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针对目前井下定位存在的问题,设计了由多种传感设备、测绘设备和工控机组成的掘进机器人物联网,发展了一种新的井下定位方法,并据此构建了面向无人工作面的掘进机器人系统,应用所提机器人系统进行了实际作业实验.实验结果和系统持续运行表明,所提定位方法实现了精确可靠的实时定位,均方根误差控制在5 cm以内.基于所提定位方法的掘进机器人实现了对周围环境的实时精确感知和与周围环境的精准交互,从而实现了安全高效高精度的井下掘进,以及综掘面无人化.“,”To overcome the problems faced in underground positioning, the robotic roadheader mine Internet of things (IoT) was designed which connected multi sensors, surveying devices and industrial computers, and a novel positioning method was developed, based on which a robotic roadheader system was built. The robotic roadheader system was employed for real-world tunnel cutting. The experimental results verifies the high accuracy of the positioning method, which achieves an RMSE error less than 5 cm, and the robust running of the robotic roadheader indicates that the robotic roadheader system can precisely perceive the surrounding environment and make precise interaction with the working environment, which yield a safety, high efficiency, and precisely underground tunnel building and coal mining and an unmanned working surface.