Research On Automatic Measurement Method And System Of Position And Attitude Of Roadheader Based On Laser Measurement System

China is one of the most serious countries in the world,and it has led to the loss of property of the state and the people.At the same time,the vast majority of our country adopts the laser pointing instrument to realize the orientation of the fully excavated roadway.Method of directional efficiency and low level of automation,direct control of coal mining high yield and efficient implementation.Therefore,it is an important way to solve the above problems,and it is the premise and the key to realize the automatic measurement of the posture.The automatic positioning method of the boring machine is the indoor positioning and orientation technology.Among them,the laser positioning technology is widely used in the complicated and harsh conditions,especially the long and narrow space of the coal road,which can adapt to the dust and high temperature condition.At present,the main laser positioning technology is i GPS,laser inertial navigation,laser guidance system,laser radar,laser tracker and other systems or equipment,this paper through the study of comparison,based on laser-guided system of automatic roadhead posture automatic measurement method Most suitable.Therefore,this paper focuses on the automatic measurement of the locomotive load in the narrow and long fully mechanized roadway.By comparing the various laser automatic measurement methods,a kind of automatic measurement method of the roadheader based on the laser guidance system is proposed,and the corresponding measurement is designed The mathematical model of direct measurement parameters and pose measurement parameters is established,and the main sources of error of the measurement system are analyzed.The measurement error and measurement accuracy of the pose parameters are studied.The error detection strategy based on combined measurement and data fusion is proposed,and the measurement quality of pose parameters is improved effectively.A method based on absolute measurement is proposed,which is based on the absolute measurement of the main measurement factors.High-precision verification system to verify the measurement system and the combination of measurement and data fusion error elimination strategy feasibility.The main research results and conclusions are as follows:(1)A comparative study and a method of automatic laser measurement of the locomotive attitude are establishedIn this paper,the corresponding coordinate system is established,and the existing parameters of the boring machine are improved.The original indirect parameter expression is changed to the direct expression of the coordinates of the geodetic coordinate system,and the expression of the boring machine In this paper,the laser inertial navigation technology,iGPS and laser guidance system are studied in depth,and the system composition and working principle are analyzed for each measurement system,and the main influencing factors are studied.The results show that the laser inertial navigation technique is more accurate when measuring the attitude angle,but the positioning accuracy is poor,the measurement accuracy of the meter level needs to be calibrated in real time to meet the requirements.High accuracy of iGPS and the accuracy of each attitude angle are higher,for the millimeter-level measurement accuracy,to meet the accuracy of the boring machine pose measurement requirements,but due to the power of the equipment limit,this method has a short measurement distance,25 m measurement range;based on the laser-guided system of automatic measurement system measurement distance can reach kilometers,positioning accuracy of millimeters,to meet the coal mine roadway use requirements;(2)Studied the basic principle of laser guidance system and developed the key componentsIn this paper,a method of automatic measurement of the posture of the roadway with large and small space is proposed,which can realize the self-selection,automatic illumination and automatic measurement of multi-target points.The key equipment of the system is selected and systematically described Based on the actual working conditions of the fully excavated roadway,the total station is installed on the tripod and placed on the bottom plate,and the mathematical model of the measurement parameters and the pose parameters is established.On the change to the suspension arrangement,to avoid the actual conditions on the measurement system,at the same time,developed self-leveling instrument platform with automatic leveling function,leveling accuracy of up to 1 ',fully meet the total station level Requirements,and to achieve the measurement of unmanned,greatly improving the level of automation,improve work efficiency and reduce the occurrence of personal safety accidents;(3)The variation of measurement accuracy of laser guidance system is analyzedBased on the error transfer theory and the mathematic model of the pose parameters,the error transfer equation of the pose parameter is established.The distance between the measured distance and the distance of the prism to be measured is analyzed and summarized as the source of the error.,The prism height difference,the height difference between the station and the prism,the attitude angle and so on.The influence of the multi-factor on the measurement error and the measurement accuracy of the pose parameter is studied.It is found that the error of the pose parameter,(Point 1),the height of the prism to be installed(point 2),the total station and the prism height of the prism to be measured(point 1),the height of the prism to be measured And the influence of the difference is within a certain error range,and it can meet the requirement of the measurement error of the attitude of the boring machine.In terms of the accuracy of the pose parameter measurement,the measurement distance of the measurement distance is negative There are positive correlations between the measured prism spacing and the attitude angle measurement accuracy.The other factors have a great influence on the coordinates of the y-axis point and the pitch angle,which has a certain theoretical reference when setting the system parameters.At the same time,in order to improve the measuring system in different distance measurement conditions,the accuracy of the prism should be increased as much as possible,the prism to be installed in the same plane,increase the total station and the prism height difference,Angle of the angle of measurement.(4)The error elimination strategy of pose parameters based on combined measurement and data fusion is studiedIn order to eliminate or reduce the measurement error and improve the measurement accuracy of the pose parameters,this paper proposes an error elimination strategy based on combined measurement and data fusion.The composition and basic principle of the combined measurement method are respectively established,and the corresponding pose parameter measurement Error transfer equation is proposed.The dynamic weighting coefficient of different methods is solved by using dynamic weighted fusion strategy,and the measurement error is effectively eliminated.It is found that by using the error compensation strategy based on combination measurement and dynamic weighting fusion The measurement error and measurement accuracy of the azimuth parameters are obviously optimized compared with the other three methods,which greatly improves the measurement quality of pose parameters.(5)The feasibility of automatic laser measurement system is verified by experimentsA set of high precision verification system based on absolute measurement is designed,and the laser automatic measurement system is verified systematically.The feasibility of the self-leveling instrument platform is verified,and the variation of the measurement accuracy of the coordinates and attitude angle is obtained.It can be drawn from the numerical method that the laser automatic measurement system can meet the precision requirements of the attitude measurement of the boring machine.The experimental method is validated by the combined measurement method,and the dynamic weighted fusion curve of the attitude y and the attitude angle are obtained.And the measurement accuracy changes.The experimental results show that the combination of measurement method and data fusion strategy can effectively improve the measurement accuracy and improve the reliability and precision of laser automatic measurement system.