摘要
针对掘进机在复杂环境下的自主定位与远程智能截割控制挑战,提出多传感器融合解决方案。在自主定位上,融合捷联惯导与双目视觉信息,采用多状态约束卡尔曼滤波框架(MSCKF)处理数据,克服单一传感器不足,降低系统状态维数和计算消耗,实现高精度定位。在远程智能截割控制上,构建包含远程控制、断面成形截割控制和分布式数据交互等模块的控制系统,通过井下主控系统精准控制掘进机动作,利用截割轨迹在线监测技术实现超视距巷道截割。同时,优化远程控制通信方式、数据传输和上位机软件,确保数据传输实时可靠。该方案提升了掘进机作业效率和安全性,为其他复杂环境下的自主定位与远程智能控制提供参考。
Aiming at the challenges of autonomous positioning and remote intelligent cutting control for roadheader in complex environments,a multi-sensor fusion solution was proposed.For autonomous positioning,the solution integrates the information from strapdown inertial navigation and binocular odometry,employing the multi-state constraint Kalman filter(MSCKF)framework for data processing.This approach overcomes the limitations of individual sensors,reduces the system′s state dimension and computational overhead,and achieves high-precision positioning.For remote intelligent cutting control,a control system was constructed,encompassing modules for remote control,cross-section shaping cutting control,and distributed data interaction.The underground master control system precisely controls the roadheader′s movements,and the use of online monitoring technology for cutting trajectories enables beyond-visual-range roadway cutting.Additionally,the communication methods,data transmission protocols,and upper-computer software were optimized to ensure real-time and reliable data transmission.This solution enhances the operational efficiency and safety of roadheader and provides a reference for autonomous positioning and remote intelligent control in other complex environments.
作者
马允俨
Ma Yunyan(CCTEG Xi’an Research Institute(Group)Co.,Ltd.,Xi’an 710077,China)
出处
《煤矿机械》
2025年第9期49-51,共3页
Coal Mine Machinery
基金
陕西省重点研发计划项目(2024GX-YBXM-293)。
关键词
悬臂式掘进机
多传感器融合
自主定位
远程控制
智能截割
boom-type roadheader
multi-sensor fusion
autonomous positioning
remote control
intelligent cutting
