| The scientific and technological innovation of coal is the driving force behind the transformation,upgrading and high-quality development of our country’s coal industry,and a powerful guarantee for the realization of safe,green and intelligent coal mining and clean,efficient,and low-carbon utilization of coal.At present,our country’s intelligent coal mine construction has made great progress,but there are still many problems to be solved.Roadway tunneling is the most dangerous front-end link in coal mining,so it is urgent to improve the automation and intelligence level of tunneling equipment,so as to liberate coal miners from the dangerous and heavy tunneling face,and realize the overall reducing manpower and the main technological process unmanned.The precise navigation and intelligent control of the boom-type roadheader are the primary prerequisites to realize the unmanned and precise directional tunneling of the roadway of the coal mine,and the autonomous perception of the body position and attitude deviation parameters of the roadheader is the key basis for the accurate guidance of the roadheader.Therefore,it is imperative to research on the problem of autonomous perception of the body position and attitude deviation parameters of the boom-type roadheader.In this dissertation,the research aimed on the problem of autonomous perception of the position and attitude deviation of the boom-type roadheader in the roadway tunneling face.Based on the actual working conditions and technological process of the tunneling face,the relationship between the body posture deviation parameters and the directional tunneling of the roadway is analyzed,and a two-dimensional mileage-assisted autonomous perception method of the body posture deviation of the roadheader is proposed.On this basis,the error compensation scheme of the strapdown inertial navigation system(SINS)under the complex vibration condition of the roadheader and the initial alignment strategy of low-cost MEMS-type SINS is studied,which provides a reliable theoretical basis and technical basis for the realization of unmanned precise directional tunneling in coal mine roadways.The specific research work and innovations are as follows:(1)The system and method of the position and attitude of body deviation autonomous perception for boom-type roadheaderBased on the analysis of the actual working conditions and technological process of the tunneling face,a set of position and attitude deviation parameter systems that can comprehensively describe the various positions and attitudes of the roadheader in the coal mine roadway are proposed,and the relationship between the position and attitude deviation of the roadheader body and the directional tunneling of the roadway are established.According to the typical motion of the roadheader in the working process,on the basis of the traditional odometer and SINS integrated navigation,a two-dimensional mileage measurement device was developed,and a two-dimensional mileage-assisted autonomous perception system for the position and attitude deviation of the roadheader was built.The error equation of two-dimensional mileage measurement device and SINS are established,and the combined algorithm of two-dimensional mileage assistance is deduced.The fuzzy inference system is introduced into the Kalman filter,and a data fusion algorithm based on the fuzzy inference system is proposed,which improves the accuracy of the system error estimation.The feasibility and superiority of the proposed algorithm are verified by simulation analysis.The ground and underground positioning experiments show that the method achieves the positioning accuracy required for the autonomous control of the roadheader.(2)The error compensation scheme of SINS under complex vibration during cutting process of boom-type roadheaderOn the basis of the force analysis of the whole machine in the cutting process of the roadheader,a dynamic coupling model of the roadheader based on the second type of Lagrange equation is established,and the vibration form of the body during cutting is obtained.The vibration of the body is decomposed into the angular vibration and the linear vibration,and according to the vibration characteristics of the angular vibration and the linear vibration of the body,a multi-subsample compensation algorithm for the coning error and the sculling error of the SINS is constructed.Simulation analysis is carried out under different sub-sample compensation algorithms,different coal and rock characteristics,and different types of roadheaders,and the calculation error compensation effects of different sub-sample compensation algorithms under different working conditions are obtained.The feasibility and superiority of the proposed scheme are further confirmed by the measured data of the tuneling face.(3)Initial alignment strategy for low-cost MEMS-based SINSOn the basis of the previous research,the experiment of getting the heading angle measurement noise of the roadheader by the laser spot percepting system was carried out,and the statistical characteristics of the measurement error of the laser spot percepting system were obtained.A coarse alignment alignment coupling model of the laser spot percepting system and SINS is established,the heading angle error differential equation is deduced,the heading angle error is expanded into a state,and a heading angle assisted nonlinear initial alignment model is established.In addition,combining strong tracking theory with UFK,and simplifying the algorithm flow according to the characteristic that the observation equation is a linear equation,a simplified initial alignment algorithm for strong tracking UKF is proposed.Simulation and onboard experiments are carried out,and it is confirmed that the proposed scheme can fully meet the precision requirements of the MEMS-based SINS initial alignment of the roadheader and reduce the cost.(4)Realization and verification of remote interaction of position and attitude deviation perception of boom-type roadheaderA complete set of boomtype roadheader position and attitude deviation perception remote perception system is built,which realizes the remote visual interaction of the fuselage attitude parameters;a complete set of boom-type roadheader position and attitude deviation perception and remote monitoring system is built,which realizes the remote visual interaction;the boom-type roadheader’s position and attitude deviation perception accuracy verification experiment and the coal mine underground industrial experiment scheme were designed.The roadheader’s position and attitude deviation perception accuracy verification experiment was carried out,which achieves the attitude angle perception accuracy of the body declination angle of 0.027°,the pitch angle of0.014°,and the roll angle of 0.018°,and the positioning accuracy of 0.048 m in the forward direction,0.038 m in the horizontal axis direction,and 0.046 m in the sky direction;the industrial experiment in coal mine has verified the feasibility and superiority of the system in engineering practice. |
