掘进机位姿激光自动测量方法及系统研究

发布时间：2019-06-28 19:19

【摘要】：我国是目前世界上矿井冒顶事故最为严重的国家之一,直接导致国家和人民的财产损失。同时,长期以来,我国绝大多数均采用激光指向仪来实现综掘巷道的定向,而此种定向方法、定向效率及自动化水平低,直接制约着煤炭开采高产、高效的实现。所以,实现机器人化无人综掘装备自主导控是解决以上问题的重要途径,而实现掘进机位姿自动测量则是前提与关键。掘进机位姿自动测量方法属于室内定位定向技术。其中,激光定位技术在工况较为复杂、恶劣的条件下得到广泛应用,主要的激光定位技术有iGPS、激光惯导、激光导向系统、激光雷达、激光跟踪仪等系统或设备,本文通过进行研究对比得出,基于激光导向系统的掘进机位姿自动测量方法最为适合。因此,本文围绕在狭长综掘巷道中掘进机位姿自动测量的问题,通过对比多种激光自动测量方法,提出了一种基于激光导向系统的掘进机位姿自动测量方法,设计了相应的测量系统辅助设备自整平式仪器平台,建立了直接测量参数与位姿测量参数的数学模型,分析了测量系统的主要误差来源,研究得出了多种因素对位姿参数测量误差及测量精度的影响规律,确定了各个主要测量因素的取值范围及设置要求,提出了一种基于组合测量和数据融合的误差消除策略,有效提高了位姿参数的测量质量,设计了一种基于绝对测量的高精度验证系统,验证了测量系统及组合测量和数据融合的误差消除策略的可行性。本文主要研究成果和结论如下:(1)对比研究并确定了掘进机位姿激光自动测量方法本文建立了相应的坐标系统,并对现有的掘进机位姿参数进行改进,由原来的间接参数表达更改为大地坐标系定位坐标的直接表达方式,更为直观的实现掘进机位姿的表达;深入研究了激光惯导、iGPS以及激光导向系统等方法,针对每种测量方法进行了系统组成及工作原理分析,并对主要影响因素展开研究。研究表明,激光惯导技术测量姿态角较为准确,定位精度较差;iGPS定位精度及测角测量精度均较高,能够满足掘进机位姿测量的精度要求,但测量距离较短;基于激光导向系统的自动测量系统测量距离可达到千米,定位精度为毫米级,能够满足煤矿巷道的使用要求。(2)研究了激光导向系统的基本原理及研制了关键设备本文提出了一种可满足煤巷狭长空间的掘进机位姿激光自动测量方法,可实现多目标点的自主选择、自动照准、自动测量的要求,对系统的关键设备进行选型,系统阐述了测量系统的组成及工作原理,建立了直接测量参数与位姿参数之间的数学模型,提供了理论研究基础;根据综掘巷道的实际工况,将全站仪布置方式更改为悬挂布置,避免了实际工况对测量系统的影响,为满足这一要求,研制了具有自动整平功能的自整平式仪器平台,整平精度可达1′,完全满足全站仪的整平角度要求,实现了测量的无人化。(3)研究分析了激光导向系统测量精度变化规律本文针对掘进机位姿激光自动测量系统,系统分析和总结了误差来源,根据误差传递理论及位姿参数解算的数学模型,建立位姿参数误差传递方程;开展了测量距离、待测棱镜间距、棱镜安装平面高差、测站与棱镜高差、姿态角大小等多因素对位姿参数测量误差及测量精度的影响规律研究,通过研究发现:在测量误差方面,特别是y轴坐标、姿态角均受到测量距离、待测棱镜间距、待测棱镜安装平面高差(点1)、待测棱镜安装平面高差(点2)、全站仪与待测棱镜高差的影响,但均在一定的误差范围之内变化,且能够满足掘进机位姿参数测量误差的使用要求;在位姿参数测量精度方面,测量距离对各个位姿参数的测量精度均存在负相关的关系,待测棱镜间距对姿态角测量精度均存在正相关关系,其他因素对y轴方向点坐标、俯仰角的影响较大,在设置系统参数时具有一定理论参考依据。研究结果表明:为提高测量系统在不同测距条件下的测量精度,应尽可能增大待测棱镜间距,待测棱镜安装在同一平面内,增大全站仪与待测棱镜高度差,减小俯仰角的测量角度。(4)研究了基于组合测量和数据融合的位姿参数误差消除策略本文为消除或者减小测量误差,提高位姿参数的测量精度,提出了一种基于组合测量和数据融合的误差消除策略,完成了组合测量方法的组成及基本原理,建立了相应的位姿参数测量误差传递方程;提出了采用动态加权融合的策略,以实时求解出不同方法的动态加权系数,有效的消除测量误差,通过研究发现:通过使用基于组合测量和动态加权融合的误差补偿策略后,位姿参数的测量误差及测量精度较其他三种方法均有明显的优化,极大地提升了位姿参数的测量质量。(5)实验验证了掘进机位姿激光自动测量系统可行性设计了一套基于绝对测量的高精度验证系统,对激光自动测量系统进行了系统验证,验证了自整平式仪器平台的可行性,得出了定位点坐标及姿态角的测量精度变化规律,此系统能够满足掘进机位姿参数测量的精度要求;对组合测量方法进行实验验证,得出了定位点y坐标、各个姿态角的动态加权融合曲线、测量误差及测量精度变化规律,实验结果表明,通过组合测量方法和数据融合策略可有效提高测量精度,提高激光自动测量系统的可靠性及精密性。
[Abstract]:China is one of the most serious countries in the world in the world, which directly leads to the property loss of the country and the people. At the same time, for a long time, the majority of our country adopts the laser pointing device to realize the orientation of the full-mechanized mining roadway, and the directional method, the directional efficiency and the automatic level are low, which directly restrict the high-yield and high-efficiency realization of the coal mining. Therefore, it is the premise and the key to realize the automatic measurement of the position and position of the roadheader. The invention relates to an automatic method for measuring the pose of a heading machine, and belongs to the indoor positioning in which, the laser positioning technology is widely applied under the condition of more complex working conditions and severe conditions, and the main laser positioning technology is a system or a device such as iGPS, laser inertial navigation, laser guidance system, laser radar, laser tracker, and the like, The automatic measurement method for the development of the heading machine based on the laser-guided system is the most suitable. In this paper, the automatic measurement of the position and the orientation of the heading machine in the long and narrow variety of roadway is discussed, and a kind of automatic measuring method for the pose of the heading machine based on the laser-guided system is put forward by comparing various laser automatic measuring methods. The self-leveling instrument platform of the auxiliary equipment of the measuring system is designed, the mathematical model of the parameters of the direct measurement and the position and position measurement is established, the main error source of the measurement system is analyzed, and the influence of the measurement error and the measurement precision of the position-position parameters of various factors is obtained. In order to improve the measurement quality of the pose parameters, a high-precision verification system based on absolute measurement is designed. The feasibility of the error-eliminating strategy of the measurement system and the combination measurement and the data fusion is verified. The main research results and conclusions of this paper are as follows: (1) The research and determination of the automatic measuring method of the pose of the heading machine are as follows: (1) The corresponding coordinate system is established and the pose parameters of the existing heading machine are improved. By changing the original indirect parameter expression to the direct expression of the positioning coordinates of the geodetic coordinate system, the expression of the position and the pose of the heading machine is more intuitive, the laser inertial navigation, the iGPS and the laser guiding system and the like are further researched, The system composition and working principle analysis are carried out for each measurement method, and the main influencing factors are studied. The research shows that the attitude angle of the laser inertial navigation technology is more accurate, the positioning accuracy is poor, the positioning accuracy of the iGPS and the measuring accuracy of the angle measurement are both