Position and attitude parameter measurement system of machine body of boring machine and method thereof

Abstract

The invention relates to a position and attitude parameter measurement system of a machine body of a boring machine and a method thereof, and the position and attitude parameter measurement system consists of a line laser transmitter, a rack of the line laser transmitter, laser targets, a programmable computer controller, an A/D conversion module and two inclination sensors. The line laser transmitter is positioned by a laser direction indicator and the rack of the line laser, emits a fan-shaped laser beam and forms linear spots on the machine body of the boring machine. An photosensitive element in one position on one of the two laser targets consisting of the photosensitive elements senses the laser beam and generates a current signal at any time, and the current signals are processed and calculated by an internal circuit of the laser targets and the programmable computer controller, thereby determining the positions of the laser beam on the laser targets; furthermore, the mounting positions of the laser targets on the boring machine are known, thereby obtaining a deflection angle and deflection displacement of the boring machine. Two inclination sensors measure a pitch angle and a roll angle of the boring machine, thereby completing the measurement of position and attitude parameters of the machine body of the boring machine. The system has the advantages of low cost, high precision, good real-time property and convenient operation.

Description

technical field [0001] The invention relates to a roadheader for coal mine underground operations in the field of roadheaders, in particular to a system and method for measuring pose parameters of a bodywork of a roadheader. Background technique [0002] The roadway boring machine is a combined unit capable of cutting, loading and transporting, reloading coal and rock, mobilizing walking, spraying and dust removal, and the cantilever roadheading machine is currently widely used in coal and rock roadheading machines at home and abroad. [0003] However, on the basis of following a certain cutting process of the coal roadway, the tunneling driver mainly operates the tunneling machine manually through the handle, which is quite random. Although there is a mine-used explosion-proof laser pointer to guide the direction of excavation during cutting, it is beneficial to the improvement of construction quality. However, due to the harsh working environment (high gas concentration, ...

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Problems solved by technology

Although this patent is theoretically feasible, it has disadvantages such as difficult adjustment, high requirements for staff, and

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