Autonomous positioning and orientation system and method for roadheader

Abstract

The invention discloses an autonomous positioning and orientation system and method for a roadheader, belonging to the field of autonomous cruise of the roadheader. The system includes a programmable computer controller; an autonomous walking positioning base station group; a gyro north finder; an inclination sensor; Among them, the location of the positioning base station group relative to the roadway coordinate system is known. When the roadheader is moving, the ultra-wideband radio pulse ranging method is used to sequentially detect the three-dimensional coordinates of the three positioning boxes of the fuselage relative to the positioning base station group, and according to the three-dimensional coordinates , to solve the roadheader pose parameters. When the roadheader stops, the pose parameters of the roadheader are corrected again through the gyro north finder and the inclination sensor. When the traveling distance of the roadheader exceeds the effective detection range of the system. The four self-propelled positioning base stations move forward sequentially according to the self-calibration strategy, and update the three-dimensional coordinates of the base stations at the same time. Therefore, in the roadway excavation, the completely autonomous positioning and orientation of the roadheader is realized.

Description

technical field [0001] The invention relates to a roadheader in the field of roadway excavation, in particular to a roadheader autonomous positioning and orientation system and a method thereof. Background technique [0002] The roadheader is the core equipment to realize the excavation work of underground roadway. In the traditional underground roadway excavation process. The excavation route of the excavation machine is first drawn by the geological survey department, and the excavation direction of the excavation machine is controlled by the excavation machine driver according to the position of the laser spot emitted by the point laser pointer installed at the back of the tunnel to the rock wall in front of the tunnel. Due to the harsh environment of mine roadways, this excavation method is not only inefficient, but also has limited accuracy. In addition, the point laser pointing device is fixed on the roof behind the roadway, which is very troublesome to install, dism...

AI Technical Summary

Problems solved by technology

[0019] Technical problem: the main purpose of the present invention is to address the actual situation of the current mine roadway fully mechanized excavation face and the various defects of the existing roadheader positioning and orientation technology

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