Research On Total Station Positioning And Equipment Attitude Angle Measurement Method In Coal Mine

The automation degree of fully mechanized mining face has developed rapidly,in recent years,but the development of tunneling automation is relatively backward,which seriously affects the speed and efficiency of coal mining.Intelligent tunneling robot system can achieve tunneling and drilling anchor at the same time,full face mining,which is of great significance to achieve rapid excavation and improve tunneling efficiency.The accurate positioning of the intelligent tunneling robot system body is the basis of achieving the rapid tunneling of the intelligent tunneling robot system.In this paper,the intelligent tunneling robot system of underground mining face is taken as the research object,and the measurement of pose parameters of intelligent tunneling robot system is studied.By comparing the existing methods of tunneling equipment pose parameter measurement,a single prism intelligent tunneling robot system pose parameter measurement method based on total station is proposed exactly.The intelligent tunneling robot system pose parameter measurement is achieved,and the total station in the roadway is achieved through the total station fast moving strategy Combined with the mathematical model of attitude angle error,the distribution law of attitude angle error is analyzed.Aiming at the difficulty of accurate positioning of tunneling equipment in underground tunneling face of coal mine,a measurement method of posture parameters of single prism intelligent tunneling robot system based on total station is proposed.According to the station coordinates and rear view orientation coordinates of the total station,the measurement coordinates of the total station are established.The total station measures three different positions of the prism on the body of the intelligent tunneling robot system,and calculates the body pose parameters of the intelligent tunneling robot system according to the relationship between the total station measurement coordinate system and the roadway coordinate system.Aiming at the problems of slow speed and low efficiency of total station in the process of measuring station shifting in heading face in underground coal mine,a fast station shifting strategy of total station is proposed.Through the automatic leveling mechanism,the problem that the total station's efficiency is affected by the difficulty of erection and leveling in the process of station moving is solved,the total station's rapid station moving is realized,the problem of low station moving efficiency is solved,and the total station's moving efficiency and tunneling efficiency are improved.This paper analyzes the total station to measure the attitude angle error of intelligent driving robot system.According to the mathematical model of attitude angle,the mathematical model of attitude angle error is established and simulated based on the error transfer formula.The measurement distance between the total station and prism,the different rotation radius of the automatic turning table,the height difference between the total station and prism are analyzed,as well as the influence of the distance between the total station and the longitudinal axis of the fuselage and the different attitude angle of the fuselage on the attitude angle error of the total station.The simulation results show that the following factors can contribute to the greater the attitude angle error measured by the total station,including the farther the distance between the total station and prism,the smaller the rotation radius of the automatic rotating platform,the greater the height difference between the total station and prism,the farther the distance between the total station and the longitudinal axis of the fuselage,the greater the fuselage attitude angle.The change of measurement distance and rotation radius of automatic turntable has a great influence on the attitude angle error,The change of fuselage attitude angle has a certain influence on the measurement error of total station,but has little influence on other attitude angles.Finally,the experimental platform of fuselage attitude angle measurement based on total station,the platform of total station fast moving and the platform of attitude angle error analysis are built to verify the research contents of the paper in laboratory.The results show that the precision of the single prism attitude angle measurement based on the total station mentioned in this paper and the total station fast moving strategy meet the requirements of actual use.The experimental results of attitude angle precision are the same as the trend of theoretical analysis.The total station has high precision in measuring the fuselage attitude angle,which meets the requirements of actual use.