A method and device for measuring horizontal inclination angle of a mining robot

Abstract

The present invention proposes a method and device for measuring the horizontal inclination angle of a mining robot, which belongs to the field of robot technology. The method includes: obtaining a first horizontal inclination angle of the mining robot in a stationary state; obtaining the linear motion acceleration and the centripetal motion acceleration of the mining robot after starting to move; compensating the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration, and determining the second horizontal inclination angle according to the compensated accelerometer output value; in a moving state, complementary fusion of the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment to obtain the third horizontal inclination angle of the mining robot; and using the third horizontal inclination angle as the horizontal inclination angle of the mining robot in a moving state. The present invention improves the measurement accuracy and measurement stability of the horizontal inclination angle of the mining robot in a moving state through the compensation and complementary fusion process.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and relates to a technology for determining the posture of a mining robot by using an inertial measurement unit and a wheel speed meter, and specifically relates to a method and a device for measuring the horizontal inclination angle of a mining robot. Background Art

[0002] Mining robots are intelligent robots that can help humans perform mining work in various toxic, harmful and dangerous environments, including special coal mining robots, rock drilling robots, underground grouting robots, gas or ground pressure detection robots and other types. Referring to the patent application document with application number CN202011162613.7, a patrol robot-based unmanned coal mine inspection method is disclosed, comprising the following steps: a first patrol robot and a second patrol robot receive coal mine safety monitoring information; a mine mobile station establishes a communication connection with a base station; a mine mobile station sends a side link resource request message to the base station; the base station allocates side link resources to the mine mobile station; in response to receiving the allocated side link resources, the mine mobile station determines a distribution pattern of the side link resources; if the distribution pattern of the side link resources is determined to be a first pattern, the mine mobile station sends a side link main synchronization signal to the first patrol robot and the second patrol robot in the first OFDM symbol of the first side link time slot; if the distribution pattern of the side link resources is determined to be a second pattern, the mine mobile station sends a side link broadcast message to the first patrol robot and the second patrol robot in the second OFDM symbol of the first side link time slot. The unmanned coal mine inspection method based on inspection robots described in the patent document can achieve precise control and optimized management of electric vehicles, thereby improving the driving safety and efficiency of electric vehicles. It can be seen that mining robots can be divided into many types and are widely used in the process of mine mining.

[0003] However, mining robots generally operate continuously during the working phase. Due to the complex working environment of mining sites, the horizontal tilt angle of mining robots is crucial to their anti-overturning and stable operation of onboard equipment. In the prior art, the horizontal tilt angle of mining robots is generally measured by inertial sensors. This measurement method is difficult to compensate for the centripetal acceleration and linear acceleration of mining robots during their movement, resulting in poor measurement accuracy of the horizontal tilt angle of mining robots. Summary of the invention

[0004] The existing method for measuring the horizontal inclination angle of a mining robot is difficult to compensate for the centripetal motion acceleration and linear motion acceleration during the movement of the mining robot, resulting in a technical problem of poor measurement accuracy of the horizontal inclination angle of the mining robot. To solve this technical problem, the present invention proposes a method and device for measuring the horizontal inclination angle of a mining robot.

[0005] The present invention compensates for the accelerometer output value during the movement of the mining robot, determines the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value, complementarily fuses the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment, obtains the horizontal inclination angle of the mining robot, and improves the measurement accuracy of the horizontal inclination angle of the mining robot.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention provides a method for measuring the horizontal inclination angle of a mining robot, comprising the following steps:

[0008] Obtaining a first horizontal inclination angle of the mining robot when it is in a stationary state;

[0009] Obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion;

[0010] Compensating the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determining a second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value;

[0011] In a stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle; in a moving state, the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment are complementarily fused to obtain the third horizontal inclination angle of the mining robot; the third horizontal inclination angle is used as the horizontal inclination angle of the mining robot.

[0012] It is further defined that the obtaining of the linear motion acceleration and the centripetal motion acceleration of the mining robot during its movement specifically includes: obtaining the linear motion acceleration of the mining robot during its movement by means of a tachometer, and obtaining the centripetal motion acceleration of the mining robot during its movement by means of a gyroscope and a tachometer.

