WO2023201993A1 - 一种煤矿井下单轨吊车高精度定位系统及定位方法 - Google Patents

一种煤矿井下单轨吊车高精度定位系统及定位方法 Download PDF

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Publication number
WO2023201993A1
WO2023201993A1 PCT/CN2022/123325 CN2022123325W WO2023201993A1 WO 2023201993 A1 WO2023201993 A1 WO 2023201993A1 CN 2022123325 W CN2022123325 W CN 2022123325W WO 2023201993 A1 WO2023201993 A1 WO 2023201993A1
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Prior art keywords
monorail crane
positioning
coordinate
unit
beam track
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English (en)
French (fr)
Inventor
卢昊
朱真才
张益东
彭玉兴
汤裕
陈华
徐再刚
王明仲
杜迈
胡恒振
郑福平
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Liren Monorail Transportation Equipment Co Ltd
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Liren Monorail Transportation Equipment Co Ltd
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Priority to AU2022348883A priority Critical patent/AU2022348883B2/en
Priority to US18/247,874 priority patent/US12187332B2/en
Publication of WO2023201993A1 publication Critical patent/WO2023201993A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B66C11/06—Underhung trolleys running on monorails
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/02—Rack railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30—Details; Auxiliary devices
    • B65G17/48—Controlling attitudes of load-carriers during movement
    • B65G17/485—Controlling attitudes of load-carriers during movement the load carriers being suspended
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
    • B65G19/02—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers
    • B65G19/025—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers for suspended articles

Definitions

  • the invention relates to the field of underground monorail crane positioning in coal mines, and in particular to a high-precision positioning system and positioning method for underground monorail cranes in coal mines.
  • the monorail crane locomotive is a type of rail locomotive that is specially designed to run on special I-beams above the mine tunnels.
  • UWB positioning technologies
  • UWB positioning technology relies on network signals, so network equipment and base stations need to be laid out during the operation of the monorail crane, resulting in high construction and maintenance costs. And if any network equipment fails, it will cause problems with UWB positioning, making it impossible to accurately position the monorail crane. Therefore, how to achieve high-precision positioning of the monorail crane position and realize the unmanned development requirements of intelligent mines are technical issues that need to be solved urgently in this field.
  • the purpose of the present invention is to provide a high-precision positioning system and positioning method for an underground monorail crane in a coal mine, which utilizes the high-precision meshing of the positioning wheel and the rack on the I-beam track, and then calculates the positioning wheel displacement. To achieve high-precision positioning of the monorail crane.
  • the present invention adopts the following technical solutions:
  • the invention provides a high-precision positioning system and positioning method for an underground monorail crane in a coal mine, which includes a gear-type displacement measurement device and a number of coordinate positioning units evenly distributed on the I-beam track;
  • the gear-type displacement measurement device includes a gear-type displacement measurement device symmetrically arranged on the I-beam track
  • the gear frame is provided with a positioning wheel and a number of running wheels.
  • the running wheels run on the upper end surface of the I-beam track bottom plate.
  • the positioning wheel is engaged with the rack at the lower end of the I-beam track bottom plate for transmission;
  • the rack is also provided with a mounting frame and a connection seat for connecting the monorail crane, and the mounting frame is provided with an inertial measurement unit and a single-chip microcomputer that are electrically connected together;
  • the positioning wheel is also provided with a rotation angle sensor for detecting its rotation angle, and the rotation angle sensor is electrically connected to the microcontroller;
  • the head of the monorail crane at both ends is equipped with a coordinate update unit capable of transmitting signals to the coordinate positioning unit, and the coordinate update unit is electrically connected to the microcontroller.
  • the invention also provides a positioning method for a high-precision positioning system for an underground monorail crane in a coal mine, which includes the following steps:
  • Step S1 Establish the global route of all I-beam tracks in the computer
  • Step S2 Use the inertial measurement unit to pick up the pose information of the monorail crane to identify the running direction of the monorail crane and draw the real-time route of the monorail crane during its travel;
  • Step S3 Arrange the coordinate positioning unit and obtain the three-dimensional coordinate information containing the location of the coordinate positioning unit;
  • Step S4 Between two adjacent coordinate positioning units, the microcontroller uses the angle information transmitted from the angle sensor to calculate the traveling mileage of the monorail crane, and combines the direction information measured by the inertial measurement unit to calculate the forward direction of the monorail crane. The distance traveled is combined with the coordinate position of the monorail crane in the previous coordinate positioning unit in the global route to obtain the precise three-dimensional coordinate position of the monorail crane between the two coordinate positioning units;
  • Step S5 When the monorail crane passes the coordinate positioning unit, the coordinate positioning unit corrects the precise position of the monorail crane and updates the three-dimensional coordinate position of the monorail crane in the global route;
  • the data transmitted by the inertial measurement unit and the angle sensor are automatically initialized. Taking the update point as the starting point, positioning is performed between the next two coordinate positioning units according to the method described in step 4;
  • Step S6 Repeat steps S4 to S5 to display the three-dimensional coordinate position of the monorail crane in the global route in real time and accurately.
