Method and system for measuring pose parameters of underground dynamic roadheader fuselage

A technology of position and attitude parameters and roadheader, which is applied in the field of measurement methods and systems for the body position and attitude parameters of an underground dynamic roadheader, can solve problems such as difficulty in ensuring the accuracy of the roadway, so as to improve the position and attitude measurement accuracy, improve the driving quality, and improve the The effect of measurement accuracy

Active Publication Date: 2022-04-29
XIAN UNIV OF SCI & TECH
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Problems solved by technology

[0003] Aiming at the defects and deficiencies in the prior art, the present invention provides a method and system for measuring the body position and posture parameters of an underground dynamic roadheader, which solves the problem that the existing roadheader is difficult to ensure the accuracy of the roadway due to the influence of human factors and efficiency problem

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  • Method and system for measuring pose parameters of underground dynamic roadheader fuselage
  • Method and system for measuring pose parameters of underground dynamic roadheader fuselage
  • Method and system for measuring pose parameters of underground dynamic roadheader fuselage

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Embodiment 1

[0063] This embodiment provides a method for measuring the posture parameters of the dynamic tunneling machine body in the mine. The dynamic tunneling machine body posture parameters include the attitude angle of the roadheader body and the distance between the center of the roadheader body and the center axis of the roadway. The attitude angle of the aircraft fuselage is yaw angle, pitch angle and roll angle; One of the two laser targets of the present invention is placed behind the total station for determining the position of the total station in the roadway and establishing the position of the total station. The measurement coordinate system, one is placed at the center of the body of the roadheader for the total station to measure it.

[0064] The total station is a high-precision measuring instrument used to measure the horizontal angle, vertical angle, oblique span and horizontal distance in front of the target prism. The full name of the used total station of the prese...

Embodiment 2

[0092] This embodiment provides a system for measuring pose parameters of an underground dynamic tunneling machine body, including:

[0093] The coordinate establishment module is used to establish the roadway space coordinate system, the roadheader body rigid body coordinate system and the total station measurement coordinate system; and determine the position of the total station in the roadway space coordinate system, so that the total station measurement coordinate system and the roadway The spatial coordinate system establishes a mutual relationship, so that the coordinate values ​​in the measuring coordinate system of the total station are the coordinate values ​​in the roadway spatial coordinate system;

[0094] Specifically, the establishment of the coordinate system by the coordinate establishment module includes:

[0095] Establish the roadway space coordinate system, the starting position of the roadway is the origin, the central axis of the roadway is the y-axis, t...

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Abstract

The invention discloses a method and system for measuring the body position and posture parameters of an underground dynamic roadheader, which establishes a roadway space coordinate system, a total station measurement coordinate, and a roadheader rigid body coordinate system; the total station measurement coordinate system and the roadway space coordinate system are generated The coordinates of the target prism measured by the total station of the roadheader body are the coordinate values ​​in the roadway space coordinate system; the coordinate values ​​of the target prism in the roadheader rigid body coordinate system are known, and through coordinate conversion, the roadway space The coordinate system is converted to the rigid body coordinate system of the roadheader fuselage to obtain the attitude angle of the roadheader. The invention avoids relying on the operator of the roadheader to observe the position of the light spot of the laser pointer on the rock wall with the eyes and relies on experience to judge the posture of the body of the roadheader and adjust the bodywork of the roadheader, which greatly improves the performance of the roadheader. The measurement accuracy of body position and posture avoids the occurrence of over-excavation and under-excavation, and improves the work efficiency and the quality of roadway excavation.

Description

technical field [0001] The invention belongs to the technical field of mine roadheaders, and in particular relates to a method and system for measuring pose parameters of an underground dynamic roadheader body. Background technique [0002] Roadheaders are widely used in tunnel excavation, coal mine roadway excavation and other constructions. In the fully mechanized excavation working face of underground tunnels in coal mines, the traditional orientation method is: hang a laser pointing device behind the roadheader, and the laser pointing device projects the light spot onto the rock wall in front of the roadheader through irradiation, and the driver of the roadheader observes the laser pointing with his eyes The location of the light spot irradiated by the instrument on the rock wall is based on experience to judge the body posture state of the roadheader and adjust the body posture of the roadheader. This method has a lot to do with the experience of the operator. Therefor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C15/00G01C1/00
CPCG01C15/00G01C1/00
Inventor 张旭辉刘博兴张超谢楠张楷鑫周创
Owner XIAN UNIV OF SCI & TECH
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