Method and system for automatic navigation and positioning cutting of a roadheader

Abstract

The present invention provides a method and system for automatic navigation and positioning cutting of a roadheader, which relates to the technical field of intelligent coal mining. It includes: setting the design azimuth, inclination angle, and section parameters of the driving roadway, automatically leveling and seeking north with a full-automatic gyro total station, searching for the prism of the roadway traverse point in the back view, calculating the geodetic coordinates of the setting station, searching for and tracking the measurement of the geodetic coordinates of the rack prism in the front view, calculating the geodetic coordinates of the cutting head in real time based on the displacement values of the lifting and slewing cylinders and the physical dimensions of the roadheader, and combining the design azimuth, inclination angle, section parameters of the driving roadway and the cutting process to control the actions of the lifting and slewing cylinders of the roadheader, so that the roadheader positions and cuts according to the set parameters and technological processes, and can dynamically correct the position and heading. The present invention calculates the absolute geodetic coordinates of the cutting head and the relative coordinates in the cutting section coordinate system in real time, ensuring the unity of absolute and relative coordinates, and can dynamically correct and compensate for the errors caused by the change of the fuselage attitude during the working process of the roadheader.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, in particular to a method and system for automatic navigation and positioning cutting of a boom roadheader. Background Art

[0002] At present, when a boom roadheader is in the operation of driving a roadway underground, the laser pointer arranged by the surveying and mapping technicians of the production mine based on the roadway traverse points is mainly used, and the laser spot formed on the roadway cross-section is used as the basis for navigation and positioning during the driving operation. During the process of driving a coal mine roadway, the working environment of the driving face is extremely harsh, with high noise, large dust, high humidity, and high temperature. The working labor of personnel is highly dangerous and the labor intensity is high. Although the traditional laser pointer can also meet the requirements of daily production, to a large extent, it depends on the experience of the roadheader driver, has high requirements for the comprehensive quality of personnel, and cannot meet the requirements of intelligent driving.

[0003] At present, relevant technical improvements have also been made for the automatic navigation and positioning cutting of a boom roadheader, but the following problems mainly exist in this technology:

[0004] (1) The boom roadheader advances by the peristalsis of the crawlers on both sides. The encoder cannot accurately measure the traveling mileage and cannot accurately position.

[0005] (2) The coordinate calculation of the cutting head of the boom roadheader adopts the body relative coordinate system, and the real-time absolute position of the cutting head driving cannot be accurately mastered, and the error caused by the change of the body attitude during the working process of the boom roadheader cannot be dynamically corrected and compensated.

[0006] (3) Based on the fixed installation of a fully automatic total station on the traverse point, manual centering on the traverse point and fixed installation are required, and it cannot automatically advance following the tail of the boom roadheader.

[0007] (4) Based on the distance intersection method of the fully automatic total station looking back at two control points, due to the narrow channel shape of the roadway, the horizontal included angle between looking back at the two control points and the total station setting station is too small, and a dangerous circle will appear in the resection calculation, resulting in the failure of the geodetic coordinate calculation.

[0008] (5) For the positioning technology based on point cloud and visual image, due to the very large dust and humidity in the driving face, it cannot be applied normally. Summary of the Invention

[0009] In view of the above problems, the present invention proposes a method and system for automatic navigation and positioning cutting of a boom roadheader.

[0010] The embodiment of the present invention provides a method for automatic navigation and positioning cutting of a boom roadheader, and the method includes:

[0011] The fully automatic gyro total station automatically levels and finds north, and searches for and obtains the three-dimensional geodetic coordinates of the control point prism in the back view;

[0012] The fully automatic gyro total station calculates the three-dimensional geodetic coordinates of the fully automatic gyro total station based on the three-dimensional geodetic coordinates of the control point prism and the inclination angle and inclined distance from the fully automatic gyro total station to the control point prism. Among them, the three-dimensional geodetic coordinates of the fully automatic gyro total station are the three-dimensional geodetic coordinates of the setting station of the fully automatic gyro total station;

[0013] The fully automatic gyro total station searches for and tracks the rack prism in the front view according to its own three-dimensional geodetic coordinates, the designed azimuth and inclination angle of the driving roadway, and measures the three-dimensional geodetic coordinates of the rack prism in real time, and sends the three-dimensional geodetic coordinates of the rack prism to the industrial control computer;

[0014] The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader based on the three-dimensional geodetic coordinates of the rack prism, the parameters of the roadheader, the first displacement value, and the second displacement value. The first displacement value is the value measured by the rotary oil cylinder displacement sensor, and the second displacement value is the value measured by the lifting oil cylinder displacement sensor;

[0015] The industrial control computer controls the actions of the lifting oil cylinder and the rotary oil cylinder of the roadheader based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, in combination with the designed azimuth, inclination angle, section parameters and cutting process of the driving roadway, so that the roadheader positions and cuts according to the set parameters and process flow, and dynamically corrects the position and heading of the roadheader.

[0016] Optionally, the fully automatic gyro total station automatically levels and finds north, and searches for and obtains the three-dimensional geodetic coordinates of the control point prism, including:

[0017] The fully automatic gyro total station automatically levels and finds north;

[0018] After the fully automatic gyro total station completes the leveling and the north finding, it identifies the control point number, and the control point number corresponds to the three-dimensional geodetic coordinates of the control point prism;

[0019] The fully automatic gyro total station obtains the three-dimensional geodetic coordinates of the control point prism based on the control point number;

[0020] Among them, the control point prism is installed on the traverse control point of the driving roadway.

[0021] Optionally, the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader based on the three-dimensional geodetic coordinates of the rack prism, the parameters of the roadheader, the first displacement value, and the second displacement value, including:

[0022] The industrial control computer calculates the horizontal rotation angle of the roadheader according to the first displacement value and the parameters of the roadheader.

[0023] The industrial control computer calculates the vertical lifting angle of the roadheader according to the second displacement value and the parameters of the roadheader.

[0024] The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head according to the horizontal rotation angle, the vertical lifting angle, the parameters of the roadheader, and the three-dimensional geodetic coordinates of the frame prism.

