掘进机精准定位方法与掘进机器人系统

doi:10.11959/j.issn.1000-436x.2020042

通信学报 ›› 2020, Vol. 41 ›› Issue (2): 58-65.doi: 10.11959/j.issn.1000-436x.2020042

掘进机精准定位方法与掘进机器人系统

卢新明^1,²,闫长青³,袁照平⁴

¹ 山东科技大学山东省智慧矿山信息技术重点实验室，山东青岛 266590
² 山东蓝光软件有限公司山东省智慧矿山软件工程技术研究中心，山东泰安 271000
³ 山东科技大学信息工程系，山东泰安 271019
⁴ 山东科技大学机械与电子工程系，山东泰安 271019

修回日期:2020-01-09 出版日期:2020-02-25 发布日期:2020-03-09
作者简介:卢新明（1961- ），男，河南济源人，山东科技大学教授、博士生导师，主要研究方向为数字矿山方面的教学与研发|闫长青（1978- ），男，山东梁山人，博士，山东科技大学副教授、硕士生导师，主要研究方向为矿山物联网和自动化开采|袁照平（1977- ），女，山东曹县人，山东科技大学讲师，主要研究方向为控制理论与控制工程
基金资助:
国家重点研发计划基金资助项目(2017YFC0804406)

Precisely positioning method for roadheaders and robotic roadheader system

Xinming LU^1,²,Changqing YAN³,Zhaoping YUAN⁴

¹ Key Laboratory of Smart Mine Information Technology,Shandong University of Science and Technology,Qingdao 266590,China
² Research Center of Smart Mine Software Engineering And Technology,Shandong Lionking Software Co.,Ltd.,Tai’an 271000,China
³ Department of Information Engineering,Shandong University of Science and Technology,Tai’an 271019,China
⁴ Department of Mechanical And Electronic Engineering,Shandong University of Science and Technology,Tai’an 271019,China

Revised:2020-01-09 Online:2020-02-25 Published:2020-03-09
Supported by:
The National Key Research and Development Program of China(2017YFC0804406)

摘要/Abstract

摘要：

针对目前井下定位存在的问题，设计了由多种传感设备、测绘设备和工控机组成的掘进机器人物联网，发展了一种新的井下定位方法，并据此构建了面向无人工作面的掘进机器人系统，应用所提机器人系统进行了实际作业实验。实验结果和系统持续运行表明，所提定位方法实现了精确可靠的实时定位，均方根误差控制在5 cm以内。基于所提定位方法的掘进机器人实现了对周围环境的实时精确感知和与周围环境的精准交互，从而实现了安全高效高精度的井下掘进，以及综掘面无人化。

关键词: 掘进机器人, 矿山物联网, 井下精准定位, 精确感知

Abstract:

To overcome the problems faced in underground positioning,the robotic roadheader mine Internet of things (IoT) was designed which connected multi sensors,surveying devices and industrial computers,and a novel positioning method was developed,based on which a robotic roadheader system was built.The robotic roadheader system was employed for real-world tunnel cutting.The experimental results verifies the high accuracy of the positioning method,which achieves an RMSE error less than 5 cm,and the robust running of the robotic roadheader indicates that the robotic roadheader system can precisely perceive the surrounding environment and make precise interaction with the working environment,which yield a safety,high efficiency,and precisely underground tunnel building and coal mining and an unmanned working surface.

Key words: robotic roadheader, mine IoT, underground precise positioning, precise perception

中图分类号:

TN911.22

卢新明,闫长青,袁照平. 掘进机精准定位方法与掘进机器人系统[J]. 通信学报, 2020, 41(2): 58-65.

Xinming LU,Changqing YAN,Zhaoping YUAN. Precisely positioning method for roadheaders and robotic roadheader system[J]. Journal on Communications, 2020, 41(2): 58-65.

图/表 7

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方法			定位结果/m
方法	姿态角均为45°，坐标为(0,1,0)	姿态角均为45°，坐标为(1,0,0)	姿态角均为45°，坐标为(1,1,0)	姿态角均为30°，坐标为(1,0,0)	姿态角均为30°，坐标为(1,1,1)
yaw→pitch→roll	-0.5,0.5,0.707	0.146,0.853,-0.5	0.646,-0.354,1.207	0.875,0.217,0.433	0.225,0.342,1.683
yaw→roll→pitch	-0.146,0.853,0.5	0.5,0.5,-0.707	0.646,0.354,1.207	0.75,0.433,0.5	-0.025,0.408,1.683
旋转法pitch→roll→yaw	-0.5,0.146,0.853	0.5,0.853,0.146	1.0,-0.707,0.707	0.75,0.217,0.625	-0.183,0.658,1.592
pitch→yaw→roll	-0.707,0.5,0.5	0.5,0.853,-0.146	1.207,-0.354,0.646	0.75,0.125,0.65	-0.183,0.225,1.708
roll→yaw→pitch	0.146,0.5,0.853	0.5,0.707,-0.5	0.354,-0.207,1.354	0.75,0.5,0.433	-0.092,0.817,1.525
roll→pitch→yaw	-0.146,0.5,0.853	0.853,0.5,-0.146	1,0,1	0.625,0.433,0.65	-0.458,0.683,1.525
本文定位算法	-0.5,0.5,0.707	0.5,0.5,-0.707	-1,1,0	0.563,0.658,-0.5	0.834,1.34,0.707

m_x/m	m_y/m	m_z/m	p_x/m	p_y/m	p_z/m
2.551	-6.025	3.796	2.473	-6.02	3.802
7.261	-3.657	3.759	7.22	-3.678	3.757
-2.549	6.059	3.513	-2.627	5.301	3.495
-2.958	6.864	6.143	-3.017	6.247	6.288
-2.679	6.248	1.945	-2.724	5.516	1.907
-5.566	5.526	2.959	-5.802	4.944	2.925
-2.639	6.146	3.44	-2.713	5.431	3.504
-5.627	5.637	3.99	-5.812	4.943	3.838

掘进机精准定位方法与掘进机器人系统

Precisely positioning method for roadheaders and robotic roadheader system

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