[1]赵 军,郭爱军,刘隽宁,等.融合粉尘补偿与振动滤波的井下换电机器人高精度激光定位研究[J].机械与电子,2026,44(05):71-79.
　ZHAO Jun,GUO Aijun,LIU Junning,et al.Research on High-precision Laser Positioning of Underground Battery Swapping Robot Integrating Dust Compensation and Vibration Filtering[J].Machinery & Electronics,2026,44(05):71-79.
点击复制

融合粉尘补偿与振动滤波的井下换电机器人高精度激光定位研究()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年05期
页码:
71-79
栏目:
机器人技术
出版日期:
2026-05-27

文章信息/Info

Title:
Research on High-precision Laser Positioning of Underground Battery Swapping Robot Integrating Dust Compensation and Vibration Filtering
文章编号:
1001-2257 ( 2026 ) 05-0071-09
作者:
赵 军 1 ; 郭爱军 1 ; 刘隽宁 1 ; 张 伟 2 ; 陈安碧 2 ; 侯桂圆 2
1. 中国神华能源股份有限公司神东煤炭分公司,陕西 榆林 719315 ;
2. 深圳市德塔工业智能电动汽车有限公司,广东 深圳 518000
Author(s):
ZHAO Jun1 ;  GUO Aijun1 ;  LIU Junning1 ;  ZHANG Wei2 ;  CHEN Anbi2 ;  HOU Guiyuan2
( 1.China Energy Shendong Coal Group Co. , Ltd. , Yulin 719315 , China ;
2.Shenzhen Delta Industrial Intelligence Electric Vehicle Co. , Ltd. , Shenzhen 518000 , China )
关键词:
换电机器人; 粉尘补偿; 自适应卡尔曼滤波; 新息自适应估计
Keywords:
battery-swapping robot ;  dust compensation ;  adaptive Kalman filter ;  innovation adaptive estimation
分类号:
TD42 ;TP242
文献标志码:
A
摘要:
针对井下高粉尘、强振动环境导致激光定位偏差过大的问题,构建一种融合粉尘补偿与振动滤波的协同优化方法。首先,基于米氏散射理论构建分浓度粉尘散射误差模型,解决不同粉尘浓度下的非线性测距偏差;其次,通过 IMU 传感器采集振动数据,建立振动角度与测距误差的耦合关系,在经典自适应滤波理论( Sage-Husa )基础上,实现逐通道测量噪声协方差在线更新的自适应振动滤波( AKF )策略;最后,结合角度误差修正模型,实现粉尘 振动 角度的三维协同补偿。实验结果表明:与标准卡尔曼滤波( SKF )相比, AKF 策略在 X 、Y 、 Z 轴定位精度上分别提升18.5% 、 18.9% 和 21.4% ,姿态角( Roll 、 Pitch 、 Yaw )精度分别提升 59.5% 、61.5% 和 53.8% ,满足电池箱抓取定位精度要求( X / Y 轴 ≤±3 mm , Z 轴 ≤±5 mm ,角度 ≤±3° ),为煤矿井下换电机器人的精准定位提供了可靠的技术保障。
Abstract:
To address the problem of excessive laser positioning deviations induced by high dust and strong vibration environments in underground mines , a collaborative optimization method integrating dust compensation and vibration filtering is developed.Firstly , based on Mie scattering theory , a dust scattering error model is constructed to mitigate nonlinear ranging bias under different dust concentrations.Secondly , vibration data collected by an IMU sensors are used to establish the coupling relationship between vibration angles and ranging errors.Building upon classical adaptive filtering theory ( Sage Husa ), an adaptive vibration filtering ( AKF ) strategy is implemented , featuring online update of the measurement noise covariance channel by channel.Finally , combined with an angle error correction model , a three dimensional collaborative compensation for dust , vibration , and angle is achieved.Experimental results demonstrate that , compared with the standard Kalman filter ( SKF ), the AKF strategy improves positioning accuracy by 18.5% , 18.9% , and 21.4% in the X , Y , and Z axes , and enhances attitude angle accuracy by 59.5% , 61.5% , and 53.8% for Roll , Pitch , and Yaw , respectively.This meets the accuracy requirements of the battery box grasping localization ( X / Y ≤±3 mm , Z ≤±5 mm , angle≤±3° ), providing reliable technical support for the precise localization of battery-swapping robots in coal mines.