  • step S1 the specific method of step S1 is:
  • S1-1 Use laser radar to scan the I-beam track in advance, obtain the I-beam track and nearby irrelevant point cloud data, and transmit it to the computer;
  • S1-2 Process the I-beam track and nearby irrelevant point cloud data, filter out the irrelevant point cloud data, retain only the point cloud data of the I-beam track, and store the point cloud data of the I-beam track in the computer. Solidify and obtain the three-dimensional solid model of the I-beam track;
  • the application scenario of the inertial measurement unit in step S2 is as follows:
  • the inertial measurement unit identifies the traveling direction of the monorail crane
  • the inertial measurement unit identifies which switch the monorail crane has entered.
  • step S3 the coordinate positioning unit is arranged as follows:
  • a coordinate positioning unit is set up at the initial point where the monorail crane is connected to the I-beam track and at each turnout;
  • the distance d is determined as follows:
  • the coordinate positioning unit is a barcode, and the barcode contains its coordinate position in the global route;
  • the coordinate update unit is a laser scanner, and the laser scanner scans the coordinate positioning unit to scan the monorail The crane's position is updated.
  • the present invention can accurately calculate the traveling mileage of the monorail crane by calculating the rotation arc length of the positioning wheel. Combined with the global route of the constructed I-beam track, the present invention can accurately determine the location of the monorail crane on the I-beam track. , and the positioning accuracy of the present invention is related to the size of the positioning wheel, and the positioning accuracy can be improved by reducing the tooth pitch of the positioning wheel;
  • the present invention has the odometer installed on the wheels when measuring mileage. However, when the vehicle is driving, the wheels will slip.
  • the present invention reduces the mileage through gear meshing. It eliminates calculation errors caused by wheel slippage and improves positioning accuracy;
  • Figure 1 is a schematic structural diagram of a high-precision positioning system for an underground monorail crane in a coal mine provided by an embodiment of the present invention
  • Figure 2 is a schematic diagram of the installation position of the single-chip microcomputer provided by the embodiment of the present invention.
  • Figure 3 is a schematic diagram of the positional relationship between two positioning wheels provided by the embodiment of the present invention.
  • Figure 4 is a schematic diagram of the installation of a high-precision positioning system for a coal mine underground monorail crane on the monorail crane provided by an embodiment of the present invention
  • Figure 5 is an enlarged view of part B in Figure 5 provided by an embodiment of the present invention.
  • Figure 6 is a global road map of the installation composition of the coordinate positioning unit provided by the embodiment of the present invention.
  • 1-I-beam track 2-travel wheel; 3-connecting rod; 4-positioning wheel; 5-cross bar; 6-fixed frame; 7-angle sensor; 9-connecting seat; 12-single chip microcomputer; 13-inertial measurement Unit; 18-mounting frame; 19-rack; 24-coordinate update unit; 26-power supply; 29-coordinate positioning unit.
  • a high-precision positioning system for underground monorail cranes in coal mines includes
  • the gear-type displacement measurement device includes two gear racks symmetrically arranged on both sides of the I-beam track 1, and the two racks are fixedly connected together;
  • the gear frame is provided with a positioning wheel 4 and a plurality of running wheels 2.
  • the running wheels 2 run on the upper end surface of the bottom plate of the I-beam track 1.
  • the positioning wheel 4 is in contact with the rack at the lower end of the bottom plate of the I-beam track 1. 19 meshing transmission; the tooth pitch of the positioning wheel 4 is very small, so that its positioning accuracy is higher than that of the inertial measurement unit 13.
  • the rack is also provided with a mounting frame 18 and a connecting seat 9 for connecting the monorail crane.
