A double-axis inclination sensor-based pose detection and positioning system for a roadheader

Abstract

The present application relates to the technical field of coal mine equipment, and more particularly to a tunneling machine pose detection and positioning system based on a dual-axis tilt sensor, aiming to solve the problem that the existing pose detection means is difficult to realize real-time detection and spatial positioning of the tunneling machine pose. The tunneling machine pose detection and positioning system based on the dual-axis tilt sensor captures the laser points on the target through the camera, measures the pitch angle and roll angle of the tunneling machine through the dual-axis tilt sensor, dynamically adjusts the heading angle of the tunneling machine according to the landing point of the ranging laser captured by the camera on the target, measures the distance between the tunneling machine and the target through the laser range finder, combines the pitch angle and roll angle parameters of the tunneling machine, calculates the straight-line distance between the tunneling machine and the target, completes the positioning work of the tunneling machine body, and combines the corresponding data measured by the magnetostrictive distance sensor and the angle sensor installed at the center of the cutting head shaft to complete the pose detection of the cutting head part of the tunneling machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine equipment, and particularly relates to a heading machine pose detection and positioning system based on a dual-axis inclination sensor. BACKGROUND

[0002] With the continuous promotion of coal mine automation technology reform, the concept of smart coal mine has been proposed at present, and intelligent mining without operation is the inevitable development direction of underground mining. As a large machine for underground heading work, the heading machine realizes automatic detection and adjustment of its pose, which becomes an urgent problem to be solved in the development of intelligent mining of coal mines.

[0003] The heading operation environment is poor and the working environment is complex. A large amount of smoke and dust will be generated during work, and the operation environment has characteristics such as strong noise and strong magnetic field. Only relying on the traditional laser pointing method or the existing part of the pose detection means, such as image recognition and inertial navigation, it is difficult to realize real-time detection and spatial positioning of the pose of the heading machine. SUMMARY

[0004] The present application provides a heading machine pose detection and positioning system based on a dual-axis inclination sensor to solve the problem that the existing pose detection means is difficult to realize real-time detection and spatial positioning of the pose of the heading machine.

[0005] In order to achieve the above purpose, the present application provides a heading machine pose detection and positioning system based on a dual-axis inclination sensor, which comprises a dual-axis inclination sensor, an airborne ranging laser part, a camera part, a moving target part and a cutting head pose detection part. The dual-axis inclination sensor and the airborne ranging laser part are installed on the center axis of the heading machine. The airborne ranging laser part is located forty centimeters behind the dual-axis inclination sensor. The camera part and the moving target part are installed on the roadway roof behind the heading machine. The camera part is located in front of the moving target part and faces the moving target part. The cutting head pose detection part is installed on the cutting head of the heading machine.

[0006] In the above-mentioned tunneling machine pose detection and positioning system based on dual-axis tilt sensor, optionally, the on-board ranging laser part includes a laser ranging instrument moving platform, a first drive motor, a second drive motor, a laser ranging instrument, a first tilt sensor, a laser ranging instrument support plate, a second tilt sensor, a first displacement sensor, a third drive motor and a support seat, the laser ranging instrument is fixed on the laser ranging instrument support plate, the laser ranging instrument support plate is slidingly installed on the support seat, the support seat is fixed on the laser ranging instrument moving platform, the laser ranging instrument moving platform is fixed on the central axis of the tunneling machine, the first drive motor and the second drive motor are connected with the laser ranging instrument, the first drive motor is installed at the rear of the laser ranging instrument, the second drive motor is installed on one side of the laser ranging instrument, the first tilt sensor and the second tilt sensor are installed on the laser ranging instrument, the first displacement sensor is installed on one side of the laser ranging instrument support plate, and the third drive motor is installed at the rear of the support seat.

