Research On Laser Navigation Method And Key Technology Of Anchor Digging Machine

The anchor digging machine is important for tunnel excavation,and its automation is the key for intelligent tunneling.Autonomous navigation technology is the basis of anchor digging machine automation.At present,most coal mines still use laser orientation instrument for guidance.This method is still in the stage of manual observation,and can not accurately measure the position and attitude of the anchor digging machine in real time,which has become the bottleneck restricting the development of intelligent tunneling technology.Based on the sector laser detection method of fuselage pose parameters,this paper optimizes the key device design and pose detection algorithm of anchor digging machine navigation system,and studies the directional deviation correction strategy of anchor digging machine combined with tunnel excavation technology.The main contents are as follows:The laser pose detection system of anchor digging machine is studied.The system uses the cross laser as the measurement benchmark,uses the laser receiver,inclination sensor and laser ranging sensor to collect data,and obtains all the pose parameters through data fusion.A rotary scanning laser transmitter is designed,which reduces the output of the semiconductor laser without reducing the effective distance,and improves the safety of the device;A large range and high-precision laser receiver based on linear photocell array is designed;A ranging sensor based on rotating laser is designed,which avoids the use of weak reflected light signal for ranging,and improves the reliability of the device in underground environment.The spot location algorithm of laser receiver is studied to improve the measurement accuracy of laser receiver.The spot area is searched preliminarily by window scanning method;Then,the output signal is analyzed in frequency domain to eliminate the influence of interference light;Finally,the center position of the spot is accurately located by Gaussian fitting.The experimental results show that under the same conditions,the measurement error of the proposed algorithm is less than that of other spot positioning algorithms.The spatial solution algorithm of pose parameters is studied,and the measurement data of laser receiver and inclination sensor are fused to improve the accuracy of pose parameters.The mathematical models of pose parameters,laser receiver measurement data and inclination sensor measurement data are established through vector algorithm,and the expressions of pose parameters such as X-coordinates,Z-coordinates and heading angle are deduced.Under the same experimental conditions,the maximum errors of heading angle and X-coordinates calculated by spatial algorithm are 0.31° and 4.2 mm respectively,and the corresponding errors of plane algorithm are 1.43° and 27.8 mm respectively.The dynamic positioning filtering algorithm is studied.The filtering effects of common filtering algorithms such as amplitude limiting filter,median filter,mean filter,median average filter,moving average filter and Kalman filter under simulated tunnel conditions are compared.The results show that Kalman filter can effectively suppress the interference of random factors and pulse signals and improve the reliability of navigation system.The deviation correction control strategy of anchor digging machine is studied,and the control strategy of point deviation correction based on tunnel excavation technology is proposed.The strategy first determines the end position of the path according to the initial pose of the anchor digging machine;Then,Bessel curve is used to plan the path between the starting point and the end point;Then the pure tracking algorithm is used to track the planned path.The experimental results show that the position error of crawler walking equipment at the end of the path is less than 13 mm and the heading angle error is less than 0.16°,which meets the requirements of motion control accuracy;At the same time,the maximum angular velocity in the deviation correction process is 0.07 rad/s,which is less than 0.82 rad/s in the conventional deviation correction strategy.The point deviation correction strategy improves the stability of fuselage movement while ensuring the deviation correction accuracy.An experimental platform was bulit to verify some theoretical models and system performance.Within the range of 10 m～80 m,the measurement error of X-coordinate generally increases with the increase of distance,the standard deviation of error is between 1mm～6mm,and the maximum error is between 3mm～10mm;The error of Y-axis coordinate measurement generally increases with the increase of distance,the standard deviation of error is between 4mm～14 mm,and the maximum error is between 10 mm～32 mm;The heading angle measurement error generally increases with the increase of distance,the standard deviation of error is between 0.1° ～ 0.3°,and the maximum error is between 0.25° ～ 0.65°.The above results show that the navigation system can meet the detection accuracy requirements of the position and attitude parameters of the anchor digging machine.The underground industrial test is carried out to verify the reliability of the system.The results show that the system can adapt to the harsh working environment underground and monitor the posture state of the fuselage in real time.This paper has 70 figures,21 tables and 125 references.