  • the mounting frame 18 is provided with an inertial measurement unit 13 and a single-chip microcomputer 12 that are electrically connected together;
  • the positioning wheel 4 is also provided with a rotation angle sensor 7 for detecting its rotation angle, and the rotation angle sensor 7 is electrically connected to the microcontroller 12;
  • the head of the monorail crane at both ends is provided with a coordinate update unit 24 capable of transmitting signals to the coordinate positioning unit 29 .
  • the coordinate update unit 24 is electrically connected to the microcontroller 12 .
  • the single chip microcomputer 12 is connected to the external control center for communication and is used to control and display it through the external control center.
  • the gear rack includes a connecting rod 3.
  • Two running wheels 2 are symmetrically provided at both ends of the connecting rod 3.
  • Two fixing brackets 6 are symmetrically fixed at both ends of the connecting rod 3, one of which is far away from the running wheel.
  • One end of the wheel 2 is fixed with the mounting frame 18, and the other fixed frame 6 is fixed with the connecting seat 9 at one end away from the running wheel 2.
  • the two positioning wheels 4 are rotationally connected to the same rotating shaft, and the two ends of the rotating shaft are respectively connected with supporting plates for rotation.
  • Two cross bars 5 are fixed on the support plate, and the two cross bars 5 are fixedly connected to the two fixing brackets 6 on the same side.
  • the invention also provides a positioning method for a high-precision positioning system for an underground monorail crane in a coal mine, which includes the following steps:
  • Step S1 Establish the global route of all I-beam tracks 1 in the computer
  • step S1 The specific method of step S1 is:
  • S1-1 Use laser radar to scan the I-beam track 1 in advance, obtain the irrelevant point cloud data of the I-beam track 1 and its surroundings, and transmit it to the computer;
  • S1-2 Process the irrelevant point cloud data of I-beam track 1 and nearby, filter out the irrelevant point cloud data, retain only the point cloud data of I-beam track 1, and save the point cloud data of I-beam track 1 in the computer.
  • the point cloud data is materialized to obtain the three-dimensional solid model of the I-beam track 1;
  • Step S2 Use the inertial measurement unit 13 to pick up the pose information of the monorail crane to identify the running direction of the monorail crane and draw the real-time route of the monorail crane during its travel;
  • the application scenarios of the inertial measurement unit 13 are as follows:
  • the inertial measurement unit 13 identifies the traveling direction of the monorail crane
  • the inertial measurement unit 13 identifies which switch the monorail crane has entered.
  • Step S3 Arrange the coordinate positioning unit 29 and obtain the three-dimensional coordinate information containing the location of the coordinate positioning unit 29;
  • the layout of the coordinate positioning unit 29 is:
  • a coordinate positioning unit 29 is provided at the initial point where the monorail crane accesses the I-beam track 1 and at each turnout;
  • step S3 the distance d is determined as follows:
  • Step S4 Between two adjacent coordinate positioning units 29, the single-chip computer 12 uses the angle information transmitted from the angle sensor 7 to calculate the traveling mileage of the monorail crane, and combines the direction information measured by the inertial measurement unit 13 to calculate the mileage of the monorail crane. The distance traveled in the forward direction is combined with the coordinate position of the monorail crane in the previous coordinate positioning unit 29 in the global route to obtain the precise three-dimensional coordinate position of the monorail crane between the two coordinate positioning units 29;
  • Step S5 When the monorail crane passes the coordinate positioning unit 29, the coordinate positioning unit 29 corrects the precise position of the monorail crane and updates the three-dimensional coordinate position of the monorail crane in the global route;
  • the data transmitted by the inertial measurement unit 13 and the rotation angle sensor 7 are automatically initialized, starting from the update point, and positioning is performed between the next two coordinate positioning units 29 according to the method described in step 4;
  • Step S6 Repeat steps S4 to S5 to display the three-dimensional coordinate position of the monorail crane in the global route in real time and accurately.
  • the coordinate positioning unit 29 is a barcode, and the barcode contains its coordinate position in the global route;
  • the coordinate update unit 24 is a laser scanner, and the laser scanner scans the coordinate positioning unit 29 to scan the monorail.
  • the crane's position is updated.
  • the angle sensor 7 is preferably an MCJS type angle sensor. Just from the characteristics of the angle sensor 7 itself, the measurement angle error is about 0.05%. Then every time the monorail crane travels 100 meters, the walking error is about 5cm.
