Precisely positioning method for roadheaders and robotic roadheader system

Xinming LU; Changqing YAN; Zhaoping YUAN

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

您当前的位置：

首页 >

文章列表页 >

Precisely positioning method for roadheaders and robotic roadheader system

Topics: Intellgent Mine | 更新时间：2024-06-05

- Precisely positioning method for roadheaders and robotic roadheader system
- Journal on Communications Vol. 41, Issue 2, Pages: 58-65(2020)
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
  
  The National Key Research and Development Program of China(2017YFC0804406)
- DOI：10.11959/j.issn.1000-436x.2020042
  CLC： TN911.22
- Online First：2020-02，
  
  Published：25 February 2020
- 稿件说明：
移动端阅览
Xinming LU, Changqing YAN, Zhaoping YUAN. Precisely positioning method for roadheaders and robotic roadheader system[J]. Journal on Communications, 2020, 41(2): 58-65.
DOI：

Xinming LU, Changqing YAN, Zhaoping YUAN. Precisely positioning method for roadheaders and robotic roadheader system[J]. Journal on Communications, 2020, 41(2): 58-65. DOI： 10.11959/j.issn.1000-436x.2020042.

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。

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.

关键词

Keywords

references

毛君 , 李建刚 , 陈洪月 . 掘进机器人仿形截割建模与轨迹仿真研究 [J ] . 计算机仿真 , 2010 , 27 ( 3 ): 175 - 178 .

MAO J , LI J G , CHEN H Y . Modeling and path simulation research of profiling cutting for tunnel robot [J ] . Computer Simulation , 2010 , 27 ( 3 ): 175 - 178 .

吴淼 , 贾文浩 , 华伟 , 等 . 基于空间交汇测量技术的悬臂式掘进机位姿自主测量方法 [J ] . 煤炭学报 , 2015 , 40 ( 11 ): 2596 - 2602 .

WU M , JIA W H , HUA W , et al . Autonomous measurement of position and attitude of boom-type roadheader based on space intersection measurement [J ] . Journal of China Coal Society , 2015 , 40 ( 11 ): 2596 - 2602 .

张敏骏 , 臧富雨 , 吉晓冬 , 等 . 掘进机远程监控系统设计与位姿检测精度验证 [J ] . 煤炭科学技术 , 2018 , 46 ( 12 ): 48 - 53 .

ZHANG M J , ZANG F Y , JI X D , et al . Design of remote monitoring system for roadheader and accuracy verification of position and posture detection [J ] . Coal Science and Technology , 2018 , 46 ( 12 ): 48 - 53 .

张宜坤 . 基于组态软件与 PLC 的掘进机远程监控系统 [J ] . 煤矿机械 , 2014 , 35 ( 5 ): 238 - 239 .

ZHANG Y K . Remote monitoring system of roadheader based on configuration software and PLC [J ] . Coal Mine Machinery , 2014 , 35 ( 5 ): 238 - 239 .

伍小杰 , 孙新贺 , 刘贺 , 等 . 悬臂式掘进机远程监控系统设计 [J ] . 煤炭科学技术 , 2011 , 39 ( 3 ): 87 - 90 .

WU X J , SHUN X H , LIU H , et al . Design on remote monitoring and control system of boom type mine roadheader [J ] . Coal Science and Technology , 2011 , 39 ( 3 ): 87 - 90 .

李军利 , 廉自生 , 李元宗 . 机器人化掘进机的运动分析及车体定位 [J ] . 煤炭学报 , 2008 , 33 ( 5 ): 583 - 587 .

LI J L , LIAN Z S , LI Y Z . K inematics analysis and carriage positioning of roboticized roadheader [J ] . Journal of China Coal Society , 2008 , 33 ( 5 ): 583 - 587 .

陈双叶 , 牛经龙 , 温世波 , 等 . 自行走地下掘进机器人导向系统的测量方法 [J ] . 北京工业大学学报 , 2014 , 40 ( 7 ): 1091 - 1098 .

CHEN S Y , NIU J L , WEN S B , et al . Measurement method of navigation system of self-propelled underground tunneling robots [J ] . Journal of Beijing University of Technology , 2014 , 40 ( 7 ): 1091 - 1098 .

田劼 , 杨阳 , 陈国强 , 等 . 纵轴式掘进机巷道断面自动截割成形控制方法 [J ] . 煤炭学报 , 2009 , 34 ( 1 ): 111 - 115 .

TIAN J , YANG Y , CHEN G Q , et al . Automatic section cutting and forming for mingcontrol of longitudinal axial roadheader [J ] . Journal of China Coal Society , 2009 , 34 ( 1 ): 111 - 115 .

李旭 , 顾永正 , 吴淼 . 基于微分几何的掘进机工作机构运动学分析 [J ] . 煤炭学报 , 2016 , 41 ( 12 ): 3158 - 3166 .

