参数，将该结果作为捷联惯导位姿检测结果。
具体的，所述嵌入式控制器I、嵌入式控制器II和嵌入式控制器III之间的通信方式为超宽带无线通信，嵌入式控制器I和嵌入式控制器II时钟同步。
具体的，以采煤机在刮板机上的运动方向为轴向，液压支架的推溜方向为径向，该方法具体包括如下步骤：
(a)系统开机初始化后，移动激光发射装置，使其对准采区，并固定，保证激光发射器所发射的扇面激光能够扫描到采煤机，同时采煤机上的捷联惯导模块实时工作，由嵌入式控制器II解算采煤机在矿山绝对坐标系中的位姿参数；
(b)激光发射装置停止运动后，由嵌入式控制器I向嵌入式控制器III发送信号，然后嵌入式控制器III控制智能全站仪工作，并将智能全站仪获取到的激光发射装置在矿山绝对坐标系中的位姿参数发送给嵌入式控制器I；
(c)嵌入式控制器I控制步进电机和舵机工作，使得激光发射器至少在三个不同位置发射出不同角度的回转扇面激光，并且扇面激光在激光发射装置坐标系中的法向量实时可解、激光发射器在激光发射装置坐标系中的坐标实时可解；三个激光接收器每次接收到的激光信号，均由嵌入式控制器II将对应的激光接收器ID号以及接收时间发送给嵌入式控制器I，嵌入式控制器I结合每个激光接收器的接收信号、激光发射器在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量、激光发射装置在矿山绝对坐标系中的位姿参数，解算出采煤机在矿山绝对坐标系中的位姿参数，作为激光位姿检测结果；
(d)嵌入式控制器II根据捷联惯导位姿检测结果与激光位姿检测结果，进行数据处理和异步融合，得到精确的采煤机的绝对位姿，将该绝对位姿发送到人机界面进行远程监控，发送到开采装备控制器对采煤机进行自动控制；
(e)循环步骤(c)～(d)，直到采煤机完成一次轴向截割；
(f)采煤机在刮板机上径向进给，由嵌入式控制器II向嵌入式控制器I发送信号，控制激光发射装置向前移动平均推溜距离，并固定；
(g)循环步骤(b)～(f)，即可实现采煤机连续开采过程中的实时位姿检测。
有益效果：本发明提供的采煤机绝对位姿检测方法，与现有技术相比，利用基于捷联惯导与激光扫描定位的组合导航方法对采煤机六自由度的绝对位姿参数进行检测，捷联惯导具有求解简单、实时性好、不需要外部参考的优势，但是由于其解算方法决定了捷联惯导位姿检测存在累计误差；激光扫描定位方法需要外部参考、实时性不好，但其精度高、不 存在累计误差，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，适用于回采工作面的恶劣环境，系统的各个模块使用超宽带无线通信，可靠性较高。总体上本发明具有检测精度高、实时性好、可靠性高、成本较低等优势。
附图说明
图1为本发明采煤机绝对位姿检测方法工作面示意图；
图2为本发明的激光发射装置示意图；
图3为本发明的系统框图；
图中：1、采煤机，2、刮板机，3、液压支架，4、激光发射装置，4-1、行走机构，4-2、曲柄摇杆机构，4-3、舵机，4-4、激光发射器，4-5、步进电机，5、智能全站仪，6、煤矿。
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和图2所示为一种采煤机绝对位姿检测方法，在回采工作面时，对主要由采煤机1、刮板机2和液压支架3构成的三机配套开采装备中的采煤机1的绝对位姿进行检测；该方法通过捷联惯导模块进行航位推算位姿检测，通过激光发射装置4、激光接收装置和智能全站仪5进行激光位姿检测，然后通过最优估计算法对两种位姿检测结果进行异步融合，得到精确的采煤机1的绝对位姿。
所述激光发射装置4包括车体、步进电机4-5、行走机构4-1、曲柄摇杆机构4-2、舵机4-3、激光发射器4-4和嵌入式控制器I，步进电机为隔爆型步进电机，激光发射器4-4为本安隔爆型扇面激光发射器；步进电机4-5、行走机构4-1和曲柄摇杆机构4-2安装在车体上，通过步进电机4-5驱动曲柄摇杆机构4-2动作，舵机4-3与激光发射器4-4安装在摇杆的顶端，由舵机4-3带动激光发射器4-4在±45°范围内回转扫描；嵌入式控制器I经隔爆处理后固定在车体上，嵌入式控制器I向步进电机4-5和舵机4-3提供控制指令，并解算激光发射器4-4在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量。