[0007] In the above-mentioned tunneling machine pose detection and positioning system based on dual-axis tilt sensor, optionally, the lower end of the laser ranging instrument support plate is provided with a long protrusion, the upper end surface of the support seat is provided with a long groove, the long groove is matched with the long protrusion, the transmission mechanism is a gear and rack mechanism, the gear of the transmission mechanism is fixed on the shaft of the third drive motor, and the rack of the transmission mechanism is fixed on the lower end long protrusion of the laser ranging instrument support plate.

[0008] In the above-mentioned tunneling machine pose detection and positioning system based on dual-axis tilt sensor, optionally, the camera part includes a third tilt sensor, a fourth drive motor, a camera and a camera bracket, the camera is installed on the camera bracket, the camera bracket is fixed on the roadway roof, the third tilt sensor is installed at the rear of the camera, the fourth drive motor is connected with the camera, and the fourth drive motor is fixed on one side of the camera bracket.

[0009] In the above-mentioned tunneling machine pose detection and positioning system based on dual-axis tilt sensor, optionally, the moving target part includes a first fixed pulley, a target moving frame, a target, a second displacement sensor, a target dragging motor and a second fixed pulley, the upper end of the target moving frame is fixed on the roadway roof, the first fixed pulley, the target dragging motor and the second fixed pulley are fixed on the target moving frame respectively, the target is slidingly installed on the target moving frame, the target dragging motor is connected with the target through a traction line, the traction line passes through the first fixed pulley and the second fixed pulley, and the second displacement sensor is installed above the target.

[0010] In the above-mentioned tunneling machine pose detection and positioning system based on a dual-axis tilt sensor, optionally, the cutting head pose detection part comprises magnetostrictive distance sensors respectively installed on the cutting head first-stage hydraulic cylinder, the cutting head second-stage hydraulic cylinder and the cutting head third-stage hydraulic cylinder, and an angle sensor installed at the center of the cutting head rotating shaft.

[0011] The tunneling machine pose detection and positioning system based on a dual-axis tilt sensor provided by the present application captures the laser points on the target through a camera, measures the pitch angle and roll angle of the tunneling machine through a dual-axis tilt sensor, dynamically adjusts the heading angle of the tunneling machine according to the landing points of the ranging laser captured by the camera on the target, calculates the straight-line distance between the tunneling machine and the target in combination with the pitch angle and roll angle parameters of the tunneling machine, and completes the positioning of the tunneling machine body, and completes the pose detection of the cutting head part of the tunneling machine in combination with the corresponding data measured by the magnetostrictive distance sensors respectively installed on the cutting head first-stage hydraulic cylinder, the cutting head second-stage hydraulic cylinder and the cutting head third-stage hydraulic cylinder and the angle sensor installed at the center of the cutting head rotating shaft, thereby solving the problem that the existing pose detection means cannot realize real-time detection and spatial positioning of the pose of the tunneling machine.

[0012] The configuration of the present application and other inventive objects and beneficial effects thereof will be more apparent and understandable through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0014] Figure 1 The overall structure schematic diagram of the tunneling machine pose detection and positioning system based on a dual-axis tilt sensor provided by the present application is shown in the figure.

[0015] Figure 2 The structure schematic diagram of the airborne ranging laser part of the tunneling machine pose detection and positioning system based on a dual-axis tilt sensor provided by the present application is shown in the figure.

[0016] Figure 3 The cross-sectional structure schematic diagram of the airborne ranging laser part of the tunneling machine pose detection and positioning system based on a dual-axis tilt sensor provided by the present application is shown in the figure.

[0017] Figure 4A structure schematic view of a camera part of a heading machine pose detection and positioning system based on a dual-axis tilt sensor is provided for the embodiment of the present application.

[0018] Figure 5 A structure schematic view of a moving target part of a heading machine pose detection and positioning system based on a dual-axis tilt sensor is provided for the embodiment of the present application.

[0019] Figure 6 A structure schematic view at a cutting head of a heading machine pose detection and positioning system based on a dual-axis tilt sensor is provided for the embodiment of the present application.

[0020] Figure 7 A third working state schematic view of a heading machine pose detection and positioning system based on a dual-axis tilt sensor is provided for the embodiment of the present application.