LI X , GU Y Z , WU M . Kinematics analysis of roadheader’s working mechanism based on differential geometry [J ] . Journal of China Coal Society , 2016 , 41 ( 12 ): 3158 - 3166 .

陈慎金 , 成龙 , 王鹏江 , 等 . 基于掘进机位姿测量系统的自主标定方法误差分析 [J ] . 煤炭学报 , 2018 , 43 ( 9 ): 2647 - 2652 .

CHEN S J , CHENG L , WANG P J , et al . Error analysis of autonomous calibration strategy based on road-header attitude measurement system [J ] . Journal of China Coal Society , 2018 , 43 ( 9 ): 2647 - 2652 .

杜雨馨 , 刘停 , 童敏明 , 等 . 基于机器视觉的悬臂式掘进机机身位姿检测系统 [J ] . 煤炭学报 , 2016 , 41 ( 11 ): 2897 - 2906 .

DU Y X , LIU T , TONG M M , et al . Pose measurement system of boom-type roadheader based on machine vision [J ] . Journal of China Coal Society , 2016 , 41 ( 11 ): 2897 - 2906 .

符世琛 , 成龙 , 陈慎金 , 等 . 面向掘进机的超宽带位姿协同检测方法 [J ] . 煤炭学报 , 2018 , 43 ( 10 ): 2918 - 2925 .

FU S C , CHENG L , CHEN S J , et al . Ultra-wideband pose collaborative detection method of roadheader [J ] . Journal of China Coal Society , 2018 , 43 ( 10 ): 2918 - 2925 .

田原 . 基于四点式光靶的掘进机自动定位方法研究 [J ] . 煤炭科学技术 , 2018 , 46 ( 12 ): 35 - 40 .

TIAN Y . Research and test on automatic positioning method of roadheader based on four point light target [J ] . Coal sicence and technology , 2018 , 46 ( 12 ): 35 - 40 .

黄东 , 杨凌辉 , 罗文 , 等 . 基于视觉/惯导的掘进机实时位姿测量方法研究 [J ] . 激光技术 , 2016 , 41 ( 1 ): 19 - 23 .

HUANG D , YANG L H , LUO W , et al . Study on measurement method of realtime position and attitude of roadheader based on vision /inertial navigation system [J ] . Laser Technology , 2016 , 41 ( 1 ): 19 - 23 .

王世佳 , 王世博 , 张博渊 , 等 . 采煤机惯性导航定位动态零速修正技术 [J ] . 煤炭学报 , 2018 , 43 ( 2 ): 578 - 583 .

WANG S J , WANG S B , ZHANG B Y , et al . Dynamic zero-velocity update technology to shearer inertial navigation positioning [J ] . Journal of China Coal Society , 2018 , 43 ( 2 ): 578 - 583 .

张申 , 丁恩杰 , 徐钊 , 等 . 物联网与感知矿山专题讲座之三——感知矿山物联网的特征与关键技术 [J ] . 工矿自动化 , 2010 , 36 ( 12 ): 117 - 121 .

ZHANG S , DING E J , XU Z , et al . Part Ⅲ of lecture of Internet of things and sensor mine-characteristics and key technologies of sensor mine internet of things [J ] . Industry and Mine Automation , 2010 , 36 ( 12 ): 117 - 121 .

卢新明 , 阚淑婷 , 张杏莉 . 矿山物联网云计算与平台技术 [J ] . 工矿自动化 , 2018 , 44 ( 2 ): 1 - 5 .

LU X M , KAN S T , ZHANG X L . Cloud computation and platform technology for mine Internet of things [J ] . Industry and Mine Automation , 2018 , 44 ( 2 ): 1 - 5 .

吴立新 , 余接情 , 胡青松 , 等 . 数字矿山与智能感控的统一空间框架与精确时间同步问题 [J ] . 煤炭学报 , 2014 , 39 ( 8 ): 1584 - 1592 .

WU L X , YU J Q , HU Q S , et al . Unified spatial framework and precise time synchronization for digital mine and mine intelligent perception-control [J ] . Journal of China Coal Society , 2014 , 39 ( 8 ): 1584 - 1592 .

王国法 , 赵国瑞 , 任怀伟 . 智慧煤矿与智能化开采关键核心技术分析 [J ] . 煤炭学报 , 2019 , 44 ( 1 ): 34 - 41 .

WANG G F , ZHAO G R , REN H W . Analysis on key technologies of intelligent coal mine and intelligent mining [J ] . Journal of China Coal Society , 2019 , 44 ( 1 ): 34 - 41 .

卢新明 , 尹红 . 一种自动测绘定位的掘进方法及系统:201811173942.4 [P ] . 中国专利 ,2018-10-09.

LU X M , YIN H . Tunneling method and system for automatic surveying and mapping:201811173942.4 [P ] . China Patent 2018-10-09.

Views

1493

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

AI问答

⁰