Research On Integrated Positioning Technology Of Boom-type Roadheader Based On Binocular Vision And Strapdown Inertial Navigation

In the future,coal is still the main energy of our country,and the development of automatic fully mechanized mining face greatly improves the efficiency of coal mining.The technology of single bolt drilling rig for cantilever type roadheader is mainly used in the construction of roadway in China,which is the low efficiency way of roadheader leading to the imbalance of coal mining and excavation.But the cantilever type roadheader has compact structure and good adaptability,so it has become the consensus of the industry to improve the driving efficiency and ensure the forming quality by improving its automation and intelligence level.The precise measurement technique of position and posture is the first condition to realize the intelligent cantilever type roadheader.With the help of vision measurement technology,strapdown guide positioning,robot kinematics and other technologies,multi-sensor information fusion to solve the coal mine mining equipment accurate positioning has become the best scheme.Based on the combination of binocular stereo vision and strapdown inertial navigation,this paper constructs a fusion positioning model of vision and inertial navigation,and uses Extended Kalman Filter technology combined with loose coupling strategy to realize precise positioning and attitude measurement of cantilever roadheader,which is of great significance to the development of unmanned working face.Aiming at the problems of high dust,low illumination and complex background which seriously affect the stability of imaging,a method for measuring the position of cantilever tunneling machine based on binocular stereo vision is proposed.Binocular Vision Stereo Calibration Using Binocular Vision Stereo Calibration;The segmentation of spot area and the location of spot center are realized by using region growth principle and Gaussian fitting method;The accurate matching of two frames binocular image is realized by ring matching strategy;Finally,two sets of 3D spatial coordinates in adjacent time domain are obtained based on the principle of triangulation.The pose estimation of cantilever roadheader is realized by 3D-3D motion estimation.Aiming at the problems of image frame loss and target occlusion,which affect the accuracy and stability of visual measurement,this paper proposes a combination localization method based on extended Kalman filter.Establishing the error compensation of cone error and vortex effect model,and solving the agile inertial navigation pose using the three-sub-sample algorithm by studying the principle of strapdown inertial navigation measurement and its position and pose calculation method;Position and pose mechanism of cantilever roadheader measured by binocular vision,achieving the two data alignment with using the least square method,Fusing two localization data by extended Kalman filter to improve the accuracy and reliability of body position measurement of cantilever roadheader.Finally,a test platform is set up to verify the above theory and method to evaluate the measurement performance of the system.The measurement distance,measurement accuracy and stability are tested respectively in the static and dynamic conditions,and considering the influence of the measurement of position and posture when the target moves simultaneously.Theoretical and experimental results indicate that when the measuring distance is 5 m,the position measurement error is less than 98 mm,the Z direction measurement error is less than 11 mm,the attitude angle measurement error is less than 1°,and the heading angle error is less than 0.2°and Improving the stability of position and pose measurement significantly,which compensates the cumulative error of strapdown inertial navigation and ensures the self-continuity and high precision measurement with the combined positioning method of binocular vision and strapdown inertial navigation of cantilever roadheader.The combination measurement method of vision and inertial navigation provides a new idea for the accurate positioning of underground mobile equipment.In view of the fact that the cantilever tunneling machine is the most complicated equipment for underground movement in coal mine,the precise measurement technology of fuselage position and posture has a good reference for other mining equipment,which lays a technical foundation for intelligent mining.