所述激光接收装置包括三个激光接收器和嵌入式控制器II，三个激光接收器不共线地固定在采煤机1上，且三个激光接收器均能够接收到激光发射器4-4所发射的扇面激光，嵌入式控制器II经隔爆处理后固定在采煤机1上，嵌入式控制器II同时与激光接收器和嵌入式控制器I通信连接，结合每个激光接收器的接收信号、激光发射器4-4在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量，解算出每个激光接收器在激光发射装置坐标系中的坐标，进而解算出采煤机1在激光发射装置坐标系中的六自由度位姿参数。
所述智能全站仪5与激光发射装置4设置在同一巷道中，嵌入式控制器III经隔爆处理后固定在智能全站仪5上，嵌入式控制器III同时与智能全站仪5和嵌入式控制器I通信连接，在激光发射装置4上合理位置设置定位棱镜，通过智能全站仪5检测激光发射装置4在矿山绝对坐标系中的位姿参数，结合采煤机1在激光发射装置坐标系中的位姿参数和激光发射装置4在矿山绝对坐标系中的位姿参数，得到采煤机1在矿山绝对坐标系中的位姿参数，将该结果作为激光位姿检测结果。
所述捷联惯导模块经隔爆处理后固定在采煤机1上，嵌入式控制器II同时与捷联 惯导模块通信连接，通过嵌入式控制器II对捷联惯导模块的导航信息进行解算，获得采煤机1在矿山绝对坐标系中的六自由度位姿参数，将该结果作为捷联惯导位姿检测结果。
所述嵌入式控制器I、嵌入式控制器II和嵌入式控制器III之间的通信方式为超宽带无线通信，嵌入式控制器I和嵌入式控制器II时钟同步。
以采煤机1在刮板机2上的运动方向为轴向，液压支架3的推溜方向为径向，该方法具体包括如下步骤：
(a)系统开机初始化后，移动激光发射装置4，使其对准采区，并固定，保证激光发射器4-4所发射的扇面激光能够扫描到采煤机1，同时采煤机1上的捷联惯导模块实时工作，由嵌入式控制器II解算采煤机1在矿山绝对坐标系中的位姿参数；
(b)激光发射装置4停止运动后，由嵌入式控制器I向嵌入式控制器III发送信号，然后嵌入式控制器III控制智能全站仪5工作，并将智能全站仪5获取到的激光发射装置4在矿山绝对坐标系中的位姿参数发送给嵌入式控制器I；
(c)嵌入式控制器I控制步进电机4-5和舵机4-3工作，使得激光发射器4-4至少在三个不同位置发射出不同角度的回转扇面激光，并且扇面激光在激光发射装置坐标系中的法向量实时可解、激光发射器4-4在激光发射装置坐标系中的坐标实时可解；三个激光接收器每次的接收到的激光信号，均由嵌入式控制器II将对应的激光接收器ID号以及接收时间发送给嵌入式控制器I，嵌入式控制器I结合每个激光接收器的接收信号、激光发射器4-4在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量、激光发射装置4在矿山绝对坐标系中的位姿参数，解算出采煤机1在矿山绝对坐标系中的位姿参数，作为激光位姿检测结果；
(d)嵌入式控制器II根据捷联惯导位姿检测结果激光位姿检测结果，进行数据处理和异步融合，得到精确的采煤机1的绝对位姿，将该绝对位姿发送到人机界面进行远程监控，发送到开采装备控制器对采煤机1进行自动控制；
(e)循环步骤(c)～(d)，直到采煤机1完成一次轴向截割；
(f)采煤机1在刮板机2上径向进给，由嵌入式控制器II向嵌入式控制器I发送信号，控制激光发射装置4向前移动平均推溜距离，并固定；
(g)循环步骤(b)～(f)，即可实现采煤机1连续开采过程中的实时位姿检测。
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. 一种采煤机绝对位姿检测方法，在回采工作面时，对主要由采煤机(1)、刮板机(2)和液压支架(3)构成的三机配套开采装备中的采煤机(1)的绝对位姿进行检测；其特征在于：通过捷联惯导模块进行航位推算位姿检测，通过激光发射装置(4)、激光接收装置和智能全站仪(5)进行激光位姿检测，然后通过最优估计算法对两种位姿检测结果进行异步融合，得到精确的采煤机(1)的绝对位姿。
  2. 根据权利要求1所述的采煤机绝对位姿检测方法，其特征在于：所述激光发射装置(4)包括车体、步进电机(4-5)、行走机构(4-1)、曲柄摇杆机构(4-2)、舵机(4-3)、激光发射器(4-4)和嵌入式控制器I，步进电机为隔爆型步进电机，激光发射器(4-4)为本安隔爆型扇面激光发射器；步进电机(4-5)、行走机构(4-1)和曲柄摇杆机构(4-2)安装在车体上，通过步进电机(4-5)驱动曲柄摇杆机构(4-2)动作，舵机(4-3)与激光发射器(4-4)安装在摇杆的顶端，由舵机(4-3)带动激光发射器(4-4)在±45°范围内回转扫描；嵌入式控制器I经隔爆处理后固定在车体上，嵌入式控制器I向步进电机(4-5)和舵机(4-3)提供控制指令，并解算激光发射器(4-4)在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量。
