A mine-used pose perception system installation error correction method

Abstract

The present application belongs to the technical field of intelligent sensing and control for mines, and provides a method for correcting installation errors of a mine pose sensing system to solve the problem that the pose measurement stability cannot meet remote intelligent mining, wherein a high-precision gyro total station in a precisely designed navigation system box is used in combination with a gyroscope, and the side of the gyroscope and the corresponding side of the box are strictly kept in parallel state in the structural design process of the box, so as to reduce and eliminate the error angle and the installation error angle between the navigation system box and the tunneling equipment from the design of the hardware basis, and finally the Kalman filtering algorithm is used to compensate, correct and optimize the installation error.

Description

Technical Field

[0001] This invention belongs to the field of intelligent sensing and control technology for mining applications, and specifically relates to a method for correcting installation errors in a mine posture sensing system. Background Technology

[0002] Achieving intelligent and unmanned coal mining hinges on the positioning and attitude determination of tunneling equipment. The lack of GPS signals underground prevents real-time output of heading and positioning information via satellite, introducing numerous uncertainties into remote coal mining operations. Current technologies for guiding mining equipment include laser pointers, combined inertial navigation, visual recognition, and laser targets. Considering measurement accuracy, interference resistance, and portability, combined inertial navigation systems represent the most suitable technology currently available on the market.

[0003] In traditional laser pointer setup and relocation processes, to ensure the infrared laser beam of the pointer aligns with the preset heading angle for tunnel excavation, the mine surveying team needs to pre-determine the setup location and direction using relevant measuring instruments (such as gyro total stations and surveying lines). The laser pointer is then installed and fixed below the vertical line of the preset location, with the origin of the infrared beam overlapping the surveying team's azimuth point. This completes the setup and relocation. While the equipment is simple and portable to install, it involves significant human intervention, with the entire installation process primarily relying on visual inspection. From a measurement accuracy perspective, it cannot be quantified, making it impossible to confirm the specific installation precision. Therefore, it fails to meet the application requirements of a guiding auxiliary device for intelligent tunneling equipment.

[0004] Existing pose sensing and measurement equipment is all based on airborne installation. Visual recognition and laser target measurement methods achieve relative pose changes based on specific markers in the tunnel. Therefore, in this measurement process, it is only necessary to ensure the absolute position of the characteristic markers in the tunnel. The markers in the tunnel must be parallel to the transverse cross-section of the tunnel and perpendicular to the longitudinal plane of the tunnel's mining direction. This pose measurement device has high sensing accuracy, but its environmental interference resistance is weak. In environments with high dust levels, its measurement accuracy cannot be guaranteed. Therefore, it cannot meet the application requirements of pose-assisted measurement devices for remote intelligent mining, which need to achieve real-time stable output. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a method for correcting installation errors in a mine pose sensing system.

[0006] This invention employs the following technical solution: A method for correcting installation errors in a mining posture sensing system, applied to a navigation system housing composed of a gyroscope total station, a prism, a reflector, a gyroscope, a main controller, a display, and an RTK base station. The bottom surface of the navigation system housing has a support surface. The gyroscope is positioned within the housing based on the support surface and positioning holes. The housing is mounted on tunneling equipment. One side of the housing has a viewing window and is equipped with a prism, a first reflector, and a second reflector. The prism is located on a preset central axis of the tunneling equipment. The method includes the following steps:

[0007] An absolute coordinate system relative to the earth is established based on the gyro total station;

[0008] The spatial vector direction of the two points represented by the first and second reflectors in the absolute coordinate system is measured using the gyro total station.

[0009] The absolute heading of the tunneling equipment's parking position is calculated based on the angle data of the reflected light from the prism measured by the gyro total station and the angle data of the reflected light.

[0010] Based on the spatial vector directions of the first and second reflectors and the absolute heading of the tunneling equipment's parking position, the placement angle of the navigation system housing is adjusted until the placement angle of the navigation system housing is consistent with the absolute heading of the tunneling equipment's parking position.

[0011] Extract the attitude and heading information currently measured by the gyroscope, and compensate the heading information currently measured by the gyroscope based on the absolute heading of the tunneling equipment's parking position, so that the heading information currently measured by the gyroscope is consistent with the absolute heading of the tunneling equipment's parking position.

