Position measuring system for heading machine cutting head

A measurement system and technology for roadheaders, which are applied to measurement devices, navigation through speed/acceleration measurement, mapping and navigation, etc., can solve problems such as inaccurate excavation, harsh environment, and line of sight affecting excavation.

Active Publication Date: 2016-07-06
BEIJING INST OF AEROSPACE CONTROL DEVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the roadheaders in coal mines mainly use the laser beam as the guiding direction, and the operator takes this as the direction of progress. The underground environment is hars

Method used

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  • Position measuring system for heading machine cutting head
  • Position measuring system for heading machine cutting head
  • Position measuring system for heading machine cutting head

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0124] Place the pitch joint at 5.0°, rotate the cutting arm from right to left, and measure the position information of the cutting head at different rotation angles. The results are as follows:

[0125] Table 2 Rotation measurement data of rotary joint 1

[0126]

[0127]

Embodiment 2

[0129] Place the rotary joint at 14.0°, lift the cutting arm from bottom to top, and measure the position information of the cutting head at different pitch angles. The results are as follows:

[0130] Table 3 Pitch joint rotation measurement data 1

[0131]

Embodiment 3

[0133] Move the fuselage forward for a certain distance, place the swivel joint and pitch joint at any angle, and select 10 random positions to measure the position information of the cutting head. The results are as follows:

[0134] Table 4 Measurement data of fuselage moving forward for a certain distance

[0135]

[0136] It can be seen from the above data that the errors in the X direction and the Z direction are all within 100 mm, which proves that the present invention can obtain high-precision measurement results under both static and dynamic conditions, and verifies the feasibility and advantages of the present invention.

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Abstract

The invention discloses a position measuring system for a heading machine cutting head. The position measuring system comprises an inertial measurement unit module, a laser range finder module, a heading machine parameter acquiring module, a CPU calculation module, a CAN communication module and an upper computer module; the inertial measurement unit module achieves attitude measurement on a moving carrier, the laser range finder module achieves range measurement in the system heading direction, the heading machine parameter acquiring module achieves reading of machine body parameters, the CPU calculation module is used for data transmission and position calculation, and the CAN communication module achieves data transmission and interaction. According to the position measuring system for the heading machine cutting head, multi-sensor information integration is achieved, data communication is achieved through the CAN module, the position information of the cutting head is calculated through the CPU calculation module, and then the position information of the heading machine cutting head is obtained.

Description

technical field [0001] The invention relates to a position measuring system for a cutting head of a roadheader, which can be used in the field of positioning and attitude determination of a roadheader in a coal mine. Background technique [0002] At present, the roadheaders in coal mines are mainly guided by the laser beam, and the operator takes this as the direction of progress. The underground environment is harsh, the dust concentration is high, and the light is dark, which seriously affects the line of sight of the excavation, so it is easy to cause inaccurate excavation. Digging and over-digging phenomena. With the intelligent and digital development of science and technology, it will become a major trend to realize the digital and intelligent mining of coal mine roadheaders. Use equipment to monitor the position information of the cutting head of the roadheader in the roadway section in real time, use digital communication for data transmission, and use a visual inte...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 薛正兵周艳丽张泽曾培香郭纬川赵新强管伟涛侯淑华马杰
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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