根据国家“加快煤矿智能化发展”的战略部署，构建安全、绿色、高效、智能的掘进机器人系统，提升我国掘进装备的智能化水平成为了现阶段的重要目标。目前，国内外研究者对巷道定向掘进技术进行了大量研究，由于井下复杂环境、围岩压力不均、掘进装备定位不准所导致的掘进偏航问题仍然存在，因此对掘进装备精确定位与纠偏控制研究可以推动巷道定向掘进技术的发展，对于巷道掘进质量和效率的提升具有重要意义。

论文针对护盾式掘进机器人系统掘进方向控制难题，通过对比现阶段国内外掘进装备纠偏控制方法，提出了一种基于系统位姿与油缸行程负反馈的纠偏控制方案，该方案采用“全站仪+惯导”的组合定位方法测量系统位姿，结合拉绳传感器测量油缸行程，构建巷道掘进纠偏控制系统，对护盾式掘进机器人系统的位姿进行动态调整，以实现护盾式掘进机器人系统的纠偏控制。

针对煤矿井下掘进装备位姿调整过程中存在的精确定位难题，研究了一种“全站仪+惯导”的组合定位方法，采用全站仪测量技术，研究单棱镜定位原理，建立系统位姿解算模型，利用向量夹角的姿态解算算法计算出全站仪坐标系下系统位姿，结合惯导测量的系统位姿，经过数据融合提高位姿测量数据可靠性，根据系统位姿解算模型，进行坐标转换，得到巷道坐标系下系统位姿，从而实现护盾式掘进机器人系统的精确定位。

针对护盾式掘进机器人系统纠偏调整控制难题，研究了一种油缸行程精确控制方法，分析了系统纠偏控制机理与控制策略，得到纠偏控制的实质是对伸缩油缸行程的精确控制，建立系统位姿纠偏控制模型，推导出系统纠偏量与伸缩油缸行程控制量间的数学公式，根据位姿偏差进行纠偏轨迹规划，采用PID控制算法对伸缩油缸行程进行精确控制，利用油缸行程差实现护盾式掘进机器人系统的纠偏调整。

最后，搭建护盾式掘进机器人系统位姿测量实验平台，进行位姿测量精度验证；搭建护盾式掘进机器人系统纠偏控制实验平台，对纠偏性能进行验证。实验结果表明：“全站仪+惯导”的组合定位方法的定位精度达到了设计要求，在位姿测量的基础上，根据偏差大小对油缸行程进行精确控制，实现了护盾式掘进机器人系统纠偏控制功能，满足巷道定向掘进的要求。

According to the national strategic deployment of "accelerating the development of coal mine intelligence", building a safe, green, efficient, and intelligent tunneling robot system and improving the intelligence level of my country's tunneling equipment has become an important goal at this stage. At present, domestic and foreign researchers have conducted a lot of research on the technology of directional tunneling. Due to the complex underground environment, uneven surrounding rock pressure, and the inaccurate positioning of the tunneling equipment, the tunneling yaw problem still exists. Therefore, the tunneling equipment is accurately positioned and corrected. Control research can promote the development of roadway directional excavation technology, and is of great significance to the improvement of roadway excavation quality and efficiency.

Aiming at the problem of shield type tunneling robot system's tunneling direction control problem, by comparing the current correction control methods of tunneling equipment at home and abroad, this paper proposes a correction control scheme based on the negative feedback of system pose and cylinder stroke. This scheme adopts "total station + inertia". The combined positioning method of "guide" measures the system's pose, combined with the cable sensor to measure the cylinder stroke, constructs a roadway excavation correction control system, and dynamically adjusts the pose of the shield type tunneling robot system to realize the correction control of the intelligent tunneling robot system.

Aiming at the problem of precise positioning in the process of adjusting the position and attitude of underground excavation equipment in coal mines, a combined positioning method of "total station + inertial navigation" is studied. The total station measurement technology is used to analyze and study the single prism positioning principle and establish the system position. The pose calculation model uses the pose calculation algorithm of the vector included angle to calculate the system pose in the total station coordinate system, combined with the system pose measured by the inertial navigation, and improves the reliability of the pose data through data fusion. According to the system pose solution Calculate the model and perform coordinate conversion to obtain the system pose under the roadway coordinate system, so as to realize the precise positioning of the shield type tunneling robot system.

Aiming at the problem of correcting and adjusting the intelligent tunneling robot system, a precise control method of cylinder stroke is studied, and the system's correcting control mechanism and control strategy are analyzed. The essence of correcting control is to accurately control the stroke of the telescopic cylinder, and establish the system's posture correction control. Model, derive the mathematical formula between the system correction amount and the telescopic cylinder stroke control amount, plan the correction trajectory according to the posture deviation, use the PID control algorithm to accurately control the telescopic cylinder stroke, and use the cylinder stroke difference to realize the correction of the intelligent tunneling robot system Adjustment.

Finally, build an shield type tunneling robot system pose measurement platform to verify the accuracy of the pose measurement; build an shield type tunneling robot system correction control experimental platform to verify the correction performance. The experimental results show that the positioning accuracy of the "total station + inertial navigation" combined positioning method meets the design requirements. Based on the position and attitude measurement, the cylinder stroke is accurately controlled according to the deviation, and the shield type tunneling robot system rectification control is realized. Function to meet the requirements of directional excavation of roadways.

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