Research On Laser Tracking And Real-time Positioning Approach Of Fully Mechanized Equipment For Intelligent Coal Mining Face

In the coming decades,the fully mechanized equipment for coal mining face will be more intelligent.For the realization of the intelligence,it is a key problem for positioning the fully mechanized equipment accurately.Due to the complexity of underground environment in coal mining face and the insufficiency of existing positioning technology,the positioning of fully mechanized equipment is not accurate enough.This problem has become one of the main factors that restrict the intelligence of coal mining face,and is an obstacle to the development of the fully intelligent and unmanned coal mining face.To solve this problem,a laser tracking and real-line positioning approach for the equipment in coal mining face is proposed in this dissertation,and the absolute coordinate system is constructed by using the geographic coordinates.On this basis,the laser tracking technology is used to realize the real-time positioning system.And then,the construction method of laser tracking and positioning system is studied.And the algorithms of spot position detection and tracking control,the real-time calibration method for structural error of 2D-galvanometer,the denoising method of measurement error of the laser tracking and positioning system are studied in detail.The main research contents are as follows:(1)In view of the lack of the absolute position information for the intelligent coal mining face,a laser tracking and real-line positioning approach based on the absolute coordinate is proposed.The method of constructing absolute coordinate system of the coal mining face,the whole architecture of laser tracker and the realization method of the hardware and software are studied.The design of spot position detection module,the tracking optical path of the system,the laser tracking head of 2D-galvanometer,the measurement module and the controller are completed.And then,the experimental platform of the laser tracker is built,which lays an experimental foundation for the theoretical research and method verification of the laser tracking and real-line positioning system.(2)In terms of the research on the spot position detection and the tracking control methods of the system,aiming at the low precision of traditional detection algorithm of four-quadrant detector(4-QD),a new spot position detection method based on low-order curve fitting and the output voltages adaptive filtering algorithm of 4-QD are proposed.By combining the two algorithms,the spot position detection accuracy is improved effectively.In order to improve the control accuracy of the AC servo system of the laser tracking head with 2D-galvanometer structure,a cyclic comparison servo control algorithm is proposed.The proposed algorithms are verified by rotary tracking experiment,and the results show that it can improve the system target tracking performance significantly.(3)In the research of the calibration method of structural errors caused by nonlinear distortion and assembling errors of the laser tracking head with 2D-galvanometer structure,an on-line calibration algorithm based on kernel extreme learning machine(K-ELM)is proposed.It can effectively solve the contradiction between the accuracy and the real-time performance.Through experiments,the effectiveness of four on-line calibration algorithms for different kernel functions are verified.The results show that the accuracy of the on-line calibration algorithms based on Morlet and Mexican Hat wavelet kernel functions are significantly better than other kernel functions,which can effectively reduce the errors and meet the real-time requirements of the system.(4)In terms of the filtering algorithm of the positioning error,a filtering method based on interactive multi model(IMM)and adaptive high-order cubature Kalman filtering(AHCKF)is proposed to reduce the influence of the measurement noise.The filtering algorithm is verified by the positioning simulation experiment of shearer,the results show that the proposed algorithm can greatly reduce the impact of measurement noise and improve the positioning accuracy of the system.(5)In order to verify the performance of the laser tracking and real-time positioning system,a laser tracking and positioning simulation experiment system is built to test the target tracking distance and the moving curve of the scraper conveyor.The results show that the absolute positioning method based on laser tracking proposed in this dissertation is correct and feasible,and the proposed spot position detection method and the tracking control algorithm,the structure errors calibration method of the laser tracking head and the filtering algorithm of the positioning error can effectively improve the tracking performance and positioning accuracy of the system.The laser tracking and real-time positioning method of intelligent fully mechanized mining equipment in coal mining face proposed in this dissertation provides a new and feasible way for the absolute position measurement of the fully mechanized equipment,and makes a beneficial exploration for the intelligent development of the coal mining face,and lays a theoretical foundation for the realization of the intelligent and unmanned technology of the coal mining face.