Research on pose measurement system of cantilever roadheader based on laser target tracking
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摘要: 掘进机位姿准确快速测量是煤矿巷道智能掘进的前提和基础。目前悬臂式掘进机位姿测量存在非绝对位姿测量、测量精度低、布置复杂或仅能测量少数位姿参数等问题，无法满足智能掘进需要。针对上述问题，在基于激光靶向跟踪的悬臂式掘进机位姿测量方法的基础上，设计了一种基于激光靶向跟踪的悬臂式掘进机位姿测量系统。该系统由激光跟踪装置和激光标靶组成，激光跟踪装置安装在巷道后方，发射激光到安装在悬臂式掘进机机身上的激光标靶上并跟踪激光标靶移动，通过求解激光跟踪装置、激光标靶、掘进机和巷道等坐标系间的转换矩阵即可测得掘进方向位置、偏距、高度、偏向角、俯仰角和翻滚角6个绝对位姿参数，实现了悬臂式掘进机在巷道大地坐标系中绝对位姿的全参数实时测量。分析了该系统的误差影响因素，仿真得到了其误差分布规律：随着掘进距离增加，掘进机姿态测量误差在一定范围内变化，偏距和高度测量误差呈线性增加趋势；在5~80 m测量范围内，掘进机偏向角、俯仰角和翻滚角测量误差分别小于1.4，1，0.03°，掘进方向位置测量误差小于5 mm，偏距和高度测量误差均小于20 mm。利用履带式机器人底盘搭建了位姿测量实验系统，开展了其在模拟巷道中的位姿测量实验，结果表明，掘进方向位置、偏距和高度测量误差均小于5 mm，偏向角测量误差小于1°，俯仰角测量误差小于0.6°，翻滚角测量误差可忽略不计，与仿真结果一致，证明了该系统的可靠性。Abstract: The accurate and rapid measurement of the roadheader pose is the premise and foundation of intelligent heading in coal mine roadway. The existing cantilever roadheader pose measurement has the problem of non-absolute pose measurement, low measurement precision, complex arrangement, or only a few pose parameters being measured. The measurement can not meet the intelligent heading requirement. In order to solve the above problems, based on the pose measurement method of the cantilever roadheader based on laser target tracking, a pose measurement system of cantilever roadheader based on laser target tracking is designed. The system consists of a laser tracking device and a laser target. The laser tracking device is arranged behind the roadway, emits laser to the laser target arranged on the cantilever roadheader fuselage, and tracks the movement of the laser target. By solving the conversion matrix between coordinate systems such as laser tracking device, laser target, roadheader and roadway, six absolute pose parameters such as heading direction position, offset, height, deviation angle, pitch angle and roll angle can be measured. The full parameter real-time measurement of absolute pose of cantilever roadheader in roadway coordinate system is realized. The error influence factors of the system are analyzed, and the error distribution law is obtained by simulation. With the increase of heading distance, the pose measurement error of roadheader changes within a certain range. The measurement errors of offset and height increase linearly. Within the measurement range of 5-80 m, the measurement errors of the deviation angle, pitch angle and roll angle of the roadheader are less than 1.4, 1, 0.03° respectively. The measurement error of the heading direction position is less than 5 mm, and the measurement errors of offset and height are less than 20 mm. Using the crawler robot chassis, an experimental system for pose measurement is built. The pose measurement experiment is carried out in the simulated roadway. The results show that the measurement errors of the heading direction position, offset and height are less than 5 mm. The measurement error of the deviation angle is less than 1°. The measurement error of the pitch angle is less than 0.6°. And the measurement error of the roll angle can be ignored. The results are consistent with the simulation results, which proves the reliability of the system.
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图 1 悬臂式掘进机位姿测量系统组成
Figure 1. Composition of pose measurement system of cantilever roadheader
图 2 悬臂式掘进机位姿测量系统结构与工作原理
Figure 2. Structure and operation principle of pose measurement system of cantilever roadheader
图 3 悬臂式掘进机位姿测量系统坐标系及其转换关系
Figure 3. Coordinate systems of pose measurement system of cantilever roadheader and their transform relationships
图 4 悬臂式掘进机位姿测量误差仿真曲线
Figure 4. The error simulation curves of pose measurement of cantilever roadheader
图 5 悬臂式掘进机位姿测量实验系统
Figure 5. Experimental system for pose measurement of cantilever roadheader
表 1 实验结果
Table 1. The experimental results
序号 x/mm y/mm z/mm α/（°） β/（°） γ/（°） 测量值 误差 测量值 误差 测量值 误差 测量值 误差 测量值 误差 测量值 误差 1 4506.0 −4.0 −325.3 2.7 367.1 −0.9 −2.413 −0.413 0.323 −0.177 0.001 0 2 4507.4 −2.6 −326.7 1.3 367.7 −0.3 −2.078 −0.078 0.338 −0.162 0.001 0 3 4510.6 0.6 −328.2 −0.2 368.2 0.2 −1.637 0.363 0.532 0.032 0.001 0 4 4511.1 1.1 −328.7 −0.7 367.8 −0.2 −1.391 0.609 0.679 0.179 0.001 0 5 4509.1 −0.9 −328.6 −0.6 368 0 −1.622 0.378 0.436 −0.064 0.001 0 6 4509.1 −0.9 −328.9 −0.9 368.3 0.3 −1.815 0.185 0.301 −0.199 0.001 0 7 5817.2 −2.8 198.8 2.8 435.1 0.1 −2.711 −0.211 0.441 −0.559 0 −0.001 8 5822.6 2.6 199.0 3.0 436.4 1.4 −2.284 0.216 0.801 −0.199 0 −0.001 9 5822.0 2.0 196.9 0.9 435.6 0.6 −2.631 −0.131 1.217 0.217 0 −0.001 10 5824.3 4.3 197.3 1.3 435.3 0.3 −2.863 −0.363 1.184 0.184 0 −0.001 
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