[0025] Optionally, the industrial control computer calculates the horizontal rotation angle of the roadheader according to the first displacement value and the parameters of the roadheader, including:

[0026] The parameters of the roadheader include: defining the zero displacement length value L of the slewing cylinder h0 , the horizontal rotation center point O of the slewing cylinder, the hinge point P between the slewing cylinder and the frame, the hinge point Q between the slewing cylinder and the slewing arm, the longitudinal central axis AOB of the roadheader frame on the same straight line, the longitudinal central axis OT of the cutting arm, the fixed length value L from the hinge point P to the horizontal rotation center point O po , the fixed length value L from the hinge point Q to the horizontal rotation center point O qo , fixed angle values: ∠QOT, ∠AOP;

[0027] Then the industrial control computer calculates the length value L from the hinge point P to the hinge point Q according to the first displacement value and the zero displacement length value L of the slewing cylinder h0 , and pq L h0 = L h + S h , where S

[0028] is the first displacement value; po Since the lengths of the three sides of triangle POQ are known, the industrial control computer calculates according to the fixed length value L from the hinge point P to the horizontal rotation center point O qo , the fixed length value L from the hinge point Q to the horizontal rotation center point O pq , and the length value L from the hinge point P to the hinge point Q

[0029]

[0030] Then: ∠BOQ = 180 - ∠POQ - ∠AOP, and further obtain the horizontal rotation angle A of the roadheader h = ∠BOQ - ∠QOT, Ah i.e., ∠BOT.

[0031] Optionally, the industrial control computer calculates the vertical lifting angle of the roadheader according to the second displacement value and the parameters of the roadheader, including:

[0032] The parameters of the roadheader include: defining the zero displacement length value L of the lifting cylinder v0 , the vertical rotation center point O of the lifting cylinder, the hinge point M between the lifting cylinder and the frame, the hinge point N between the lifting cylinder and the cutting arm, fixed angle values: ∠MOP, ∠ONY, the fixed length value L from the hinge point M to the vertical rotation center point O mo , the fixed length value L from the hinge point N to the vertical rotation center point O no , the fixed angle value ∠MOP when the cutting arm ON is horizontal;

[0033] Then the industrial control computer calculates the length value L from the hinge point M to the hinge point N according to the second displacement value and the zero displacement length value L of the lifting cylinder v0 , where mn L v0 = L v + S v i.e., the second displacement value;

[0034] Since the lengths of the three sides of triangle MON are known, the industrial control computer calculates according to the fixed length value L from the hinge point M to the vertical rotation center point O mo , the fixed length value L from the hinge point N to the vertical rotation center point O no , the length value L from the hinge point M to the hinge point N mn , and combines with the cosine theorem to obtain:

[0035]

[0036] Then the vertical lifting angle A of the roadheader is obtained v = ∠MON - ∠MOP, A v i.e., ∠PON.

[0037] Optionally, the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head according to the horizontal swing angle, the vertical lifting angle, the parameters of the roadheader, and the three-dimensional geodetic coordinates of the prism on the frame, including:

[0038] The parameters of the roadheader include: defining the body coordinate system of the roadheader as the horizontal rotation center point O of the slewing cylinder, the hinge point P between the slewing cylinder and the frame 1 and P 2 , and the hinge point Q between the slewing cylinder and the slewing arm 1and Q 2 A plane formed by five points, namely, is the XOY coordinate system plane. Taking the horizontal rotation center point O of the swing cylinder as the coordinate origin, P 1 and P 2 The midpoint of is A, the straight line AO is the X-axis, and the straight line perpendicular to AO is the Y-axis, forming a right-handed coordinate system;

[0039] Define the outermost point of the cutting head as T, NY is parallel to the central axis of the cutting arm, and point Y is the foot of the perpendicular from T to the straight line NY. Then point T is the position of the cutting head to be calculated, and the fixed length value L from point Y to point T yt , the fixed length value L from point Y to point N ny ;

[0040] The coordinates of the lifting center O point in the fuselage coordinate system can be obtained from the structural geometric parameters of the roadheader: (O x , O y , O z );

[0041] Then the industrial control computer calculates the projected length of the cutting arm on the XOY plane: L ot = L no *cosA v + L ny *cos(∠ONY + A v - 180) + L yt *sin(∠ONY + A v - 180)

[0042] Then the coordinates of the cutting head in the fuselage coordinate system are:

[0043] X’ = O x + L ot *cosA h ;

[0044] Y’ = O y + L ot *sinA h ;

[0045] Z’ = O z + L no *sinA v + L ny *sin(∠ONY + A v - 180) - L yt *cos(∠ONY + A v - 180);

[0046] The industrial control computer receives the Euler angles of the rack measured in real time by the inertial navigation. The Euler angles include: heading angle Y, pitch angle P, and roll angle R;

[0047] Then, according to the Euler angles, the industrial control computer converts the coordinates of the cutting head in the fuselage coordinate system into a three-dimensional geodetic coordinate system. The rotation matrix used for the conversion is as follows:

[0048]

[0049] Where:

[0050]

[0051]

[0052]

[0053] Among them, represents the rotation matrix for the conversion from the fuselage coordinate system to the geodetic coordinate system;

[0054] T 横 represents the rotation matrix in the roll direction when converting from the fuselage coordinate system to the geodetic coordinate system;

[0055] T 俯 represents the rotation matrix in the pitch direction when converting from the fuselage coordinate system to the geodetic coordinate system;

[0056] T 航 represents the rotation matrix in the heading direction when converting from the fuselage coordinate system to the geodetic coordinate system;

[0057] If the fuselage prism target point is defined as A, and its coordinates in the fuselage coordinate system are (X’ A , Y’ A , Z’ A ), and its coordinates obtained by the full-automatic gyro total station in the three-dimensional geodetic coordinate system are (X A , Y A , Z A ), then the translation vector for the conversion of the fuselage prism from the fuselage coordinate to the three-dimensional geodetic coordinate is:

[0058]

[0059] Then, according to the fuselage coordinates (X’, Y’, Z’) of the outermost endpoint T of the cutting head, the matrix expression of the three-dimensional geodetic coordinates of the cutting head obtained by calculation is:

[0060]

[0061] According to the above method, the three-dimensional geodetic coordinates of the cutting head can be obtained by calculation.

[0062] Optionally, based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, the industrial control computer combines the designed azimuth, inclination angle, section parameters of the driving roadway and the cutting process to control the actions of the lifting cylinder and slewing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and technological process, and dynamically corrects the position and heading of the roadheader. It includes:

[0063] The industrial control computer determines the initial position for positioning and cutting based on the cutting section coordinate system;

[0064] The industrial control computer calculates the cutting path corresponding to the cutting head and the navigation correction parameters of the roadheader according to the three-dimensional geodetic coordinates of the cutting head, the initial position for positioning and cutting, in combination with the Euler angles and the cutting section coordinate system of the cutting head. The cutting path enables the roadheader to position and cut according to the set parameters and technological process, and the navigation correction parameters are used to dynamically correct the position and heading of the roadheader;

[0065] Based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, the industrial control computer combines the designed azimuth, inclination angle, section parameters of the driving roadway and the cutting process to control the actions of the lifting cylinder and slewing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and technological process, and dynamically corrects the position and heading of the roadheader.

