基于全站仪的单棱镜智能系统位姿测量技术分析
Analysis of Pose Measurement Technique of Single-Prism Intelligent System Based on Total Station
党付雄1
作者信息
- 1. 同煤大唐塔山煤矿有限公司,山西 大同 037000
- 折叠
摘要
为实现矿井掘进面掘进设备的精确定位,提高煤炭开采效率,将全站仪应用于智能掘进机器人系统,提出基于全站仪的单棱镜智能系统位姿测量技术,并进行实验验证.结果显示,随着测量距离的增加,姿态角的误差在不断增大.当测量距离为6 m,高度差为0.2 m时,航向角、俯仰角及横滚角最大误差分别为0.056°、0.047°、0.057°;当机身纵轴线与全站仪距离为0.2 m时,姿态角最大误差分别为0.061°、0.056°、0.058°,表明全站仪测量精度高.
Abstract
In order to realize the accurate positioning of the driving equipment of the mine driving face and improve the efficiency of coal mining,the total station is applied to the intelligent driving robot system.The pose measurement technology of the single-prism intelligent system based on the total station is proposed and experimentally verified.The results show that the error of the attitude angle increases with the increase of the measuring distance.When the measuring distance is 6 m and the height difference is 0.2 m,the maximum errors of course angle,pitch angle and roll angle are 0.056°,0.047° and 0.057° respectively.When the distance between the longitudinal axis of the fuselage and the total station is 0.2 m,the maximum error of the attitude angle is 0.061°,0.056° and 0.058° respectively,which indicates that the measurement accuracy of the total station is high.
关键词
全站仪/智能掘进/位姿测量Key words
total station/intelligent driving/pose measurement引用本文复制引用
出版年
2024
NETL
NSTL
万方数据