Research On Precise Positioning And Autonomous Deflection Correction Method Of Shield Roadheader Robot System

The team has developed a shield-type coal mine tunneling robot system to address the problem of large section roadway excavation where parting and piece coexist.In order to improve the positioning and deflection accuracy of the shield roadheader robot system,this paper investigates the precise positioning and autonomous deflection correction method of the shield roadheader robot system in coal mines with the help of inertial measurement multi-sensor information fusion technology and advanced PID control technology.It studies the system composition and working principle of the shield roadheader robot and proposes a general scheme for precise positioning and autonomous deflection correction of the shield roadheader robot system in coal mines.The working environment of the roadheader robot system is analyzed,and the combined positioning scheme of "Strapdown inertial navigation+digital total station+displacement sensor" is proposed.It explores the walking characteristics of the roadheader robot system and proposes a correction scheme for accurate control of nudge cylinder displacement based on positioning error.The article analyzes and determines the type of "Strapdown inertial navigation+digital total station+displacement sensor" and its installation position,studies the positional measurement principle of Strapdown inertial navigation,digital total station,and displacement sensor,establishes the positional solution mathematical model of Strapdown inertial navigation,digital total station,and displacement sensor respectively,and derives the positional measurement error mathematical model of each.It investigates the combined positioning method of "Strapdown inertial navigation+digital total station+displacement sensor" The position and attitude angle information of the roadheader robot is corrected by the position information measured by the digital total station and the displacement sensor together.The article investigates the combined positioning filtering algorithm and structure of "Strapdown inertial navigation+digital total station+displacement sensor" determines the design steps of the federal filter,establishes the state equation and measurement equation of the combined positioning method based on the federal filtering algorithm,designs the federal filter,and realizes the fusion of the three positional measurement information.The article researches the mechanism of the shield roadheader robot system’s attitude correction mechanism and establishes the mathematical model of the shield roadheader robot system’s attitude correction control for the problem that the shield roadheader robot system deviates from the centerline of the tunnel design during its digging process.It proposes a multi-information fusion control strategy based on "Strapdown inertial navigation+digital total station+displacement sensor" and an accurate control method of pushing cylinder expansion and contraction based on a fuzzy PID algorithm to realize the deflection correction of shield roadheader robot system through multiple pushing cylinder stroke control.Finally,the paper conducts a combined positioning and deflection control experiment for underground coal mines’ shield roadheader robot system.The experiments show that the combined positioning method suppresses the pure inertial navigation position solution error,improves the positioning and deflection correction accuracy of the shield type tunneling robot system,and meets the underground coal mine tunneling process requirements.