[0021] Figure 8 A fifth working state schematic view of a heading machine pose detection and positioning system based on a dual-axis tilt sensor is provided for the embodiment of the present application.

[0022] Figure 9 A moving track schematic view of a laser landing point of a laser range finder of a heading machine pose detection and positioning system based on a dual-axis tilt sensor when a rolling angle of the heading machine changes is provided for the embodiment of the present application.

[0023] Explanation of reference signs:

[0024] 1 - to-be-excavated area;

[0025] 2 - roadway roof;

[0026] 3 - heading machine;

[0027] 4 - dual-axis tilt sensor;

[0028] 5 - airborne ranging laser part;

[0029] 501 - laser range finder moving platform; 502 - first driving motor; 503 - second driving motor; 504 - laser range finder; 505 - first tilt sensor; 506 - laser range finder support plate; 507 - second tilt sensor; 508 - first displacement sensor; 509 - third driving motor; 510 - support seat;

[0030] 6 - camera part;

[0031] 601 - third tilt sensor; 602 - fourth driving motor; 603 - camera; 604 - camera support;

[0032] 7 - moving target part;

[0033] 701 - first fixed pulley; 702 - target moving frame; 703 - target; 704 - second displacement sensor; 705 - target dragging motor; 706 - second fixed pulley;

[0034] 8 - first stage hydraulic cylinder of cutting head;

[0035] 9 - second stage hydraulic cylinder of cutting head;

[0036] 10 - angle sensor;

[0037] 11 - third stage hydraulic cylinder of cutting head. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described below in a more detailed manner with reference to the drawings in the preferred embodiments of the present application. In the drawings, identical or similar reference numerals represent identical or similar components or components with identical or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0039] As shown in Figure 1 The present application provides a tunneling machine pose detection and positioning system based on a dual-axis tilt sensor, which comprises a dual-axis tilt sensor 4, an airborne ranging laser part 5, a camera part 6, a mobile target part 7 and a cutting head pose detection part. The dual-axis tilt sensor 4 and the airborne ranging laser part 5 are installed on the central axis of the tunneling machine 3, the airborne ranging laser part 5 is located 40 cm directly behind the dual-axis tilt sensor 4, the camera part 6 and the mobile target part 7 are installed on the roadway roof 2 behind the tunneling machine 3, the camera part 6 is located in front of the mobile target part 7 and the camera part 6 directly faces the mobile target part 7, and the cutting head pose detection part is installed on the cutting head of the tunneling machine 3.

[0040] It should be noted that, in normal operation, the tunneling machine 3 is in the roadway and is working on the tunneling area 1 to be excavated; the dual-axis tilt sensor 4 detects the pitch angle and roll angle of the tunneling machine 3 body, specifically, the dual-axis tilt sensor 4 can measure the angle change of two axes and can complete the real-time measurement of the roll angle and pitch angle of the tunneling machine, in addition, the dual-axis tilt sensor 4 itself has a filtering function and can work in a vibrating environment, and is suitable for pose detection of the tunneling machine body.

[0041] As shown in Figures 2-3As shown, the airborne rangefinder laser unit 5 includes a laser rangefinder moving platform 501, a first drive motor 502, a second drive motor 503, a laser rangefinder 504, a first tilt sensor 505, a laser rangefinder support plate 506, a second tilt sensor 507, a first displacement sensor 508, a third drive motor 509, and a support base 510. The laser rangefinder 504 is fixed on the laser rangefinder support plate 506, and the laser rangefinder support plate 506 is slidably mounted on the support base 510. The support base 510 is fixed on the laser rangefinder moving platform 501, and the laser rangefinder moving platform 501 is fixed. On the central axis of the tunneling machine 3, the first drive motor 502 and the second drive motor 503 are both connected to the laser rangefinder 504. The first drive motor 502 is installed behind the laser rangefinder 504, and the second drive motor 503 is installed on one side of the laser rangefinder 504. The first tilt sensor 505 and the second tilt sensor 507 are installed on the laser rangefinder 504. The first displacement sensor 508 is installed on one side of the laser rangefinder support plate 506. The third drive motor 509 is installed behind the support base 510 and is connected to the laser rangefinder support plate 506 through a transmission mechanism.

