A method for automatic measurement of spatial pose of roadheader

Abstract

The invention relates to a method for automatically measuring the space position and posture of a roadheader. It is aimed at the actual situation of the roadheader in the narrow space under the coal mine. An industrial camera, an industrial control computer, a laser pointer, and an image acquisition device are installed at the rear of the roadheader. card, measure and calculate the pose of the coal and rock section of the roadheader, confirm the most reasonable pose of the fuselage, and then order the excavation operation to keep the operators away from dangerous areas, reduce sudden accidents, improve the safety of excavation, and enable The roadheader is in the best and most reasonable working position and state, the maximum coverage angle is ±60°, the displacement detection deviation is <10mm, the deflection angle detection accuracy is ±12′, the pitch angle detection accuracy is ±6′, and the roll angle detection accuracy is ±6′. The accuracy is ±6' to improve the quality and efficiency of excavation. This method is advanced, reasonable and accurate. It is an ideal method for measuring the mining position and orientation of coal mining roadheaders. This method can also be used in tunnel excavation operations.

Description

technical field [0001] The invention relates to a method for automatically measuring the spatial position and posture of a roadheader, belonging to the technical field of coal mine mining equipment application, detection and measurement. Background technique [0002] The cantilever roadheader is the most important mining equipment in large and medium-sized coal mines. [0003] The coal mining roadheader works reciprocally in a narrow roadway. The space is limited, the environment is harsh, the working flour and dust are large, and the light on the job site is poor. Especially when cutting the roadway floor, the operator's line of sight is blocked by the machine body. It is difficult to judge the cutting position and posture of the roadheader, which brings great difficulties to the control of the direction of the excavation, resulting in slow excavation speed, low production efficiency, serious over-exploitation and under-exploitation of the roadway, poor excavation quality, ...

AI Technical Summary

Problems solved by technology

[0005] The utility model patent with the publication number CN201013380 and the name of the fully automatic roadheader proposes to use an aerospace navigation locator to measure the position of the roadheader, but does not measure the posture of the roadheader; the publication number is CN101266134A and the name is the pose of the cantilever roadheader The invention patent of the measurement system and its method proposes to use a laser motorized total station to measure the coordinates of the excavation locomotive body in the geodetic coordinate system, the vehicle body yaw angle sensor to measure the vehicle body yaw angle, and the dual-axis inclination sensor to measure the vehicle body pitch angle and roll angle, the pitch angle and roll angle are based on the horizontal plane, but it is only applicable to the horizontal excavation roadway. In addition, this method requires the installation position of the total station to be horizontal to the excavation body, which further limits the method scope of application

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