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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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.
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Property | Measurement | Unit |
Height | 100.0 ~ 200.0 | mm |
Width | 300.0 ~ 1000.0 | mm |
tensile | MPa | |
Particle size | Pa | |
strength | 10 |
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