Heading machine pose detection method based on millimeter wave radar and inertial navigation

A technology of millimeter-wave radar and inertial navigation, which is applied in the field of navigation and positioning of roadheaders, can solve problems such as complex environments and affecting the calculation accuracy of wireless signals on the position of roadheaders, and achieve good stability, low interference from the surrounding environment, and high precision.

Pending Publication Date: 2021-06-04
TAIYUAN INST OF CHINA COAL TECH & ENG GROUP +1
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Problems solved by technology

This method has strong adaptability to the environment and provides a direction for the position detection of the roadheader. However, the environment of the coal mine tunneling face is complex, which will affect the calculation accuracy of the wireless signal for the position of the roadheader.

Method used

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  • Heading machine pose detection method based on millimeter wave radar and inertial navigation
  • Heading machine pose detection method based on millimeter wave radar and inertial navigation
  • Heading machine pose detection method based on millimeter wave radar and inertial navigation

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Embodiment Construction

[0041] A method for detecting the pose of a roadheader based on millimeter-wave radar and inertial navigation, comprising the following steps.

[0042] S100~The millimeter-wave radar installed on the rear side of the roadheader fuselage measures the distance between the rear side of the roadheader and the radar detection point on the side of the coal wall in real time, and transmits the measurement results to the data processing module.

[0043] S200~The millimeter-wave radar installed on the front side of the roadheader fuselage measures the distance between the front side of the roadheader and the radar detection point on the side of the coal wall in real time, and transmits the measurement results to the data processing module.

[0044] S300~Inertial navigation is fixed on the top of the roadheader body, real-time measurement of the deflection angle of the roadheader in the three directions of heading, roll and pitch, and converts the angles of heading, rollover and pitch co...

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Abstract

The invention belongs to the technical field of heading machine navigation and positioning, and particularly relates to a heading machine pose detection method based on millimeter wave radar and inertial navigation. The method includes following steps: S100, measuring the distance between the side surface of the rear end of the heading machine and the radar detection point of the coal wall side wall in real time by the millimeter wave radar mounted on the side surface of the rear end of the heading machine body; S200, measuring the distance between the side surface of the front end of the heading machine and the radar detection point of the coal wall side wall in real time by the millimeter wave radar mounted on the side surface of the front end of the heading machine body; S300, fixing the inertial navigator to the top of a heading machine body, and measuring the deflection angles of the heading machine in the heading direction, the rolling direction and the pitching direction in real time; S400, when the heading machine does not change in posture, setting the distance measured by the millimeter wave radar to be the vertical distance between the side face of the heading machine body and the side wall of the coal wall, and when the posture of the machine body changes, setting the distance measured by the millimeter wave radar to be the slope distance between the side face of the machine body and the coal wall lateral wall, so that the vertical distance between the side body of the heading machine and the coal wall lateral wall is obtained through processing with a data fusion method.

Description

technical field [0001] The invention belongs to the technical field of roadheader navigation and positioning, in particular to a method for detecting the pose of a roadheader based on millimeter-wave radar and inertial navigation. Background technique [0002] Due to the limited roadway section and narrow space, there are a lot of dust and harmful gases in the underground mine excavation working face in my country, and the temperature and humidity are high, and the environment is relatively harsh. Dust will endanger the health of workers. In order to reduce the number of workers and promote the development of underground automation, the position and orientation detection of the roadheader has become very important, and a large number of scientific researchers have devoted themselves to the research of navigation and positioning of the roadheader. [0003] The invention patent with the public number CN104295297A "a positioning system and method for the cutting head of the roa...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18G01S13/42
CPCG01C21/165G01C21/18G01S13/42
Inventor 贾曲田原陈宁索艳春董孟阳张婷李涛郭皇煌
Owner TAIYUAN INST OF CHINA COAL TECH & ENG GROUP
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