[0042] It should be noted that the first drive motor 502 is used to change the roll angle of the laser rangefinder 504; the second drive motor 503 is used to change the pitch angle of the laser rangefinder 504; the first tilt sensor 505 and the second tilt sensor 507 respectively detect the roll angle and pitch angle of the laser rangefinder 504; and the first displacement sensor 508 is used to detect the displacement of the laser rangefinder support plate 506.

[0043] like Figures 2-3 As shown, the lower end of the laser rangefinder support plate 506 is provided with a long protrusion, and the upper end surface of the support base 510 is provided with a long groove. The long groove and the long protrusion cooperate with each other. The transmission mechanism is a gear and rack mechanism. The gear of the transmission mechanism is fixed on the rotating shaft of the third drive motor 509, and the rack of the transmission mechanism is fixed on the long protrusion at the lower end of the laser rangefinder support plate 506.

[0044] It should be noted that when the third drive motor 509 rotates, it drives the laser rangefinder support plate 506 to slide on the support base 510 through the cooperation of gears and racks, thereby driving the laser rangefinder 504 to slide along the support base 510.

[0045] like Figure 4As shown, the camera part 6 includes a third inclination sensor 601, a fourth drive motor 602, a camera 603 and a camera bracket 604, the camera 603 is installed on the camera bracket 604, the camera bracket 604 is fixed on the roadway roof 2, the third inclination sensor 601 is installed behind the camera 603, the fourth drive motor 602 is connected with the camera 603, and the fourth drive motor 602 is fixed on one side of the camera bracket 604.

[0046] It should be noted that the third inclination sensor 601 is used to detect the pitch angle of the camera 603; the fourth drive motor 602 is used to change the pitch angle of the camera 603, and the fourth drive motor 602 cooperates with the third inclination sensor 601 to make the camera 603 always shoot the moving target part 7.

[0047] As shown in Figure 5 , the moving target part 7 includes a first fixed pulley 701, a target moving frame 702, a target 703, a second displacement sensor 704, a target dragging motor 705 and a second fixed pulley 706, the upper end of the target moving frame 702 is fixed on the roadway roof 2, the first fixed pulley 701, the target dragging motor 705 and the second fixed pulley 706 are fixed on the target moving frame 702 respectively, the target 703 is slidingly installed on the target moving frame 702, the target dragging motor 705 is connected with the target 703 through a traction line, the traction line passes through the first fixed pulley 701 and the second fixed pulley 706, and the second displacement sensor 704 is installed above the target 703.

[0048] It should be noted that one end of the traction line is fixed on the rotating shaft of the target dragging motor 705, the other end is fixed on the hanging ring of the upper section of the target 703, the traction line connects the target dragging motor 705 and the target 703 by passing through the first fixed pulley 701 and the second fixed pulley 706, and the target 703 moves up and down in the target moving frame 702 by pulling the traction line through the target dragging motor 705, and the second displacement sensor 704 is used to detect the moving distance of the target 703.

[0049] The laser range finder 504 is located on the roadheader 3, and the target 703 is located on the roadway roof, in order to overcome the problem of laser missing the target 703, the laser range finder support plate 506 and the target moving frame 702 are designed, so that the laser range finder 504 and the target 703 make corresponding position adjustment according to the pose of the roadheader 3.

[0050] As shown in Figure 6 , the cutting head pose detection part includes magnetostrictive distance sensors respectively installed on the cutting head first stage hydraulic cylinder 8, the cutting head second stage hydraulic cylinder 9 and the cutting head third stage hydraulic cylinder 11, and an angle sensor 10 installed at the center of the cutting head rotating shaft.

