Single-station position and attitude measurement method for heading machine based on iGPS

Abstract

The invention relates to a single-station position and attitude measurement method for a heading machine based on iGPS. A single-station multi-point time-sharing measurement platform is installed at an appropriate position of a tunnel roof behind a heading face; machine-mounted receivers and a task processor are fixedly mounted on the body of the fixed mounting; a solving computer is placed at a safe position like a position behind a tunnel; a transmitting station rotates around an O1 axis under the action of an automatic rotary apparatus so as to realize movement to different positions and transmitting of sector laser signals and synchronization pulse optical signals; each machine-mounted receiver separately receives the optical signals transmitted by the transmitting station from different positions, converts the optical signals into electric signals and transmits the electric signals to the task processor; and then the solving computer solves position coordinates of each machine-mounted receiver in an overall coordination system and calculates the attitude parameters of the body of the heading machine according to the known position coordinates of each machine-mounted receiver. The method realizes measurement of the position and attitude of the body of the heading machine through one single transmitting station and has the advantages of low cost, high precision and convenience in operation.

Description

technical field [0001] The invention relates to a roadheader for coal mine underground operations in the field of roadheaders, in particular to an iGPS-based single-station pose measurement method for the roadheader. Background technique [0002] At present, in the process of excavating roadways in deep coal seams, laser pointers and other equipment are still used to control the direction of the roadway by manual visual inspection. There are serious security risks. Therefore, it is necessary to use unmanned excavation to improve work efficiency and ensure the quality of the roadway, and the autonomous measurement of the position and posture of the roadheader is the premise and important guarantee for unmanned excavation. [0003] iGPS is a coordinate measurement technology mainly used in large-scale geometric metrology, positioning and assembly in large-scale or super-large equipment manufacturing industries. Short time and so on. Experts at home and abroad apply this tec...

AI Technical Summary

Problems solved by technology

However, the research on the application of this technology on the cantilever roadheader is still blank.

At the same time, iGPS requires at least two transmitting stations to complete the measurement process, and there are problems such as cumbersome calibration process and high cost

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