  • the positioning accuracy of the positioning wheel 4 can be improved by reducing the tooth pitch. If the tooth pitch of the positioning wheel 4 is 5mm, then the single-chip computer 12 will increase the displacement in units of 5mm when calculating the displacement of the positioning wheel 4. Similarly, if the tooth pitch of the positioning wheel 4 is 1mm, the single-chip computer 12 will increase the positioning wheel 4 in units of 1mm when calculating the displacement. The smaller the increment unit, the more accurate the positioning will be.
  • the coordinate positioning unit 29 can also be adjusted by adjusting the coordinate positioning unit 29 position, further improving the positioning accuracy of the positioning wheel 4, and the positioning accuracy of the present invention is controllable.
  • UWB positioning technology can only achieve indoor positioning accuracy of 10cm, and the underground environment is complex and the positioning accuracy is even worse.
  • the general inertial measurement unit 13 can only output angular velocity and acceleration, and cannot directly output displacement. It needs to use integration means, but the integration method will have time accumulation error. The longer the working time, the higher the error. Taking high-precision fiber optic inertial navigation as an example, the traveling error of a monorail crane is about 80cm for every 100m it travels.
  • the existing odometer is directly mounted on the driving wheel for counting. If the crane is used for frequent starts and stops, the driving wheel will cause a large positioning error due to slippage, which cannot meet high-precision positioning. need.

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Abstract

一种煤矿井下单轨吊车高精度定位系统及定位方法，该系统包括对称设置在工字钢轨道（1）两侧的两个齿架；齿架上设有定位轮（4）和若干行走轮（2），行走轮（2）在工字钢轨道（1）底板的上端面上行走，定位轮（4）与工字钢轨道（1）底板下端的齿条（19）啮合传动；齿架上还设有安装架（18）和用于连接单轨吊车的连接座（9），安装架（18）上设有电性连接在一起的惯性测量单元（13）与单片机（12）；定位轮（4）上设有转角传感器（7），转角传感器（7）电性连接单片机（12）；单轨吊车两端的车头上设有坐标更新单元（24）；其利用定位轮（4）与工字钢轨道（1）上齿条（19）的高精度啮合，再通过计算定位轮（4）位移来实现单轨吊车的高精度定位。