[0051] It should be noted that the cutting head is a rotating part of the tunneling machine 3 that directly cuts the rock, the front of the cutting head is the to-be-excavated area 1, the cutting head first-stage hydraulic cylinder 8, the cutting head second-stage hydraulic cylinder 9 and the cutting head third-stage hydraulic cylinder 11 are each provided with two, and the magnetostrictive distance sensor is provided with six in total. The six magnetostrictive distance sensors are used to measure the displacement of the hydraulic rod driven by the hydraulic cylinder of the cutting head part, and cooperate with the angle sensor 10 installed at the rear of the cutting head to detect the pose of the cutting head.

[0052] The biaxial inclination sensor 4, the first driving motor 502, the second driving motor 503, the laser range finder 504, the first inclination sensor 505, the second inclination sensor 507, the first displacement sensor 508, the third driving motor 509, the third inclination sensor 601, the fourth driving motor 602, the camera 603, the second displacement sensor 704, the target dragging motor 705, the magnetostrictive distance sensor and the angle sensor 10 in the system are connected with the control system.

[0053] Before the tunneling machine 3 starts to work, the positions of the laser range finder 504 and the target 703 are adjusted so that the landing point of the ranging laser emitted by the laser range finder 504 is exactly at the center position of the target 703; during the tunneling process, the landing point of the ranging laser emitted by the laser range finder 504 is detected in real time by the camera part 6, under the detection of the first inclination sensor 505 and the second inclination sensor 507, the first driving motor 502 and the second driving motor 503 are driven to drive the laser range finder 504 so that the landing point of the ranging laser emitted by the laser range finder 504 is at the center position of the target 703.

[0054] The first working state: only the pitch angle of the tunneling machine changes.

[0055] During the operation of the tunneling machine 3, only when the pitch angle of the tunneling machine 3 changes, the onboard ranging laser unit 5 remains on the same plane as the moving target unit 7 in the horizontal direction. The pitch angle of the tunneling machine 3 can be measured by the dual-axis tilt sensor 4. Combining the pitch angle data of the tunneling machine 3 measured by the dual-axis tilt sensor 4, the pitch angle of the laser rangefinder 504 is continuously measured through real-time detection by the second tilt sensor 507. The laser rangefinder 504 is driven by the second drive motor 503 to make corresponding pitch angle changes to compensate for the pitch angle changes of the tunneling machine. The camera 603 captures the laser point on the target 703, and the laser rangefinder... After 504 makes the corresponding pitch angle change, the ranging laser emitted by the laser rangefinder 504 still hits the center position of the target 703; based on the pitch angle measured by the second tilt sensor 507 on the laser rangefinder 504 and the distance measured by the laser rangefinder 504, the distance from the tunneling machine 3 to the target 703 is calculated, and the positioning of the tunneling machine 3 body is realized. Combined with the corresponding data measured by the magnetostrictive distance sensor installed on the first stage hydraulic cylinder 8, the second stage hydraulic cylinder 9 and the third stage hydraulic cylinder 11 of the cutting head, and the angle sensor 10 installed at the center of the cutting head shaft, the position and posture detection of the cutting head part of the tunneling machine 3 is completed.

[0056] Second working state: Only the roll angle of tunneling machine 3 changes.

[0057] During the operation of tunneling machine 3, only when the roll angle of tunneling machine 3 changes, such as Figure 9 As shown, the position of the ranging laser emitted by the laser rangefinder 504 will move from point B to point A; the dual-axis tilt sensor 4 can measure the roll angle α and find point C, which is on the same longitudinal axis as point B. Given the dimensions of the tunneling machine 3, the distance l that needs to be translated along angle α and the displacement H relative to point B from point A to point C can be calculated. After calculation, under the detection of the first displacement sensor 508 and the action of the third drive motor 509, the laser rangefinder support plate 506 moves accordingly, moving the landing point of the ranging laser emitted by the laser rangefinder 504 from point A to point C. Under the action of the target drag motor 705 and the detection of the second displacement sensor 704, the target 703 moves in the target moving frame 702 to compensate for the longitudinal displacement H.

