掘进机远程监控系统设计与位姿检测精度验证

Design of remote monitoring system for roadheader and accuracy verification of position and posture detection

为研究悬臂式掘进机远程控制与位姿检测方法精度验证问题,基于实地工况的调研,提出一种基于机载可编程控制器、机载传感系统、视频监控系统以及工控机的掘进机远程监控与位姿检测精度验证系统,并完成掘进机试验样机的改造,搭建模拟巷道,详细阐述了该系统的总体结构并说明了各部分的构建方法。以掘进机位姿检测试验为例,进行掘进机远程监控系统的调试与精度验证系统的功能性验证。结果表明,掘进机位姿测量精度验证系统与几种典型位姿测量方法的测角误差在1°以内,偏距误差在0.01 m以内,在试验过程中系统运行稳定且操作简便,显示界面直观,从而为掘进机远程监控与位姿测量技术进行了试验验证,为掘进机的无人化发展提供重要试验依据。

In order to study the accuracy of cantilever roadheader remote control and position detection method,with the investigation of field conditions,the roadheader monitoring accuracy verification system based on airborne programmable controller,airborne sensor system,video monitoring system and industrial computer remote control and position detection system was proposed. Meanwhile,experimental prototype of the roadheader was enhanced and a simulation roadway was built. The system’s overall structure and micro-structure of each part were detailed. Taking the test of roadheader position detection as an example,the performance of the remote monitoring system and the functionality of position detection precision verification system were conducted. The results show that the angle measurement error is within 1°comparing roadheader position detection accuracy verification system and these position detection methods,and the offset displacement error is within 0.01 m. In the test,the system runs steadily and is easily operated,and the interface displays clearly. Therefore,the roadheader remote monitoring and position detection could be verified. And it is the important test basis for the development of unmanned roadheader.