基于双侧钻臂位姿协同约束的凿岩台车车体定位方法.

Carriage positioning is the prerequisite process for the automatic control of the drilling of the drill rig. The original method is only feasible in the ideal working face has no stone stacked. The carriage of drill rig is tilted laterally when there are stones stacked. The push beam can be rotated laterally around the laser beam. The angular variable cannot be locked, and there is an infinite solution to the pose of the carriage, resulting in a large positioning error or even unusable. In order to solve this problem, a new method of using the booms in dual sides to participate in positioning is proposed. It is theoretically proved the feasibility, and the problem of finding the unique solution of the carriage pose is solved to solve the vertex position of the triangle when the length are fixed; the transformation relationship of the carriage-laser coordinate system is determined based on the D-H method and the coordinate system translation; the set condition is introduced to find the actual origin position of the carriage coordinate system, and the angular values of the dual sides of the drill rig are calculated by MATLAB programming. Solve the pose matrix of the carriage coordinate system in the working face coordinate system to realize the carriage positioning. The field test results show that the new method fully adapts to the height change of the stone condition, and can quickly determine the actual position and pose of the carriage; the vertical positioning error of the carriage is within 5%. Drilling positioning accuracy is within 12 cm when the error compensation method is not used. By comparing the influence of two methods on the drilling positioning effect, it is found that the original method has the phenomenon that the positioning error is transmitted to the non-positioning side boom. When measured data of total station are accurate, the average positioning error of blast-holes in the non-positioning side is 94% higher than that in the positioning side. There is no such problem with the positioning of the new method. The positioning accuracy of the blast-holes in dual sides is consistent with that in the positioning side of the original method, which is advantageous for error compensation. The new method has been successfully verified in the roadway and is universal. It can be utilized to the positioning of the same type of drill rig. [ABSTRACT FROM AUTHOR]