[0058] Based on the roll angle measured by the dual-axis tilt sensor 4, and through real-time detection by the first tilt sensor 505, the roll angle of the laser rangefinder 504 is continuously measured. The first drive motor 502 drives the laser rangefinder 504 to make corresponding roll angle changes to compensate for changes in the tunneling machine's roll angle. The camera 603 captures the laser point on the target 703. After the laser rangefinder 504 makes the corresponding roll angle change, the ranging laser emitted by the laser rangefinder 504 still hits the center of the target 703. Position; based on the roll angle measured by the first tilt sensor 505 on the laser rangefinder 504 and the distance measured by the laser rangefinder 504, the distance from the tunneling machine 3 to the target 703 is calculated to achieve the positioning of the tunneling machine. Combined with the corresponding data measured by the magnetostrictive distance sensor installed on the first stage hydraulic cylinder 8, the second stage hydraulic cylinder 9 and the third stage hydraulic cylinder 11 of the cutting head, and the angle sensor 10 installed at the center of the cutting head shaft, the position and posture detection of the cutting head part of the tunneling machine 3 is completed.

[0059] Third working state: The pitch angle and roll angle of tunneling machine 3 change simultaneously.

[0060] During the operation of tunneling machine 3, when the pitch angle and roll angle of tunneling machine 3 change simultaneously, such as Figure 7 As shown, similar to the first and second working states, the pitch and roll angles of the tunneling machine 3 are measured by the dual-axis tilt sensor 4. Based on the pitch and roll angles measured by the dual-axis tilt sensor 4, the second drive motor 503 and the first drive motor 502 respectively drive the laser rangefinder 504 to make corresponding pitch and roll angle changes to compensate for the angle changes of the tunneling machine. The camera 603 captures the laser point on the target 703, and at the same time, according to the change of the roll angle of the tunneling machine 3, the positions of the laser rangefinder 504 and the target 703 are adjusted according to the second working state, so that the laser emitted by the laser rangefinder 504 hits the target 703. On the central axis of 3; the distance between the tunneling machine 3 and the target 703 is measured by the laser rangefinder 504. Based on the pitch angle and roll angle parameters of the tunneling machine 3 measured by the second tilt angle sensor 507 and the first tilt angle sensor 505 respectively, the straight distance between the tunneling machine 3 and the target 703 can be calculated to complete the positioning of the tunneling machine 3 body. Combined with the corresponding data measured by the magnetostrictive distance sensor installed on the first stage hydraulic cylinder 8, the second stage hydraulic cylinder 9 and the third stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 installed at the center of the cutting head shaft, the position and posture detection of the cutting head part of the tunneling machine 3 is completed.

[0061] Fourth working state: Only the heading angle of tunneling machine 3 changes.

[0062] The laser ranging instrument 504 emits a ranging laser that falls on the target 703. When the heading angle of the roadheader 3 changes, the falling point of the ranging laser on the target 703 deviates from the central axis of the target 703. The camera 603 captures the laser point on the target 703, and the heading angle of the roadheader 3 is dynamically adjusted according to the deviation. It should be noted that after the heading angle of the roadheader is known, the controller controls the roadheader track walking hydraulic motor to adjust the heading angle of the roadheader. After the heading angle of the roadheader is adjusted, the laser point returns to the central axis of the target 703. According to the calculated heading angle and the distance measured by the laser ranging instrument 504, the distance from the roadheader 3 to the target 703 is calculated to realize the positioning of the roadheader. The corresponding data measured by the magnetostrictive distance sensor installed on the first-stage hydraulic cylinder 8, the second-stage hydraulic cylinder 9 and the third-stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 installed at the center of the cutting head shaft complete the pose detection of the cutting head part of the roadheader 3.

[0063] The calculations in the present disclosure can be calculated using trigonometric functions.