[0013] It is further defined that obtaining the first horizontal inclination angle of the mining robot in a stationary state specifically includes:

[0014] Obtain the accelerometer output value of the mining robot in the x-axis direction and the accelerometer output value in the y-axis direction respectively;

[0015] The first horizontal inclination angle of the mining robot in a stationary state is determined using the following formula according to the accelerometer output value in the x-axis direction and the accelerometer output value in the y-axis direction:

[0016]

[0017] In the formula, is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the acceleration due to gravity, unit: m / s².

[0018] It is further defined that obtaining the linear motion acceleration of the mining robot during its motion process specifically includes:

[0019] The wheel speed meter is used to obtain the starting time line motion speed and the ending time line motion speed of the mining robot in the historical interval data, wherein the historical interval data refers to a time period during the movement of the mining robot;

[0020] According to the linear motion speed at the starting moment and the linear motion speed at the end moment, the linear motion acceleration of the mining robot during movement is determined using the following formula:

[0021]

[0022] In the formula, is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the linear motion speed at the starting time, unit: m / s; The linear motion speed at the end, unit: m / s; The duration of the historical interval data, unit: s;

[0023] Obtain the centripetal acceleration of the mining robot during its motion, including:

[0024] Obtain the gyroscope output value of the mining robot in the z-axis direction, and use the wheel speed meter to obtain the differential speed of the mining robot during movement;

[0025] According to the gyroscope output value in the z-axis direction and the differential velocity during the movement of the mining robot, the centripetal motion acceleration during the movement of the mining robot is determined using the following formula:

[0026]

[0027] In the formula, is the differential speed of the mining robot during its movement, unit: m / s; is the gyroscope output value in the z-axis direction, unit: rad / s; It is the centripetal acceleration of the mining robot during its movement, unit: m / s².

[0028] It is further defined that the calculation model for compensating the accelerometer output value of the mining robot during movement based on the linear motion acceleration and the centripetal motion acceleration specifically includes:

[0029]

[0030]

[0031] In the formula, is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the centripetal acceleration of the mining robot during its movement, unit: m / s²; The accelerometer output value compensated in the X-axis direction, unit: m / s²; is the accelerometer output value compensated in the y-axis direction;

[0032] Determining the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value specifically includes: determining the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value using the following formula:

[0033]

[0034] In the formula, is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the acceleration due to gravity, unit: m / s².

[0035] It is further defined that the calculation model of the third horizontal inclination angle of the mining robot is:

[0036]

[0037]

[0038] In the formula, is the third level inclination angle of the mining robot, unit: °; is the time value, unit: s, where hour, is the horizontal inclination angle of the mining robot at the initial motion moment, and the previous moment is a stationary state; hour, is the horizontal inclination angle of the mining robot during its motion, and the last moment is the motion state; is the complementary fusion coefficient, dimensionless; is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the gyroscope angle increment between frames, unit: °; is the gyroscope output value in the X-axis direction, unit: rad / s; Gyroscope output value in the y-axis direction, unit: rad / s.

[0039] The present invention provides a device for measuring the horizontal inclination angle of a mining robot, comprising:

[0040] A first horizontal inclination angle acquisition unit: used to acquire a first horizontal inclination angle of the mining robot in a stationary state;

[0041] Acceleration acquisition unit: used to obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion;

[0042] A second horizontal inclination angle acquisition unit: used to compensate the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determine the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value;

[0043] And a third horizontal inclination angle acquisition unit: used to use the third horizontal inclination angle as the horizontal inclination angle of the mining robot; wherein, in a stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle; in a moving state, the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment are complementarily fused to obtain the third horizontal inclination angle of the mining robot.

[0044] It is further defined that the acceleration acquisition unit specifically includes: being used to acquire the linear motion acceleration of the mining robot during its movement by means of a wheel speed meter, and acquiring the centripetal motion acceleration of the mining robot during its movement by means of a gyroscope and a wheel speed meter.

[0045] The present invention provides a storage medium, on which a program file is stored. The program file is executed to implement the horizontal inclination angle measurement method of the mining robot.

