掘锚一体机长距离高精度定位系统
Long distance high precision positioning system of anchor digger
-
摘要: 针对现有煤矿掘锚一体机施工过程中劳动强度大，自动化程度低，单一方式定位精度低等问题，利用传感测量、机器视觉、惯导等技术研制了一种掘锚一体机长距离定位系统。该系统由掘锚一体机主体、惯导定位子系统、视觉定位子系统、全站仪定位子系统以及参数监测子系统组成。掘锚机主机采用MB670-1型掘锚一体机；惯导定位子系统由内置光纤惯导、防爆计算机组成；视觉定位子系统包括了红外防爆标靶、激光指向仪、前置防爆工业相机和防爆计算机；全站仪定位子系统包括了360°棱镜、三激光指向仪、后视棱镜；参数监测子系统包括了参数显示、参数设置和参数解算模块。系统在中煤集团大海则煤矿现场试验表明：掘锚一体机长距离高精度定位系统，操作灵活，定位精度高，可实现掘锚一体机的定位与参数监测。Abstract: Aiming at the problems of high labor intensity, low degree of automation and low positioning accuracy of single way in the construction process of existing coal mine anchor digging machine, a long-distance positioning system suitable for anchor digging machine is developed by using sensor measurement, machine vision, inertial navigation and other technologies. The system consists of anchor digger, inertial positioning subsystem, visual positioning subsystem, total station positioning subsystem and parameter monitoring subsystem. Anchor digger main machine adopts MB670-1 anchor digger; the inertial navigation and positioning subsystem is composed of built-in optical fiber inertial navigation and explosion-proof computer. The visual positioning subsystem includes infrared explosion-proof target, laser pointing device, front explosion-proof industrial camera and explosion-proof computer. The positioning subsystem of total station consists of 360° prism, three laser pointing instrument and rearview prism. Parameter monitoring subsystem includes parameter display, parameter setting and parameter solution module. The system was successfully developed and tested in Dahaize Coal Mine of China National Coal Group. The experiment shows that the long-distance high-precision positioning system of the all-in-one anchor digger has the advantages of flexible operation and highpositioning accuracy, and can realize the positioning and parameter monitoring of the all-in-one anchor digger.
-
-
[1] 王国法，任世华，庞义辉，等.煤炭工业“十三五”发展成效与“双碳”目标实施路径[J].煤炭科学技术，2021，49（9）：1-8. WANG Guofa, REN Shihua, PANG Yihui, et al. Development achievements of China’s coal industry during the 13th Five-Year Plan period and implementation path of “dual carbon” target[J]. Coal Science and Technology, 2021, 49（9）: 1-8.
[2] 刘峰，曹文君，张建明，等.我国煤炭工业科技创新进展及“十四五”发展方向[J].煤炭学报，2021，46（1）：1-15. LIU Feng, CAO Wenjun, ZHANG Jianming, et al. Current technological innovation and development direction of the 14th Five-Year Plan period in China coal industry[J]. Journal of China Coal Society, 2021, 46（1）: 1 -15.
[3] 黄曾华.综采工作面自动化控制技术的应用现状与发展趋势[J].工矿自动化，2013，39（10）：17-21. HUANG Zenghua. Application status and development tendency of automation control technology for fully mechanized working face[J]. Industry and Mine Automation, 2013, 39（10）: 17-21.
[4] 谢进，王飞.煤矿智能掘进机器人关键技术探讨[J].工矿自动化，2021，47（S2）：39-42. XIE Jin, WANG Fei. Discussion on key technologies of intelligent tunneling robot in coal mine[J]. Industry and Mine Automation, 2021, 47（S2）: 39-42.
[5] 张旭辉，杨文娟，薛旭升，等.煤矿远程智能掘进面临的挑战与研究进展[J].煤炭学报，2022，47（1）：579-597. ZHANG Xuhui, YANG Wenjuan, XUE Xusheng, et al. Challenges and developing of the intelligent remote control on roadheaders in coal mine[J]. Journal of China Coal Society, 2022, 47（1）: 579-597.