[0012] Preferably, establishing an absolute coordinate system relative to the earth based on the gyro total station includes:

[0013] To determine the location of the navigation system housing, when the navigation system housing is on the ground, at least two control points are first acquired through an RTK base station, and then a gyro total station is used to establish an absolute coordinate system relative to the ground based on the control points using a station setting method. When the navigation system housing is underground, at least two control points are first acquired, and then a gyro total station is used to establish an absolute coordinate system relative to the ground based on the control points using a station setting method.

[0014] Preferably, the step of measuring the spatial vector direction of the two points represented by the first and second reflectors in the absolute coordinate system based on the gyro total station includes:

[0015] Obtain the first spatial vector and the second spatial vector of the first reflector and the second reflector in the absolute coordinate system, respectively.

[0016] Based on the first spatial vector and the second spatial vector, determine the spatial vector directions of the two points represented by the first reflector and the second reflector in the absolute coordinate system.

[0017] Preferably, it further includes:

[0018] The angle between the corresponding spatial vectors is determined based on the first spatial vector and the second spatial vector;

[0019] The relative directions of the first spatial vector and the second spatial vector are determined based on the included angle.

[0020] Preferably, calculating the absolute heading of the tunneling equipment when it stops operating includes:

[0021] The first spatial vector and the second spatial vector are projected onto a preset plane, and the quadrant in which the projection is located is determined according to the angle between the first spatial vector and the second spatial vector. The absolute heading of the tunneling equipment when it stops running is calculated.

[0022] Preferably, adjusting the heading information of the gyroscope based on the spatial vector direction and the absolute heading includes:

[0023] Based on the spatial vector direction and the absolute heading, the heading information of the gyroscope is adjusted using a Kalman filter algorithm.

[0024] Preferably, it further includes:

[0025] Introducing process noise, a state equation is constructed based on the angular velocity of the gyroscope.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] Precise positioning and navigation: The installation of a precise navigation system ensures that mining equipment operates along a predetermined path and depth during underground mining operations, reducing over-excavation or under-excavation caused by positioning errors, thereby improving mining accuracy; Optimized path planning: Accurate navigation information helps mining equipment select the optimal path in complex mine tunnels, avoiding unnecessary detours and repetitive operations, and improving mining efficiency.

[0028] Enhanced system stability: The underground mining environment is often accompanied by high-intensity vibration and impact. Precise enclosure installation can more effectively resist these external interferences and maintain the stability and reliability of the navigation system. Extended service life: Reducing mechanical stress concentration caused by improper installation can reduce the risk of wear and damage to the navigation system and its components, thereby extending the service life of the entire system.

[0029] Optimizing the work process: Accurate navigation information helps mining equipment to achieve fast and accurate path planning in the mine tunnel, reducing unnecessary detours and waiting time, optimizing the entire mining operation process. Through integration with other control systems of mining equipment (such as automated control systems, remote monitoring systems, etc.), the navigation system can achieve comprehensive control and optimization of mining equipment, further improving mining efficiency.

[0030] Enhanced safety: A precise navigation system can monitor the distance between mining equipment and the surrounding environment in real time, including mine walls, other equipment, and personnel, and issue obstacle avoidance commands in a timely manner to prevent equipment collisions and accidents. Combined with sensor technology and data analysis algorithms, the navigation system can provide early warnings of potential safety hazards, such as geological disasters and equipment failures, providing timely early warning information for mining equipment and ensuring operational safety.

[0031] Enhancing the level of intelligence: Combined with a remote control system, the precise navigation system enables remote digital control of mining equipment. Operators can view the operating status and location information of the mining equipment in real time through a remote monitoring system at the ground control center, and remotely control and command it. This greatly improves the level of intelligence and automation in mining operations. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating a method for correcting installation errors in a mine posture sensing system, as provided in an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of a navigation box structure provided in an embodiment of the present invention;

[0035] Among them, 1-surface; 2-gyroscope; 3-gyroscope positioning hole; 4-navigation box positioning hole. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0038] The core component of a combined inertial navigation system is the gyroscope, a precision instrument used for high-precision measurement. This instrument primarily operates by sensing the Earth's rotation to calculate its own attitude and heading information. As an independently measured and sensitive device, the inability to promptly reduce or eliminate installation errors during its installation leads to significant uncertainties in the output attitude and heading information, impacting the efficient operation of the tunneling equipment. Since gyroscopes are not explosion-proof, two installation angle errors occur during installation: one is the installation angle error of the gyroscope within the explosion-proof enclosure; the other is the installation angle error between the explosion-proof enclosure and the tunneling equipment. Therefore, it is impossible to guarantee a high degree of consistency between the high-precision heading and attitude information output by the navigation system and the tunneling equipment, ultimately affecting the measurement results and failing to provide an accurate reference benchmark for heading and attitude information.

