Position and posture measuring system and method for mechanical equipment

Abstract

The invention relates to a position and posture measuring system and method for mechanical equipment. The position and posture measuring system is characterized in that: four laser distance-measuring modules are arranged at the top of an alley at the back of the mechanical equipment to measure points of special positions on the mechanical equipment so as to obtain four different distances; position offset of the mechanical equipment relative to a predetermined track and angular offset of the mechanical equipment on a vertical surface are calculated based on the four distances; offset data is transmitted to a central processing system on the mechanical equipment through a wireless communication module; position and posture parameters of the mechanical equipment and positioning navigation data can be obtained in combination with a dip angle of the mechanical equipment relative to a horizontal plane, wherein the dip angle is measured by a triaxial acceleration sensor which is arranged onthe mechanical equipment; and the central processing system is used for transmitting the positioning navigation data to a control box of the mechanical equipment. The position and posture measuring system has the advantages of high measuring speed, good real-time performance, high measurement accuracy and no accumulated error, and is suitable for the position and posture measurement as well as the positioning navigation of underground mechanical equipment.

Description

technical field [0001] The invention belongs to a measurement system used in environments such as coal mining and tunnel excavation, in particular to a position and posture measurement system and a measurement method of motorized equipment. Background technique [0002] The positioning and navigation of the underground mobile equipment is a key issue when the mobile equipment travels and operates in the underground roadway. At present, the positioning of domestic underground mobile equipment uses a laser pointing instrument to give a predetermined trajectory. When the underground equipment is moving, it relies on the staff to observe the relative positional relationship between the mobile equipment and the direction indicated by the pointing instrument to determine the action data of the mobile equipment. When the motorized equipment slightly deviates from the scheduled trajectory, the human eye cannot detect it in time. At the same time, due to the harsh underground environ...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of measuring the position and attitude of the fuselage when the mobile equipment is moving, and provide data for the mobile equipment to automatically travel along the predetermined track, and provide a system and method for measuring the position and posture of the mobile equipment

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