Study On Combined Measurement Method Of Dynamic Position And Orientation For Coal Mine Roadheader

Coal is a very important basic energy in China,and the energy structure with coal as the main energy will not change in the future for a long time.This has also made the safe,efficient development and utilization of coal resources being a hot topic for scholars at home and abroad.One of the most effective solutions is to realize the mechanization and automation of coal mine production equipment,so as to achieve underground comprehensive mining,unmanned or less humanized.The automatic position and orientation measurement technology of coal mine roadheader is one of the keys for intelligent unmanned or undermined coal mining.It has great significance to ensure the safety and intelligent management of coal mine construction.This thesis designs a set of combined dynamic position and orientation measurement system for coal mine roadheaders.This system uses an inertial navigation system and an odometer to complete the position and orientation measurement of the roadheader.It also uses a camera to capture the laser spot at coal face from the laser pointing device,then uses the laser range finder to calculate the position offset of the roadheader relative to the planned line.Use this offset to make necessary corrections to the previously measured position,so that the final measured roadheader position and orientation will be more accurate.This thesis mainly completed several tasks,as follows:(1)Researched and analyzed the existing position measurement methods of coal mine roadheaders both domestic and foreign,summed up the advantages and disadvantages of these methods,clarified the research direction and objectives of this paper,proposed the method combined position and orientation measurement of vision/odometer/inertial navigation.(2)Completed the design of the overall scheme of the system,described the function and structure of the system,drawn the functional block diagram and structural block diagram of the system.(3)System hardware design.Completed the main control core board,communication backplane schematic and PCB design,at the same time detailed description of the function and use of each peripheral module.(4)System software design.Under the embedded linux system,completed multi-threaded application programming design by using C++ high-level language.Completed a part of the design solution for the position and visual deviation algorithm.(5)System implementation testing.A simulation car was built as testing platform for experimental testing.Completed the testing of the whole system,and the position of the simulation car was retested by using a high-precision total station.The results of the test showed the visual/odometer/inertial navigation combination method which designed in this paper is highly accurate and satisfied with construction of coal mine site requirements condition.