基于双侧钻臂位姿协同约束的凿岩台车车体定位方法
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摘要
车体定位是凿岩台车钻孔自动控制的先决工序,原有车体定位方法仅在理想无碴工作面可行,当有堆碴车体横向倾斜情况下,推进梁可绕激光束横向旋转造成角变量无法锁定,车体位姿存在无穷解,导致定位误差很大甚至无法使用。为解决这一问题提出利用双钻臂同时参与定位的新方法,从理论上证明了双钻臂法解算车体位姿的可行性,将求车体位姿惟一解的问题转化为求解固定边长三角形顶点位置的问题;基于D-H法及坐标系平移确定了车体-激光坐标系变换关系;引入集合条件找出车体基坐标系实际原点位置,通过MATLAB编程计算车体两侧角变量值,求解车体基坐标系在工作面坐标系下的位姿矩阵,实现车体定位。现场测试结果表明:双钻臂法充分适应有渣条件堆碴高度变化,并能快速求得车体实际位姿确定值;车体竖直方向定位误差在5%以内,不采用误差补偿手段条件下钻孔定位精度在12 cm内。通过对比两种车体定位方法对钻孔定位效果的影响发现:原方法存在定位误差向非定位侧钻臂传递的现象,全站仪测量准确的情况下,非定位侧炮孔平均定位误差较定位侧高出94%。双钻臂法定位则不存在这一问题,其双侧炮孔定位精度与原方法定位侧炮孔定位精度一致,对于误差补偿较为有利。双钻臂定位法已在井下试验得到成功验证,具有普遍性,可用于同类型凿岩台车车体定位。
Carriage positioning is the prerequisite process for the automatic control of the drilling of the drill rig. The original method is only feasible in the ideal working face has no stone stacked.The carriage of drill rig is tilted laterally when there are stones stacked.The push beam can be rotated laterally around the laser beam.The angular variable cannot be locked,and there is an infinite solution to the pose of the carriage,resulting in a large positioning error or even unusable.In order to solve this problem,a new method of using the booms in dual sides to participate in positioning is proposed.It is theoretically proved the feasibility,and the problem of finding the unique solution of the carriage pose is solved to solve the vertex position of the triangle when the length are fixed; the transformation relationship of the carriage-laser coordinate system is determined based on the D-H method and the coordinate system translation; the set condition is introduced to find the actual origin position of the carriage coordinate system,and the angular values of the dual sides of the drill rig are calculated by MATLAB programming.Solve the pose matrix of the carriage coordinate system in the working face coordinate system to realize the carriage positioning. The field test results show that the new method fully adapts to the height change of the stone condition,and can quickly determine the actual position and pose of the carriage; the vertical positioning error of the carriage is within 5%.Drilling positioning accuracy is within 12 cm when the error compensation method is not used.By comparing the influence of two methods on the drilling positioning effect,it is found that the original method has the phenomenon that the positioning error is transmitted to the non-positioning side boom.When measured data of total station are accurate,the average positioning error of blast-holes in the non-positioning side is 94% higher than that in the positioning side.There is no such problem with the positioning of the new method.The positioning accuracy of the blast-holes in dual sides is consistent with that in the positioning side of the original method,which is advantageous for error compensation.The new method has been successfully verified in the roadway and is universal.It can be utilized to the positioning of the same type of drill rig.
