基于多传感器组合的钻锚机器人机身定位方法研究

针对目前煤矿钻锚作业仍以人工为主,作业强度大、环境恶劣且效率低的问题,为提高效率、保障工人生命安全,研发了煤矿钻锚机器人以提升钻锚作业自动化水平。针对工况环境下的钻锚机器人机身定位困难、干扰大、精度低、效率低等问题,提出了一种基于激光测距传感器和激光雷达的组合传感器定位方法。根据钻锚作业需求,研究基于分布式激光测距传感器的钻锚机器人与掘进工作面之间的距离信息,建立"机器人-工作面"定位模型,解算钻锚机器人前移过程中与掘进工作面的位置关系;以机器人后端顶部锚杆为目标,利用激光雷达扫描获取锚杆与钻锚机器人的动态点图信息,建立"机器人-锚杆"定位模型,解算钻锚机器人后移过程中与锚杆的空间位置关系。搭建组合定位系统,通过样机试验验证表明:"机器人-工作面"定位模型距离误差≤10 mm,偏航夹角误差≤1°;"机器人-锚杆"定位模型距离误差≤20 mm,偏航夹角误差≤1.5°,可以实现煤矿巷道钻锚机器人机身自动、准确、实时的定位目标。

Research on body positioning method of drill-anchor robot based on multi-sensor combination

At present,the drilling and anchoring operations in coal mines are still dominated by manual operations with high operation in?tensity,harsh environment and low efficiency.In order to improve the efficiency and ensure the safety of workers,the coal mine drilling and anchoring robots have been developed to improve the automation level of drilling and anchoring operations.In order to solve the prob?lems of difficult positioning,large interference,low accuracy and low efficiency of the anchor drilling robot body under working condi?tions,a positioning method based on the combination of laser ranging sensor and lidar was proposed.According to the requirements of the drilling and anchoring operation,the distance information between the drill-anchor robot and the developemnt face based on the distributed laser ranging sensor was studied,and the“robot-working face”positioning model was established,and the position relation?ship between the drill-anchor robot and the driving face in the process of moving forward was solved;Taking the top bolt at the back end of the robot as the target,the dynamic point map information of the bolt and the drill-anchor robot was obtained by using the laser radar scanning,and the“robot-bolt”positioning model was established,and the spatial position relationship between the robot and the anchor rod during the backward moving process was calculated.The combined positioning system was built and verified by the prototype experi?ment.The results show that the distance error of the“robot-working face”positioning model is less than 10 mm,the yaw angle error is not more than 1°,the distance error of the“robot-bolt”positioning model is not more than 20 mm,and the yaw angle error is not more than 1.5°,which can realize automatic,accurate and real-time positioning target of drill-anchor robot body.