基于激光靶向扫描的掘进机位姿测量方法

Measurement of roadheader position and posture based on orientation laser scanning

智慧矿山是我国煤炭工业转型升级的发展方向,煤炭开采的智能化与无人化是煤炭工业发展的必由之路。掘进机是井工煤矿综合机械化巷道掘进作业的关键装备之一,其位姿的测量是控制掘进机自主行进与智能截割,进而实现巷道定向掘进的基础和前提,但现有的掘进机位姿测量方法或系统存在缺陷。为实现掘进机机身绝对位姿的测量,提出了基于激光靶向扫描的掘进机位姿测量方法,阐述了测量系统的组成及工作原理,研究了激光空间图形变换规律及测量系统中各坐标系之间的转换关系,建立了基于激光靶向扫描的掘进机位姿测量系统数学模型,解算了掘进机相对于巷道大地坐标系的绝对位置和姿态信息的数学表达式,分析了影响掘进机位姿测量精度的误差因素,得到不同测量距离和激光发射器间距情况下掘进机各位置和姿态参数测量误差的变化规律。结果表明:随着激光发射器间距的增加,误差减小。在测量次数为10次、测量距离为50 m的情况下,X轴精度小于1 cm,Y轴和Z轴误差较大,翻滚角精度小于0.1°,俯仰角精度小于0.4°,方向角精度小于0.6°。研究发现:测量系统的主要误差来源是激光标靶的激光光斑中心点坐标提取误差;增大激光发射器的间距以及合理规划激光标靶的安装姿态可减小位姿参数的测量误差。

Smart mining is the development direction of coal industry transformation and upgrading in China,and the intelligent and unmanned coal mining is the only way for the development of coal industry.Roadheader is one of the key equipments for comprehensive mechanized roadway driving in mine,the measurement of its position and posture are the basis and premise to control the heading machine′s selfmoving and intelligent cutting,and then to realize the directional heading of roadway.However,the existing method or system of roadheader position and posture measurement has some short comings.Aiming at measure the absolute position and posture of the machine body,a method based on orientation laser scanning for the position and posture measurement of the roadheader is proposed.The composition and working principle of this measurement method are expounded.The relationship between the laser emitter and the measured point on the laser target is analyzed.The mathematical model of the position and posture measurement system of the roadhead based on the laser coordinate space coordinate transformation is established.The position and posture information of the roadheader is analyzed,and the error factors affecting the accuracy of the position and posture measurement of the roadheader are analyzed.The variation rules of the measurement errors of the roadheader′s position and posture parameters are obtained under the condition of different measurement distance and laser emitter distance.The results show that the error decreases with the increase of the distance between laser emitters.When the number of measurements is 10 and the distance is 50 m,the X-axis accuracy is less than 1 cm,the Y-axis and Z-axis errors are large,the roll angle accuracy is less than 0.1°,the pitch angle accuracy is less than 0.4°,and the direction angle accuracy is less than 0.6°.It is found that the main error source of the measurement system is the coordinate extraction error of the laser spot center of the laser target,and the measurement error of the position and posture parameters can be reduced by increasing the distance between the laser emitters and reasonably planning the installation posture of the laser target.