悬臂式掘进机机身位姿参数的实时精准感知是煤矿巷道定向掘进，乃至综掘工作面智能化、无人化建设的关键环节，在综掘工作面复杂工况下目前还不能真正实现掘进机机身位姿实时、自主、精准感知。提出了一种悬臂式掘进机行走轨迹及偏差感知方法，旨在实时确定掘进机机身的方位偏差，为掘进机定向掘进提供纠偏基准参数。在以往研究的基础上，搭建了基于激光偏距感知、捷联惯导、二维里程计的掘进机行走轨迹及偏差感知系统，分析了掘进机机身方位偏差与巷道定向掘进的关系，制定了基于此系统的掘进机自主定向掘进策略;基于捷联式惯性导航系统在综掘工作面的适用改进推导了其初始粗对准和姿态更新算法，确立了掘进机航向角与偏角的联系;研制的二维里程计可同时测量掘进机横向和纵向里程增量，推导了基于二维里程和偏角的航位推算算法，得到了掘进机实时位置坐标。研发了掘进机位姿参数可视化交互式远程显示系统，搭建了包括掘进机井下、井上可视化远程控制平台、全站仪在内的掘进机行走轨迹及偏差感知精度验证实验系统。工业性实验结果表明所提方法实现了掘进机机身偏角、偏距(横坐标)、纵坐标的精准感知，验证了所提方法的可行性及优越性，满足巷道掘进对于掘进机机身定位定向要求。

The real-time and accurate perception of the position and pose parameters of roadheader is the key for the directional heading of the coal mine roadway,and even the intelligent and unmanned construction of comprehensive heading face.At present,the real-time,autonomous and accurate perception of roadheader’s body pose cannot be truly realized under the complex working conditions of the comprehensive heading face.This paper proposes a boom-type roadheader trajectory and deviation perception method,aiming to obtain the deviation angle and deviation distance of the roadheader’s body in real-time,and providing correction reference parameters for the directional heading of roadheader.On the basis of previous research,this paper builds a roadheader trajectory and deviation perception system based on laser deviation perception,strap-down inertial navigation and two-dimensional odometer,analyzes the relationship between roadheader body azimuth deviation and roadway directional heading,and proposes an autonomous directional heading strategy for roadheaders.Based on the application improvement of strap-down inertial navigation system in the comprehensive heading face,the initial coarse alignment and attitude update algorithms are derived,and the relationship between the heading angle and deviation angle of heading machine is established.The developed two-dimensional odometer can measure the horizontal and longitudinal mileage increment of roadheader simultaneously,and the dead reckoning algorithm based on the two-dimensional mileage is derived,and the real-time position coordinates of roadheader are obtained.A visual interactive remote display system for the position and pose parameters of the roadheader is developed,and an experimental system for the verification of the trajectory and deviation perception accuracy is built.The results of industrial experiments show that the method proposed in this paper realizes the accurate perception of the deflection angle,deflection distance (abscissa) and ordinate of the roadheader’s body,which verifies the feasibility and superiority of the proposed method,and satisfies the requirements of roadheader body positioning and orientation in roadway heading.

1 偏差的描述及影响分析

  1.1 坐标系定义

  1.2 掘进机方位偏差的描述

  1.3 掘进机方位偏差与巷道定向掘进的关系

2 行走轨迹及偏差感知系统组成

  2.1 激光偏距感知系统

  2.2 捷联惯导

  2.3 二维里程计

3 行走轨迹及偏差感知系统原理

  3.1 系统原理

  3.2 系统流程

4 实验验证

  4.1 实验配置

  4.2 实验方案

  4.3 实验结果

5 结论