[0046] The present invention provides an electronic device, which is used to execute a program file, wherein the program file includes the above-mentioned method for measuring the horizontal inclination angle of a mining robot.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. The present invention provides a method for measuring the horizontal inclination angle of a mining robot. The method compensates for the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration, determines the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value, and simultaneously, in the moving state, complementarily fuses the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment to obtain the horizontal inclination angle of the mining robot. The measurement accuracy of the horizontal inclination angle of the mining robot is improved through the process of compensation and complementary fusion.

[0049] 2. The present invention improves the measurement accuracy of the horizontal tilt angle in the rolling direction by compensating the accelerometer output value in the X-axis direction. The measurement accuracy of the horizontal tilt angle in the pitch direction is improved by compensating the accelerometer output value in the Y-axis direction, thereby improving the measurement accuracy of the horizontal tilt angle of the mining robot.

[0050] 3. The invention provides a method for measuring the horizontal tilt angle of a mining robot, which can make the mining robot suitable for the complex working environment of the mining area. By measuring the horizontal tilt angle of the mining robot, the posture of the mining robot can be determined, which is crucial to the anti-overturning effect of the mining robot. In addition, mining robots are generally equipped with relevant test equipment, and high-precision and high-stability horizontal tilt angle measurement is crucial to the normal operation of the test equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a method for measuring the horizontal inclination angle of a mining robot according to the present invention;

[0052] Figure 2 The present invention is a schematic diagram of a device for measuring the horizontal inclination angle of a mining robot. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the implementation modes described below.

[0054] IMU is the abbreviation of Inertial Measurement Unit, which refers to an inertial measurement unit, which is a sensor mainly used to detect and measure acceleration and rotational motion. Its principle is realized by the law of inertia. From ultra-small MEMS sensors to laser gyroscopes with very high measurement accuracy, and optical fiber devices with a diameter of nearly half a meter, they are all based on this principle. The inertial measurement unit generally includes a 3-axis gyroscope and a 3-axis accelerometer. The inertial measurement unit is installed at the center of gravity of the mining robot. At the center of gravity of the mining robot, an x, y, and z three-axis coordinate system is established along the right, front, and top respectively. The inertial measurement unit can generate the accelerometer output values ​​corresponding to the mining robot in the x, y, and z directions and the gyroscope output values ​​corresponding to the x, y, and z directions.

[0055] The wheel speed pulse odometer, also known as the wheel speed meter, is a device that uses the wheel speed to measure the mileage of a mining robot or vehicle. Its core is the encoder, which can convert the rotational motion of the wheel into an electrical signal, namely a pulse signal. Each pulse signal corresponds to a certain angle or distance that the wheel has turned. By counting the number of pulses, the number of circles the wheel has turned can be accurately measured, thereby calculating the travel of the mining robot or vehicle. The wheel speed meter directly senses the changes in the wheels carrying the mining robot and obtains the mileage of the mining robot's continuous movement. Specifically, it can output the starting time-line motion speed of the mining robot in the historical interval data, the ending time-line motion speed, and the mileage data of the mining robot.

[0056] The mining robot generally operates continuously during the working stage. Due to the complex working environment of the mining area, the horizontal inclination angle of the mining robot is crucial to the anti-overturning of the mining robot and the stability of the airborne test equipment. There are generally two existing methods for measuring the horizontal inclination angle of the mining robot: one is to measure only by an inertial measurement unit, which is difficult to compensate for the centripetal motion acceleration and linear motion acceleration during the movement of the mining robot, resulting in poor measurement accuracy. The other is to measure by combining an inertial measurement unit and a satellite navigation system, but there are many weak satellite signal areas and no satellite signal areas in the mining area, which makes it difficult to achieve effective signal transmission, resulting in poor measurement stability. The present invention is based on the inertial measurement unit (IMU) and the wheel speed meter to jointly calculate the horizontal inclination angle of the mining robot, and dynamically compensate for the centripetal motion acceleration and linear motion acceleration during the movement of the mining robot, which can effectively improve the measurement accuracy and measurement stability of the horizontal inclination angle of the mining robot.

