CN113236363A - Mining equipment navigation positioning method, system, equipment and readable storage medium - Google Patents

Mining equipment navigation positioning method, system, equipment and readable storage medium Download PDF

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CN113236363A
CN113236363A CN202110442827.8A CN202110442827A CN113236363A CN 113236363 A CN113236363 A CN 113236363A CN 202110442827 A CN202110442827 A CN 202110442827A CN 113236363 A CN113236363 A CN 113236363A
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information
inertial navigation
coal mining
mining machine
fully mechanized
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CN113236363B (en
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宋焘
李旭
符少华
董博
党恩辉
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Xi'an Hezhiyu Information Technology Co ltd
Huangling Mining Group Co Ltd
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Xi'an Hezhiyu Information Technology Co ltd
Huangling Mining Group Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
    • E21D15/14—Telescopic props
    • E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
    • E21D15/50—Component parts or details of props
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E21F13/06—Transport of mined material at or adjacent to the working face
    • E21F13/066—Scraper chain conveyors
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders

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Abstract

The invention discloses a navigation positioning method, a navigation positioning system, a navigation positioning device and a readable storage medium for mining equipment, wherein the navigation positioning method comprises the steps of acquiring the position relations between two ends of a scraper conveyor and a transport lane identification plate of a fully mechanized mining face and a return airway identification plate of the fully mechanized mining face respectively, and calibrating the initial position of an inertial navigation system; fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine; fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining a navigation and positioning result of mining equipment; the initial position calibration is carried out on the inertial navigation system by utilizing the position relation between the two ends of the scraper conveyer and the preset identification plate of the fully mechanized mining face, so that the compensation of pose detection accumulated errors after the inertial navigation system and the odometer are combined and positioned for operation is realized; acquiring real-time pose information of the coal mining machine by fusing inertial navigation information and odometer information, and fitting position information of the coal mining machine to obtain the straightness of the scraper conveyor; the positioning precision is high, and the time consumption of time calibration is short.

Description

Mining equipment navigation positioning method, system, equipment and readable storage medium
Technical Field
The invention belongs to the technical field of coal mining automation, and particularly relates to a navigation and positioning method, a navigation and positioning system, a navigation and positioning device and a readable storage medium for mining equipment.
Background
Currently, an inertial navigation system is mostly adopted for navigation and positioning of coal face equipment; the inertial navigation system mainly adopts inertial measurement equipment such as a gyroscope, acceleration and the like as sensitive devices for navigation, and can solve information such as speed, displacement, course angle and the like of a measured object by building a model coordinate system and an algorithm on the basis of initial measurement data such as angular speed, linear acceleration and the like.
The inertial navigation system generally adopts an integral algorithm to calculate the position information of a measured object, and the accumulated error is larger along with the increase of the working time, so that the positioning accuracy of the inertial navigation system is worse and worse; meanwhile, the inertial navigation system needs time calibration, which takes a long time.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a mining equipment navigation positioning method, a system, equipment and a readable storage medium, so as to solve the technical problems that when an inertial navigation system is adopted to navigate coal face equipment, the positioning precision is poor, the time for time calibration is long, and the real-time updating cannot be realized.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a navigation and positioning method for mining equipment, which comprises the following steps:
acquiring the position relation between the two ends of the scraper conveyer and a transport lane identification plate of the fully mechanized mining face and a return air lane identification plate of the fully mechanized mining face respectively, and calibrating the initial position of the inertial navigation system;
fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine;
and fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining a navigation and positioning result of the mining equipment.
Further, acquiring the position relation between two ends of the scraper conveyer and the fully mechanized mining face transportation lane marker and the fully mechanized mining face return airway marker respectively by adopting a laser radar system;
the laser radar system is arranged at two ends of the scraper conveyer, and the fully mechanized mining face transportation lane marker and the fully mechanized mining face return airway marker are laser radar markers; the laser radar marker is arranged on the side parts of the fully mechanized mining face transportation lane and the fully mechanized mining face return airway.
