CN111380522B - Navigation positioning and automatic cutting method of cantilever type tunneling machine - Google Patents

Navigation positioning and automatic cutting method of cantilever type tunneling machine Download PDF

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CN111380522B
CN111380522B CN202010268566.8A CN202010268566A CN111380522B CN 111380522 B CN111380522 B CN 111380522B CN 202010268566 A CN202010268566 A CN 202010268566A CN 111380522 B CN111380522 B CN 111380522B
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inertial navigation
cutting head
cutting
heading machine
cantilever
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CN111380522A (en
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张婷
索艳春
董孟阳
李涛
陈宁
郭皇煌
田原
常映辉
冀鹏飞
桑盛远
侯伟
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
    • E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
    • E21C25/18—Saws; Discs; Wheels
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
    • E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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  • Mining & Mineral Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Mechanical Engineering (AREA)
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Abstract

The invention belongs to the technical field of a cantilever type tunneling machine for underground coal mine roadway operation, and provides a navigation positioning and automatic cutting method of the cantilever type tunneling machine, which comprises the following steps: s1, arranging a main inertial navigation assembly on the body of the heading machine, installing an auxiliary inertial navigation assembly on the cutting arm, and installing an automatic total station assembly on a fixed track erected in a roadway; s2, calculating the spatial position of the heading machine cutting head by combining the detection data of the main inertial navigation component and the auxiliary inertial navigation component; s3, presetting a working process path of the cutting head, combining with the automatic cutting model of the section of the cutting head, controlling the strokes of the lifting oil cylinder and the rotary oil cylinder to enable the cutting head to move to the starting position of automatic cutting, and starting to automatically cut the coal wall according to the process path. The invention can effectively improve the navigation and positioning precision of the development machine body and the automatic cutting precision of the space position of the cutting head, and improve the overall navigation and positioning precision of the development machine.