[0039] To address the aforementioned problems, this invention provides a method for correcting installation errors in a mining pose sensing system, aiming to eliminate and reduce lever errors and inherent installation errors in the airborne mode of the navigation system.

[0040] like Figure 1 As shown, this invention provides a flowchart of a method for correcting installation errors in a mine pose sensing system, which is applied to... Figure 2 The navigation system housing shown comprises a gyro total station, a prism, a reflector, a gyro 2, a main controller, a display, and an RTK base station. The bottom surface of the navigation system housing has a support surface 1. The gyro 2 is positioned within the housing based on the support surface 1 and positioning holes. The housing is mounted on tunneling equipment. One side of the housing has a viewing window and houses a prism, a first reflector, and a second reflector. The prism is located on a pre-set central axis of the tunneling equipment. The system includes the following steps:

[0041] S1: Establish an absolute coordinate system relative to the earth based on the gyro total station;

[0042] S2: Based on the gyro total station, measure the spatial vector direction of the two points represented by the first and second reflectors in the absolute coordinate system;

[0043] S3: Measure the reflected light angle data of the prism using the gyro total station, and calculate the absolute heading of the tunneling equipment's parking position based on the reflected light angle data;

[0044] S4: Based on the spatial vector directions of the first and second reflectors and the absolute heading of the tunneling equipment's parking position, adjust the placement angle of the navigation system housing until the placement angle of the navigation system housing is consistent with the absolute heading of the tunneling equipment's parking position;

[0045] S5: Extract the current attitude and heading information measured by the gyroscope 2, and compensate the current heading information measured by the gyroscope 2 based on the absolute heading of the tunneling equipment's parking position, so that the current heading information measured by the gyroscope 2 is consistent with the absolute heading of the tunneling equipment's parking position.

[0046] In this embodiment, the gyroscope 2 and the corresponding sides inside the navigation system housing are kept highly parallel, as shown in the specific structure below. Figure 2 As shown, during the initial processing of the navigation system housing, high precision is required, and the bottom position of the housing, i.e. the part where the gyroscope 2 contacts the navigation housing, also needs to be processed with high precision. The gyroscope positioning hole 3 is set at the center of the navigation system housing, and the accuracy of the hole must ensure that no screw slippage error occurs. The gyroscope 2 is fixed through the gyroscope positioning hole 3, and the side of the gyroscope 2 is kept close to the surface 1.

[0047] In this embodiment, during the installation of the navigation system housing in airborne mode, the central axis of the navigation system housing and the Y-axis direction of the gyroscope 2 are kept consistent with the preset central axis of the tunneling equipment.

[0048] In a preferred embodiment, establishing an absolute coordinate system relative to the ground based on the gyro total station includes: determining the location of the navigation system housing; when the navigation system housing is on the ground, firstly acquiring at least two control points through an RTK base station, and then establishing an absolute coordinate system relative to the ground based on the control points using a station setup method; when the navigation system housing is underground, firstly acquiring at least two control points, and then establishing an absolute coordinate system relative to the ground based on the control points using a station setup method.

[0049] In this embodiment, if the installation error correction process of the mine pose sensing system is carried out on the ground, two or more control points are first measured in advance through the RTK base station, and the gyro total station establishes an absolute coordinate system relative to the earth by using the known control points in the station setting method; if the installation error correction process of the mine pose sensing system is carried out underground, two or more known control point information need to be provided by the gyro total station or the mine to complete the station setting.

[0050] In a preferred embodiment, measuring the spatial vector direction of the two points represented by the first reflector and the second reflector in the absolute coordinate system based on the gyro total station includes: obtaining the first spatial vector and the second spatial vector of the first reflector and the second reflector in the absolute coordinate system, respectively; and determining the spatial vector direction of the two points represented by the first reflector and the second reflector in the absolute coordinate system based on the first spatial vector and the second spatial vector.

[0051] In this embodiment, the vector coordinates corresponding to the first coordinate are set as follows: The vector coordinates corresponding to the second coordinate are: but arrive spatial vector direction for:

[0052]

[0053] Then the space vectors are normalized:

[0054]

[0055] In the formula, represent The model, represent The value of the modulus, Represents the direction of the normalized spatial vector.