Further, inertial navigation information and odometer information are fused by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine.
Further, a Kalman filtering algorithm is adopted to perform a fusion process on the inertial navigation information and the odometer information, which specifically comprises the following steps:
selecting a speed error, an attitude error, a position error, a gyro zero offset, an accelerometer zero offset and a readable factor error of a milemeter of the inertial navigation system as state quantities of the inertial navigation system-milemeter combined system;
selecting a difference value of the position information of the odometer and the position information of the inertial navigation system as a measurement value of the inertial navigation system-odometer combined system;
sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
and carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
Further, the fitting process of the position information of the coal mining machine is specifically as follows:
and correcting the accumulated errors of the inertial navigation information and the odometer information by using laser radar information, and acquiring the absolute position of the coal mining machine in the advancing direction of the hydraulic support.
Further, the inertial navigation system is arranged in the coal mining machine, and inertial navigation information comprises angular velocity and linear acceleration.
Further, an initial position calibration process is carried out on the inertial navigation system, a quaternion model is adopted, and inertial navigation information is updated and resolved to obtain attitude information, speed information and position information of the inertial navigation system.
The invention also provides a navigation and positioning system of the mining equipment, which comprises an initial calibration module, an information fusion module and an output module;
the initial calibration module is used for acquiring the position relations between the two ends of the scraper conveyer and the transport lane identification plate of the fully mechanized mining face and the return lane identification plate of the fully mechanized mining face respectively, and calibrating the initial position of the inertial navigation system;
the information fusion module is used for fusing inertial navigation information and odometer information to acquire real-time pose information of the coal mining machine;
and the output module is used for fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and the navigation and positioning result of the mining equipment is obtained.
The invention also provides mining equipment navigation positioning equipment, which comprises a memory, a processor and executable instructions stored in the memory and capable of running in the processor; and when the processor executes the executable instructions, the mining equipment navigation and positioning method is realized.
The present invention also provides a computer readable storage medium having stored thereon computer executable instructions which, when executed by a processor, implement the mining equipment navigation positioning method.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a navigation positioning method and a navigation positioning system for mining equipment, which are characterized in that the initial position of an inertial navigation system is calibrated by utilizing the position relation between the two ends of a scraper conveyor and a preset identification plate of a fully mechanized mining face, so that the compensation of pose detection accumulated errors after long-time operation in the combined positioning process of the inertial navigation system and a milemeter is realized; acquiring real-time pose information of the coal mining machine by fusing inertial navigation information and odometer information, and fitting position information of the coal mining machine to obtain the straightness of the scraper conveyor; the positioning accuracy is high, the time calibration is short, a good foundation is laid for automatic alignment of the hydraulic support of the fully mechanized coal mining face, and the method has important significance for intelligent mining of coal mines.
Drawings
FIG. 1 is a diagram of a layout structure of a combined inertial navigation system according to the present invention;
FIG. 2 is a flow chart of an inertial navigation information fusion process in the present invention;
FIG. 3 is a graph of the reciprocating y-direction displacement of the coal mining machine on a 150m working face in the embodiment;
FIG. 4 is a graph showing the linearity detection error of the scraper conveyor in the embodiment.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the following embodiments further describe the present invention in detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a navigation and positioning method for mining equipment, which is used for detecting the straightness of a scraper conveyor on a fully mechanized mining face by utilizing a combined inertial navigation system; the combined inertial navigation system comprises an inertial navigation system, a milemeter and a laser radar system; through the fusion of the inertial navigation system, the odometer and the laser radar system information, the straightness error of the scraper conveyor is effectively reduced, and a good foundation is laid for the automatic straightening of the hydraulic support of the fully mechanized mining face; the method specifically comprises the following steps:
step 1, acquiring the position relation between two ends of a scraper conveyor and a transport lane identification plate of a fully mechanized mining face and a return airway identification plate of the fully mechanized mining face respectively by adopting a laser radar system, and calibrating the initial position of an inertial navigation system; the laser radar system is arranged at two ends of the scraper conveyer, and the fully mechanized mining face transportation lane marker and the fully mechanized mining face return airway marker are laser radar markers; the laser radar markers are arranged on the side parts of the fully mechanized mining face transportation lane and the fully mechanized mining face return airway; the inertial navigation system is arranged in the coal mining machine, and inertial navigation information comprises angular velocity and linear acceleration; and updating and resolving the inertial navigation information by adopting a quaternion model to obtain attitude information, speed information and position information of the inertial navigation system.
