摘要
为推动掘进工作面的智能化发展,提升掘进装备自主导航技术,分析了目前悬臂式掘进机导航定位技术面临的问题,详细列举分析了各类悬臂式掘进机导航定位技术的研究现状,如光电导航、惯性导航及多传感器融合等。其中光电导航又细分为全站仪、激光指向仪、空间交汇、iGPS、超宽带、视觉导航几个部分,并分别对各类悬臂式掘进机导航技术进行了归纳总结。最后通过分析悬臂式掘进机导航定位技术的应用与未来发展趋势,对未来悬臂式掘进机导航技术的发展做了展望。认为光电导航技术成熟,但环境适应性差;惯性导航定位精度高、环境适应性强,但难以克服悬臂式掘进机长时短距作业方式带来的误差累积问题;将两者结合的多信息多传感器融合(组合导航)技术将是未来悬臂式掘进机导航的主要研究方向。然而目前硬件技术方面突破难度较大,因此可以优先考虑从应用鲁棒性更强的算法入手对现有导航技术进行融合,以提高悬臂式掘进机导航精度,从而进一步推动矿山智能化的发展。
In order to promote the intelligent development of heading face and improve the autonomous navigation technology of heading equipment,this paper analyzes the problems faced by the navigation and positioning technology of cantilever roadheader such as photoelectric navigation,inertial navigation and multi-sensor fusion.Among them,photoelectric navigation is subdivided into total station,laser pointer,spatial intersection,IGPS,UWB and visual navigation,and the navigation technologies of various cantilever roadheaders are summarized respectively.Finally,by analyzing the application and future development trend of cantilever roadheader navigation and positioning technology,the development of cantilever roadheader navigation technology is prospected.It is considered that the photoelectric navigation technology is mature,but the environmental adaptability is poor;the inertial navigation has high positioning accuracy and strong environmental adaptability,but it is difficult to overcome the error accumulation problem caused by long-duration and short-distance operation of the cantilever roadheader;the multi-information and multi-sensor fusion(integrated navigation) technology that combines the two will be the main research direction of the navigation of the cantilever roadheader in the future.However,it is difficult to make breakthroughs in hardware technology at present.Therefore,it is possible to give priority to the application of more robust algorithms to integrate the existing navigation technologies,so as to improve the navigation accuracy of cantilever roadheaders,thereby further promote the development of mine intelligence.
作者
田伟琴
田原
贾曲
张凯
TIAN Weiqin;TIAN Yuan;JIA Qu;ZHANG Kai(China Coal Research Institute,Beijing 100013;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China)
出处
《煤炭科学技术》
CAS
CSCD
北大核心
2022年第3期267-274,共8页
Coal Science and Technology
基金
山西省应用基础研究计划青年科技研究基金资助项目(201901D2115920)
天地科技股份有限公司科技创新创业资金专项重点资助项目(2019-TD-ZD006)
中国煤炭科工集团太原研究院有限公司科研资助项目(F2020-JY01)。
关键词
悬臂式掘进机
导航定位
光电导航
惯性导航
多传感器融合
cantilever roadheader
navigation and positioning
optoelectronic navigation
inertial navigation
multi-sensor fusion