[0066] Optionally, the cutting section coordinate system of the cutting head is defined as follows:

[0067] Taking a rectangular section as an example:

[0068] Based on the coordinate origin position of the cutting head, the cutting section coordinate system is defined: the height of the rectangular section is h meters, the width is w meters. Taking the longitudinal section perpendicular to the roadway center line passing through the coordinate origin of the cutting head as the coordinate plane, the straight line parallel to the section width w direction and passing through the origin 0 is the X-axis, and the straight line parallel to the section height h direction and passing through the origin 0 is the Y-axis;

[0069] The definition of the coordinate origin position of the cutting head: taking the slewing angle of the cutting arm as 0 degrees, and the azimuth angle of the central axis of the cutting arm as the designed azimuth angle of the roadway.

[0070] An embodiment of the present invention provides a system for automatic navigation and positioning cutting of a roadheader. The system uses the method described in any one of the above to implement the method for automatic navigation and positioning cutting of the roadheader. The system includes: an industrial control computer, a full-automatic gyro total station, an inertial navigation, a frame prism, a control point prism, a lifting cylinder displacement sensor, and a slewing cylinder displacement sensor;

[0071] The industrial control computer interacts with the fully automatic gyro total station. The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader, calculates the cutting path corresponding to the cutting head, and calculates the navigation correction parameters of the roadheader, and sends them to the fully automatic gyro total station. The industrial control computer is an industrial computer installed with an operating system, and a control program for the automatic navigation of the roadheader based on three-dimensional geodetic coordinates and a control program for the positioning cutting system are deployed in the industrial control computer;

[0072] The fully automatic gyro total station works together with the inertial navigation, the frame prism, and the control point prism, obtains the three-dimensional geodetic coordinates of the frame prism and sends them to the industrial control computer. The fully automatic gyro total station is a measurement platform integrating automatic north seeking, automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, and automatic storage. The fully automatic gyro total station has a shock absorption function to prevent the vibration generated during the tunneling process and the overall propulsion process from damaging and affecting the fully automatic gyro total station;

[0073] The inertial navigation interacts with the fully automatic gyro total station and is used to measure the Euler angles of the roadheader frame in real time. The inertial navigation is rigidly installed on the roadheader frame and moves together with the roadheader. When the inertial navigation works, it does not depend on external information and does not radiate energy to the outside, and is not easily interfered. It is an autonomous navigation system;

[0074] The frame prism interacts with the fully automatic gyro total station. The frame prism is rigidly installed on the frame of the roadheader facing the fully automatic gyro total station. The frame prism moves together with the roadheader. The roadheader, the inertial navigation, and the frame prism are rigidly connected and move as a whole;

[0075] The control point prism interacts with the fully automatic gyro total station. The control point prism is an optical target device measured by the fully automatic gyro total station, and the control point prism is installed on the traverse control point on the roof of the tunneling roadway;

[0076] The lift cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the lift cylinder;

[0077] The slewing cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the slewing cylinder.

[0078] Optionally, the fully automatic gyro total station is fixedly installed on the tail roadway or the top of the centralized control cabin. The fully automatic gyro total station is fixedly installed or non-fixedly installed;

[0079] The fixed installation refers to a one-time fixed installation, and the protective cover can be opened and closed;

[0080] The non-fixed installation means that through hydraulic or motor drive, the fully automatic gyro total station extends to a proper position during operation and retracts and is sealed and packed into the protective cover when not in operation.

[0081] For the method for automatic navigation and positioning cutting of a roadheader provided by the present invention, the fully automatic gyro total station acquires the three-dimensional geodetic coordinates of the control point prism; then, based on the three-dimensional geodetic coordinates of the control point prism, and the horizontal angle, inclination angle, and inclined distance from the fully automatic gyro total station to the control point prism, the three-dimensional geodetic coordinates of the fully automatic gyro total station are calculated. After that, based on its own three-dimensional geodetic coordinates, as well as the designed azimuth and inclination angle of the tunneling roadway, the fully automatic gyro total station searches forward and tracks the measurement of the frame prism, and the three-dimensional geodetic coordinates of the frame prism are measured in real time and sent to the industrial control computer.

[0082] Based on the three-dimensional geodetic coordinates of the frame prism, as well as the parameters of the roadheader, the first displacement value, and the second displacement value, the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader. Then, based on the three-dimensional geodetic coordinates of the cutting head, the industrial control computer calculates the cutting path corresponding to the cutting head and the navigation correction parameters of the roadheader, and sends them to the fully automatic gyro total station; the fully automatic gyro total station controls the roadheader to excavate according to the cutting path, and controls the roadheader to perform automatic navigation and propulsion according to the navigation correction parameters.

[0083] The method of the present invention enables the roadheader to perform navigation and positioning based on absolute geodetic coordinates, and can dynamically correct and compensate for the errors caused by the change of the body attitude during the operation of the roadheader. Based on the reliable high-precision measurement of the fully automatic gyro total station at the millimeter level, without using the positioning technologies of point cloud and visual image, it is basically not affected by the dust and humidity of the tunneling working face, ensuring the continuous high precision of the navigation and positioning of the roadheader. During the working process, the industrial control computer calculates the absolute geodetic coordinates of the cutting head and the relative coordinates in the cutting section coordinate system in real time, ensuring the unity of the absolute and relative. In addition, there are no strict restrictions and requirements for the initial state of the roadheader, and the cutting path of the cutting head can be dynamically planned based on the body prism coordinates and the Euler angles of the body inertial navigation. By using the fully automatic gyro total station, the north is searched with high precision, and only one traverse point is required for backsight, without using the method of distance intersection of two control points for backsight and manual maintenance, which will not cause the failure of the geodetic coordinate calculation. The fully automatic gyro total station automatically levels and advances automatically following the tail of the roadheader. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the drawings, like reference numerals are used to denote like components. In the drawings:

[0085] Figure 1 is a flowchart of the method for automatic navigation and positioning cutting of a roadheader according to an embodiment of the present invention;

[0086] Figure 2 is a schematic top view structure of a roadheader according to an embodiment of the present invention Figure 1 ;

[0087] Figure 3 is a schematic top view structure of a roadheader according to an embodiment of the present invention Figure 2 ;

[0088] Figure 4 is a schematic side view structure of a roadheader according to an embodiment of the present invention Figure 1 ;

[0089] Figure 5 is a geometric schematic diagram of the vertical lifting of a roadheader according to an embodiment of the present invention;

[0090] Figure 6 is a geometric schematic diagram of the horizontal rotation of a roadheader according to an embodiment of the present invention;

[0091] Figure 7 is a schematic side structure of a roadheader according to an embodiment of the present invention Figure 2 ;

[0092] Figure 8 is a geometric calculation schematic diagram of the cutting head during the vertical lifting of a roadheader according to an embodiment of the present invention;

[0093] Figure 9 is a schematic diagram defining the cutting section coordinate system and the cutting path taking a rectangular section as an example according to an embodiment of the present invention. Detailed Embodiments

[0094] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, which are only a part of the embodiments of the present invention, rather than all of the embodiments, and are not used to limit the present invention.

