Method for positioning and orientation of tunneller and apparatus thereof

Abstract

The invention provides a method for positioning and orientation of a tunneller. The method comprises a navigation position calculation process for acquiring real-time speed and position information ofa tunneller and an inertia calculation process for acquiring real-time attitude information of the tunneller. During the inertia calculation process, an attitude quaternion is introduced to calculatereal-time attitude information of the tunneller and is obtained by calculating corresponding speeds and intermediate speeds on all direction axes of a navigation coordinate system, wherein the navigation coordinate system includes an x axis, a y axis, and a z axis. With the provided method, the influence of the working environment on the positioning and orientation of a tunneller canb e eliminated; full autonomous navigation can be realized; the trouble of setting the rear tunnel reference manually can be saved; and the construction efficiency can be improved substantially. In addition, the invention also provides an apparatus for the method for positioning and orientation of a tunneller. The apparatus has a simple structure; and a problem of low positioning accuracy of the tunneller dueto the working environment in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of roadheader positioning and navigation, in particular to a method and device for roadheader positioning and orientation. Background technique [0002] The roadheader is a machine used to excavate roadways on flat ground. The navigation of the roadheader is the key technology of automatic walking. In order to realize the navigation of the roadheader, the determination of its position and direction is a very important link. At present, the navigation method of domestic roadheaders is mainly based on the tunneling route drawn in advance by the geological survey department, and then the laser marker is installed behind the roadway, and the laser beam is projected onto the coal mine to be excavated. According to the direction of the laser, the operator of the excavator conducts Operation, the operation is very cumbersome, and the working environment in the roadway is harsh, the efficiency of this method is low,...

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Problems solved by technology

Therefore, the construction of the project is relatively cumbersome, which is not conducive to efficient and safe construction

[0012] (3) The patent with the publication number CN101169038A applies the inertial navigation system to the positioning and orientation process of the roadheader, but the error of the inertial navigation system increases rapidly with time accumulation, and the system has great limitations from the perspective of practical value

[0013] (4) The patent with the publication number CN106840137A is based on machine vision technology, but due to the poor visible light conditions and a lot of dust in the roadway, only the use of vision technology is greatly affected and the accuracy is limited

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