基于空间交汇测量技术的悬臂式掘进机位姿自主测量方法

根据深部危险煤层无人化开采的需求，要实现无人环境下对悬臂式掘进机位姿的高精度测量。提出一种基于空间交汇测量技术的悬臂式掘进机自主位姿测量方法，由悬臂式掘进机搭载激光发射器并发射旋转激光平面，在其后方安装位置固定的激光接收器并通过激光平面获取激光发射器相对于其自身的方位，从而得到悬臂式掘进机相对于由激光接收器确定的巷道坐标系的位姿状态。构建悬臂式掘进机位姿测量的数学模型，运用仿真软件对该模型进行仿真并分析位姿测量精度。仿真表明：在激光发射器与激光接收器相距25 m时悬臂式掘进机定位点的最大测量误差在X轴，测量误差为0.082 3 m；姿态角的最大测量误差为横滚角，测量误差为2.018 4°。基本满足目前煤矿综掘工作面对悬臂式掘进机位姿测量精度的要求。

Autonomous measurement of position and attitude of boom-type roadheader based on space intersection measurement

According to the requirements of unmanned mining in deep dangerous coal seam,a high accurate measurement on the attitude and position of boom-type roadheader in unmanned environment is of significance.Now an autonomous measuring method of the position and attitude of boom-type roadheader was proposed based on space intersection measurement.A laser transmitter on the body of boom-type roadheader transmits the revolving laser planes,laser receivers installed behind the boom-type roadheader get the position of laser transmitters through laser planes,then obtain the position and attitude of boom-type roadheader in the tunnel coordinate frameconstructed by laser receivers.A mathematical model on the measurement of position and attitude of boom-type roadheader was built to do the mathematical simulation through simulation software and analyze the measuring accuracy ofthe position and attitude of boom-type roadheader.Simulation results indicate that in the distance of 25 m from laser transmitter to laser receiver，the maximum measurement error of the location point of boom-type roadheader isthe value of X-axis,the measurement error is 0.082 3 m;the maximum measurement error of the attitude angles of boom-type roadheader isthe value of roll angle,the measurement error is 2.018 4°,which basically satisfies the requirements of measurement accuracy of the attitude and position of roadheader in the current production of coal mines.