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System for measuring pose of roadheader

A technology of roadheader and posture, which is applied to measurement devices, instruments, and optical devices, etc., can solve the problems of increased cumulative error of the transmitting station and complicated station shifting, and achieves the effect of simplifying the structure and improving the efficiency.

Active Publication Date: 2019-04-30
CHINA UNIV OF MINING & TECH (BEIJING)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method requires multi-point deployment and positioning behind the roadheader, and there is also the problem of complex station shifting, and multi-point deployment will increase the cumulative error in the positioning of the transmitting station

Method used

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  • System for measuring pose of roadheader
  • System for measuring pose of roadheader
  • System for measuring pose of roadheader

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Experimental program
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Embodiment Construction

[0032] Describe in detail below in conjunction with accompanying drawing according to the present invention. The system for measuring the pose of a roadheader according to the embodiment.

[0033] For clarity and convenience of illustration, the drawings may not be drawn to scale, and the relative sizes, proportions and depictions of elements, parts, parts in the drawings may be exaggerated.

[0034] figure 1 is a schematic diagram of a system for measuring the pose of a roadheader according to an embodiment of the present invention.

[0035] Such as figure 1 As shown, the system for measuring the pose of a roadheader according to an embodiment of the present invention includes a laser emitting device 3 , a laser pan / tilt 6 , a laser target 5 , and a processor (not shown).

[0036] The laser emitting device 3 includes a laser array formed by a plurality of lasers for emitting laser light to the laser target 5 . The number of lasers in the laser array is greater than 2, and...

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PUM

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Abstract

The invention relates to a system for measuring the pose of a roadheader. The system includes a laser emitting device including a laser device array which consists of multiple laser devices and is used for emitting laser to a laser target, a laser device holder which is mounted on the roadheader and is used for driving the laser emitting device to perform pose adjustment to make the laser deviceson the laser array to emit the laser onto the laser target, the laser target which is arranged outside the roadheader and is used for detecting a light spot irradiated by the laser devices on themselves, and a processor used for determining the pose of the roadheader according to a pattern formed by the spots on the laser target and a pattern formed by the laser devices.

Description

technical field [0001] The invention belongs to the technical field of coal mine roadheader automation, and in particular relates to a real-time measurement method for the position and posture (ie, pose) of the roadheader. Background technique [0002] At present, unmanned mining is the direction and goal of the development of the coal industry, and the automation, intelligence and robotization of its equipment are the basis and premise of unmanned mining. Roadway excavation is an important link in coal mining, and the quality of excavation directly determines coal safety and production efficiency. The roadheader is one of the key equipment for roadway excavation. In the comprehensive mechanized excavation operation, the measurement of the position and posture of the excavator is one of the important links to control the intelligent advancement of the excavator and realize the unmanned excavation. It is the front end of the unmanned coal mining, that is, the perception stag...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 薛光辉张云飞候称心
Owner CHINA UNIV OF MINING & TECH (BEIJING)