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

Abstract

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

CLC Number:

TN911.22

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

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References 20

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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

Precisely positioning method for roadheaders and robotic roadheader system

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