Description

一种煤矿井下单轨吊车高精度定位系统及定位方法 技术领域
本发明涉及煤矿井下单轨吊车定位领域，具体涉及一种煤矿井下单轨吊车高精度定位系统及定位方法。
背景技术
单轨吊机车是专门运行在矿山巷道上空的特制工字钢上的一种有轨机车。随着井下无人化的发展，出于对单轨吊车驾驶员的安全考虑，需要对单轨吊机车的位置进行高精度的定位，以便于对无人驾驶的单轨吊车进行精准控制。但是由于单轨吊机车工作的矿山巷道中无法使用GPS信号，因此现有技术中一般采用UWB等定位技术进行单轨吊机车的位置定位。而UWB定位技术依靠网络信号，因此需要在单轨吊机车运行途中布设网络设备和基站，建造维护成本高。而且如果一旦出现任何一个网络设备出现故障，则会导致UWB定位出现问题，进而无法准确的对单轨吊机车的位置进行定位。因此，如何实现对单轨吊机车位置的高精度定位，实现智能化矿山的无人化发展要求，是本领域亟待解决的技术问题。
发明内容
针对上述存在的技术不足，本发明的目的是提供一种煤矿井下单轨吊车高精度定位系统及定位方法，其利用定位轮与工字钢轨道上齿条的高精度啮合，再通过计算定位轮位移来实现单轨吊车的高精度定位。
为解决上述技术问题，本发明采用如下技术方案：
本发明提供一种煤矿井下单轨吊车高精度定位系统及定位方法，包括齿轮式位移计量装置和若干均布在工字钢轨道上的坐标定位单元；所述齿轮式位移计量装置包括对称设置在工字钢轨道两侧的两个齿架，两个所述齿架固定连接 在一起；
所述齿架上设有定位轮和若干行走轮，所述行走轮在工字钢轨道底板的上端面上行走，所述定位轮与工字钢轨道底板下端的齿条啮合传动；
所述齿架上还设有安装架和用于连接单轨吊车的连接座，所述安装架上设有电性连接在一起的惯性测量单元与单片机；
所述定位轮上还设有用于检测其转动角度的转角传感器，所述转角传感器电性连接单片机；
单轨吊车两端的车头上均设有能够与坐标定位单元传输信号的坐标更新单元，所述坐标更新单元电性连接单片机。
本发明还提供一种煤矿井下单轨吊车高精度定位系统的定位方法，包括以下步骤：
步骤S1：在计算机中建立所有工字钢轨道的全局路线；
步骤S2：利用惯性测量单元拾取单轨吊车的位姿信息，用来辨别单轨吊车的运行方向，绘制单轨吊车行走过程中的实时路线；
步骤S3：布置好坐标定位单元，获取坐标定位单元包含所处位置的三维坐标信息；
步骤S4：在相邻两个坐标定位单元之间，单片机利用转角传感器传输到的角度信息计算获得单轨吊车的行走里程数，结合惯性测量单元测得的方向信息，计算出单轨吊车在前进方向上行走的距离，结合单轨吊车在上一个坐标定位单元在全局路线中的坐标位置，获得单轨吊车在两个坐标定位单元之间的精确三维坐标位置；
步骤S5：当单轨吊经过坐标定位单元时，坐标定位单元对单轨吊车的精确位置进行矫正，更新单轨吊车在全局路线中的三维坐标位置；
同时，惯性测量单元与转角传感器传输的数据自动初始化，以更新点为起点，在下两个坐标定位单元之间按照步骤4中所述方法进行定位；
步骤S6：重复步骤S4-步骤S5，实时并精准显示单轨吊车在全局路线中的 三维坐标位置。
优选地，步骤S1的具体方法为：
S1-1、事先采用激光雷达对工字钢轨道进行扫描，获得工字钢轨道及附近无关的点云数据，并将其传输至计算机中；
S1-2、对工字钢轨道及附近无关的点云数据进行处理，滤除无关点云数据，仅保留工字钢轨道的点云数据，并在计算机中将工字钢轨道的点云数据实体化，获得工字钢轨道的三维实体模型；
S1-3、根据工字钢轨道的三维实体模型，以工字钢轨道底面的中心线作为全局路线，并在计算机中赋予全局路线中每一点三维坐标，将坐标化后的全局路线传输至单片机中。
优选地，步骤S2中惯性测量单元的应用场景如下：
S2-1单轨吊车在直线路段前后运动时，所述惯性测量单元识别单轨吊车的行走方向；
S2-2单轨吊车进入道岔时，所述惯性测量单元识别单轨吊车究竟进入了哪条道岔。
优选地，步骤S3中，坐标定位单元的布置方式为：
首先，在单轨吊车的接入工字钢轨道的初始点及每个道岔口处均设置一个坐标定位单元；
然后，在上述已按照好的相邻的两个坐标定位单元之间，再按照间隔距离d安装若干个坐标定位单元；
当安装到第个k个坐标定位单元与下一个道岔口处的坐标定位单元之间的距离s为d<s<2d时，再安装第k+1个坐标定位单元；
当安装到第k个坐标定位单元与下一个道岔口处的坐标定位单元之间的距离s为0<s<d时，停止安装第k+1个坐标定位单元；
最后，按照上述方法，完成所有坐标定位单元的安装。
优选地，步骤S3中，距离d的确定步骤如下：
首先，根据所选惯性测量单元对应品牌型号的技术参数，算出时间累计误差函数f(t)；