[0095] Referring to Figure 1 , a flowchart of the method for automatic navigation and positioning cutting of a roadheader according to an embodiment of the present invention is shown, and the method includes:

[0096] Step 101: The fully automatic gyro total station automatically levels and finds north, and then searches backward to obtain the three-dimensional geodetic coordinates of the control point prism.

[0097] For the method of automatic navigation and positioning cutting of the cantilever roadheader according to the embodiments of the present invention, the three-dimensional geodetic coordinates of the control point prism need to be obtained first. Generally, the control point prism is installed on the traverse control point on the roof of the driving roadway, and based on its installation location, its three-dimensional geodetic coordinates can be obtained. The specific obtaining methods include:

[0098] After the fully automatic gyro total station starts working, it first needs to automatically level and find north, which is the basis for obtaining the three-dimensional geodetic coordinates. After the fully automatic gyro total station completes leveling and finding north, it can search backward and identify the control point number, and this control point number corresponds to the position of the control point prism; finally, the fully automatic gyro total station can obtain the three-dimensional geodetic coordinates of the control point prism based on the control point number.

[0099] Step 102: The fully automatic gyro total station calculates its own three-dimensional geodetic coordinates according to the three-dimensional geodetic coordinates of the control point prism, and the inclination angle and inclined distance from the fully automatic gyro total station to the control point prism, where the three-dimensional geodetic coordinates of the fully automatic gyro total station are the three-dimensional geodetic coordinates of the instrument setting station of the fully automatic gyro total station.

[0100] In the embodiments of the present invention, after obtaining the three-dimensional geodetic coordinates of the control point prism, the fully automatic gyro total station can calculate its own three-dimensional geodetic coordinates according to the three-dimensional geodetic coordinates of the control point prism, and the inclination angle and inclined distance from the fully automatic gyro total station to the control point prism. Among these two parameters, the inclination angle and inclined distance from the fully automatic gyro total station to the control point prism can be automatically obtained by the fully automatic gyro total station. Combining these two parameters with the three-dimensional geodetic coordinates of the control point prism, the fully automatic gyro total station can accurately obtain its own three-dimensional geodetic coordinates.

[0101] It should be noted that the fully automatic gyro total station can be fixedly installed on the tail roadway or the top of the centralized control cabin. The fully automatic gyro total station can be either fixedly installed or non-fixedly installed. Fixed installation means a one-time fixed installation, and the protective cover can be opened and closed; non-fixed installation means that through hydraulic or motor drive, the fully automatic gyro total station extends to a suitable position during operation and retracts and is sealed in the protective cover when not in use to prevent water, dust, and collision. Regardless of which installation method, the installation position of the fully automatic gyro total station is its instrument setting station. Therefore, the three-dimensional geodetic coordinates of the fully automatic gyro total station are the three-dimensional geodetic coordinates of the instrument setting station of the fully automatic gyro total station.

[0102] Step 103: According to its own three-dimensional geodetic coordinates, as well as the designed azimuth and inclination angle of the tunneling roadway, the fully automatic gyro total station searches forward and tracks the rack prism, and measures the three-dimensional geodetic coordinates of the rack prism in real time, and sends the three-dimensional geodetic coordinates of the rack prism to the industrial control computer.

[0103] In the embodiment of the present invention, after the fully automatic gyro total station obtains its own three-dimensional geodetic coordinates, it is necessary to search forward and track the rack prism according to its own three-dimensional geodetic coordinates, as well as the designed azimuth and inclination angle of the tunneling roadway. After successfully searching and tracking the rack prism, the fully automatic gyro total station can measure the three-dimensional geodetic coordinates of the rack prism in real time, and at the same time send the three-dimensional geodetic coordinates of the rack prism to the industrial control computer.

[0104] Step 104: The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader according to the three-dimensional geodetic coordinates of the rack prism, as well as the parameters of the roadheader, the first displacement value, and the second displacement value. The first displacement value is the value measured by the rotary oil cylinder displacement sensor, and the second displacement value is the value measured by the lifting oil cylinder displacement sensor.

[0105] In the embodiment of the present invention, after the industrial control computer receives the three-dimensional geodetic coordinates of the rack prism, it will also receive the first displacement value and the second displacement value at the same time. The so-called first displacement value is the value measured by the rotary oil cylinder displacement sensor, and the so-called second displacement value is the value measured by the lifting oil cylinder displacement sensor.

[0106] The parameters of the roadheader can generally be measured after the roadheader is manufactured and can be input into the industrial control computer by the staff. After obtaining the above parameters, the industrial control computer can calculate the three-dimensional geodetic coordinates of the cutting head of the roadheader according to the three-dimensional geodetic coordinates of the rack prism, as well as the parameters of the roadheader, the first displacement value, and the second displacement value. In the specific calculation process, it can be divided into the following three steps:

[0107] Step S1: The industrial control computer calculates the horizontal rotation angle of the roadheader according to the first displacement value and the parameters of the roadheader.

[0108] In the embodiment of the present invention, in the process of calculating the horizontal rotation angle of the roadheader, the parameters of the roadheader used include: defining the zero displacement length value L of the rotary oil cylinder h0 、the horizontal rotation center point O of the rotary oil cylinder, the hinge point P between the rotary oil cylinder and the rack, the hinge point Q between the rotary oil cylinder and the rotary arm, the longitudinal central axis AOB of the rack of the roadheader on the same straight line, the longitudinal central axis OT of the cutting arm, the fixed length value L from the hinge point P to the horizontal rotation center point O po 、the fixed length value L from the hinge point Q to the horizontal rotation center point O qo, Fixed angle values: ∠QOT, ∠AOP. The parameters can be specifically combined with Figure 2 , Figure 3 The top view structural schematic diagram of the roadheader shown in Figure 2 , Figure 3 All include: slewing cylinder 10, frame 20, slewing arm 30, cutting arm 40.

[0109] Based on the above parameters, the industrial control computer calculates the length value L from hinge point P to hinge point Q according to the first displacement value and the zero displacement length value L of the slewing cylinder h0 , pq = L h0 + S h , where S h is the first displacement value; since the lengths of the three sides of triangle POQ are known, the industrial control computer calculates according to the fixed length value L from hinge point P to the horizontal rotation center point O po , the fixed length value L from hinge point Q to the horizontal rotation center point O qo , the length value L from hinge point P to hinge point Q pq , and combined with the cosine theorem, we can get:

[0110]

[0111] Then: ∠BOQ = 180 - ∠POQ - ∠AOP, and further the horizontal slewing angle A of the roadheader can be obtained h = ∠BOQ - ∠QOT, A h That is, ∠BOT.