Carriage positioning is the prerequisite process for the automatic control of the drilling of the drill rig. The original method is only feasible in the ideal working face has no stone stacked.The carriage of drill rig is tilted laterally when there are stones stacked.The push beam can be rotated laterally around the laser beam.The angular variable cannot be locked,and there is an infinite solution to the pose of the carriage,resulting in a large positioning error or even unusable.In order to solve this problem,a new method of using the booms in dual sides to participate in positioning is proposed.It is theoretically proved the feasibility,and the problem of finding the unique solution of the carriage pose is solved to solve the vertex position of the triangle when the length are fixed; the transformation relationship of the carriage-laser coordinate system is determined based on the D-H method and the coordinate system translation; the set condition is introduced to find the actual origin position of the carriage coordinate system,and the angular values of the dual sides of the drill rig are calculated by MATLAB programming.Solve the pose matrix of the carriage coordinate system in the working face coordinate system to realize the carriage positioning. The field test results show that the new method fully adapts to the height change of the stone condition,and can quickly determine the actual position and pose of the carriage; the vertical positioning error of the carriage is within 5%.Drilling positioning accuracy is within 12 cm when the error compensation method is not used.By comparing the influence of two methods on the drilling positioning effect,it is found that the original method has the phenomenon that the positioning error is transmitted to the non-positioning side boom.When measured data of total station are accurate,the average positioning error of blast-holes in the non-positioning side is 94% higher than that in the positioning side.There is no such problem with the positioning of the new method.The positioning accuracy of the blast-holes in dual sides is consistent with that in the positioning side of the original method,which is advantageous for error compensation.The new method has been successfully verified in the roadway and is universal.It can be utilized to the positioning of the same type of drill rig.
引文
[1] WANG Y,FANG C,JIANG Q,et al.The automatic drilling system of6R-2P mining drill jumbos[J]. Advances in Mechanical Engineering,2015,7(2):504861-504861.
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[7]李军利,廉自生,李元宗.机器人化掘进机的运动分析及车体定位[J].煤炭学报,2008,33(5):583-587.LI Junli,LIAN Zisheng,LI Yuanzong.Kinernatics analysis and carriage positioning of roboticized road header[J]. Journal of China Coal Society,2008,33(5):583-587.
[8] ELSRUD Rolf.Modern trends in drill rig navigation and system integration cases studies from boliden and Kemi underground mines[A].14thinternational symposium on mine planning and equipment selection,MPES 2005 and the 5thinternational conference on comprter applications in the minerals industries,CAMI[C].2005:292-310.
[9]何清华,曾桂英.凿岩机器人的车体定位[J].中南大学学报(自然科学版),1999,29(3):299-302.HE Qinghua,ZENG Guiying.Carriage positioning of rock-drilling robot[J].Journal of Central South University(Science and Technology),1999,29(3):299-302.
[10]谢习华,何清华,周亮.隧道凿岩机器人的车体定位方法[J].同济大学学报(自然科学版),2001,29(9):1032-1035.XIE Xihua,HE Qinghua,ZHOU Liang.Methods for carriage positioning of rock-drilling robot[J].Journal of Tongji University(Natural Science),2001,29(9):1032-1035.
[11]李延龙,胡国斌,蒋先尧,等.凿岩台车钻孔定位技术及应用[J].黄金,2017,38(10):45-48.LI Yanlong,HU Guobin,JIANG Xianyao,et al. Borehole-location technique with drill jumbo and its application[J].Gold,2017,38(10):45-48.
[12]王宪伦,喻洋,王道全,等.凿岩机器人的建模与运动学分析[J].矿山机械,2016,44(1):90-93.WANG Xianlun,YU Yang,WANG Daoquan,et al.Modeling and kinematics analysis of rock drilling robot[J]. Mining and Processing Equipment,2016,44(1):90-93.
[13]张付祥,史文军.双臂掘进钻车自动化钻孔方法研究[J].工矿自动化,2016,42(6):42-45.ZHANG Fuxiang,SHI Wenjun. Research on an automatic drilling method for dual-arm drill rig[J]. Indrstry and Mine Automation,2016,42(6):42-45.
[14]何清华.隧道凿岩机器人[M].长沙:中南大学出版社,2005:43-66.
[15]刘泽鑫.电脑凿岩台车钻臂动力学分析[D].成都:西南交通大学,2012:13-18.LIU Zexin.The dynamic analysis of computer drill jumbo boom[D].Chengdu:Southwest Jiaotong University,2012:13-18.