然后，然后，设定惯性测量单元的最大容许时间累计误差为△max，令f(t1)＝△max，解算出t1，结合单轨吊车的平均运行速度v，这里取运行距离d≤v*t1，同时还要小于等于定位轮产生最大位移误差时的行走距离。
优选地，单片机计算单轨吊车的行走里程数的方法为：设S为单轨吊车的位移，L为定位轮分度圆所旋转过的总弧长，n为定位轮的旋转角度，r为定位轮的分度圆半径，则S＝L＝nr。
优选地，所述坐标定位单元为条形码，所述条形码中包含其在所述全局路线中的坐标位置；所述坐标更新单元为激光扫描仪，所述激光扫描仪通过扫描坐标定位单元，对单轨吊车的位置进行更新。
本发明的有益效果在于：
1、本发明通过计算定位轮的旋转弧长能够精确地计算出单轨吊车的行走里程，结合构建的工字钢轨道的全局路线，能够精确地确定出单轨吊车在工字钢轨道上的所在位置，且本发明的定位精度与定位轮的尺寸有关系，可以通过减定位轮的齿距来提高定位精度；
2、本发明与目前较多使用的里程计相比，里程计测量里程数时，里程计安装于车轮上，但车辆在行驶过程中，车轮会有打滑现象，本发明通过齿轮啮合的方式降低了因车轮打滑带来的计算误差，提高了定位精度；
3、本发明中单轨吊车每经过一个坐标定位单元，就会对惯性测量单元和转角传感器的信息进行数据初始化，降低了惯性测量单元因时间累计所带来的计算误差。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述 中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种煤矿井下单轨吊车高精度定位系统的结构示意图；
图2为本发明实施例提供的单片机安装位置示意图；
图3为本发明实施例提供的两个定位轮之间的位置关系示意图；
图4为本发明实施例提供的一种煤矿井下单轨吊车高精度定位系统在单轨吊车上的安装示意图；
图5为本发明实施例提供的图5中B部放大图；
图6为本发明实施例提供的坐标定位单元安装组成的全局路线图。
附图标记说明：
1-工字钢轨道；2-行走轮；3-连杆；4-定位轮；5-横杆；6-固定架；7-转角传感器；9-连接座；12-单片机；13-惯性测量单元；18-安装架；19-齿条；24-坐标更新单元；26-电源；29-坐标定位单元。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1至图6所示，一种煤矿井下单轨吊车高精度定位系统，包括
齿轮式位移计量装置和若干均布在工字钢轨道1上的坐标定位单元29；
所述齿轮式位移计量装置包括对称设置在工字钢轨道1两侧的两个齿架，两个所述齿架固定连接在一起；
所述齿架上设有定位轮4和若干行走轮2，所述行走轮2在工字钢轨道1 底板的上端面上行走，所述定位轮4与工字钢轨道1底板下端的齿条19啮合传动；所述定位轮4的齿距很小，满足其定位精度比惯性测量单元13的定位精度更高。
所述齿架上还设有安装架18和用于连接单轨吊车的连接座9，所述安装架18上设有电性连接在一起的惯性测量单元13与单片机12；
所述定位轮4上还设有用于检测其转动角度的转角传感器7，所述转角传感器7电性连接单片机12；
单轨吊车两端的车头上均设有能够与坐标定位单元29传输信号的坐标更新单元24，所述坐标更新单元24电性连接单片机12。
单片机12与外部控制中心通讯连接，用于通过外部控制中心对其进行控制与显示。
所述齿架包括连杆3，所述连杆3的两端对称设有两个行走轮2，所述连杆3两端还对称固定有两个固定架6，其中一个固定架6远离行走轮2的一端固定安装架18，另一个固定架6远离行走轮2的一端固定连接座9，两个定位轮4转动连接在同一个转轴上，转轴的两端分别转动连接有支撑板，所述支撑板上固定有两个横杆5，两个横杆5分别与同侧的两个固定架6固定连接。
本发明还提供一种煤矿井下单轨吊车高精度定位系统的定位方法，包括以下步骤：
步骤S1：在计算机中建立所有工字钢轨道1的全局路线；
步骤S1的具体方法为：
S1-1、事先采用激光雷达对工字钢轨道1进行扫描，获得工字钢轨道1及附近无关的点云数据，并将其传输至计算机中；
S1-2、对工字钢轨道1及附近无关的点云数据进行处理，滤除无关点云数据，仅保留工字钢轨道1的点云数据，并在计算机中将工字钢轨道1的点云数据实体化，获得工字钢轨道1的三维实体模型；
S1-3、根据工字钢轨道1的三维实体模型，以工字钢轨道1底面的中心线 作为全局路线，并在计算机中赋予全局路线中每一点三维坐标，将坐标化后的全局路线传输至单片机12中。
步骤S2：利用惯性测量单元13拾取单轨吊车的位姿信息，用来辨别单轨吊车的运行方向，绘制单轨吊车行走过程中的实时路线；
惯性测量单元13的应用场景如下：
S2-1单轨吊车在直线路段前后运动时，所述惯性测量单元13识别单轨吊车的行走方向；
S2-2单轨吊车进入道岔时，所述惯性测量单元13识别单轨吊车究竟进入了哪条道岔。