high, the accuracy requirement of the pose measurement of the heading machine can be met, but the measuring distance is short; The measuring distance of the automatic measuring system based on the laser guide system can reach the kilometer, the positioning accuracy is millimeter, and the use requirement of the coal mine roadway can be met. (2) The basic principle of the laser-guided system and the key equipment are studied. The automatic measuring method of the position and position of the heading machine, which can meet the long and narrow space of the coal roadway, is proposed, which can realize the self-selection of the multi-target point, the automatic calibration and the automatic measurement. The key equipment of the system is selected, the composition and working principle of the measurement system are described, the mathematical model between the direct measurement parameters and the position and position parameters is established, the theoretical research foundation is provided, The arrangement mode of the total station is changed to the suspension arrangement, the influence of the actual working condition on the measuring system is avoided, the self-leveling instrument platform with the automatic leveling function is developed to meet the requirement, the leveling precision can reach 1, and the leveling angle requirement of the total station is fully met, And the unmanned aerial vehicle is realized. (3) The change rule of the measurement precision of the laser-guided system is analyzed. The error source is analyzed and summarized, and the error-difference transfer equation of the pose parameters is set up according to the error propagation theory and the mathematical model of the position-position parameter calculation. The influence of the measuring distance, the distance of the prism to be measured, the height difference of the prism installation plane, the height difference of the measuring station and the prism, the size of the attitude angle and the like are studied. the attitude angles are all measured by the measuring distance, the distance of the prism to be measured, the height difference of the installation plane of the prism to be measured (point 1), the height difference (point 2) of the installation plane of the prism to be measured, the influence of the total station and the height difference of the prism to be measured, and the measurement accuracy of the position-position parameter measurement precision is negatively correlated with the measurement accuracy of each pose parameter, and the prism spacing to be tested has positive correlation relation to the attitude angle measurement precision, The influence of other factors on the coordinate of the y-axis and the pitch angle is large. The results show that to improve the measurement accuracy of the measuring system under different ranging conditions, the distance of the prism to be measured should be increased as much as possible, the prism to be tested is installed in the same plane, the height difference between the total station and the prism to be measured is increased, and the measuring angle of the pitch angle is reduced. (4) The error elimination strategy of the pose parameters based on the combination measurement and the data fusion is studied in this paper. In order to eliminate or reduce the measurement error and improve the measurement accuracy of the pose parameters, an error elimination strategy based on the combination measurement and the data fusion is proposed. The composition and basic principle of the combined measurement method are completed, and the error transfer equation of the corresponding position and position parameters is established. The strategy of dynamic weighted fusion is proposed to solve the dynamic weighting coefficients of different methods in real time, and the measurement error is effectively eliminated. By using the error compensation strategy based on the combination measurement and the dynamic weighted fusion, the measurement error and the measurement accuracy of the pose parameters are obviously optimized, and the measurement quality of the pose parameters is greatly improved. (5) The experiment verifies the feasibility of the automatic measuring system of the position and position of the heading machine, and designs a set of high-precision verification system based on absolute measurement. The system verifies the laser automatic measuring system, and verifies the feasibility of the self-leveling instrument platform. The method has the advantages that the change rule of the measurement precision of the positioning point coordinate and the attitude angle is obtained, and the system can meet the precision requirement of the posture parameter measurement of the heading machine; and the combined measurement method is subjected to experimental verification, and the dynamic weighted fusion curves of the position point y coordinate and the attitude angle are obtained, The experimental results show that the measurement accuracy can be effectively improved by combining the measurement method and the data fusion strategy, and the reliability and precision of the laser automatic measuring system can be improved.
【学位授予单位】：中国矿业大学(北京)
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TD632.2;TN249

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