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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WIPO (PCT)
Prior art keywords
laser
embedded controller
shearer
emitting device
pose
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Application number
PCT/CN2018/083775
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English (en)
French (fr)
Chinese (zh)
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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中国矿业大学
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Application filed by 中国矿业大学 filed Critical 中国矿业大学
Publication of WO2018219062A1 publication Critical patent/WO2018219062A1/zh

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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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Automation & Control Theory (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Guiding Agricultural Machines (AREA)
PCT/CN2018/083775 2017-05-31 2018-04-19 一种采煤机绝对位姿检测方法 WO2018219062A1 (zh)

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CN112229394A (zh) * 2020-10-14 2021-01-15 中国矿业大学 基于红外运动捕捉的煤矿井下移动设备定位定姿系统
CN113065572A (zh) * 2019-12-31 2021-07-02 北京凌宇智控科技有限公司 多传感器融合的数据处理方法、定位装置及虚拟现实设备
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