[0112] Step S2: The industrial control computer calculates the vertical lifting angle of the roadheader according to the second displacement value and the parameters of the roadheader.

[0113] In the embodiment of the present invention, during the process of calculating the vertical lifting angle of the roadheader, the parameters of the roadheader used include: defining the zero displacement length value L of the lifting cylinder v0 , the vertical rotation center point O of the lifting cylinder, the hinge point M between the lifting cylinder and the frame, the hinge point N between the lifting cylinder and the cutting arm, fixed angle values: ∠MOP, ∠ONY, the fixed length value L from hinge point M to the vertical rotation center point O mo , the fixed length value L from hinge point N to the vertical rotation center point O no , the fixed angle value ∠MOP when the cutting arm ON is horizontal. The parameters can be specifically combined with Figure 4 The side view structural schematic of the roadheader shown in Figure 1 , and Figure 5 The vertical lifting displacement schematic diagram of the roadheader shown in

[0114] Figure 4 It includes: a lifting oil cylinder 50, a frame 20, a cutting arm 40, and a cutting head 60. Figure 5 In it, N1 and N2 respectively represent the positions of the hinge points N of the lifting oil cylinder and the cutting arm at different lifting heights. Y1 and Y2 respectively represent the positions of point Y at different lifting heights of the roadheader. The meaning of point Y will be explained below and will not be elaborated for now.

[0115] Based on the above parameters, the industrial control computer calculates the length value L from the hinge point M to the hinge point N according to the second displacement value and the zero displacement length value L of the lifting oil cylinder v0 , mn L v0 = L v + S v , where S mo is the second displacement value; since the lengths of the three sides of triangle MON are known, the industrial control computer calculates according to the fixed length value L no from the hinge point M to the vertical rotation center point O, the fixed length value L mn from the hinge point N to the vertical rotation center point O, and the length value L

[0116]

[0117] from the hinge point M to the hinge point N, and combines the cosine theorem to obtain: v Then the industrial control computer obtains the vertical lifting angle A v of the roadheader = ∠MON - ∠MOP, A

[0118] That is, ∠PON.

[0119] In the embodiment of the present invention, after obtaining the horizontal rotation angle and the vertical lifting angle of the roadheader, the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head according to the horizontal rotation angle, the vertical lifting angle, the parameters of the roadheader, and the three-dimensional geodetic coordinates of the frame prism. Specifically, in the process of calculating the three-dimensional geodetic coordinates of the cutting head, the parameters of the roadheader used include: defining the body coordinate system of the roadheader as a plane XOY coordinate system plane formed by a total of five points, namely the horizontal rotation center point O of the slewing cylinder, the hinge points P 1 and P 2 of the slewing cylinder and the frame, and the hinge points Q 1 and Q 2 of the slewing cylinder and the slewing arm. Taking the horizontal rotation center point O of the slewing cylinder as the coordinate origin, P 1 and P 2The midpoint is A, the straight line AO is the X-axis, and the straight line perpendicular to AO is the Y-axis, forming a right-handed coordinate system. This coordinate system is obtained from Figure 6 to get an intuitive understanding.

[0120] Define the outermost point of the cutting head as T, NY is parallel to the central axis of the cutting arm, and the point Y is the foot of the perpendicular from T to the straight line NY. Then the point T is the position of the cutting head to be calculated, and the fixed length value L from point Y to point T yt , and the fixed length value Lny from point Y to point N. From Figure 7 The schematic side structure of the roadheader shown Figure 2 can be intuitively understood. Figure 7 includes: the lifting cylinder 50, the frame 20, the cutting arm 40, and the cutting head 60. Refer to Figure 8 the schematic diagram shown for the displacement of the cutting head during the vertical lifting of the side view of the roadheader.

[0121] And the coordinates of the lifting center O point in the body coordinate system can be obtained from the geometric parameters of the roadheader structure: (O x , O y , O z );

[0122] Then the industrial control computer calculates the projected length of the cutting arm on the XOY plane: L ot = L no *cosA v + L ny *cos(∠ONY + A v - 180) + L yt *sin(∠ONY + A v - 180)

[0123] Then the coordinates of the cutting head in the body coordinate system are:

[0124] X’ = O x + L ot *cosA h ;

[0125] Y’ = O y + L ot *sinA h ;

[0126] Z’ = O z + L no *sinA v + L ny *sin(∠ONY + A v - 180) - L yt *cos(∠ONY + A v - 180);

[0127] The industrial control computer receives the Euler angles of the frame measured in real time by the inertial navigation system. The Euler angles include: heading angle Y, pitch angle P, and roll angle R. Then, based on the Euler angles, the industrial control computer converts the coordinates of the cutting head in the body coordinate system into a three-dimensional geodetic coordinate system. The rotation matrix used for the conversion is as follows:

[0128]

[0129] Where:

[0130]

[0131]

[0132]

[0133] Among them, represents the rotation matrix for the conversion from the body coordinate system to the geodetic coordinate system;

[0134] T 横 represents the rotation matrix in the roll direction when converting from the body coordinate system to the geodetic coordinate system;

[0135] T 俯 represents the rotation matrix in the pitch direction when converting from the body coordinate system to the geodetic coordinate system;

[0136] T 航 represents the rotation matrix in the heading direction when converting from the body coordinate system to the geodetic coordinate system;

[0137] If the body prism target point is defined as A, and its coordinates in the body coordinate system are (X’ A , Y’ A , Z’ A ), and its coordinates obtained by the full-automatic gyro total station in the three-dimensional geodetic coordinate system are (X A , Y A , Z A ), then the translation vector for the conversion of the body prism from the body coordinate to the three-dimensional geodetic coordinate is:

[0138]

[0139] Then, based on the body coordinates (X’, Y’, Z’) of the outermost point T of the cutting head, the matrix expression of the three-dimensional geodetic coordinates of the cutting head obtained by calculation is:

[0140]

[0141] According to the above method, the industrial control computer can calculate the three-dimensional geodetic coordinates of the cutting head.

[0142] Step 105: Based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, the industrial control computer combines the designed azimuth, inclination, section parameters of the driving roadway and the cutting process to control the actions of the lifting cylinder and slewing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and technological process, and dynamically corrects the position and heading of the roadheader.

[0143] In the embodiment of the present invention, after the industrial control computer obtains the three-dimensional geodetic coordinates of the cutting head, it can calculate the cutting path corresponding to the cutting head and the navigation correction parameters of the roadheader according to the three-dimensional geodetic coordinates of the cutting head. Specifically:

[0144] The industrial control computer first determines the initial position of positioning cutting; then, according to the three-dimensional geodetic coordinates of the cutting head, the initial position of positioning cutting, combined with the Euler angles and the cutting section coordinate system of the cutting head, calculates the cutting path corresponding to the cutting head and the navigation correction parameters of the roadheader. The cutting path enables the roadheader to position and cut according to the set parameters and technological process, and the navigation correction parameters are used to dynamically correct the position and heading of the roadheader.

