Pose measure system of cantilever type heading machine

Abstract

The invention relates to a pose measure system of a cantilever type heading machine. The pose measure system comprises a laser pointing rangefinder and an optical goniometer. The pose measure system is characterized in that: the laser pointing rangefinder respectively emits a visible laser and an infrared ranging laser; the visible laser forms an image on a focal plane of a convex lens of the optical goniometer through the convex lens; a direction angle alpha<,> and a pitch angle beta<,> of a optical axis of the optical goniometer relative to a laser beam are obtained through image point coordinates. Because a preset optical axis of the optical goniometer is parallel to a fuselage axis of the heading machine, the alpha<,> and the beta<,> are the direction angle and the pitch angle of the fuselage axis relative to the laser beam. A spinning angle gamma of the fuselage relative to a horizontal plane can be obtained through a tilt angle sensor installed parallel to a datum plane of the heading machine. Therefore, influence on measurements of the direction angle alpha<,> and the pitch angle beta<,> due to the spinning angle gamma is corrected so as to complete the measurements of the direction angle alpha<,> and the pitch angle beta of the heading machine relative to the laser beam, and the spinning angle gamma of the heading machine relative to the horizontal plane. With the present invention, a range between the fuselage of the heading machine and the laser pointing rangefinder can be obtained through the infrared ranging laser; a position coordinate of the heading machine can be obtained through combining the position coordinate of the laser pointing rangefinder and parameters of emission angle of the laser beam; tunnelling workload and other information can be obtained through system output data.

Description

technical field [0001] The present invention relates to the technical field of position and posture (hereinafter referred to as: pose) detection of coal mining equipment, in particular to a pose measurement system of a cantilever roadheader. Background technique [0002] The cantilever type roadheader is a partial section roadheader. Its structural feature is that a telescopic cantilever for cutting is installed on the slewing seat, and a cutting head is installed at the front end of the cantilever. Through the rotation of the cutting head and the up, down, Swing left and right to break coal (rock) in turn. According to the control of the movement track of the cutting head, roadways with trapezoidal, arched and rectangular sections can be cut. The roadheader has the functions of loading and walking at the same time. The cantilever roadheader is the most widely used tunneling machinery and equipment in the comprehensive mechanized production of coal tunnels in my country. ...

AI Technical Summary

Problems solved by technology

In addition, because the sampling reference of this scheme is a fan-shaped laser beam, the working distance of the fan-shaped laser beam is very limited, and the position of the reference beam needs to be adjusted frequently. The construction workload increases, the construction difficulty is relatively large, and the production efficiency is affected. The method of shape laser cannot limit the lateral position area of ​​the roadhead before the cutting action of the roadheader, and this scheme cannot measure the position coordinates of the roadheader in the absolute coordinate system of the earth, and cannot measure the distance between the reference point and the roadheader. Therefore, It is also impossible to get the excavation workload information of the roadheader

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