基于空间矢量约束的煤矿掘进机组合测量方法

为了解决煤矿掘进机位姿测量的问题,将一组反向同轴安装的工业相机和捷联惯性导航系统组装成测偏单元,并结合视觉测量和惯性导航技术提出了一种基于空间矢量约束的实时位姿组合测量方法.该方法通过测偏单元测得激光指向仪光源光斑的空间矢量、掌子面光斑的空间矢量和掘进机的姿态信息,建立空间矢量约束方程以及坐标系转换得到掘进机位置信息,并进行了理论分析和实验验证.结果表明,通过该方法能得到掘进机实时位姿的六自由度信息.该方法可用于煤矿掘进机的位姿测量,具有广阔的应用和发展前景.

Combination measurement method of coal mine roadheaders based on space vector constraint

In order to solve the problem of measuring the position and posture of a coal mine roadheader, a set of reverse coaxial industrial cameras and strapdown inertial navigation system were assembled into a bias measurement unit. Combining vision measurement and inertial navigation technology, a real-time pose measurement method was proposed based on space vector constraints. In this method, the spatial vector of the light spot of laser pointer, the spatial vector of the light spot of palm face and the attitude information of roadheader were measured by the deviation measuring unit. Space vector constraint equation and coordinate system conversion were established. The location information of the roadheader was obtained. Theoretical analysis and experimental verification were carried out. The results show that, the six degrees of freedom information of the real-time position and posture of the roadheader can be obtained by this method. This method can be used to measure the position and posture of coal mine roadheaders, and has broad application and development prospects.