Heading automatic-guiding system and guiding method based on camera lens and attitude and heading reference system

Abstract

The invention discloses a heading automatic-guiding system based on a camera lens and an attitude and heading reference system. The heading automatic-guiding system comprises a heading machine control module, a laser target surface, a camera lens, an attitude and heading reference system, a data acquisition module, a central processing unit and a laser orientation instrument, wherein the heading machine control module is arranged on a heading machine body, the laser target surface, the camera lens, the attitude and heading reference system, the data acquisition module and the central processing unit are arranged on the heading machine body, the laser orientation instrument is arranged on a heading roadway, the laser orientation instrument is located behind the heading machine body, a laser emission head of the laser orientation instrument is aligned to the center of the laser target surface, the camera lens is projected on the laser target surface, the signal output end of the camera lens is connected with the data acquisition module, the signal output end of the attitude and heading reference system is connected with the central processing unit, the communication end of the data acquisition module is connected with the communication end of the central processing unit, and the control signal output end of the central processing unit is connected with the control signal input end of a heading machine control module. The heading automatic-guiding system disclosed by the invention has the advantages of high guiding accuracy, simpleness in operation, low cost, easiness for implementation, and convenience for popularization.

Description

technical field [0001] The invention relates to the technical field of position and attitude measurement of roadheading machines, in particular to an automatic driving guidance system and a guidance method based on a camera and a heading attitude instrument. technical background [0002] At present, the roadway excavation guidance technology in my country generally adopts laser pointing device, and the driver of the roadheader controls the cutting head of the roadheader to cut on the section through the laser spot on the visual end surface. Since the measurement work can only be done when the roadheader stops cutting Therefore, the measurement wastes a lot of time and the work intensity is high. The quality of the excavation depends entirely on the proficiency and experience of the driver, and the accuracy of the measurement results cannot be guaranteed. [0003] In order to solve the above problems, relevant researchers at home and abroad have proposed many solutions. The Ch...

AI Technical Summary

Problems solved by technology

Although this scheme is theoretically feasible, it has the disadvantages of complex operation, high requirements for operators, and high cost, and it is not easy to be popularized and used.

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