A system for measuring the position and attitude data of a roadheader and its measurement method

Abstract

The present invention is a roadheader pose data measurement system based on a rotating 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 pose based on a rotating target The improvement of the hardware structure of the data measurement system and its measurement method; the technical solution adopted to solve this technical problem is: including a roadheader and a laser pointing device that is movable on the roof of the tunneling roadway, and the laser pointing device is arranged on the rear side of the roadheading machine A pair of rotating targets are arranged in parallel on the upper side of the machine body of the roadheader. The rotating targets include a connecting rod and a target frame. One end of the connecting rod is welded to the target frame, and the other end of the connecting rod is fixed to the target frame. The action end of the rotating motor set on the body of the roadheader is connected, and the rotating motor is embedded inside the body of the roadheader; the inside of the roadheader is also provided with a control circuit board and an inclination sensor, and the control circuit board is integrated with a micro Controller; the present invention is applied to the position and posture data measurement place of the roadheader.

Description

technical field [0001] The invention relates to a system for measuring position and posture data of a roadheader based on a rotating target and a measurement method thereof, and belongs to the technical field of measurement of position and posture data of a 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 roadway excavation...

AI Technical Summary

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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