[0057] Example 1

[0058] See also Figure 1 The present embodiment provides a method for measuring the horizontal inclination angle of a mining robot, comprising the following steps:

[0059] Acquire a first horizontal inclination angle of the mining robot in a stationary state; wherein, in the stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle;

[0060] Obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion;

[0061] Compensating the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determining a second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value;

[0062] In a stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle; in a moving state, the gyroscope angle increment, the first horizontal inclination angle and the second horizontal inclination angle are complementarily fused, or the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment are complementarily fused to obtain the third horizontal inclination angle of the mining robot; the third horizontal inclination angle is used as the horizontal inclination angle of the mining robot.

[0063] In this embodiment, obtaining the first horizontal inclination angle of the mining robot in a stationary state specifically includes:

[0064] The inertial measurement unit is used to obtain the accelerometer output value of the mining robot in the x-axis direction and the accelerometer output value in the y-axis direction respectively; according to the accelerometer output value in the x-axis direction and the accelerometer output value in the y-axis direction, the first horizontal inclination angle of the mining robot in the static state is determined by the following formula:

[0065]

[0066] In the formula, is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the acceleration due to gravity, unit: m / s².

[0067] In this embodiment, obtaining the linear motion acceleration of the mining robot during its motion process specifically includes:

[0068] The wheel speed meter is used to obtain the linear motion speed at the start time and the linear motion speed at the end time of the mining robot in the historical interval data. The historical interval data refers to a time period in the movement of the mining robot. The duration of the historical interval data is generally 1s-5s. The linear motion acceleration of the mining robot during the movement is determined according to the linear motion speed at the start time and the linear motion speed at the end time using the following formula:

[0069]

[0070] In the formula, is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the linear motion speed at the starting time, unit: m / s; The linear motion speed at the end, unit: m / s; The duration of the historical interval data, unit: s.

[0071] In this embodiment, the centripetal acceleration of the mining robot during its movement is obtained, specifically including:

[0072] The gyroscope output value of the mining robot in the z-axis direction is obtained, and the differential speed of the mining robot during movement is obtained using the wheel speed meter; the centripetal motion acceleration of the mining robot during movement is determined using the following formula based on the gyroscope output value in the z-axis direction and the differential speed of the mining robot during movement:

[0073]

[0074] In the formula, is the differential speed of the mining robot during its movement, unit: m / s; is the gyroscope output value in the z-axis direction, unit: rad / s; It is the centripetal acceleration of the mining robot during its movement, unit: m / s².

[0075] In this embodiment, the calculation model of the differential speed of the mining robot during movement is:

[0076]

[0077] In the formula, is the differential speed of the mining robot during its movement, unit: m / s; For the The mileage data measured by the wheel speedometer at the next moment, unit: m; For the The mileage data measured by the wheel speedometer at the previous moment, unit: m; is the sampling period of the wheel speed meter, unit: s.

[0078] In this embodiment, the calculation model for compensating the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration is:

[0079]

[0080]

[0081] In the formula, is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the centripetal acceleration of the mining robot during its movement, unit: m / s²; The accelerometer output value compensated in the X-axis direction, unit: m / s²; The accelerometer output value compensated in the y-axis direction.

[0082] It should be noted that, in this embodiment, when the mining robot has linear motion, it is necessary to calculate and compensate for the linear motion acceleration (accelerometer output value in the y-axis direction) corresponding to the accelerometer output value. When the mining robot has nonlinear motion, it is necessary to calculate and compensate for the centripetal motion acceleration (accelerometer output value in the x-axis direction) corresponding to the accelerometer output value. When the mining robot has both linear motion and nonlinear motion, it is necessary to calculate and compensate for the linear motion acceleration (accelerometer output value in the y-axis direction) and centripetal motion acceleration (accelerometer output value in the x-axis direction) corresponding to the accelerometer output value.

[0083] In this embodiment, the second horizontal inclination angle during the movement of the mining robot is determined according to the compensated accelerometer output value using the following formula:

[0084]

[0085] In the formula, is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the acceleration due to gravity, unit: m / s².