步骤S3：布置好坐标定位单元29，获取坐标定位单元29包含所处位置的三维坐标信息；
坐标定位单元29的布置方式为：
首先，在单轨吊车的接入工字钢轨道1的初始点及每个道岔口处均设置一个坐标定位单元29；
然后，在上述已按照好的相邻的两个坐标定位单元29之间，再按照间隔距离d安装若干个坐标定位单元29；
当安装到第个k个坐标定位单元29与下一个道岔口处的坐标定位单元29之间的距离s为d<s<2d时，再安装第k+1个坐标定位单元29；
当安装到第k个坐标定位单元29与下一个道岔口处的坐标定位单元29之间的距离s为0<s<d时，停止安装第k+1个坐标定位单元29；
最后，按照上述方法，完成所有坐标定位单元29的安装。
步骤S3中，距离d的确定步骤如下：
首先，根据所选惯性测量单元13对应品牌型号的技术参数，算出时间累计误差函数f(t)；
然后，设定惯性测量单元13的最大容许时间累计误差为△max，令f(t1)＝△max，解算出t1，结合单轨吊车的平均运行速度v，这里取运行距离d≤v*t1， 同时还要小于等于定位轮4产生最大位移误差时的行走距离。
步骤S4：在相邻两个坐标定位单元29之间，单片机12利用转角传感器7传输到的角度信息计算获得单轨吊车的行走里程数，结合惯性测量单元13测得的方向信息，计算出单轨吊车在前进方向上行走的距离，结合单轨吊车在上一个坐标定位单元29在全局路线中的坐标位置，获得单轨吊车在两个坐标定位单元29之间的精确三维坐标位置；
单片机12计算单轨吊车的行走里程数的方法为：设S为单轨吊车的位移，L为定位轮4分度圆所旋转过的总弧长，n为定位轮4的旋转角度，r为定位轮的分度圆半径，则S＝L＝nr。
步骤S5：当单轨吊经过坐标定位单元29时，坐标定位单元29对单轨吊车的精确位置进行矫正，更新单轨吊车在全局路线中的三维坐标位置；
同时，惯性测量单元13与转角传感器7传输的数据自动初始化，以更新点为起点，在下两个坐标定位单元29之间按照步骤4中所述方法进行定位；
步骤S6：重复步骤S4-步骤S5，实时并精准显示单轨吊车在全局路线中的三维坐标位置。
所述坐标定位单元29为条形码，所述条形码中包含其在所述全局路线中的坐标位置；所述坐标更新单元24为激光扫描仪，所述激光扫描仪通过扫描坐标定位单元29，对单轨吊车的位置进行更新。
本发明中，一方面，所述转角传感器7优选为MCJS型号的角度传感器，仅从转角传感器7自身的特性来说，测量角度误差约为0.05％，则单轨吊车每行走100m，行走误差约为5cm。另一方面，可通过减小齿距提高定位轮4的定位精度，若定位轮4的齿距为5mm,则所述单片机12计算定位轮4的位移时则是以5mm为单位增加，同理，若定位轮4的齿距为1mm,则所述单片机12计算定位轮4的位移时则是以1mm为单位增加，增加单位越小，则定位更加准确，此外还可以通过调节坐标定位单元29的位置，进一步提高定位轮4的定位精度，本发明的定位精度是可控的。
与UWB定位技术相比，UWB定位技术由于使用无线信号传输手段，室内定位精度始终只能达到10cm，且井下环境复杂，定位精度更差。
与惯性测量单元13相比，一般惯性测量单元13只能输出角速度与加速度，无法直接输出位移，需要通过积分手段，但积分手段会存在时间累计误差，工作时间越长，误差越高。以高精度光纤惯导为例，单轨吊车每行走100m，行走误差约为80cm。
与现有的里程计相比，现有里程计直接装在驱动轮上进行计数，若单过吊车进行频繁启停，则驱动轮由于打滑将会造成很大的定位误差，无法满足高精度定位需求。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (8)

  1. 一种煤矿井下单轨吊车高精度定位系统，其特征在于，包括
    齿轮式位移计量装置和若干均布在工字钢轨道(1)上的坐标定位单元(29)；
    所述齿轮式位移计量装置包括对称设置在工字钢轨道(1)两侧的两个齿架，两个所述齿架固定连接在一起；
    所述齿架上设有定位轮(4)和若干行走轮(2)，所述行走轮(2)在工字钢轨道(1)底板的上端面上行走，所述定位轮(4)与工字钢轨道(1)底板下端的齿条(19)啮合传动；
    所述齿架上还设有安装架(18)和用于连接单轨吊车的连接座(9)，所述安装架(18)上设有电性连接在一起的惯性测量单元(13)与单片机(12)；
    所述定位轮(4)上还设有用于检测其转动角度的转角传感器(7)，所述转角传感器(7)电性连接单片机(12)；
    单轨吊车两端的车头上均设有能够与坐标定位单元(29)传输信号的坐标更新单元(24)，所述坐标更新单元(24)电性连接单片机(12)。
  2. 一种如权利要求1所述的煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，包括以下步骤：