[0056] Based on the normalization result, determine the spatial vector direction of the two points represented by the first and second reflectors in the absolute coordinate system.

[0057] In a preferred embodiment, the method further includes: determining the angle between the corresponding spatial vectors based on the first spatial vector and the second spatial vector; and determining the relative direction of the first spatial vector and the second spatial vector based on the angle.

[0058] In this embodiment, the formula for calculating the included angle is:

[0059]

[0060] In the formula, and They are respectively The length of the module and The length of the module.

[0061] In this embodiment, the sign of the dot product is used to determine the relative direction of two vectors:

[0062] if but and The angle between them is acute, indicating that they point in roughly the same direction;

[0063] if but and The direction is perpendicular;

[0064] if but and The angle between them is obtuse, indicating that they point in opposite directions.

[0065] In a preferred embodiment, calculating the absolute heading of the tunneling equipment when it stops running includes: projecting the first spatial vector and the second spatial vector onto a preset plane, determining the quadrant of the projection based on the angle between the first spatial vector and the second spatial vector, and calculating the absolute heading of the tunneling equipment when it stops running.

[0066] In this embodiment, a gyro total station is used to measure the angle between the reflected light from the prism, the first reflector, and the second reflector installed on the preset centerline of the tunneling equipment, and the measurement data is recorded. In practical applications, the centerline of the tunneling equipment is calibrated before leaving the factory, and the position pointed to by this centerline represents the forward heading of the tunneling equipment.

[0067] In this embodiment, the calculation formula is:

[0068]

[0069] θ = arctan2(y1-y, x1-x)

[0070] In the formula, express exist The length in the direction, θ represents between The angle between y and x, arctan2, indicates that the quadrant in which the returned angle lies is determined based on the signs of y and x.

[0071] In this embodiment, with the absolute heading as the reference, and with the gyro total station repeatedly measuring the spatial vector direction of the two points represented by the first and second reflectors in the navigation system housing in the absolute coordinate system as a reference, the placement angle of the navigation housing on the tunneling equipment is manually fine-tuned to be consistent with the reference data.

[0072] In a preferred embodiment, adjusting the heading information of the gyroscope 2 based on the spatial vector direction and the absolute heading includes: adjusting the heading information of the gyroscope 2 based on the spatial vector direction and the absolute heading using a Kalman filter algorithm.

[0073] In a preferred embodiment, the method further includes: introducing process noise and constructing a state equation based on the angular velocity of the gyroscope 2.

[0074] In this embodiment, the main controller extracts the current attitude and heading information measured by the gyroscope 2, and uses the absolute heading as a reference to perform data compensation through the Kalman filter algorithm to ensure that the heading angles of the three headings remain consistent.

[0075] In this embodiment, it is assumed that the angular velocity (in radians per second) measured by gyroscope 2 is ω. t Then, after a time interval Δt, the state equation for the change of angle can be approximated as:

[0076] θ t+1 =θ t +ω t Δt

[0077] However, considering the noise and drift of gyroscope 2, a process noise ω is introduced. g Therefore, the state equation for the change of angle becomes:

[0078] θ t+1 =θ t +ω t Δt+ω g

[0079] In the formula, the process noise ω g It is Gaussian noise with a mean of 0 and a covariance of Q.

[0080] In this embodiment, the angle measurement value z is calculated from the reflected light data measured by a gyro total station. t The angle θ calculated by gyroscope 2 t The relationship between them can be represented as:

[0081] z t =θ t +v t

[0082] In the formula, v t This represents measurement noise with a mean of 0 and a covariance of R.

[0083] In this embodiment, the prediction mode during the optimization process of the Kalman filter algorithm is:

[0084]

[0085] P t+1t =P tt +Q

[0086] In the formula, It is the state equation estimate (posterior estimate) at time t. It is a prediction (prior estimate) from the perspective of time t+1, P t∣t and P t+1∣t This is the corresponding estimated covariance, where Q is ω. g The covariance in.

[0087] The optimization mode is as follows:

[0088] K t =P t+1t (P t+1t +R) -1

[0089]

[0090] P t+1t+1 = (1-K) t )P t+1t

[0091] In the formula, R represents v t Covariance in K t It is the Kalman gain.