Step 2, fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine; the inertial navigation information and the odometer information are fused by adopting a Kalman filtering algorithm, and the fusion process specifically comprises the following steps:
selecting a speed error, an attitude error, a position error, a gyro zero offset, an accelerometer zero offset and a readable factor error of a milemeter of the inertial navigation system as state quantities of the inertial navigation system-milemeter combined system;
selecting a difference value of the position information of the odometer and the position information of the inertial navigation system as a measurement value of the inertial navigation system-odometer combined system;
sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
and carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
Step 3, fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining a navigation and positioning result of the mining equipment; in the invention, the laser radar information is adopted to correct the accumulated errors of the inertial navigation information and the odometer information, and the absolute position of the coal mining machine in the advancing direction of the hydraulic support is obtained.
The invention provides a navigation positioning method and a navigation positioning system for mining equipment, which are characterized in that the initial position of an inertial navigation system is calibrated by utilizing the position relation between the two ends of a scraper conveyor and a preset identification plate of a fully mechanized mining face, so that the compensation of pose detection accumulated errors after long-time operation in the combined positioning process of the inertial navigation system and a milemeter is realized; acquiring real-time pose information of the coal mining machine by fusing inertial navigation information and odometer information, and fitting position information of the coal mining machine to obtain the straightness of the scraper conveyor; the positioning accuracy is high, the time calibration is short, a good foundation is laid for automatic alignment of the hydraulic support of the fully mechanized coal mining face, and the method has important significance for intelligent mining of coal mines.
Examples
In this embodiment, a working surface of a certain mine is taken as an example; as shown in fig. 1, in the embodiment, the combined inertial navigation system is used to detect the straightness of the scraper conveyer; the combined inertial navigation system comprises an inertial navigation system, a milemeter and a laser radar system; the inertial navigation system and the odometer are both installed on the coal mining machine, the laser radars are installed at two ends of the scraper conveyer, the laser radar markers are arranged at the sides of the fully-mechanized mining face conveying lane and the fully-mechanized mining face air return lane, and the absolute position of each laser radar marker on the fully-mechanized mining face is known.
As shown in fig. 2, the embodiment provides a navigation and positioning method for mining equipment, which performs information fusion on inertial navigation information and odometer information by using a kalman filtering algorithm to obtain pose information of a coal mining machine; in the prior art, as time goes on, an inertial navigation system generates accumulated errors, and the odometer slips and also has accumulated errors, so that the inertial navigation system-odometer combination generates pose detection accumulated errors; in the embodiment, at the beginning of cutting each knife, a laser radar system is used for measuring the position of a laser radar marker, the absolute positions of two ends of a scraper conveyor are calculated according to the absolute positions of the laser radar marker, and inertial navigation information and position errors generated by mileometers in cutting of the knife are corrected according to the absolute position information of the two ends of the scraper conveyor; and (3) correcting the accumulated error generated by the inertial navigation system and the odometer through laser radar information when each cutter starts cutting, so that the straightness accuracy of each cutter of the scraper conveyor is accurately detected.
The method specifically comprises the following steps:
step 1, acquiring the position relation between two ends of a scraper conveyor and a transport lane identification plate of a fully mechanized mining face and a return airway identification plate of the fully mechanized mining face respectively by adopting a laser radar system, and calibrating the initial position of an inertial navigation system; wherein, the inertial navigation system adopts a strapdown inertial navigation system.
In the embodiment, an initial position calibration process is carried out on the inertial navigation system, and a quaternion model is adopted to update and solve the position of the strapdown inertial navigation system; the updating and resolving of the attitude information, the speed information and the position information of the inertial navigation system are the core part of the inertial navigation system and are main factors influencing the precision of the whole system.
The update solution process is as follows:
fixing the inertial navigation system on a coal mining machine, setting a coordinate system of the coal mining machine as a carrier coordinate system b, and setting the advancing direction of the coal mining machine as xbAxis, the direction in the plane of the fuselage being ybAxis, perpendicular to the plane of the fuselage, being zbA shaft; selecting a geographic coordinate system g as a navigation coordinate system n, and taking the gravity center of the coal mining machine as a center; stipulate xnTo point in the east direction, ynTo point in the north direction, znPointing in the direction of the sky; the heading angle of the coal mining machine is recorded as phi, the pitch angle is recorded as theta, and the roll angle is recorded as gamma.
The attitude quaternion differential equation of the coal mining machine attitude update is as follows:
Figure BDA0003035620510000061
Figure BDA0003035620510000062
wherein Q (t) is an attitude quaternion for describing the attitude of the coal mining machine;
Figure BDA0003035620510000063
the angular velocity of the coal mining machine measured for the gyroscope; omegaieThe rotational angular velocity of the earth; h is the altitude of the fully mechanized coal mining face coal mining machine; v. ofx，vyAnd vzRespectively is the velocity component of the coal mining machine under a navigation coordinate system; l is the latitude of the coal mining machine on the earth;
Figure BDA0003035620510000064
is a vector
Figure BDA0003035620510000065
A form representing a quaternion; rM，RNThe curvature radiuses of the earth meridian and the prime unit circle of the place where the coal mining machine is located are respectively.
According to the attitude matrix of the coal mining machine, the real-time attitude angle of the coal mining machine can be extracted:
Figure BDA0003035620510000071
the attitude angle is then:
Figure BDA0003035620510000072
the differential equation for the coal cutter speed update is:
Figure BDA0003035620510000073
wherein f ═ fx fy fz]TSpecific force measured for the accelerometer; and g is the gravity acceleration of the position of the coal mining machine.
The coal mining machine position updating differential equation is as follows:
Figure BDA0003035620510000074
the longitude, the latitude and the height of the position of the coal mining machine can be obtained by integrating the formula (6); the inertial navigation system is installed inside a coal mining machine, angular velocity and linear acceleration are collected by a three-axis gyroscope and a three-axis accelerometer, and attitude information, velocity information and position information of the inertial navigation system are obtained through calculation.
The laser radar system is arranged at two ends of the scraper conveyer, and the laser radar markers are arranged at the side part of the fully mechanized coal mining face conveying roadway and the side part of the fully mechanized coal mining face air return roadway.
Step 2, fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to acquire real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine; in this embodiment, a kalman filtering algorithm is used to perform a fusion process on inertial navigation information, mileage, and information, which is specifically as follows:
the odometer is connected with the gear track through a shaft connector, the moving distance of the coal mining machine is collected, and inertial navigation accumulated errors are corrected through Kalman filtering fusion; wherein, the speed error delta V of the inertial navigation system is selectednAttitude error phinPosition error δ PnThe gyro zero bias epsilon, the accelerometer zero bias epsilon and the odometer scale factor error delta K are used as state quantities of the inertial navigation system-odometer combined system:
Figure BDA0003035620510000081
the system state equation is:
Figure BDA0003035620510000082
wherein, F (t) is a state transition matrix, G (t) is a system noise coefficient matrix, and W (t) represents a noise matrix.
