基于挖掘机GNSS精确定位的开采姿态监测系统  

Mining Attitude Monitoring System Based on GNSS Precise Positioning of Excavator

作　　者：王太海[1,2] 陈建宏[1] 金俊 

机构地区：[1]中南大学资源与安全工程学院,湖南长沙410083 [2]中国铝业股份有限公司广西分公司,广西平果531400 [3]中国有色金属长沙勘察设计研究院有限公司,湖南长沙410011

出　　处：《黄金科学技术》2016年第4期101-106,共6页Gold Science and Technology

基　　金：国家自然科学基金项目"中国铝业广西分公司在线智能采矿系统研发"(编号:51374242);广西"新世纪十百千人才工程"第十四批专项基金项目"中国铝业广西分公司在线智能采矿系统研发"(编号:ZB2013CABAa1)联合资助

摘　　要：通过对GNSS高精度定位、角度传感器工作原理的分析及液压挖掘机工作装置运动的研究,利用安装在挖掘机尾部GNSS天线,驾驶室顶部、斗杆以及动臂处的角度传感器,将GNSS高精度定位、车体姿态测定、运动学问题求解技术与算法写入到程序中,完成了整个挖掘机的精确定位和工作装置的姿态监测。系统基于挖掘机实时可靠的定位和工作姿态监控,结合矿体地质地理信息数字化,实现采矿引导,包括目标采场位置、铲斗位置、铲斗当前位置下方矿体信息以及采场边界等图形化显示。测试结果表明,挖掘机姿态监测精度高,基于挖掘机姿态监测的采矿引导系统具有较为广阔的应用前景。By analysis of GNSS high precision locating, working principle of the angle sensor and study of the motions of hydraulic excavator working device, use of GNSS antenna installation at the tail of excavator, angle sensor on cab top,boom and bucket rod, GNSS high precision positioning,vehicle body attitude determination, kinematics problem solving techniques and algorithms were written to the program,precise localization of the excavator and work device posture monitoring were completed.System based on excavator real-time accurate and reliable positioning and attitude control, combined with the digitization of geological and geographic information, and mining guidance is realized, including target position, position of bucket, orebody information below bucket the current position, stope boundary.The test results indicate the monitoring accuracy of the excavator is high, and the mining guidance system based on the posture monitoring of the excavator has a broad application prospect.

关 键 词：液压挖掘机 GNSS精确定位 角度传感器 姿态监测 采矿引导 

分 类 号：TD631[矿业工程—矿山机电] P228.4[天文地球—大地测量学与测量工程]