  3. 根据权利要求2所述的采煤机绝对位姿检测方法，其特征在于：所述激光接收装置包括三个激光接收器和嵌入式控制器II，三个激光接收器不共线地固定在采煤机(1)上，且三个激光接收器均能够接收到激光发射器(4-4)所发射的扇面激光，嵌入式控制器II经隔爆处理后固定在采煤机(1)上，嵌入式控制器II同时与激光接收器和嵌入式控制器I通信连接，结合每个激光接收器的接收信号、激光发射器(4-4)在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量，解算出每个激光接收器在激光发射装置坐标系中的坐标，进而解算出采煤机(1)在激光发射装置坐标系中的位姿参数。
  4. 根据权利要求3所述的采煤机绝对位姿检测方法，其特征在于：所述智能全站仪(5)与激光发射装置(4)设置在同一巷道中，嵌入式控制器III经隔爆处理后固定在智能全站仪(5)上，嵌入式控制器III同时与智能全站仪(5)和嵌入式控制器I通信连接，在激光发射装置(4)上合理位置设置定位棱镜，通过智能全站仪(5)检测激光发射装置(4)在矿山绝对坐标系中的位姿参数，结合采煤机(1)在激光发射装置坐标系中的位姿参数和激光发射装置(4)在矿山绝对坐标系中的位姿参数，得到采煤机(1)在矿山绝对坐标系中的位姿参数，将该结果作为激光位姿检测结果。
  5. 根据权利要求3所述的采煤机绝对位姿检测方法，其特征在于：所述捷联惯导模块经隔爆处理后固定在采煤机(1)上，嵌入式控制器II同时与捷联惯导模块通信连接，通过嵌入式控制器II对捷联惯导模块的导航信息进行解算，获得采煤机(1)在矿山绝对坐标系中的位姿参数，将该结果作为捷联惯导位姿检测结果。
  6. 根据权利要求3所述的采煤机绝对位姿检测方法，其特征在于：所述嵌入式控制器I、嵌入式控制器II和嵌入式控制器III之间的通信方式为超宽带无线通信，嵌入式控制器I和嵌入式控制器II时钟同步。
  7. 根据权利要求3所述的采煤机绝对位姿检测方法，其特征在于：以采煤机(1)在刮板机(2)上的运动方向为轴向，液压支架(3)的推溜方向为径向，该方法具体包括如下步骤：
    (a)系统开机初始化后，移动激光发射装置(4)，使其对准采区，并固定，保证激光发射器(4-4)所发射的扇面激光能够扫描到采煤机(1)，同时采煤机(1)上的捷联惯导模块实时工作，由嵌入式控制器II解算采煤机(1)在矿山绝对坐标系中的位姿参数；
    (b)激光发射装置(4)停止运动后，由嵌入式控制器I向嵌入式控制器III发送信号，然后嵌入式控制器III控制智能全站仪(5)工作，并将智能全站仪(5)获取到的激光发射装置(4)在矿山绝对坐标系中的位姿参数发送给嵌入式控制器I；
    (c)嵌入式控制器I控制步进电机(4-5)和舵机(4-3)工作，使得激光发射器(4-4)至少在三个不同位置发射出不同角度的回转扇面激光，并且扇面激光在激光发射装置坐标系中的法向量实时可解、激光发射器(4-4)在激光发射装置坐标系中的坐标实时可解；三个激光接收器每次接收到的激光信号，均由嵌入式控制器II将对应的激光接收器ID号以及接收时间发送给嵌入式控制器I，嵌入式控制器I结合每个激光接收器的接收信号、激光发射器(4-4)在激光发射装置坐标系中的三维坐标及其所发射的扇面激光的法向量、激光发射装置(4)在矿山绝对坐标系中的位姿参数，解算出采煤机(1)在矿山绝对坐标系中的位姿参数，作为激光位姿检测结果；
    (d)嵌入式控制器II根据捷联惯导位姿检测结果与激光位姿检测结果，进行数据处理和异步融合，得到精确的采煤机(1)的绝对位姿，将该绝对位姿发送到人机界面进行远程监控，发送到开采装备控制器对采煤机(1)进行自动控制；
    (e)循环步骤(c)～(d)，直到采煤机(1)完成一次轴向截割；
    (f)采煤机(1)在刮板机(2)上径向进给，由嵌入式控制器II向嵌入式控制器I发送信号，控制激光发射装置(4)向前移动平均推溜距离，并固定；
    (g)循环步骤(b)～(f)，即可实现采煤机(1)连续开采过程中的实时位姿检测。
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CN115371597B (zh) * 2022-09-13 2023-08-04 山东科技大学 一种工作面液压支架底座位置精度校核方法
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