[0086] In this embodiment, the calculation model of the third horizontal inclination angle of the mining robot is:

[0087]

[0088]

[0089] In the formula, is the third level inclination angle of the mining robot, unit: °; is the time value, unit: s, where hour, is the horizontal inclination angle of the mining robot at the initial motion moment, and the previous moment is a stationary state; hour, is the horizontal inclination angle of the mining robot during its motion, and the last moment is the motion state; is the complementary fusion coefficient, dimensionless; is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the gyroscope angle increment between frames, unit: °; is the gyroscope output value in the X-axis direction, unit: rad / s; Gyroscope output value in the y-axis direction, unit: rad / s.

[0090] The present embodiment provides a method for measuring the horizontal inclination angle of a mining robot, which compensates for the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration, determines the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value, and simultaneously, in the moving state, complementarily fuses the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment to obtain the horizontal inclination angle during the movement of the mining robot, and improves the measurement accuracy of the horizontal inclination angle of the mining robot through compensation and complementary fusion.

[0091] Example 2

[0092] See also Figure 2 , the present embodiment provides a device for measuring the horizontal inclination angle of a mining robot, comprising:

[0093] A first horizontal inclination angle acquisition unit: used to acquire a first horizontal inclination angle of the mining robot in a stationary state; wherein, in the stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle;

[0094] Acceleration acquisition unit: used to obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion;

[0095] A second horizontal inclination angle acquisition unit: used to compensate the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determine the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value;

[0096] And a third horizontal inclination angle acquisition unit: used to use the third horizontal inclination angle as the horizontal inclination angle of the mining robot; wherein, in a stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle; in a moving state, the gyroscope angle increment, the first horizontal inclination angle and the second horizontal inclination angle are complementarily fused, or the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment are complementarily fused to obtain the third horizontal inclination angle of the mining robot.

[0097] In this embodiment, the first horizontal inclination angle acquisition unit is specifically used to use an inertial measurement unit to respectively acquire the accelerometer output value of the mining robot in the x-axis direction and the accelerometer output value in the y-axis direction; and determine the first horizontal inclination angle of the mining robot in a stationary state according to the accelerometer output value in the x-axis direction and the accelerometer output value in the y-axis direction using the following formula:

[0098]

[0099] In the formula, is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the acceleration due to gravity, unit: m / s².

[0100] In this embodiment, the acceleration acquisition unit includes a linear motion acceleration acquisition unit and a centripetal motion acceleration acquisition unit, wherein the linear motion acceleration acquisition unit is used to use a wheel speed meter to obtain the linear motion speed at the start time and the linear motion speed at the end time of the mining robot in the historical interval data, wherein the historical interval data refers to a time period in the movement process of the mining robot, and the duration of the historical interval data is generally 1s-5s; the linear motion acceleration of the mining robot in the movement process is determined according to the linear motion speed at the start time and the linear motion speed at the end time using the following formula:

[0101]

[0102] In the formula, is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the linear motion speed at the starting time, unit: m / s; The linear motion speed at the end, unit: m / s; The duration of the historical interval data, unit: s.

[0103] Centripetal motion acceleration acquisition unit: used to obtain the gyroscope output value of the mining robot in the z-axis direction, and use the wheel speed meter to obtain the differential speed of the mining robot during the movement; according to the gyroscope output value in the z-axis direction and the differential speed of the mining robot during the movement, the centripetal motion acceleration of the mining robot during the movement is determined by the following formula:

[0104]

[0105] In the formula, is the differential speed of the mining robot during its movement, unit: m / s; is the gyroscope output value in the z-axis direction, unit: rad / s; It is the centripetal acceleration of the mining robot during its movement, unit: m / s².

[0106] In this embodiment, the calculation model of the differential speed of the mining robot during movement is:

[0107]

[0108] In the formula, is the differential speed of the mining robot during its movement, unit: m / s; For the The mileage data measured by the wheel speedometer at the next moment, unit: m; For the The mileage data measured by the wheel speedometer at the previous moment, unit: m; is the sampling period of the wheel speed meter, unit: s.

