研究基于综合导航的快速挖掘系统的精确定位方法
Hongda Zhu1, Yuang Zhao1, Yunlin Zhou1
1School of Mechanical and Electrical Engineering, China University of Mining & Technology(Beijing), Beijing, 100083, China.
Scientific reports
|November 25, 2025
概括
煤矿采矿的精确地下导航使用惯性导航系统 (INS) 加Vision"相互参考"方案. 这种方法提高了道的安全性和效率,使采矿设备之间的协作定位成为可能.
科学领域:
- 采矿工程 采矿工程 采矿工程
- 机器人技术 机器人技术 机器人技术
- 地理学工程 工程地质学
背景情况:
- 智能煤炭开采需要精确的导航,以便快速挖掘系统.
- 挑战包括GPS拒绝,有限的可见性,以及在道中缺乏多设备协作.
研究的目的:
- 提出一个惯性导航系统 (INS) + 愿景"相互参考"协作定位方案.
- 在复杂的地下工作面条件下满足高精度定位需求.
主要方法:
- 使用螺栓矿工 (BM) 和螺栓转移单元 (BTU) 的交替操作.
- 实现坐标转换和数据融合,用于动态相对定位.
- 采用视觉惯性系统作为位置更新的局部参考.
主要成果:
- 拟议的方案在复杂的工作面条件下实现了高精度定位.
- 对于BTU和BM,最大的横向/纵向误差分别为34mm/66mm和28mm/66mm.
- 成功解决了诸如单传感器错误积累和视觉阻塞等问题.
结论:
- 综合导航方法是可行的,并且对快速挖掘系统的性能如期.
- 符合严格的地下定位要求,以提高采矿效率和安全.
- 在GPS被拒绝的环境中展示有效的多设备协作.
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