Automatic boom road-header space pose detection system and measurement method thereof

Abstract

The invention belongs to the technical field of boom road-header automation, and provides an automatic boom road-header space pose detection system and a measurement method thereof to solve the problem of severe influences of only detection of the relatively horizontal plane pitch angle and the rolling angle of the body of a road-header and unable body vertical deflection displacement, that is, height difference on the tunnel direction control. A step structure is arranged at the front end of the upper surface of the body; a structured light laser device is arranged on a tunnel top board, and the structured light laser device projects two vertical sector lasers to the road-header to form cruciform structured lights on the step structure; a mining explosive-proof camera is arranged at the tail portion of the upper surface of the body, the direction of the camera is consistent to the vertical symmetric axis direction of the body, and an imaging window points to the step structure; and an image processing platform is arranged in an onboard industrial control computer. Automatic navigation and positioning of the road-header are realized, and the working environment of a working surface is improved. The system and the method realize remote control and unmanned heading, and realize safe and efficient tunnel heading; and the system has the advantages of low cost, simple structure and information completeness obtaining.

Description

technical field [0001] The invention belongs to the technical field of automation of cantilever type roadheaders in coal mines, and in particular relates to an automatic detection system and a measurement method for the space pose of a cantilever type roadheader. Background technique [0002] Coal mine underground roadway has a variety of purposes, and it is mainly completed by cantilever roadheader or continuous coal mining machine. Usually, there are strict requirements on the direction, contour shape and size. In the application, the beam emitted by the precisely calibrated laser pointer is usually used. In the development process, the completed section is determined as "overcut" or "undercut" based on the spot formed by the laser pointer on the section during the development process. This determination process is usually completed by manual hand-held tape measure. "Over-cutting" or "under-cutting", during the cutting process, the operator of the roadheader needs to rely ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of measuring the pose parameters of the existing roadheader fuselage, the present invention only detects the pitch angle and roll angle of the fuselage relative to the horizontal plane, but cannot detect the longitudinal displacement of the fuselage, that is, the height difference, which seriously affects the control roadway To provide a cantilever roadheader space pose automatic detection system and its measurement method

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