[0109] In this embodiment, the second horizontal inclination angle acquisition unit compensates the accelerometer output value during the movement of the mining robot by the following formula:

[0110]

[0111]

[0112] In the formula, is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the centripetal acceleration of the mining robot during its movement, unit: m / s²; The accelerometer output value compensated in the X-axis direction, unit: m / s²; The accelerometer output value compensated in the y-axis direction.

[0113] It should be noted that, in this embodiment, when the mining robot has linear motion, it is necessary to calculate and compensate for the linear motion acceleration (accelerometer output value in the y-axis direction) corresponding to the accelerometer output value. When the mining robot has nonlinear motion, it is necessary to calculate and compensate for the centripetal motion acceleration (accelerometer output value in the x-axis direction) corresponding to the accelerometer output value. When the mining robot has both linear motion and nonlinear motion, it is necessary to calculate and compensate for the linear motion acceleration (accelerometer output value in the y-axis direction) and centripetal motion acceleration (accelerometer output value in the x-axis direction) corresponding to the accelerometer output value.

[0114] In this embodiment, the second horizontal inclination angle acquisition unit determines the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value using the following formula:

[0115]

[0116] In the formula, is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the acceleration due to gravity, unit: m / s².

[0117] In this embodiment, the calculation model of the third horizontal inclination angle of the mining robot in the third horizontal inclination angle acquisition unit is:

[0118]

[0119]

[0120] In the formula, is the third level inclination angle of the mining robot, unit: °; is the time value, unit: s, where hour, is the horizontal inclination angle of the mining robot at the initial motion moment, and the previous moment is a stationary state; hour, is the horizontal inclination angle of the mining robot during its motion, and the last moment is the motion state; is the complementary fusion coefficient, dimensionless; is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the gyroscope angle increment between frames, unit: °; is the gyroscope output value in the X-axis direction, unit: rad / s; Gyroscope output value in the y-axis direction, unit: rad / s.

[0121] The present embodiment provides a horizontal inclination angle measuring device for a mining robot, which compensates for the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration, determines the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value, and simultaneously, in the moving state, complementarily fuses the gyroscope angle increment, the second horizontal inclination angle and the third horizontal inclination angle at the previous moment to obtain the horizontal inclination angle during the movement of the mining robot, and improves the measurement accuracy of the horizontal inclination angle of the mining robot through compensation and complementary fusion.

[0122] Example 3

[0123] This embodiment provides a storage medium, on which a program file is stored. The program file is executed to implement the horizontal inclination angle measurement method of the mining robot in Embodiment 1.

[0124] Example 4

[0125] This embodiment provides an electronic device, and the electronic device is used to execute a program file, and the program file includes the horizontal inclination angle measurement method of the mining robot in Example 1.

[0126] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A method for measuring the horizontal inclination angle of a mining robot, characterized in that: The following steps are involved: Obtaining a first horizontal inclination angle of the mining robot when it is in a stationary state; Obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion, wherein the linear motion acceleration of the mining robot during its motion is obtained by a wheel speed meter, and the centripetal motion acceleration of the mining robot during its motion is obtained by a gyroscope and a wheel speed meter; The method of obtaining the centripetal acceleration of the mining robot during its movement by using the gyroscope and the wheel speed meter specifically includes: obtaining the gyroscope output value of the mining robot in the z-axis direction, and obtaining the differential speed of the mining robot during its movement by using the wheel speed meter; and determining the centripetal acceleration of the mining robot during its movement by using the following formula according to the gyroscope output value in the z-axis direction and the differential speed of the mining robot during its movement: In the formula, is the differential speed of the mining robot during its movement, unit: m / s; is the gyroscope output value in the z-axis direction, unit: rad / s; is the centripetal acceleration of the mining robot during its movement, unit: m / s²; Compensating the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determining a second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value; The calculation model for compensating the accelerometer output value specifically includes: In the formula, is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the centripetal acceleration of the mining robot during its movement, unit: m / s²; The accelerometer output value compensated in the X-axis direction, unit: m / s²; is the accelerometer output value compensated in the y-axis direction; in the static state, the first horizontal tilt angle is equal to the third horizontal tilt angle; in the moving state, the gyroscope angle increment, the second horizontal tilt angle and the third horizontal tilt angle at the previous moment are complementary fused to obtain the third horizontal tilt angle of the mining robot; the third horizontal tilt angle is used as the horizontal tilt angle of the mining robot; the calculation model of the third horizontal tilt angle is: In the formula, is the third level inclination angle of the mining robot, unit: °; is the time value, unit: s, where hour, is the horizontal inclination angle of the mining robot at the initial motion moment, and the previous moment is a stationary state; hour, is the horizontal inclination angle of the mining robot during its motion, and the last moment is the motion state; is the complementary fusion coefficient, dimensionless; is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the gyroscope angle increment between frames, unit: °; is the gyroscope output value in the X-axis direction, unit: rad / s; Gyroscope output value in the y-axis direction, unit: rad / s.

