A Method for Measuring Lateral Offset of Roadheader

Abstract

The invention discloses a method for measuring the lateral shift of a tunneling machine. The method comprises the following steps: 1) installing two independent vertical flat reflecting surfaces F1 and F2 at an initial calibration point in a tunnel, wherein the vertical flat reflecting surfaces F1 and F2 intersect up and down to form a certain angle [theta], and the length directions of the vertical flat reflecting surfaces F1 and F2 are located in the horizontal direction and match the width of the tunnel; 2) installing a laser range finder A and a laser range finder B on the tunneling machine and at different heights to measure the distance between the two vertical flat reflecting surfaces F1 and F2 separately; 3), creating a three-dimensional coordinate; 4) monitoring the support distance LX of the tunneling machine in a support process, wherein the distance between the laser range finder A and the reflecting surface F1 is LA, and the distance between the laser range finder B and the reflecting surface F2 is LB; and 5) enabling a tunneling machine controller to automatically correct a trajectory in real time according to the shift direction and the shift distance measured in the step 4). The method is not liable to easy miss the target and wide in coverage.

Description

technical field [0001] The invention relates to the technical field of position and posture detection of a roadheader, in particular to a method for measuring the lateral offset of a roadheader. Background technique [0002] With the development of mine roadheader control technology, at present, remote control roadheader has gradually become an emerging intelligent coal mining machinery. The position and orientation measurement of the roadheader in the mine has become the basis of the research on the control system of the remote control roadheader. [0003] Taking the forward direction of the roadheader as the positive direction of the X axis, the horizontal direction perpendicular to the X axis to the right as the positive direction of the Y axis, and the vertical upward direction as the positive direction of the Z axis to establish a roadway coordinate system, the pose parameters of the roadheader are composed of four single factor Composition: yaw angle, roll angle, pitc...

AI Technical Summary

Problems solved by technology

In the current measurement method, the receiving range of a single reflective surface is half of the width of the roadway, and the receiving range is small, which is prone to the phenomenon that the laser misses the target during measurement. At the same time, there is an edge at the junction of the two reflective surfaces, and the laser will produce a diffuse emission effect here. , which greatly reduces the utilization rate of reflection, and it is difficult to receive laser signals, resulting in incomplete measurement coverage, which is easy to cause part of the measurement data to be lost

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