[0092] In the assembly and assembly process of mining inertial navigation systems, strict control of the installation error angle correction is required in many aspects. For example, the assembly of gyroscope 2 requires the correction of the installation error angle of the gyroscope and accelerometer; the assembly of the navigation system housing requires the correction of the installation error angle between gyroscope 2 and the housing; and the installation of the navigation system housing requires the correction of the installation error angle between the housing and the tunneling equipment.

[0093] Currently, gyroscope assembly is strictly carried out according to military standards, and the technology is relatively mature. Numerous patents exist for eliminating installation errors, and products undergo high-precision three-axis turntable testing before leaving the factory, ensuring they meet application requirements. However, during the assembly of navigation system housings, the installation error between the gyroscope and the housing itself is often not considered. Installation is typically done only according to the hole positions designed in the drawings, leading to the first stage of error in the navigation system installation process. Therefore, the structural design of the housing must prioritize ensuring that one side of the gyroscope is strictly parallel to the corresponding side of the housing, reducing and eliminating the first stage of error angle from the hardware design perspective. The second stage of error in navigation system installation arises from the installation error between the navigation housing and the tunneling equipment. This invention utilizes a high-precision gyro total station in conjunction with the gyroscope for multi-data fusion processing, ultimately reducing and eliminating installation errors from the hardware structure perspective and correcting and optimizing installation errors through algorithm compensation.

[0094] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mining pose perception system installation error correction method, applied to a navigation system box composed of a gyro total station, a prism, a reflector, a gyroscope (2), a master controller, a display, and an RTK base station, a leaning surface (1) is arranged on the inner bottom surface of the navigation system box, the gyroscope (2) is positioned in the box based on the leaning surface (1) and a positioning hole, the box is installed on tunneling equipment, a perspective window is installed on one side of the box and is loaded with a prism, a first reflector and a second reflector, the prism is located on a preset central axis of the tunneling equipment, characterized in that, The method comprises the following steps: establishing an absolute coordinate system relative to the earth based on the gyro total station; measuring the spatial vector directions of the two points represented by the first and second reflecting sheets in the absolute coordinate system based on the gyro total station, comprising: obtaining the first and second spatial vectors of the first and second reflecting sheets in the absolute coordinate system respectively; determining the spatial vector directions of the two points represented by the first and second reflecting sheets in the absolute coordinate system based on the first and second spatial vectors; measuring the reflected light angle data of the prism based on the gyro total station, and calculating the absolute heading of the tunneling equipment parking position based on the reflected light angle data; adjusting the placement angle of the navigation system box based on the spatial vector directions of the first and second reflecting sheets and the absolute heading of the tunneling equipment parking position until the placement angle of the navigation system box is consistent with the absolute heading of the tunneling equipment parking position; extracting the current measured attitude and heading information of the gyroscope (2), and compensating the current measured heading information of the gyroscope (2) based on the absolute heading of the tunneling equipment parking position, so that the current measured heading information of the gyroscope (2) is consistent with the absolute heading of the tunneling equipment parking position; the calculation of the absolute heading when the tunneling equipment stops running, comprising: projecting the first and second spatial vectors onto a preset plane, and determining the quadrant where the projection is located according to the included angle of the first and second spatial vectors, and calculating the absolute heading when the tunneling equipment stops running.

2. The mine pose perception system installation error correction method of claim 1, wherein, the establishment of the absolute coordinate system relative to the earth based on the gyro total station, comprising: judging the position of the navigation system box, when the navigation system box is on the ground, first obtaining at least two control points through the RTK base station, and then the gyro total station establishes an absolute coordinate system relative to the earth based on the control points by setting the station; when the navigation system box is underground, first obtain at least two control points, and then the gyro total station establishes an absolute coordinate system relative to the earth based on the control points by setting the station.

3. The mine pose perception system installation error correction method of claim 1, wherein, further comprising: determining the included angle of the corresponding spatial vectors based on the first and second spatial vectors; determining the relative direction of the first and second spatial vectors according to the included angle.

4. The mine pose perception system installation error correction method of claim 1, wherein, the adjustment of the heading information of the gyroscope (2) based on the spatial vector directions and the absolute heading, comprising: adjusting the heading information of the gyroscope (2) based on the spatial vector directions and the absolute heading by Kalman filtering algorithm.

5. The mine pose perception system installation error correction method of claim 4, wherein, further comprising: introducing process noise, and constructing a state equation according to the angular velocity of the gyroscope (2).

Images