[0145] Among them, the definition of the cutting section coordinate system of the cutting head is as follows:

[0146] In the embodiment of the present invention, taking a rectangular section as an example:

[0147] Define the cutting section coordinate system based on the coordinate origin position of the cutting head: the height of the rectangular section is h meters, the width is w meters, the longitudinal section perpendicular to the roadway center line passing through the coordinate origin of the cutting head is used as the coordinate plane, the straight line parallel to the section width w direction and passing through the origin 0 is used as the X axis, and the straight line parallel to the section height h direction and passing through the origin 0 is used as the Y axis; the definition of the coordinate origin position of the cutting head: when the slewing angle of the cutting arm is 0 degrees, the azimuth angle of the central axis of the cutting arm is the designed azimuth angle of the roadway.

[0148] The cutting path of the cutting head can be: based on the initial position of positioning cutting and the real-time geodetic coordinates of the cutting head, combined with the Euler angles of the body inertial navigation, dynamically correct and compensate for the spatial calculation deviation, and by controlling the horizontal slewing cylinder and vertical lifting cylinder of the roadheader, make the roadheader head move upward along the Y axis to the top of the roadway; then cut the entire section from left to right along the X axis and from top to bottom along the Y axis in sequence according to the driving size of the roadheader head; finally, the cutting head returns to the coordinate origin O upward along the Y axis in the middle to complete one operation cycle. The section types in the embodiment of the present invention include: rectangular section, trapezoidal section, arched section. Taking the rectangular section as an example here, it can be Figure 9 intuitively understood.

[0149] In an embodiment of the present invention, based on the three-dimensional geodetic coordinates of the cutting head of a roadheader, the industrial control computer combines the designed azimuth, inclination angle, cross-section parameters of the driving roadway and the cutting process to control the actions of the lifting cylinder and the slewing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and process flow, and dynamically corrects the position and heading of the roadheader.

[0150] In an embodiment of the present invention, based on the above method for automatic navigation and positioning cutting of a roadheader, a system for automatic navigation and positioning cutting of a roadheader is further proposed. This system uses the method described in any one of steps 101 to 105 above to realize the method for automatic navigation and positioning cutting of a roadheader. The system includes: an industrial control computer, a fully automatic gyro total station, an inertial navigation system, a frame prism, a control point prism, a lifting cylinder displacement sensor, and a slewing cylinder displacement sensor;

[0151] The industrial control computer interacts with the fully automatic gyro total station. The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader, calculates the cutting path corresponding to the cutting head, and the navigation correction parameters of the roadheader. The industrial control computer is an industrial computer installed with an operating system. In the industrial control computer, a control program for automatic navigation of the roadheader based on three-dimensional geodetic coordinates and a control program for the positioning cutting system are deployed;

[0152] The fully automatic gyro total station works together with the inertial navigation system, the frame prism, and the control point prism to obtain the three-dimensional geodetic coordinates of the frame prism and send them to the industrial control computer. The fully automatic gyro total station is a measurement platform integrating automatic north seeking, automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, and automatic storage. The fully automatic gyro total station has a shock absorption function to prevent the vibration damage and influence caused by the tunneling process and the overall propulsion process on the fully automatic gyro total station;

[0153] The inertial navigation system interacts with the fully automatic gyro total station and is used to measure the Euler angles of the roadheader frame in real time. The inertial navigation system is rigidly installed on the roadheader frame and moves together with the roadheader. When the inertial navigation system works, it does not depend on external information and does not radiate energy to the outside, and is not easily interfered with. It is an autonomous navigation system;

[0154] The frame prism interacts with the fully automatic gyro total station. The frame prism is rigidly installed on the roadheader frame on the side facing the fully automatic gyro total station. The frame prism moves together with the roadheader. The roadheader, the inertial navigation system, and the frame prism are rigidly connected and move as a whole;

[0155] The control point prism interacts with the full-automatic gyro total station. The control point prism is an optical target device measured by the full-automatic gyro total station, and the control point prism is installed on the traverse control point on the roof of the driving roadway.

[0156] The lifting cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the lifting cylinder.

[0157] The slewing cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the slewing cylinder.

[0158] Optionally, the full-automatic gyro total station is fixedly installed on the top of the tail roadway or the centralized control cabin. The full-automatic gyro total station can be fixedly installed or non-fixedly installed.

[0159] The fixed installation means a one-time fixed installation, and the protective cover can be opened and closed. The non-fixed installation means that through hydraulic or motor drive, the full-automatic gyro total station extends to a suitable position during operation and retracts and is sealed in the protective cover when not in operation to prevent water, dust and collision.

[0160] In summary, for the method of automatic navigation and positioning cutting of the cantilever roadheader of the present invention, the full-automatic gyro total station obtains the three-dimensional geodetic coordinates of the control point prism; then, based on the three-dimensional geodetic coordinates of the control point prism, and the inclination angle and inclined distance from the full-automatic gyro total station to the control point prism, the three-dimensional geodetic coordinates of the full-automatic gyro total station are calculated. After that, the full-automatic gyro total station, according to its own three-dimensional geodetic coordinates, as well as the designed azimuth and inclination angle of the driving roadway, searches forward and tracks and measures the rack prism, and obtains the three-dimensional geodetic coordinates of the rack prism in real time, and sends the three-dimensional geodetic coordinates of the rack prism to the industrial control computer.

[0161] The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the cantilever roadheader based on the three-dimensional geodetic coordinates of the rack prism, as well as the parameters of the cantilever roadheader, the first displacement value and the second displacement value. Then, the industrial control computer calculates the cutting path corresponding to the cutting head and the navigation correction parameters of the cantilever roadheader according to the three-dimensional geodetic coordinates of the cutting head; the industrial control computer controls the cantilever roadheader to excavate according to the cutting path and controls the cantilever roadheader to perform automatic navigation and propulsion according to the navigation correction parameters.

