Research On Pose Measurement Method Of Tunneling Robot Based On Information Fusion Of Strapdown Inertial Navigation And Cylinder Stroke

The research and development of coal mine boring robots is the prerequisite to realize the intelligentization of roadway boring,and the position and attitude detection of the boring robot is the key to realize the intelligent navigation of the boring robot.Aiming at the problem of position and attitude detection of coal mine tunneling robots,the shield coal mine tunneling robot system developed by the team is rely,with the help of inertial measurement technology,multi-information fusion technology,signal analysis and processing technology,etc.,the strapdown inertial navigation and cylinder stroke information fusion are proposed.The posture measurement method of the tunneling robot aims to improve the positioning accuracy of the tunneling robot and realize intelligent navigation.Aiming at the problems of low measurement accuracy and short effective measurement distance in the position and attitude measurement of coal mine tunneling robots,based on the characteristics of the two-stage shield structure of the tunneling robot system that the cylinders move mutually to realize the robot walking,a combined pose measurement method of the tunneling robot based on information fusion of strapdown inertial navigation and cylinder stroke.,and the overall plan of the combined posture measurement system is developed.Aiming at the problem of initial attitude measurement of coal mine tunneling robot system,first through indirect coarse alignment,rough attitude information of tunneling robot is obtained,the errors existing in the alignment process is analyzed,and the initial alignment error state equation and measurement equation of strapdown inertial navigation system is established;Then the Kalman filter algorithm is used to achieve fine alignment and more accurate initial posture information of the tunneling robot is obtained;aiming at the problem that the calculation accuracy of strapdown inertial navigation attitude,speed and position is greatly affected by non-commutability errors,it is compensated based on the equivalent rotation vector multi-sample algorithm,and the respective compensation algorithms are optimized,and the effectiveness of the optimization algorithm was verified by simulation.Aiming at the information fusion problem of strapdown inertial navigation data and cylinder stroke,the cylinder stroke information is converted into displacement information by establishing a displacement model of the tunneling robot,and then the dead reckoning algorithm is used to convert the displacement information into position information.Then the errors of the combined pose measurement system are analyzed,and the state equation and measurement equation of the combined pose measurement system are established.The two data are merged with the help of Kalman filter algorithm to realize the accurate measurement of the tunneling robot’s pose,which is verified by simulation.The accuracy of the combined pose measurement method is better than the pure inertial navigation pose measurement method.Finally,the shield-type roadheader robot attitude angle static drift experiment,attitude angle dynamic stability experiment and positioning accuracy experiment were carried out in the coal mine.The combined attitude measurement method proposed in this paper was measured and analyzed.The experimental results verify that the pose measurement method of strapdown inertial navigation and cylinder stroke information fusion can perform high-precision pose detection of the tunneling robot...