[0064] Heading angle: When the heading angle changes, the distance between the laser falling point on the target 703 and the central axis of the target 703 can be measured using image recognition technology. Since the roadheader 3 travels slowly when working, the vertical distance from the roadheader 3 to the target 703 measured at the previous time can be used as the vertical distance from the roadheader 3 to the target 703 at the current time. Combined with the distance measured by the laser ranging instrument 504 at the current time, a triangle is formed, and the heading angle can be approximately calculated. The heading angle is dynamically adjusted under the monitoring of the camera 603.

[0065] Vertical distance from the roadheader 3 to the target 703: After adjusting the heading angle, the ranging laser falling point falls on the central axis of the target 703. The distance from the falling point to the ground is obtained using image recognition technology, and the vertical distance from the roadheader 3 to the target 703 can be calculated using the Pythagorean theorem combined with the distance measured by the ranging laser.

[0066] As shown in Figure 9 The position adjustment problem of the laser ranging instrument 504 when the roll angle of the roadheader 3 changes can also be calculated using trigonometric functions.

[0067] Fifth working state: the heading angle, the pitch angle and the roll angle change simultaneously.

[0068] During the working process of the roadheader 3, when the heading angle, the pitch angle and the roll angle change simultaneously, as shown in Figure 8As shown, first, the position of the laser range finder 504 and the target 703 is adjusted according to the third working state, the heading angle of the roadheader 3 is dynamically adjusted according to the landing point of the ranging laser emitted by the laser range finder 504 on the target 703, so that the laser landing point returns to the central axis of the target 703 again. After the heading angle is adjusted, the roll angle and the pitch angle of the roadheader 3 will change again, at this time, according to the third working state, the second drive motor 503 and the first drive motor 502 drive the laser range finder 504 to make corresponding changes in the pitch angle and the roll angle respectively to compensate for the angle change of the roadheader, so that the landing point of the ranging laser falls on the center of the target 703 again. The distance between the roadheader 3 and the target 703 measured by the laser range finder 504, according to the pitch angle and the roll angle parameters of the roadheader 3, can calculate the straight-line distance between the roadheader 3 and the target 703, complete the positioning work of the machine body of the roadheader 3, and complete the pose detection of the cutting head part of the roadheader 3 by combining the corresponding data measured by the magnetostrictive distance sensor installed on the first-stage hydraulic cylinder 8, the second-stage hydraulic cylinder 9 and the third-stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 installed at the center of the cutting head shaft. At this time, the heading angle correction of the roadheader 3, the pose detection of the whole roadheader 3 and the positioning work of the machine body of the roadheader 3 are completed.

[0069] The roadheader pose detection and positioning system based on the dual-axis inclination sensor provided by the application captures the laser point on the target 703 through the camera 603, measures the pitch angle and the roll angle of the roadheader 3 through the dual-axis inclination sensor 4, dynamically adjusts the heading angle of the roadheader 3 according to the landing point of the ranging laser on the target 703 captured by the camera 603, measures the distance between the roadheader 3 and the target 703 through the laser range finder 504, combines the pitch angle and the roll angle parameters of the roadheader 3, calculates the straight-line distance between the roadheader 3 and the target 703, completes the positioning work of the machine body of the roadheader 3, and completes the pose detection of the cutting head part of the roadheader 3 by combining the corresponding data measured by the magnetostrictive distance sensor installed on the first-stage hydraulic cylinder 8, the second-stage hydraulic cylinder 9 and the third-stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 installed at the center of the cutting head shaft. The problems that the existing pose detection means cannot realize real-time detection and spatial positioning of the pose of the roadheader are solved.

