基于惯性传感器的钻锚机器人机身定位方法研究  

Research on the Body Positioning Method of Anchor Drilling Robot Based on Inertial Sensors

作　　者：张诚[1] 袁慧铮 应之歌 ZHANG Cheng;YUAN Huizheng;YING Zhige(School of Innovation and Entrepreneurship,Hubei University of Technology,Wuhan Hubei 430068,China)

机构地区：[1]湖北工业大学创新创业学院,湖北武汉430068

出　　处：《传感技术学报》2025年第3期550-554,共5页Chinese Journal of Sensors and Actuators

基　　金：湖北省科技厅科研计划项目-重大专项项目(2017AAA108)。

摘　　要：煤矿钻锚机器人在定位过程中存在实时性较差、定位精度低等问题。为此,设计了一种结合惯性传感器的钻锚机器人机身定位方法。在构建钻锚机器人坐标系和其工作空间坐标系的基础上,通过惯性传感器对准钻锚机器人位姿参数,以此建立钻锚机器人在工作空间下的动力学模型,获取其运动状态。根据其运动状态的分析结果,采用光电编码器测量钻锚机器人的位移量并以此构建里程计模型,获取钻锚机器人的位姿运动轨迹。运用扩展卡尔曼滤波定位算法,完成钻锚机器人机身定位。仿真结果表明,所提方法在x轴和y轴的平均定位误差始终在1 cm左右,无较大的波动情况,且航向角误差在1°上下,平均定位耗时为2.20 ms,具有良好的定位效果。The coal mine anchor drilling robot has problems such as poor real-time performance and low positioning accuracy during the positioning process.To this end,a positioning method for the body of anchor drilling robot based on inertial sensors is studied.On the basis of constructing the coordinate system of the anchor drilling robot and its workspace,the inertial sensor is used to align the pose pa-rameters of the anchor drilling robot,and the dynamic model of the anchor drilling robot in the workspace is established to obtain the motion state.Based on the analysis results of its motion state,a photoelectric encoder is used to measure the displacement of the anchor drilling robot and construct an odometer model to obtain the pose motion trajectory of the anchor drilling robot.Extended Kalman filter positioning algorithm is used to complete the positioning of the anchor drilling robot body.The simulation results show that the average positioning error of the proposed method on the x-axis and y-axis is always around 1 cm,without significant fluctuations,and the heading angle error is around 1°,with an average positioning time of 2.20 ms,demonstrating good positioning performance.

关 键 词：惯性传感器 钻锚机器人机身定位 卡尔曼滤波 动力学模型 编码器 里程计模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]