2. The method for measuring the horizontal inclination angle of a mining robot according to claim 1, characterized in that: The obtaining of the first horizontal inclination angle of the mining robot in a stationary state specifically includes: Obtain the accelerometer output value of the mining robot in the x-axis direction and the accelerometer output value in the y-axis direction respectively; The first horizontal inclination angle of the mining robot in a stationary state is determined using the following formula according to the accelerometer output value in the x-axis direction and the accelerometer output value in the y-axis direction: In the formula, is the first horizontal inclination angle of the mining robot in a stationary state, unit: °; is the accelerometer output value in the X-axis direction, unit: m / s²; is the accelerometer output value in the y-axis direction, unit: m / s²; is the acceleration due to gravity, unit: m / s².

3. The method for measuring the horizontal inclination angle of a mining robot according to claim 2, characterized in that: Obtain the linear motion acceleration of the mining robot during its motion, including: The wheel speed meter is used to obtain the starting time line motion speed and the ending time line motion speed of the mining robot in the historical interval data, wherein the historical interval data refers to a time period during the movement of the mining robot; According to the linear motion speed at the starting moment and the linear motion speed at the end moment, the linear motion acceleration of the mining robot during movement is determined using the following formula: In the formula, is the linear motion acceleration of the mining robot during its motion, unit: m / s²; is the linear motion speed at the starting time, unit: m / s; The linear motion speed at the end, unit: m / s; The duration of the historical interval data, unit: s.

4. The method for measuring the horizontal inclination angle of a mining robot according to claim 3, characterized in that: Determining the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value specifically includes: determining the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value using the following formula: In the formula, is the second horizontal inclination angle during the movement of the mining robot, unit: °; is the acceleration due to gravity, unit: m / s².

5. A device for measuring the horizontal inclination angle of a mining robot, applied to the method for measuring the horizontal inclination angle of a mining robot according to claim 1, characterized in that: include: A first horizontal inclination angle acquisition unit: used to acquire a first horizontal inclination angle of the mining robot in a stationary state; Acceleration acquisition unit: used to obtain the linear motion acceleration and centripetal motion acceleration of the mining robot during its motion; A second horizontal inclination angle acquisition unit: used to compensate the accelerometer output value during the movement of the mining robot based on the linear motion acceleration and the centripetal motion acceleration to obtain a compensated accelerometer output value, and determine the second horizontal inclination angle during the movement of the mining robot according to the compensated accelerometer output value; and a third horizontal inclination angle acquisition unit: used to use the third horizontal inclination angle as the horizontal inclination angle of the mining robot; wherein, in a stationary state, the first horizontal inclination angle is equal to the third horizontal inclination angle; In the motion state, the gyroscope angle increment, the second horizontal tilt angle and the third horizontal tilt angle at the previous moment are complementarily fused to obtain the third horizontal tilt angle of the mining robot.

6. A storage medium, characterized in that: The storage medium stores a program file, and the program file is executed to implement the horizontal inclination angle measurement method of the mining robot according to any one of claims 1 to 4.

7. An electronic device, characterized in that: The electronic device is used to execute a program file, and the program file includes the horizontal inclination angle measurement method of a mining robot according to any one of claims 1-4.

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