[0070] In the description of the application, it should be noted that unless specifically defined and limited, the terms "mounting", "connected", "connection" should be understood broadly, for example, can be fixedly connected, can be indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. The terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0071] The terms "first", "second", "third", "fourth" and the like used in the description and claims of the application and the above drawings, if any, are used to distinguish similar objects, and do not necessarily have to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0072] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit it; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A tunneling machine pose detection and positioning system based on dual-axis tilt sensor, characterized in that, The application relates to a tunneling machine posture detection system, which comprises a double-axis tilt sensor, an airborne ranging laser part, a camera part, a moving target part and a cutting head posture detection part. The double-axis tilt sensor is used for detecting the pitch angle and the roll angle of the machine body of the tunneling machine; the double-axis tilt sensor and the airborne ranging laser part are installed on the central axis of the tunneling machine, the airborne ranging laser part is located 40 cm behind the double-axis tilt sensor, the camera part and the moving target part are installed on the roadway roof behind the tunneling machine, the camera part is located in front of the moving target part and faces the moving target part, and the cutting head posture detection part is installed on the cutting head of the tunneling machine. The airborne ranging laser part comprises a laser range finder moving platform, a first driving motor, a second driving motor, a laser range finder, a first tilt sensor, a laser range finder support plate, a second tilt sensor, a first displacement sensor, a third driving motor and a support seat; the laser range finder is fixed on the laser range finder support plate, the laser range finder support plate is slidably installed on the support seat, the support seat is fixed on the laser range finder moving platform, the laser range finder moving platform is fixed on the central axis of the tunneling machine, the first driving motor and the second driving motor are connected with the laser range finder, the first driving motor is installed behind the laser range finder, the second driving motor is installed on one side of the laser range finder, the first tilt sensor and the second tilt sensor are installed on the laser range finder, the first displacement sensor is installed on one side of the laser range finder support plate, and the third driving motor is installed behind the support seat and connected with the laser range finder support plate through a transmission mechanism. The first driving motor is used for changing the roll angle of the laser range finder; the second driving motor is used for changing the pitch angle of the laser range finder; the first tilt sensor and the second tilt sensor are respectively used for detecting the roll angle and the pitch angle of the laser range finder; and the first displacement sensor is used for detecting the displacement of the laser range finder support plate. The camera of the camera part captures the laser points on the target of the moving target part, and the ranging laser emitted by the laser range finder still hits the center position of the target after the laser range finder makes corresponding pitch angle change. The lower end of the laser range finder support plate is provided with a long protrusion, the upper end surface of the support seat is provided with a long groove, the long groove is matched with the long protrusion, the transmission mechanism is a gear and rack mechanism, the gear of the transmission mechanism is fixed on the rotating shaft of the third driving motor, and the rack of the transmission mechanism is fixed on the long protrusion at the lower end of the laser range finder support plate. The third driving motor rotates, the laser range finder support plate is driven to slide on the support seat through the cooperation of the gear and the rack, and the laser range finder is driven to slide along the support seat. The cutting head pose detection part comprises magnetostrictive distance sensors respectively installed on the cutting head first stage hydraulic cylinder, the cutting head second stage hydraulic cylinder and the cutting head third stage hydraulic cylinder, and an angle sensor installed at the center of the cutting head rotating shaft.

2. The double-axis tilt sensor-based pose detection and positioning system for a heading machine according to claim 1, wherein, The camera part comprises a third inclination sensor, a fourth driving motor, a camera and a camera support, the camera is installed on the camera support, the camera support is fixed on the roadway roof, the third inclination sensor is installed behind the camera, the fourth driving motor is connected with the camera, and the fourth driving motor is fixed on one side of the camera support.

3. The double-axis tilt sensor-based pose detection and positioning system for a roadheader according to claim 2, characterized in that, The moving target part comprises a first fixed pulley, a target moving frame, a target, a second displacement sensor, a target dragging motor and a second fixed pulley, the upper end of the target moving frame is fixed on the roadway roof, the first fixed pulley, the target dragging motor and the second fixed pulley are respectively fixed on the target moving frame, the target is slidingly installed on the target moving frame, the target dragging motor is connected with the target through a traction line, the traction line passes through the first fixed pulley and the second fixed pulley, and the second displacement sensor is installed above the target.

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