Heading machinecutting head composite locating method

A composite positioning and positioning method technology, applied in neural learning methods, earthwork drilling, cutting machinery, etc., to achieve the effect of improving positioning accuracy

Pending Publication Date: 2019-04-02
JIZHONG ENERGY FENGFENG GRP +1
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  • Claims
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AI Technical Summary

Problems solved by technology

Through the combination of infrared positioning and magnetic field positioning, it overcomes the low-visibility environmental impact caused by high-concentration dust when the roadheader is working and the influence of the ferromagnetism of the roadheader body, and solves the real-time positioning of the cutting head of the roadheader.

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  • Heading machinecutting head composite locating method
  • Heading machinecutting head composite locating method
  • Heading machinecutting head composite locating method

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Embodiment Construction

[0040] The present invention will be described in further detail through implementation examples below in conjunction with the accompanying drawings, but the scope of the present invention is not limited in any way.

[0041] The positioning system in the implementation case of the present invention includes an infrared positioning module composed of multiple groups of infrared cameras, a magnetic field positioning module composed of multiple three-axis magnetic field sensors, a magnetic source that can be fixed behind the cutting head, and a composite positioning model. terminal processor.

[0042] Such as figure 1 As shown, the infrared positioning module is composed of two infrared cameras 3 and supporting data collectors, placed above the body of the roadheader; the magnetic field positioning module is composed of two three-axis digital magnetic field sensors 6, placed on both sides of the body of the roadheader; The magnetic source 2 is a circular D100X20mmN35 neodymium m...

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Abstract

The invention discloses a heading machine cutting head composite locating method based on infrared and magnetic field locating. According to the heading machine cutting head composite locating method,firstly a cutting head with a fixed permanent magnet traverses working space in a magnetic field locating part, three-dimensional space locations are recorded in real time through an infrared locating module, magnetic strength of corresponding locations is recorded through a magnetic field sensor, so that training data are acquired, and then a magnetic field locating model is constructed througha deep learning algorithm. Through the combination of infrared locating and magnetic field locating, the influences of low visibility due to high-density dust in the process of heading machine workingand ferromagnet of a heading machine body are overcome, and the problem of real time locating of the heading machine cutting head is solved.

Description

technical field [0001] The invention relates to a positioning method for a cutting head of a roadheader. Specifically, the present invention relates to a compound positioning method of cutting head of roadheader composed of infrared positioning based on geometric optics and magnetic field positioning based on FOA-BP algorithm. Background technique [0002] With the development of the mining industry, automation and intelligent tunneling and coal mining are the general trend, and the real-time positioning of the cutting head of the roadheader is the premise of intelligent tunneling. However, due to the large amount of dust generated during the working process of the roadheader, and the cutting head is sometimes buried under the slag, the traditional optical positioning method cannot adapt to such a harsh environment. The infrared positioning method can be used to complete high-precision positioning in the case of low dust, but when the cutting head is buried or blocked by th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21C35/24G06N3/00G06N3/08
CPCE21C35/24G06N3/006G06N3/084
Inventor 张步勤王华英徐昌盛刘文龙李振峰张雷张昱朔张亚春
Owner JIZHONG ENERGY FENGFENG GRP
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