掘进机姿态参数测量及解算方法

郭伦锋; 郭一楠; 蒋康庆; 葛世荣

doi:10.13272/j.issn.1671-251x.2021070010

掘进机姿态参数测量及解算方法

doi: 10.13272/j.issn.1671-251x.2021070010

1. 中国矿业大学(北京) 机电与信息工程学院, 北京 100083;
2. 中国矿业大学(北京) 智慧矿山与机器人研究院, 北京 100083

基金项目:

国家自然科学基金项目(61973305)；国家自然科学基金联合基金重点项目(U1610251)。

详细信息

作者简介:
郭伦锋(1996-)，男，湖南湘乡人，博士研究生，研究方向为井下移动装备定位、仿生机器人导航，E-mail:lunfengguo@126.com。

中图分类号: TD632
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出版历程
- 收稿日期: 2021-07-03
- 修回日期: 2021-12-05
- 刊出日期: 2021-12-20

Measurement and calculation method of attitude parameters of roadheader

1. School of Mechanical Electronic & Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China;
2. Institute of Intelligent Mines & Robotics, China University of Mining and Technology(Beijing), Beijing 100083, China

摘要

摘要: 针对现有掘进机姿态参数测量方法将双轴倾角仪输出角度直接作为掘进机的俯仰角和横滚角的现象，通过分析掘进机姿态参数测量及双轴倾角仪测量原理，得出不论是在水平巷道还是倾斜巷道中，单独使用双轴倾角仪均无法进行俯仰角和横滚角测量，需将双轴倾角仪与包含掘进机航向信息的定位方法进行融合，才能同时解算出掘进机全姿态参数。针对水平巷道和倾斜巷道2种典型掘进工况，给出了融合扇形激光和双轴倾角仪的姿态解算方法（方法1）、融合机身两点坐标和双轴倾角仪的姿态解算方法（方法2）。方法1根据扇形激光束光斑位置实时确定掘进机相对于巷道坐标系的偏航角，通过双轴倾角仪获得掘进机机身相对于巷道坐标系的俯仰角和翻滚角，从而解算出掘进机的偏航角、俯仰角和横滚角。方法2先测量掘进机机身上2个待测点在巷道坐标系下的三维坐标，然后根据双矢定姿原理，利用双轴倾角仪测量并解算出掘进机姿态参数。Matlab与Gazebo联合仿真结果表明，在水平巷道中和4种不同倾角的倾斜巷道中，将双轴倾角仪输出角度直接作为掘进机的俯仰角和横滚角的方法误差较大，难以满足掘进机姿态参数测量需要；方法1和方法2的误差都很小，在水平巷道中的最大角度误差均值为0.004 9°，在倾斜巷道中的最大角度误差均值为0.025°，验证了2种掘进机姿态解算方法的合理性。
- 掘进机 /
- 姿态参数测量 /
- 姿态解算 /
- 双轴倾角仪 /
- 扇形激光 /
- 双矢定姿
Abstract: The current roadheader attitude parameter measurement method uses the output angle of the biaxial inclinometer directly as the pitch angle and roll angle of the roadheader. By analyzing the attitude parameter measurement of the roadheader and the measurement principle of the biaxial inclinometer, it is concluded that whether it is in a horizontal or inclined roadway, the pitch angle and roll angle cannot be measured by using the biaxial inclinometer alone. The biaxial inclinometer must be integrated with the positioning method containing the heading information of the roadheader to calculate the full attitude parameters of the roadheader simultaneously. Aiming at two typical driving conditions of horizontal roadway and inclined roadway, the attitude calculation method of combining sector laser and biaxial inclinometer (method 1) and the attitude calculation method of combining roadheader two-point coordinates and biaxial inclinometer (method 2) are proposed. In method 1, the yaw angle of the roadheader relative to the roadway coordinate system is determined in real time according to the spot position of the sector laser beam, and the pitch angle and the roll angle of the roadheader body relative to the roadway coordinate system are obtained by a biaxial inclinometer, so that the yaw angle, the pitch angle and the roll angle of the roadheader are calculated. In method 2, the three-dimensional coordinates of two points to be measured on the roadheader body in the roadway coordinate system are firstly measured, and then according to the principle of double-vector attitude determination, the attitude parameters of the roadheader are measured and calculated by using the biaxial inclinometer. The co-simulation results of Matlab and Gazebo show that in horizontal roadway and inclined roadway with four different inclination angles, the method of taking the output angle of biaxial inclinometer as the pitch angle and roll angle of roadheader directly has large errors, which can not meet the needs of attitude parameter measurement of roadheader. The errors of method 1 and method 2 are very small. The average maximum angle error in the horizontal roadway is 0.004 9°, and the average maximum angle error in the inclined roadway is 0.025°, which verifies the rationality of the two roadheader attitude calculation methods.
- roadheader /
- attitude parameter measurement /
- attitude calculation /
- biaxial inclinometer /
- sector laser /
- dual-vector attitude determination

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参考文献(18)

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