[6] 丁震.我国煤巷掘进装备现状及发展趋势[J].工矿自动化，2014，40（4）：23-27. DING Zhen. Status and development trend of tunneling equipments of coal drift in China[J]. Industry and Mine Automation, 2014, 40（4）: 23-27.
[7] 赵建勋，杨文娟，张旭辉，等.悬臂式掘进机井下精确定位方法及其视觉测量技术[J].煤炭科学技术，2021，49（12）：192-201. ZHAO Jianxun, YANG Wenjuan, ZHANG Xuhui, et al. Study on accurate positioning method and its visual measurement technology of cantilever roadheader underground[J]. Coal Science and Technology, 2021, 49（12）: 192-201.
[8] 吴淼，沈阳，吉晓冬，等.悬臂式掘进机行走轨迹及偏差感知方法[J].煤炭学报，2021，46（7）：2046-2056. WU Miao, SHEN Yang, JI Xiaodong, et al. Trajectory and deviation perception method of boom-type roadheader[J]. Journal of China Coal Society, 2021, 46（7）: 2046-2056.
[9] 马宏伟，毛金根，毛清华，等.基于惯导/全站仪组合的掘进机自主定位定向方法[J/OL].煤炭科学技术：1-7.[2022-03-13].http://kns.cnki.net/kcms/detail/11.2402.TD.20210512.1417.006.html. MA Hongwei, MAO Jingen, MAO Qinghua, et al. Automatic positioning and orientation method of roadheader based on combination of INS and digital total station[J]. Coal Science and Technology: 1-7.[2022-03-13].http://kns.cnki.net/kcms/detail/11.2402.TD.20210512.1417.006.html
[10] 杨文娟，张旭辉，张超，等.基于三激光束标靶的煤矿井下长距离视觉定位方法研究[J/OL].煤炭学报：1-16.[2022-03-13].DOI:10.13225/j.cnki.jccs. XR21. 1762. YANG Wenjuan, ZHANG Xuhui, ZHANG Chao, et al. Research on long distance vision localization method based on triple laser beam target in coal mine[J]. Journal of China Coal Society: 1-16.[2022-03-13].DOI:10.13225/ j.cnki.jccs. XR21.1762.
[11] 邵彦雄.尼康532C防爆全站仪在矿井测量中的应用技巧[J].煤矿安全，2011，42（8）：128-129. [12] 华洪涛，马宏伟，毛清华，等.基于捷联惯导和推移油缸信息融合的智能掘进机器人位姿测量方法[J].煤炭工程，2021，53（11）：140-145. HUA Hongtao, MA Hongwei, MAO Qinghua, et al. Pose measurement of intelligent roadheader based on strapdown inertial navigation and oil cylinder movement[J]. Coal Engineering, 2021, 53（11）: 140-145.
-
期刊类型引用(4)
1. 杨晓景. 大断面煤巷悬臂式掘进机二次自主截割路径分析. 山东煤炭科技. 2025(02): 84-88 . 
百度学术
2. 屈波，马腾飞，杨虎，王猛. 掘进机器人视觉定位及巷道地图重构技术研究. 煤矿机械. 2024(01): 192-195 . 百度学术
3. 王雁冰，梅洪嘉，张京泉，李凯，刘珍，李杨. 锚杆钻车运行中支护承载结构及围岩受力变形分析. 安徽理工大学学报(自然科学版). 2024(01): 1-11 . 百度学术
4. 任高虎. 采矿工程中基于路径规划的掘进方向的优化设计. 自动化应用. 2023(16): 156-158 . 百度学术
其他类型引用(1)
计量
- 文章访问数: 102
- HTML全文浏览量: 0
- PDF下载量: 21
- 被引次数: 5
下载:
