CN-115875037-B - Combined positioning-based machine moving system and method for cantilever type heading machine cutting roadway

CN115875037BCN 115875037 BCN115875037 BCN 115875037BCN-115875037-B

Abstract

The invention discloses a combined positioning-based machine moving system and a combined positioning-based machine moving method for a cantilever type heading machine cutting roadway, which belong to the technical field of positioning and automatic control, wherein the system comprises a visual positioning system and an industrial personal computer, wherein the visual positioning system outputs x-axis coordinates and y-axis coordinates of a machine body of the cantilever type heading machine; the optical fiber inertial navigation industrial personal computer outputs three pose information of the cantilever type heading machine body, wherein the three pose information comprises a roll angle, a pitch angle and a course angle, the laser positioning system outputs a z-axis coordinate of the cantilever type heading machine body to the industrial personal computer, the industrial personal computer generates position and pose information of the cantilever type heading machine body and then transmits the position and pose information to the cutting control system, the cutting control system generates control instructions of body rotation, advancing, cutting and retreating actions of the cantilever type heading machine when cutting a tunnel section and sends the control instructions to the execution system, and the execution system executes corresponding body rotation, advancing, cutting and retreating actions of the cantilever type heading machine when cutting the tunnel section to complete the moving machine of the cantilever type heading machine for cutting a large-section tunnel.

Inventors

WANG SHENGZHI
SONG GANG
HU CHENGJUN
WANG LIXIN
LI BO

Assignees

中煤(天津)地下工程智能研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20221126

Claims (5)

1. The machine moving method of the cantilever type heading machine cutting roadway based on combined positioning is characterized by comprising the following steps of: The method comprises the following steps of SS1, a visual positioning system, an industrial personal computer, a laser positioning system and a laser target positioning system, wherein the visual positioning system performs pose detection of a cantilever type tunneling machine through a machine visual method and outputs position information and pose information of the cantilever type tunneling machine to the industrial personal computer; step SS2, outputting an independent pose parameter A by the vision positioning system through a machine vision method, combining the vision positioning system with optical fiber inertial navigation to output a pose parameter B, positioning and outputting the pose parameter C by the laser positioning system through a laser target, performing data fusion on the pose parameter A, the pose parameter B and the pose parameter C through a Kalman filtering data fusion algorithm, and transmitting the fusion pose parameter data to an industrial personal computer; The industrial personal computer utilizes pose resolving software to achieve fusion of pose data of the cutting head and pose data of the machine body, calculates real-time position of the cutting head in a roadway space through a control unit, accurately monitors cutting position tracks within a set error range, grasps deviation between a reference pose and an actual pose after obtaining the required cutting position track information, and then utilizes a deviation rectifying controller to convert the required cutting position track information into electromagnetic valve switch information and control pulse signals which can be identified by a cantilever-type tunneling machine, and sends the processed cantilever-type tunneling machine pose information to a cutting control system; And step SS4, controlling the traction speed by the cutting control system according to the pose information of the cantilever type tunneling machine transmitted by the industrial personal computer, and matching the traction speed actually output in the process of moving the machine with the current of the oil pump.
2. The combined positioning-based machine moving method for a cantilever type heading machine cutting roadway is characterized in that the visual positioning system outputs independent pose parameters A through a machine vision method, and specifically comprises the steps of installing a laser direction indicator to be fixed at a top plate behind a machine body of the cantilever type heading machine, calibrating the laser direction indicator in a camera, collecting image information of the cantilever type heading machine, extracting light spot characteristics and line characteristics, and generating pose parameters A through an input point line positioning model.
3. The combined positioning-based boom-type heading machine cutting roadway moving method is characterized in that the visual positioning system and the optical fiber inertial navigation are combined to position and output pose parameters B, the optical fiber inertial navigation is installed inside a boom-type heading machine body, acceleration information is collected through a 3-axis accelerometer, angular rate information is collected through a 3-axis gyroscope, matrix calculation is conducted on the acceleration information and the angular rate information, position calculation is conducted on fusion pose parameters A to generate boom-type heading machine position information, pose calculation is conducted on the angular rate information to output pose angles, and the boom-type heading machine position information and the pose angles are generated to form pose parameters B.
4. The combined positioning-based machine moving method for a cutting roadway of a cantilever type heading machine according to claim 3, wherein the laser positioning system is used for performing pose measurement of the cantilever type heading machine through laser target positioning, specifically comprises the steps of fixing a laser transmitter at a top plate behind a machine body of the cantilever type heading machine, installing a laser receiver at a position close to the center of the heading machine, installing an inclinometer on the machine body of the cantilever type heading machine, recording the initial position of the machine body of the cantilever type heading machine, and outputting pose parameters C through a two-point distance calculation formula.
5. The combined positioning-based machine moving method for a cantilever type heading machine cutting roadway, which is characterized in that the industrial personal computer acquires a current gear value of an oil pump motor through data Current true value fed back by oil pump motor Obtaining a current result value Then the current result value Analyzing and calculating the acquired vibration acceleration alpha to obtain a voltage gear value Then through the voltage gear value Comparing the voltage result value with the voltage true value V fed back by the feedback function Speed difference The voltage difference is generated after the amplification by the amplifier and the processing by the controller The voltage difference value The input electromagnetic valve generates a flow signal q, and the flow signal q outputs the cutting traction speed v by controlling the traction oil cylinder.

Description

Combined positioning-based machine moving system and method for cantilever type heading machine cutting roadway Technical Field The invention relates to a combined positioning-based machine moving system and method for a cantilever type heading machine cutting roadway, and belongs to the technical field of positioning and automatic control. Background In the process of cutting the roadway head on by the existing cantilever type tunneling machine, the vast majority of the existing cantilever type tunneling machine adopts the traditional laser direction indicator to indicate the center line of the roadway design, the tunneling operation of the tunneling machine is controlled by a manual visual inspection mode, the method is dependent on the workers of the tunneling machine in the whole course and is closely related to the working experience of the workers, the environment of the tunneling working face is extremely severe and is influenced by various factors, the problems of over-digging or under-digging of a roadway and the like are easy to occur, so that the pose measurement of the tunneling machine is extremely important, the tunneling machine is one of important links for realizing unmanned tunneling, the quality of tunneling is directly influenced, and the safety and the production efficiency of coal are determined. In order to better monitor the three-axis pose information and the machine body pose of the cantilever type heading machine, so as to play a role of accurately moving the machine, and timely adjust the cutting mode according to the rule, the cantilever type heading machine is automatically measured in a combined positioning autonomous measurement mode, so that the machine body pose can be automatically measured when the cantilever type heading machine is used for tunneling a roadway, the machine can be automatically moved, the number of workers and multiple accidents in a mine are effectively reduced, the tunneling working efficiency is greatly improved, and the possibility is provided for realizing unmanned tunneling in the mine. Disclosure of Invention The invention aims to overcome the technical defects in the prior art, solve the technical problems that the environment of a tunneling working face is extremely severe and is influenced by various factors, and a single positioning system is easy to cause the over-digging or under-digging of a tunnel due to the defects of the system, and provides a combined positioning-based moving system and a combined positioning-based moving method for a cantilever type tunneling machine to cut a large-section tunnel. The invention adopts the following technical scheme that the combined positioning-based cantilever type heading machine cutting roadway moving system comprises: the visual positioning system outputs x-axis coordinates and y-axis coordinates of the body of the cantilever type heading machine to the industrial personal computer; The optical fiber inertial navigation device comprises an optical fiber inertial navigation device, an industrial personal computer and a control system, wherein the optical fiber inertial navigation device outputs three pose information of a cantilever type heading machine body, and the three pose information comprises a roll angle, a pitch angle and a course angle; The laser positioning system outputs the z-axis coordinate of the cantilever type heading machine body to the industrial personal computer; the industrial personal computer receives the x-axis and y-axis coordinates of the cantilever type heading machine body output by the visual positioning system, three pose information of the cantilever type heading machine body output by the optical fiber inertial navigation and the z-axis coordinate of the cantilever type heading machine body output by the laser positioning system, generates position and pose information of the cantilever type heading machine body and transmits the position and pose information to the cutting control system; The cutting control system generates a machine body rotation, advancing, cutting and retreating action control instruction of the cantilever type heading machine when cutting the tunnel section according to the position and posture information of the machine body of the cantilever type heading machine, and sends the machine body rotation, advancing, cutting and retreating action control instruction to the execution system; And the execution system receives the control instructions of the rotation, the advancing, the cutting and the retreating of the machine body of the cantilever type heading machine when the section of the tunnel is cut, and executes the corresponding actions of the rotation, the advancing, the cutting and the retreating of the machine body of the cantilever type heading machine when the section of the tunnel is cut, so as to complete the movement of the large-section tunnel cut by the cantilever type heading machine. As a preferred embodiment, the visual positioni