    步骤S1：在计算机中建立所有工字钢轨道(1)的全局路线；
    步骤S2：利用惯性测量单元(13)拾取单轨吊车的位姿信息，用来辨别单轨吊车的运行方向，绘制单轨吊车行走过程中的实时路线；
    步骤S3：布置好坐标定位单元(29)，获取坐标定位单元(29)包含所处位置的三维坐标信息；
    步骤S4：在相邻两个坐标定位单元(29)之间，单片机(12)利用转角传感器(7)传输到的角度信息计算获得单轨吊车的行走里程数，结合惯性测量单元(13)测得的方向信息，计算出单轨吊车在前进方向上行走的距离，结合单轨吊车在上一个坐标定位单元(29)在全局路线中的坐标位置，获得单轨吊 车在两个坐标定位单元(29)之间的精确三维坐标位置；
    步骤S5：当单轨吊经过坐标定位单元(29)时，坐标定位单元(29)对单轨吊车的精确位置进行矫正，更新单轨吊车在全局路线中的三维坐标位置；
    同时，惯性测量单元(13)与转角传感器(7)传输的数据自动初始化，以更新点为起点，在下两个坐标定位单元(29)之间按照步骤4中所述方法进行定位；
    步骤S6：重复步骤S4-步骤S5，实时并精准显示单轨吊车在全局路线中的三维坐标位置。
  3. 如权利要求2所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，步骤S1的具体方法为：
    S1-1、事先采用激光雷达对工字钢轨道(1)进行扫描，获得工字钢轨道(1)及附近无关的点云数据，并将其传输至计算机中；
    S1-2、对工字钢轨道(1)及附近无关的点云数据进行处理，滤除无关点云数据，仅保留工字钢轨道(1)的点云数据，并在计算机中将工字钢轨道(1)的点云数据实体化，获得工字钢轨道(1)的三维实体模型；
    S1-3、根据工字钢轨道(1)的三维实体模型，以工字钢轨道(1)底面的中心线作为全局路线，并在计算机中赋予全局路线中每一点三维坐标，将坐标化后的全局路线传输至单片机(12)中。
  4. 如权利要求3所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，步骤S2中惯性测量单元(13)的应用场景如下：
    S2-1单轨吊车在直线路段前后运动时，所述惯性测量单元(13)识别单轨吊车的行走方向；
    S2-2单轨吊车进入道岔时，所述惯性测量单元(13)识别单轨吊车究竟进入了哪条道岔。
  5. 如权利要求4所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，步骤S3中，坐标定位单元(29)的布置方式为：
    首先，在单轨吊车的接入工字钢轨道(1)的初始点及每个道岔口处均设置一个坐标定位单元(29)；
    然后，在上述已按照好的相邻的两个坐标定位单元(29)之间，再按照间隔距离d安装若干个坐标定位单元(29)；
    当安装到第个k个坐标定位单元(29)与下一个道岔口处的坐标定位单元(29)之间的距离s为d<s<2d时，再安装第k+1个坐标定位单元(29)；
    当安装到第k个坐标定位单元(29)与下一个道岔口处的坐标定位单元(29)之间的距离s为0<s<d时，停止安装第k+1个坐标定位单元(29)；
    最后，按照上述方法，完成所有坐标定位单元(29)的安装。
  6. 如权利要求5所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，步骤S3中，距离d的确定步骤如下：
    首先，根据所选惯性测量单元(13)对应品牌型号的技术参数，算出时间累计误差函数f(t)；
    然后，设定惯性测量单元(13)的最大容许时间累计误差为△max，令f(t1)＝△max，解算出t1，结合单轨吊车的平均运行速度v，这里取运行距离d≤v*t1，同时还要小于等于定位轮(4)产生最大允许位移误差时的行走距离。
  7. 如权利要求2所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，步骤S4中，单片机(12)计算单轨吊车的行走里程数的方法为：设S为单轨吊车的位移，L为定位轮(4)分度圆所旋转过的总弧长，n为定位轮(4)的旋转角度，r为定位轮的分度圆半径，则S＝L＝nr。
  8. 如权利要求2所述的一种煤矿井下单轨吊车高精度定位系统的定位方法，其特征在于，
    所述坐标定位单元(29)为条形码，所述条形码中包含其在所述全局路线中的坐标位置；
    所述坐标更新单元(24)为激光扫描仪，所述激光扫描仪通过扫描坐标定位单元(29)，对单轨吊车的位置进行更新。
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