[2] KARLI N'SKI J,RUSI N'SKI E,LEWANDOWSKI T.New generation automated drilling machine for tunnelling and underground mining work[J].Automation in Construction,2008,17(3):224-231.
[3] DERLUKIEWICZ D,KARLI N'SKI J. Static and dynamic analysis of telescopic boom of self-propelled tunnelling machine[J].Journal of Theoretical and Applied Mechanics,2012,50(1):47-59.
[4]王恒升,何清华,邓春萍.凿岩台车自动化控制系统的发展、现状及展望[J].测控技术,2007,26(3):1-4.WANG Hengsheng,HE Qinghua,DENG chunping,Development and prospect of automatic control system of drill rig[J].Measurement and Control Technology,2007,26(3):1-4.
[5]谢习华,何清华,郭勇.隧道凿岩机器人钻臂移位跟踪与控制系统[J].凿岩机械气动工具,2000(2):31-34.XIE Xihua,HE Qinghua,GUO Yong. The control system of booms moving of rock-drilling robot[J]. Rock Drilling Machinery and Pneumatic Tools,2000(2):31-34.
[6]周友行,何清华,徐海良,等.多关节凿岩机械手快速定位方法[J].中南工业大学学报,2001,32(6):622-625.ZHOU Youhang,HE Qinghua,XU Hailiang,et al. The speediness orientation of the multi-joint rock-drilling manipulator[J]. Journal of Central South University Science and Technology,2001,32(6):622-625.
[7]李军利,廉自生,李元宗.机器人化掘进机的运动分析及车体定位[J].煤炭学报,2008,33(5):583-587.LI Junli,LIAN Zisheng,LI Yuanzong.Kinernatics analysis and carriage positioning of roboticized road header[J]. Journal of China Coal Society,2008,33(5):583-587.
[8] ELSRUD Rolf.Modern trends in drill rig navigation and system integration cases studies from boliden and Kemi underground mines[A].14thinternational symposium on mine planning and equipment selection,MPES 2005 and the 5thinternational conference on comprter applications in the minerals industries,CAMI[C].2005:292-310.
[9]何清华,曾桂英.凿岩机器人的车体定位[J].中南大学学报(自然科学版),1999,29(3):299-302.HE Qinghua,ZENG Guiying.Carriage positioning of rock-drilling robot[J].Journal of Central South University(Science and Technology),1999,29(3):299-302.
[10]谢习华,何清华,周亮.隧道凿岩机器人的车体定位方法[J].同济大学学报(自然科学版),2001,29(9):1032-1035.XIE Xihua,HE Qinghua,ZHOU Liang.Methods for carriage positioning of rock-drilling robot[J].Journal of Tongji University(Natural Science),2001,29(9):1032-1035.
[11]李延龙,胡国斌,蒋先尧,等.凿岩台车钻孔定位技术及应用[J].黄金,2017,38(10):45-48.LI Yanlong,HU Guobin,JIANG Xianyao,et al. Borehole-location technique with drill jumbo and its application[J].Gold,2017,38(10):45-48.
[12]王宪伦,喻洋,王道全,等.凿岩机器人的建模与运动学分析[J].矿山机械,2016,44(1):90-93.WANG Xianlun,YU Yang,WANG Daoquan,et al.Modeling and kinematics analysis of rock drilling robot[J]. Mining and Processing Equipment,2016,44(1):90-93.
[13]张付祥,史文军.双臂掘进钻车自动化钻孔方法研究[J].工矿自动化,2016,42(6):42-45.ZHANG Fuxiang,SHI Wenjun. Research on an automatic drilling method for dual-arm drill rig[J]. Indrstry and Mine Automation,2016,42(6):42-45.
[14]何清华.隧道凿岩机器人[M].长沙:中南大学出版社,2005:43-66.
[15]刘泽鑫.电脑凿岩台车钻臂动力学分析[D].成都:西南交通大学,2012:13-18.LIU Zexin.The dynamic analysis of computer drill jumbo boom[D].Chengdu:Southwest Jiaotong University,2012:13-18.