Selecting a difference value between the odometer and the strapdown inertial navigation position information as a measurement value:
Z(t)＝H(t)X(t)+V(t) (9)
wherein H (t) is a measurement matrix; v (t) is the measurement white noise of the measurement signal.
Discretizing the state quantity and the measurement of the inertial navigation system-odometer combined system to obtain a discrete state equation and a measurement equation:
Figure BDA0003035620510000083
where F is the state transition matrix, xk-1Is the state quantity at the time k-1, xkIs the state quantity at time k, uk-1The input quantity of the system at the moment k-1 is obtained; w is akIs process state noise, and follows normal distribution with mean value of 0 and variance of Q; b is an input gain matrix, zkThe observed quantity at the k moment is H, and the H is a measurement matrix; v. ofkFor noise measurement, a normal distribution with a mean of 0 and a variance of R is followed.
Predicting the state quantity at the next moment according to the state quantity at the previous moment of the system:
Figure BDA0003035620510000084
wherein,
Figure BDA0003035620510000085
is a state prediction quantity at the k-th time, uk-1Is the input quantity of the system at the moment k-1,
Figure BDA0003035620510000086
is the state estimation value at the k-1 th moment; pk-1The error covariance matrix is estimated for time k-1,
Figure BDA0003035620510000087
is a prediction error covariance matrix.
And correcting the position error of the fusion positioning and orientation system by using the position difference value of the odometer and the inertial navigation system as an observed quantity:
Figure BDA0003035620510000088
wherein, KkIs the Kalman gain; r is the variance, and is related to the accuracy of the sensor.
Updating the covariance:
Figure BDA0003035620510000091
in this embodiment, the local optimal estimation of the kalman filter and the lidar output is performed
Figure BDA0003035620510000092
Covariance matrix of sum local optimum errors
Figure BDA0003035620510000093
Sending the data to a main filter for information fusion to obtain a global optimal estimation value of the system state
Figure BDA0003035620510000094
Covariance matrix of global optimum errors
Figure BDA0003035620510000095
And finally, carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
The optimal estimation fusion algorithm is as follows:
Figure BDA0003035620510000096
and 3, fitting the detected position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining a navigation positioning result of the mining equipment.
In the embodiment, in order to verify the feasibility of the scraper conveyor straightness detection method in a complex underground coal mine environment, a combined inertial navigation system is constructed to detect the straightness of the scraper conveyor on the fully mechanized coal mining face; carrying out a test on a certain fully mechanized mining working face of a certain mine; wherein the width of the hydraulic support is 1.5m, and the coal mining machine is MG 650/1630-WD.
And establishing a coordinate system of the coal mining machine, wherein the x axis points to the traction direction of the coal mining machine, the y axis points to the propelling direction of the working surface, the z axis points to the height direction, and after the inertial navigation system is aligned, the precision of a gyroscope is 0.01 degree/h, and the precision of an accelerometer is 5 multiplied by 10 < -5 > g.
In the test process, the hydraulic support is basically straightened and then is not moved, and the coal mining machine reciprocates on a working surface of about 150m to obtain a reciprocating y-direction displacement curve and a reciprocating y-direction error curve which are respectively shown in fig. 3 and 4; wherein the maximum error in the y direction is less than 7 cm; this embodiment has realized that this full-mechanized mining face's scraper conveyor straightness accuracy detection error is less than 7 cm.
Aiming at the straightness detection of the scraper conveyor on the fully mechanized mining face, the invention adopts a straightness detection method of information fusion of strapdown inertial navigation, a mileometer and a radar; the method provided by the invention fuses inertial navigation, the odometer and radar information by using a Kalman filtering method, can correct the integrated positioning accumulated error of the inertial navigation and the odometer and provide a reference coordinate for the inertial navigation, and lays a good foundation for automatic alignment of the fully mechanized coal mining face.
