Autonomous navigation system and method for roadheader combining strapdown inertial navigation and light spot recognition

Abstract

The invention discloses a strap-down inertial navigation and spot recognition combined heading machine autonomous navigation system and method, and belongs to the field of autonomous navigation of coal mine underground heading machines. The system is composed of a strap-down inertial navigation system, a linear spot recognition system, an electronic compass system and a navigation host. When the heading machine is in a stationary state, the electronic compass system measures the course angle, roll angle and pitch angle of the heading machine; the linear spot recognition system measures the position information of the heading machine, so as to acquire the initial position and posture information of the heading machine, and sends the information to the navigation host. The strap-down inertial navigation system extracts the initial position and posture information of the heading machine from the navigation host to complete own initial alignment. When the heading machine moves forwards, the strap-down inertial navigation system has completed initial alignment outputs the speed, position and posture angle information of the heading machine in real time, and sends the information to remote display equipment via the navigation host. The autonomous accurate navigation of the heading machines in the underground long, narrow and enclosed roadways of coal mines is achieved.

Description

technical field [0001] The invention relates to a tunneling machine autonomous navigation system and method combining strapdown inertial navigation and light spot recognition, belonging to the field of coal mine underground tunneling machine autonomous navigation. Background technique [0002] Coal is the main energy source in our country. Due to the harsh environment and frequent safety accidents in coal mines, the realization of unmanned and less-manned coal mining has become a hot issue in the field of coal mining equipment. The cantilever roadheader is the core equipment for coal mine roadway excavation. The realization of real-time and accurate autonomous navigation and positioning of the roadheader is the basis for realizing the automation of roadway excavation. [0003] The traditional roadheader navigation method is to use the laser pointer installed on the center line of the roadway roof behind the roadheader to emit line laser. The line laser is projected on the r...

AI Technical Summary

Problems solved by technology

[0009] Technical problem: The object of the present invention is to propose a self-navigation system and method for a roadheader that combines strapdown inertial navigation and light spot recognition for various defects of the traditional cantilever-type roadheader autonomous navigation method in the tunneling working face of the narrow and long airtight roadway in the coal mine , mainly including the hardware system design, combined navigation strategy and method of the roadheader autonomous navigation system combined with strapdown inertial navigation and linear spot recognition, to solve the problem that all roadheader navigation positioning is inaccurate and cannot realize real-time autonomous navigation

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