[0162] The method of the present invention enables the navigation and positioning of a roadheader based on absolute geodetic coordinates, and can dynamically correct and compensate for the errors caused by the change of the fuselage attitude during the operation of the roadheader. Based on the reliable high-precision measurement of millimeters by a fully automatic gyro total station, without using the positioning technology of point clouds and visual images, it is basically not affected by the dust and humidity of the tunneling working face, ensuring the continuous high precision of the navigation and positioning of the roadheader. During the operation, the industrial control computer calculates the absolute geodetic coordinates of the cutting head and the relative coordinates in the cutting section coordinate system in real time, ensuring the unity of the absolute and relative coordinates. In addition, there are no strict restrictions and requirements on the initial state of the roadheader, and the cutting path of the cutting head can be dynamically planned based on the prism coordinates of the fuselage and the Euler angles of the inertial navigation of the fuselage. By using a fully automatic gyro total station, the north can be accurately found, and only one traverse point is required for backsight. There is no need to use the method of distance intersection of two control points for backsight and manual maintenance, which will not cause the failure of the geodetic coordinate calculation. The fully automatic gyro total station automatically levels and advances automatically following the tail of the roadheader.

[0163] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0164] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0165] The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the purpose of the present invention and the scope protected by the claims, and all of these fall within the protection scope of the present invention.

Claims

1. A method for automatic navigation and positioning cutting of a roadheader, characterized in that, the method includes: The fully automatic gyro total station automatically levels and finds north, and searches and obtains the three-dimensional geodetic coordinates of the control point prism in the back view; The fully automatic gyro total station calculates the three-dimensional geodetic coordinates of the fully automatic gyro total station according to the three-dimensional geodetic coordinates of the control point prism and the inclination angle and inclined distance from the fully automatic gyro total station to the control point prism, wherein the three-dimensional geodetic coordinates of the fully automatic gyro total station are the three-dimensional geodetic coordinates of the set-up point of the fully automatic gyro total station; The fully automatic gyro total station searches and tracks the rack prism in the front view according to its own three-dimensional geodetic coordinates, as well as the designed azimuth and inclination angle of the driving roadway, and measures the three-dimensional geodetic coordinates of the rack prism in real time, and sends the three-dimensional geodetic coordinates of the rack prism to the industrial control computer; The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader according to the three-dimensional geodetic coordinates of the rack prism, as well as the parameters of the roadheader, the first displacement value, and the second displacement value. The first displacement value is the value measured by the swing cylinder displacement sensor, and the second displacement value is the value measured by the lifting cylinder displacement sensor; Based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, the industrial control computer combines the designed azimuth, inclination angle, section parameters and cutting process of the driving roadway to control the actions of the lifting cylinder and swing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and process flow, and dynamically corrects the position and heading of the roadheader; The parameters of the roadheader include: defining the zero displacement length value L of the slewing cylinder h0 , the horizontal rotation center point O of the slewing cylinder, the hinge point P between the slewing cylinder and the frame, the hinge point Q between the slewing cylinder and the slewing arm, the longitudinal central axis AOB of the roadheader frame on the same straight line, the longitudinal central axis OT of the cutting arm, and the fixed length value L from the hinge point P to the horizontal rotation center point O po , the fixed length value L from the hinge point Q to the horizontal rotation center point O qo , fixed angle values: ∠QOT, ∠AOP; The lifting cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the lifting cylinder; The swing cylinder displacement sensor interacts with the industrial control computer and is used to measure the displacement value of the swing cylinder; Among them, the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader according to the three-dimensional geodetic coordinates of the rack prism, as well as the parameters of the roadheader, the first displacement value, and the second displacement value, including: The industrial control computer calculates the length value L from the hinge point P to the hinge point Q based on the first displacement value and the zero displacement length value L of the slewing cylinder h0 , where the length value L pq = Lh 0 + Sh, where Sh is the first displacement value Since the lengths of the three sides of triangle POQ are known, the industrial control computer calculates according to the fixed length value L from the hinge point P to the horizontal rotation center point O po , the fixed length value L from the hinge point Q to the horizontal rotation center point O qo , the length value L from the hinge point P to the hinge point Q pq , and obtains according to the cosine theorem: Then: ∠BOQ = 180 - ∠POQ - ∠AOP, and then the horizontal swing angle Ah of the roadheader is obtained as Ah = ∠BOQ - ∠QOT, and Ah is ∠BOT; The parameters of the cantilever roadheader include: defining the zero-displacement length value L of the lifting cylinder v0 , the vertical rotation center point O of the lifting cylinder, the hinge point M between the lifting cylinder and the frame, the hinge point N between the lifting cylinder and the cutting arm, fixed angle values: ∠MOP, ∠ONY, the fixed length value L from the hinge point M to the vertical rotation center point O mo , the fixed length value L from the hinge point N to the vertical rotation center point O no , the fixed angle value ∠MOP when the cutting arm ON is horizontal; Then, according to the second displacement value and the zero displacement length value L of the lifting oil cylinder, the industrial control computer v0 calculates the length value L from the hinge point M to the hinge point N mn = Lv0 + Sv, where Sv is the second displacement value. Since the lengths of the three sides of triangle MON are known, the industrial control computer calculates based on the fixed length value L from the hinge point M to the vertical rotation center point O mo , the fixed length value L from the hinge point N to the vertical rotation center point O no , the length value L from the hinge point M to the hinge point N mn , and by combining with the cosine theorem, it is obtained that: Then the vertical lifting angle A of the roadheader is obtained. v = ∠MON - ∠MOP, A v That is, ∠PON; The industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head according to the horizontal swing angle, the vertical lifting angle, the parameters of the roadheader, and the three-dimensional geodetic coordinates of the rack prism.

2. The method according to claim 1, characterized in that, The fully automatic gyro total station automatically levels and finds north, and searches and obtains the three-dimensional geodetic coordinates of the control point prism in the back view, including: The fully automatic gyro total station automatically levels and finds north; After the fully automatic gyro total station completes the leveling and finding north, it identifies the control point number, and the control point number corresponds to the three-dimensional geodetic coordinates of the control point prism; The fully automatic gyro total station obtains the three-dimensional geodetic coordinates of the control point prism based on the control point number; Among them, the control point prism is installed on the traverse control point of the driving roadway.

