A roadheader pose data measurement system and its measurement method
A technology of data measurement and roadheading machine, which is applied in the direction of measuring with tilt sensor, measuring instrument, measuring device, etc. It can solve the problems of complex structure of measuring device, difficulty in ensuring accuracy, cumulative error, drift, etc., to improve the efficiency of tunneling, Easy installation and debugging, high positioning accuracy
Active Publication Date: 2022-03-29
BEIJING ELINKCS SCI & TECH CO LTD +1
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Problems solved by technology
[0004] The automatic measurement of the position and posture of the roadheader is the premise of realizing the automatic control of the roadheader. In order to realize the position and posture measurement of the roadheader, it is necessary to establish the position coordinates of the excavation equipment itself. Make the roadheader have the function of automatic tunneling; the existing measuring device and measuring method are affected by factors such as the complex terrain and harsh environment of the tunneling work, resulting in a complex structure of the measuring device and low measurement accuracy. In the use of inertial navigation technology, long-term work There will be unavoidable defects such as cumulative error and drift, and it is difficult to guarantee the accuracy for high vibration occasions
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[0059]The invention provides a horizontally moving target-based measuring system for the position and posture data of a roadheader and a measurement method thereof, mainly relating to the positioning technology of the roadheader used in the tunneling of coal mine underground roadways or railway and highway tunnels, including corresponding position and posture parameter measurement devices And its measurement method plays an important role in realizing the automatic control of roadheader.
[0060] The present invention mainly includes a laser pointing device arranged on the roof of the excavation roadway, and the laser scanner is installed by the relevant geological survey department to indicate the centerline and waistline of the excavation roadway, and moves forward manually at regular intervals , to relocate the settings;
[0061] Such as Figure 1 to Figure 3 As shown, the body of the roadheader is provided with two horizontally moving laser targets placed in parallel. Whe...
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The present invention is a roadheader pose data measurement system based on a horizontally moving target and its measurement method, which belongs to the technical field of roadheader pose data measurement; the technical problem to be solved is: to provide a roadheader based on a horizontally moving target Improvement of the hardware structure of the pose data measurement system and its measurement method; the technical solution adopted to solve this technical problem is: including the roadheader and the laser pointing device that is movable on the roof of the tunneling roadway, and the laser pointing device is set on the back side of the roadheading machine , a pair of horizontally moving targets are arranged in parallel on the upper side of the body of the roadheader. The horizontally moving targets include a detection target. The slide rails of the roadheader are arranged parallel to each other on the upper side of the body of the roadheader, and the stepper motor is arranged on the side wall of the body of the roadheader; the interior of the roadheader is also provided with a control circuit board and an inclination sensor; the present invention is applied to the pose data of the roadheader measuring place.
Description
technical field [0001] The invention relates to a horizontally moving target-based measuring system for the position and posture data of a roadheader and a measurement method thereof, which belong to the technical field of measurement of the position and posture data of the roadheader. Background technique [0002] A roadheader is a combined unit capable of cutting, loading and transporting functions. At present, the cantilever roadway heading machine is used in coal and rock excavation sites; during use, the orientation of the roadheader is of great significance to the direction and slope of the roadway. . [0003] In the process of traditional roadway excavation, in order to keep the excavation equipment always in the correct direction of excavation, the driver of the roadheader needs to manually observe at any time and accurately follow the laser pointing point of the laser pointing device for excavation construction; with the quality and efficiency requirements of mine r...
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IPC IPC(8): G01C15/00
CPCG01C15/008
Inventor 田洪现李锦上徐冬冬
Owner BEIJING ELINKCS SCI & TECH CO LTD