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

A cantilever roadheader and automatic detection technology, which is applied in the directions of measuring devices, surveying and navigation, navigation, etc., can solve problems such as affecting the direction of the control roadway, and achieve the effects of simple structure, low cost, and improved working environment.

Active Publication Date: 2016-01-13
TAIYUAN INST OF CHINA COAL TECH & ENG GROUP +2
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  • Abstract
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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 canno

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

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Example Embodiment

[0015] Such as figure 1 As shown, an automatic detection system for the spatial pose of a cantilever roadheader includes a structured light laser 5 installed on the roof of the roadway, a mine flameproof camera 4 installed on the fuselage of the cantilever roadheader 1, and an image processing platform 3 and step structure 2, the step structure 2 includes two upper and lower steps, the length and height of the two steps are scalable, the step structure 2 is installed at the front end of the upper surface of the fuselage of the cantilever roadheader 1, and the symmetry axis direction of the step structure 2 The direction of the longitudinal symmetry axis of the fuselage is consistent; the structured light laser 5 is provided with a level indicator, which is installed on the roof of the roadway 15 meters away from the tunnel section, and the structured light laser 5 projects two vertical roadways to the cantilever roadheader 1. The sector laser is projected on the step structure ...

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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 ...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 田原张梦奇张建广杨文杰李仁杰张林慧陈宁赵永红梁万吉阎志伟刘杰肖洪彬毛国正
Owner TAIYUAN INST OF CHINA COAL TECH & ENG GROUP
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