3. The method according to claim 1, It is characterized in that the industrial control computer calculates the three-dimensional geodetic coordinates of the cutting head based on the horizontal rotation angle, the vertical lifting angle, the parameters of the roadheader, and the three-dimensional geodetic coordinates of the frame prism, including: The parameters of the roadheader include: defining the body coordinate system of the roadheader as a plane XOY coordinate system plane formed by five points, namely the horizontal rotation center point O of the slewing cylinder, the hinge point P between the slewing cylinder and the frame 1 and P 2 , the hinge point Q between the slewing cylinder and the slewing arm 1 and Q 2 , with the horizontal rotation center point O of the slewing cylinder as the coordinate origin, the midpoint of P 1 and P 2 being A, the straight line AO being the X-axis, and the straight line perpendicular to AO being the Y-axis, forming a right-handed coordinate system; Define the outermost end point of the cutting head as T, NY is parallel to the central axis of the cutting arm, and point Y is the foot of the perpendicular from T to the straight line NY. Then point T is the position of the cutting head to be calculated, the fixed length value Lyt from point Y to point T, and the fixed length value Lny from point Y to point N; The coordinates of the lifting center O point in the fuselage coordinate system can be obtained from the structural geometric parameters of the roadheader: (Ox, Oy, Oz); Then the industrial control computer calculates the projected length of the cutting arm on the XOY plane: Lot = Lno * cosAv + Lny * cos(∠ONY + Av - 180) + Lyt * sin(∠ONY + Av - 180) Then the coordinates of the cutting head in the fuselage coordinate system are: X’ = Ox + Lot * cosAh; Y’ = Oy + Lot * sinAh; Z’ = Oz + Lno * sinAv + Lny * sin(∠ONY + Av - 180) - Lyt * cos(∠ONY + Av - 180); The industrial control computer receives the Euler angles of the frame measured in real time by the inertial navigation. The Euler angles include: heading angle Y, pitch angle P, and roll angle R; Then the industrial control computer converts the coordinates of the cutting head in the fuselage coordinate system into a three-dimensional geodetic coordinate system according to the Euler angles. The rotation matrix used for the conversion is as follows: Where: Among them, represents the rotation matrix for converting the body coordinate system to the earth coordinate system; T_roll represents the rotation matrix in the roll direction when converting from the fuselage coordinate system to the geodetic coordinate system; T_pitch represents the rotation matrix in the pitch direction when converting from the fuselage coordinate system to the geodetic coordinate system; T_heading represents the rotation matrix in the heading direction when converting from the fuselage coordinate system to the geodetic coordinate system; If the target point of the fuselage prism is defined as A, and its coordinates in the fuselage coordinate system are (X’ A , Y’ A , Z’ A ), and its coordinates obtained by tracking and measuring with the full-automatic gyro total station in the three-dimensional geodetic coordinate system are (X A , Y A , Z A ), then the translation vector for the conversion of the fuselage prism from the fuselage coordinates to the three-dimensional geodetic coordinates is: Then, according to the fuselage coordinates (X’, Y’, Z’) of the outermost end point T of the cutting head, the matrix expression of the three-dimensional geodetic coordinates of the cutting head is calculated as: The three-dimensional geodetic coordinates of the cutting head are calculated according to the above method.

4. The method according to claim 3, It is characterized in that the industrial control computer controls the actions of the lifting cylinder and the slewing cylinder of the roadheader based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, in combination with the designed azimuth, dip angle, section parameters of the driving roadway and the cutting process, so that the roadheader positions and cuts according to the set parameters and technological processes, and dynamically corrects the position and heading of the roadheader, including: The industrial control computer determines the initial position for positioning and cutting based on the cutting section coordinate system; The industrial control computer calculates the cutting path corresponding to the cutting head and the navigation correction parameters of the roadheader according to the three-dimensional geodetic coordinates of the cutting head, the initial position for positioning and cutting, in combination with the Euler angles and the cutting section coordinate system of the cutting head. The cutting path enables the roadheader to position and cut according to the set parameters and technological processes, and the navigation correction parameters are used to dynamically correct the position and heading of the roadheader; Based on the three-dimensional geodetic coordinates of the cutting head of the roadheader, the industrial control computer combines the designed azimuth, dip angle, section parameters of the driving roadway and the cutting process to control the actions of the lifting cylinder and slewing cylinder of the roadheader, so that the roadheader positions and cuts according to the set parameters and process flow, and dynamically corrects the position and heading of the roadheader.

5. The method according to claim 3, wherein, the cutting section coordinate system of the cutting head is defined as follows: Taking a rectangular section as an example: Based on the position of the coordinate origin of the cutting head, the cutting section coordinate system is defined: the height of the rectangular section is h meters, the width is w meters, the longitudinal section perpendicular to the roadway center line passing through the coordinate origin of the cutting head is used as the coordinate plane, the straight line parallel to the section width w direction and passing through the origin 0 is used as the X axis, and the straight line parallel to the section height h direction and passing through the origin 0 is used as the Y axis; The definition of the position of the coordinate origin of the cutting head: when the slewing angle of the cutting arm is 0 degrees, the azimuth angle of the central axis of the cutting arm is the designed azimuth angle of the roadway.

6. A system for automatic navigation and positioning cutting of a roadheader, wherein, the system adopts the method described in any one of claims 1-5 to realize the automatic navigation and positioning cutting of the roadheader. The system includes: an industrial control computer, a fully automatic gyro total station, an inertial navigation system, a frame prism, a control point prism, a lifting cylinder displacement sensor and a slewing cylinder displacement sensor; The industrial control computer interacts with the fully automatic gyro total station, calculates the three-dimensional geodetic coordinates of the cutting head of the roadheader, calculates the cutting path corresponding to the cutting head, and the navigation correction parameters of the roadheader, and sends them to the fully automatic gyro total station. The industrial control computer is an industrial computer installed with an operating system, and a control program for automatic navigation of the roadheader based on three-dimensional geodetic coordinates and a control program for the positioning cutting system are deployed in the industrial control computer; The fully automatic gyro total station works together with the inertial navigation system, the frame prism and the control point prism to obtain the three-dimensional geodetic coordinates of the frame prism and send them to the industrial control computer. The fully automatic gyro total station is a measurement platform integrating automatic north seeking, automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation and automatic storage. The fully automatic gyro total station has a shock absorption function to prevent the vibration damage and influence caused by the vibration generated during the tunneling process and the overall propulsion process on the fully automatic gyro total station; The inertial navigation system interacts with the fully automatic gyro total station and is used to measure the Euler angles of the roadheader frame in real time. The inertial navigation system is rigidly installed on the roadheader frame and moves together with the roadheader. When the inertial navigation system works, it does not depend on external information and does not radiate energy to the outside, and is not easily interfered. It is an autonomous navigation system. The frame prism interacts with the fully automatic gyrotheodolite. The frame prism is rigidly mounted on the frame of the cantilever roadheader on the side facing the fully automatic gyrotheodolite. The frame prism moves together with the cantilever roadheader. The cantilever roadheader, the inertial navigation, and the frame prism are rigidly connected and move as a whole. The control point prism interacts with the fully automatic gyrotheodolite. The control point prism is an optical target device measured by the fully automatic gyrotheodolite. The control point prism is installed on the traverse control point on the roof of the driving roadway.

7. The system according to claim 6, characterized in that the fully automatic gyrotheodolite is fixedly installed on the top of the tail roadway or the centralized control cabin. The fully automatic gyrotheodolite is fixedly installed or non-fixedly installed; the fixed installation means a one-time fixed installation, and the protective cover can be opened and closed; the non-fixed installation means that through hydraulic or motor drive, the fully automatic gyrotheodolite extends to a suitable position during operation and retracts and is sealed in the protective cover when not in operation.

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