Line structured light based device and line structured light based method for automatic detection of level difference of cutting head of boom-type roadheader
A technology of cantilever-type roadheader and line structured light, which is applied in the field of detection and measurement, and automation of coal mining equipment, can solve problems such as roadway roof and floor damage, and achieve the effects of good real-time performance, convenient use, and simple structure
Active Publication Date: 2015-04-22
TAIYUAN INST OF CHINA COAL TECH & ENG GROUP +2
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Problems solved by technology
[0007] In order to solve the problem that the existing roadheader measurement technology ignores the height measurement in roadway excavation, which may cause damage to the roadway roof and floor, the invention provides a cantilever type roadheader cutting head height difference automatic detection device based on line structured light and method
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[0054] Let the cantilever pitch angle measured by the single-axis inclinometer be , the distance from the intersection point of the beam emitted by the word-line structured light laser and the photosensitive component to the center of rotation of the cantilever is m, the distance from the center of rotation of the cantilever to the center of the end of the cutting head is m, the distances between the laser pointing instrument, that is, the reference plane, and the roadway roof and floor are respectively 1m, 4m, the height difference between the cantilever slewing center and the structured light plane
[0055] m;
[0056] Suppose the pitch angle of the cantilever at a certain moment during the cutting process is , then the height difference between the cutting head and the horizontal plane where the cantilever rotation center is located is
[0057] m;
[0058] Then, at this time, the height difference between the center of the end of the cutting head and ...
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The invention belongs to the technical field of automated detection and measurement of coal mine excavation equipment and particularly relates to a line structured light based device and a line structured light based method for automatic detection of the level difference of a cutting head of a boom-type roadheader. The device and the method solve the problem that the existing roadheader measurement technology is possible to result in damage to roadway roofs and roadway floors. A single-shaft inclinometer is mounted on a boom of the roadheader, a photosensitive component is formed by linearly arraying a plurality of photosensitive units and is mounted on the boom of the roadheader, and the position relation of a line-structured-light laser and a laser orientation instrument satisfies that a light emitting surface, namely a datum plane of the line-structured-light laser includes orientation light beams emitted by the laser orientation instrument. The detection method includes the steps: measuring the level difference of the boom rotation center relative to the datum plane before the roadheader arrives at a cutting position for section cutting, measuring the level difference of the cutting head relative to the datum plane in real time after the roadheader starts to cut and then computing. The device has the advantages of simple structure, good timeliness, convenience in use and high accuracy.
Description
technical field [0001] The invention belongs to the technical field of coal mining equipment automation, detection and measurement, and in particular relates to an automatic height difference detection device and method for a cutting head of a cantilever roadheader based on line structured light. Background technique [0002] The cantilever roadheader is not only the main equipment for coal mine roadway excavation construction, but also has broad application prospects in railway tunnel construction after technical transformation. [0003] In roadway excavation, it is necessary to avoid over-exploitation or under-exploitation as much as possible, which can not only improve the excavation efficiency, but also reduce the probability of various accidents. Both overexploitation and underexploitation are caused by errors in section profile control and roadway direction control. Therefore, the detection and control of the position and orientation of the roadheader has become one of...
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IPC IPC(8): G01B11/02
Inventor 田原于向东侯林张梦奇袁晓明呼守信鲍文亮王德光李仁杰彭利明
Owner TAIYUAN INST OF CHINA COAL TECH & ENG GROUP