参考文献/References:

[ 1 ] 葛世荣,胡而已,裴文良 . 煤矿机器人体系及关键技术[ J ] . 煤炭学报, 2020 , 45 ( 1 ): 455-463.

[ 2 ] 《煤矿井下机器人安全标志管理方案》《煤矿井下机器人基本安全要求(试行)》发布[ J ] . 智能矿山,2021 , 2( 4 ): 85.
[ 3 ] 杨道华 . 井下作业面综采设备高精度激光跟踪定位系统的应用[ J ] . 山东煤炭科技, 2023 , 41 ( 9 ): 215-217.
[ 4 ] 田国政,孙继平,朱建铭,等 . 光散射粉尘传感器的尘染补偿方法及光强分布的研究[ J ] . 煤炭学报, 1997 ( 6 ):74-78.
[ 5 ] 方崇全 . 煤矿机器人井下自主快速安全充电方法研究[ J ] . 煤矿安全, 2021 , 52 ( 8 ): 152-155.
[ 6 ] Wang Yi , Sun Yonghui , Wei Zhinong , et al.Parameters estimation of electromechanical oscillation with incomplete measurement information [ J ] .IEEE Transactions on Power Systems , 2018 , 33 ( 5 ): 5016-5028.
[ 7 ] Barbary M , Elazeem M H A.Drones tracking based on robust cubature Kalman TBD multi Bernoulli filter [ J ] . ISA Transactions , 2021 , 114 : 277-290.
[ 8 ] Cai Qingzhong , Yang Changhao , Li Jing , et al.An eL SHAKF-based integration scheme for gyro thermal magnetic coupling heading-effect drift compensation in INS [ J ] .IEEE Sensors Journal , 2020 , 20 ( 19 ): 11508-11517.
[ 9 ] Sun Wei , Yang Yongjian.Adaptive maneuvering frequency method of current statistical model [ J ] .IEEE / CAA Journal of Automatica Sinica , 2017 , 4 ( 1 ): 154-160.
[ 10 ] Agamennoni G , Nieto J I , Nebot E M.Approximate inference in state-space models with heavy-tailed noise [ J ] .IEEE Transactions on Signal Processing , 2012 , 60 ( 10 ): 5024-5037.
[ 11 ] 胡而已,吕东翰,王春涛,等 . 煤矿机器人智能安全充电系 统 设 计 [ J ] . 煤 炭 科 学 技 术, 2020 , 48 ( 2 ):171-175.
[ 12 ] 石晓艳,李振璧 . 煤矿井下单轨吊车蓄电池智能充电系统设计[ J ] . 煤矿机电, 2012 ( 5 ): 48-50.
[ 13 ] 李志伟 . 煤矿井下吊运作业机器人智能充电风险自动评估方法[ J ] . 价值工程, 2024 , 43 ( 23 ): 42-44.
[ 14 ] 王鲜 . 煤矿电机车蓄电池自动充电管理信息系统研究[ J ] . 中国高新科技, 2022 ( 1 ): 92-93.
[ 15 ] 刘元基,段建涛,朱洪流 . 机车智能充电及充电远程监控系统的研究与应用[ J ] . 矿业装备, 2023 ( 11 ): 180-182.
[ 16 ] Fan Jingdao.Study on dynamic error compensation of laser emitter for digging navigation system [ J ] .IEEE Transactions on Instrumentation and Measurement , 2024 , 16 ( 2 ): 1501312.
[ 17 ] Xie Yuyang , Yang Tao , Wang Xiaofeng , et al.Applying a portable backpack lidar to measure and locate trees in a nature forest plot : accuracy and error analyses [ J ] .Remote Sensing , 2022 , 14 ( 8 ): 1806.

备注/Memo

备注/Memo:
收稿日期: 2025-12-30
基金项目:国家能源集团科技创新项目( GJNY-22-45 );辽宁省教育厅面上项目( LJKZ034 )
作者简介:赵 军 ( 1973- ),男,内蒙古东胜人,高级工程师,研究方向为煤矿机电设备技术。
更新日期/Last Update: 2026-08-25