Navigation, positioning and automatic cutting method of a cantilever roadheader

Abstract

The invention belongs to the technical field of cantilever roadheaders for coal mine underground roadway operations, and provides a method for navigation, positioning and automatic cutting of a cantilever roadheader, which includes the following steps: S1, arranging a main inertial navigation component on the body of the roadheader and Install the auxiliary inertial navigation component on the cutting arm, and install the automatic total station component on the fixed track erected in the roadway; S2, combine the detection data of the main inertial navigation component and the auxiliary inertial navigation component to calculate the spatial position of the cutting head of the roadheader ; S3, pre-setting the working process path of the cutting head, combined with the section automatic cutting model of the cutting head, controlling the stroke of the lifting cylinder and the rotary cylinder, so that the cutting head moves to the starting position of automatic cutting, according to the process path Start cutting the coal wall automatically. The invention can effectively improve the navigation and positioning accuracy of the body of the roadheader and the automatic cutting accuracy of the space position of the cutting head, and improve the overall navigation and positioning accuracy of the roadheader.

Description

technical field [0001] The invention belongs to the technical field of cantilever-type roadheaders for tunneling operations in coal mines, and in particular relates to a navigation, positioning and automatic cutting method for a cantilever-type roadheader. Background technique [0002] The cantilever roadheader is a very important type of underground mining equipment. It is the most widely used tunneling equipment in the mechanized production of fully mechanized coal tunnels in my country. It is mainly used for cutting partial sections. Its outstanding structural features are A telescopic swingable cantilever is installed on the turret, and a cutting head is installed at the front end of the cantilever. Through the swing of the cantilever and the rotation of the cutting head, the coal and rock can fall off. The operation table of the roadheader can control the operation of the cutting head. Controlling the track, it can cut roadways of various shapes, such as rectangles, arche...

AI Technical Summary

Problems solved by technology

[0006] In the above patent application documents on the position and posture detection of the roadheader, it is necessary to use the cylinder stroke sensor, the inclination sensor, etc. to measure the pitch angle and roll angle of the roadheader. However, the underground environment of the coal mine is relatively harsh. In actual work, The working conditions of the roadheader are relatively complicated, and the vibration of the body is relatively large, which is easy to affect the measurement accuracy of the sensor. After a long time of use, the sensor has a high failure rate, reduced reliability, and difficult maintenance, which seriously affects the service life of the sensor.

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