Rotating-sector-laser-based position and pose measurement method of cantilever excavator

A cantilever roadheader and fan laser technology, which is applied in the directions of measuring devices, measuring instruments, surveying and navigation, etc., can solve problems such as poor visibility, calibration of inertial navigation systems, and miscellaneous equipment, and achieves low cost and high automation. Measure and improve the effect of molding quality
CN104729501AInactive Publication Date: 2015-06-24CHINA UNIV OF MINING & TECH (BEIJING)
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHINA UNIV OF MINING & TECH (BEIJING)
Publication Date
2015-06-24
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a position and post measurement method of a cantilever excavator at an excavating workface of a coal mine. The method comprises the following steps that a space point three-dimensional coordinate measuring system for measuring angles based on rotating sector laser is fully utilized, namely, the sector laser transmission end of the system is mounted on a cantilever excavator body, while the sector laser receiving end (including three non-collinear sector laser receivers) is fixedly mounted at the back of a coal road excavated by the cantilever excavator; the coordinate values of a sector laser receiver relative to a space geodetic coordinate system can be measured by other measurement modes; the coordinate values of the sector laser receiver relative to the transmission end are measured through the sector emission transmission end and then are converted for calculating to obtain the three-dimensional coordinate values of three fixed points (non-collinear) on the cantilever excavator, relative to the space geodetic coordinate system; if the three-dimensional coordinate values of three fixed points (non-collinear) on a space rigid body, relative to the space geodetic coordinate system are known, the position and pose data of the space rigid body can be calculated.
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Description

technical field

[0001] The invention belongs to the technical field of position and posture measurement of construction machinery equipment, in particular to a method for measuring the position and attitude of a cantilever roadheader used in coal mines, and then precisely pointing the direction of the cantilever roadheader. Background technique

[0002] The traditional position and orientation measurement method of the cantilever roadheader is the manual visual method, and the only reference of the cantilever roadheader in the coal roadway comes from the point laser pointer. A point laser pointing device (indicating the roadway design direction) is placed behind the cantilever roadheader, which forms a light spot on the excavation section at the front of the coal roadway. The driver of the cantilever roadheader must observe the position of the light spot on the excavation section with the naked eye during operation , Always pay attention to whether the direction of the roadw...

Claims

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