In the invention, the combined inertial navigation system consists of strapdown inertial navigation, a milemeter and a laser radar; before each coal cutting begins, a laser radar system is used for measuring the position relation between the two ends of a scraper conveyor and a fully mechanized mining face transportation lane and return airway identification plate respectively to calibrate the initial position of the strapdown inertial navigation, so that the problem of pose detection accumulated error compensation after long-time operation of a strapdown inertial navigation and odometer combined positioning method is solved; after alignment is completed, information of strapdown inertial navigation, a speedometer and a laser radar is fused by using a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; fitting the detected position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining a navigation positioning result of the mining equipment; the method lays a good foundation for automatic straightening of the hydraulic support of the fully mechanized coal mining face, and has important significance for intelligent mining of coal mines.
The above-described embodiment is only one of the embodiments that can implement the technical solution of the present invention, and the scope of the present invention is not limited by the embodiment, but includes any variations, substitutions and other embodiments that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed.

Claims (10)

1. A mining equipment navigation positioning method is characterized by comprising the following steps:
acquiring the position relation between the two ends of the scraper conveyer and a transport lane identification plate of the fully mechanized mining face and a return air lane identification plate of the fully mechanized mining face respectively, and calibrating the initial position of the inertial navigation system;
fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine;
and fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining a navigation and positioning result of the mining equipment.
2. The mining equipment navigation and positioning method according to claim 1, wherein a laser radar system is adopted to obtain the position relationship between two ends of the scraper conveyer and the fully mechanized working face transportation lane marker and the fully mechanized working face return airway marker respectively;
the laser radar system is arranged at two ends of the scraper conveyer, and the fully mechanized mining face transportation lane marker and the fully mechanized mining face return airway marker are laser radar markers; the laser radar marker is arranged on the side parts of the fully mechanized mining face transportation lane and the fully mechanized mining face return airway.
3. The mining equipment navigation and positioning method according to claim 1, characterized in that inertial navigation information and odometer information are fused by using a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine.
4. The mining equipment navigation and positioning method according to claim 3, characterized in that a Kalman filtering algorithm is adopted to perform a fusion process on inertial navigation information and odometer information, and the fusion process specifically comprises the following steps:
selecting a speed error, an attitude error, a position error, a gyro zero offset, an accelerometer zero offset and a readable factor error of a milemeter of the inertial navigation system as state quantities of the inertial navigation system-milemeter combined system;
selecting a difference value of the position information of the odometer and the position information of the inertial navigation system as a measurement value of the inertial navigation system-odometer combined system;
sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
and carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
5. The mining equipment navigation and positioning method according to claim 1, characterized in that the fitting process is performed on the position information of the coal mining machine, and specifically comprises:
and correcting the accumulated errors of the inertial navigation information and the odometer information by using laser radar information, and acquiring the absolute position of the coal mining machine in the advancing direction of the hydraulic support.
6. The mining equipment navigation and positioning method of claim 1, wherein the inertial navigation system is arranged in the coal mining machine, and the inertial navigation information comprises angular velocity and linear acceleration.
7. The mining equipment navigation and positioning method according to claim 1, wherein an initial position calibration process is performed on the inertial navigation system, and a quaternion model is adopted to update and solve inertial navigation information to obtain attitude information, speed information and position information of the inertial navigation system.
8. A mining equipment navigation positioning system is characterized by comprising an initial calibration module, an information fusion module and an output module;
the initial calibration module is used for acquiring the position relations between the two ends of the scraper conveyer and the transport lane identification plate of the fully mechanized mining face and the return lane identification plate of the fully mechanized mining face respectively, and calibrating the initial position of the inertial navigation system;
the information fusion module is used for fusing inertial navigation information and odometer information to acquire real-time pose information of the coal mining machine;
and the output module is used for fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and the navigation and positioning result of the mining equipment is obtained.
9. A mining device navigation positioning apparatus comprising a memory, a processor, and executable instructions stored in the memory and executable in the processor; the processor, when executing the executable instructions, implements the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement the method of any one of claims 1-7.
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