Description

Navigation positioning and automatic cutting method of cantilever type tunneling machine
Technical Field
The invention belongs to the technical field of a cantilever type tunneling machine for underground coal mine roadway operation, and particularly relates to a navigation positioning and automatic cutting method of the cantilever type tunneling machine.
Background
The cantilever type heading machine is an important one in underground mining equipment, is the most widely applied roadway heading equipment in the mechanized production of coal roadway comprehensive heading in China, is mainly used for cutting partial sections, and has the prominent structural characteristic that a cantilever which can stretch and swing is arranged on a revolving platform of the cantilever, a cutting head is arranged at the front end of the cantilever, coal rock can fall off through the swinging of the cantilever and the rotation of the cutting head, an operation platform of the heading machine can control the operation track of the cutting head, so that roadways with sections of various shapes, such as rectangular, arched and the like can be cut, and the heading machine has the functions of walking and loading.
At present, when a cantilever type heading machine is used for heading a roadway, light spots formed on the section of the roadway by a laser direction indicator behind the roadway are mainly used as the basis for the direction and the positioning of the heading machine, and a driver of the heading machine takes the light spots as reference and controls the running track of a cutting head of the heading machine through the manual operation and past experience of the driver of the heading machine, so that the cutting of the section of the roadway is completed. The fully mechanized excavation face in the coal mine has the advantages of severe working environment, high noise and serious dust, and has great influence on the health of workers and the working efficiency. Although the pointing accuracy of the laser pointer is high, in a specific operating environment, due to the fact that the fully mechanized excavation is dusty and low in visibility, the fully mechanized excavation is controlled by depending on the experience of a driver of the excavator to a large extent, and therefore the construction quality depends on the experience and proficiency of the driver of the excavator to a large extent. Under the condition, the phenomenon of overexcavation and underexcavation of the roadway is very serious, and under the real production environment, workers generally check and feed back the molding cutting condition of the roadway near the roadway driving surface, so that the overexcavation and underexcavation of the roadway are controlled to a certain extent, the number of the workers is increased, the labor intensity of the workers is increased, and the danger of the workers is further increased.
Aiming at the problems of the boom-type development machine, the navigation positioning of the development machine body and the cutting head is realized, the corresponding pose information is acquired, the automatic cutting of the tunnel section of the development machine is realized, the working personnel are far away from the dangerous area of the working face, the personnel safety is ensured, the navigation positioning of the development machine body and the cutting head is realized, and the remote operation and control on the development machine are important trends and development directions in the future of the boom-type development machine.
In order to solve the above problems, many researchers have conducted theoretical analysis and research, and proposed the following related inventions. In patent application document with publication number CN101266134A entitled "measurement system and method for the pose of the boom excavator head", measurement data of a laser excitation total station, an oil cylinder stroke sensor, a double-shaft tilt angle sensor and a vehicle body yaw angle sensor are transmitted to a computer through a wireless communication module and a data acquisition module for acquisition and processing, and the pose of the boom excavator head relative to a vehicle body and a geodetic coordinate system is calculated, so that the measurement of the pose of the boom excavator head is realized. In patent application document with publication number CN101629807A entitled "heading machine body pose parameter measurement system and method", the mounting position of a laser target on a heading machine is known, the position of the laser beam on the laser target is determined to obtain the deflection angle and deflection displacement of the heading machine, and two tilt sensors are used to measure the pitch angle and roll angle of the heading machine, so as to complete the heading machine body pose parameter measurement. The disclosure number is CN104776843A, which is named as a method for detecting the pose of a body and a cutting head of a cantilever type heading machine, the pitching angle and the roll angle of the heading machine are measured by a double-shaft tilt angle sensor, the spatial position of the cutting head is measured by a displacement sensor, and the drift angle and the drift distance of the body of the heading machine are measured by an infrared laser transmitter and a spherical laser receiver, so that the pose parameters of the heading machine are measured.
In the above patent application documents about the position and posture detection of the heading machine, a cylinder stroke sensor, an inclination angle sensor and the like are all needed to be used for measuring the pitch angle and the roll angle of the heading machine, the underground environment of a coal mine is severe, the working condition of the heading machine is complex during actual work, the vibration of the machine body is large, the measurement precision of the sensor is easily influenced, the failure rate of the sensor is high after long-time use, the reliability is reduced, the maintenance is difficult, and the service life of the sensor is seriously influenced.
Disclosure of Invention
In order to avoid adverse effects on the navigation positioning and pose detection results of the heading machine due to unstable performance of the sensor as much as possible, the invention overcomes the defects in the prior art and provides a navigation positioning and automatic cutting method of the cantilever type heading machine.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: 1. a navigation positioning and automatic cutting method of a cantilever type heading machine comprises the following steps:
s1, arranging a main inertial navigation component on the body of the heading machine, installing an auxiliary inertial navigation component on the cutting arm, and meanwhile, installing an automatic total station component on a fixed track erected in a roadway, wherein the automatic total station component is used for measuring the absolute position and the posture of the heading machine and providing initial position information for the main inertial navigation component; the auxiliary inertial navigation component is used for detecting the space pose of the cutting head;
S2, initially calibrating the main inertial navigation assembly and the auxiliary inertial navigation assembly, and then controlling the heading machine according to the distance between the heading machine body and the front wall and the side wall measured by the distance measuring sensor, and adjusting the position of the heading machine body in the roadway; calculating the spatial position of the cutting head of the heading machine by combining the detection data of the main inertial navigation component and the auxiliary inertial navigation component;
s3, presetting a working process path of the cutting head, combining with a section automatic cutting model of the cutting head, establishing a position relation formula of the vertical swing of the cutting head and a lifting oil cylinder and a position relation formula of the horizontal swing of the cutting head and a rotary oil cylinder, and controlling the strokes of the lifting oil cylinder and the rotary oil cylinder according to the relation between the spatial position coordinate of the cutting head and the swing angle of the cutting arm, so that the cutting head moves to the starting position of automatic cutting, and the coal wall is cut automatically according to the process path.
The relation between the vertical swing of the cutting head and the position of the lifting oil cylinder is as follows:
Figure BDA0002441262190000021
wherein L represents the length of the lift cylinder, LOPThe distance L between the hinge point P of the lifting oil cylinder and the frame and the O point of the vertical rotation center of the cantilever is shownOQShowing the distance between the hinge point Q of the lifting oil cylinder and the cantilever and the vertical rotation center O of the cantilever,
Figure BDA0002441262190000031
h2The vertical distance between a hinged point Q of the lifting oil cylinder and the cantilever and the horizontal plane of the development machine is shown, omega2The POM is represented, and M is the projection of the center of the cutting head in the horizontal plane of the heading machine when the axis of the cantilever is horizontal;
the position relation formula of the horizontal swing of the cutting head and the rotary oil cylinder is as follows:
Figure BDA0002441262190000032
Figure BDA0002441262190000033
wherein the length of the extension oil cylinder is LmShortening the cylinderLength of Ln，
Figure BDA0002441262190000035
Showing the distance between the fixed end O4 of the extension cylinder and the center H of the horizontal turntable,
Figure BDA0002441262190000036
showing the movable end O of the extension cylinder3The distance between the horizontal rotary table and the center H of the horizontal rotary table,
Figure BDA0002441262190000037
showing the distance between the fixed end O1 of the shortening cylinder and the center H of the horizontal turntable,
Figure BDA0002441262190000038
the distance between the movable end O2 of the shortening oil cylinder and the center H of the horizontal rotary table is shown; beta is a0Expression of & lt O1HO2ρ represents the horizontal yaw angle of the cutting head;
the relation between the spatial position coordinate of the cutting head and the swing angle of the cutting arm is as follows:
Figure BDA0002441262190000034
wherein (x, y, z) represents the spatial position coordinates of the cutting head in the roadway, e represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantilever, and L represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantileverORThe distance between the centre of the cutting head and the centre O of vertical rotation of the boom is indicated.
The navigation positioning and automatic cutting method of the cantilever type development machine further comprises the step of determining the limit value gamma of the lower swing angle of the cantilever according to the position relation of the vertical swing of the cutting head and the lifting oil cylinder minAnd an upper swing angle limit value gammamaxDetermining the maximum swing angle rho of the cantilever in the horizontal plane according to the position relation of the horizontal swing of the cutting head and the rotary oil cylindermaxStep (2).
The main inertial navigation component is a laser inertial navigation component, and the auxiliary inertial navigation component is an optical fiber inertial navigation component.
The navigation positioning and automatic cutting method of the cantilever type heading machine further comprises the step of mounting the prism group on the body of the cantilever type heading machine, wherein the prism group is mounted at the rear part of the body of the heading machine and symmetrically arranged at the left and the right, and the prism group is used for being matched with the automatic total station assembly for use.
In step S2, the method for initially calibrating the primary inertial navigation module and the secondary inertial navigation module includes: providing initial position information for the inertial navigation system according to the position of the automatic total station assembly and the speed of the heading machine, resolving the position information by the inertial navigation system to obtain information such as the position and the attitude angle of the machine body, and using the information as the initial position information when the inertial navigation system starts to work to finish the initial calibration of the main inertial navigation assembly and the auxiliary inertial navigation assembly before the work.
In the navigation positioning and automatic cutting method of the boom-type roadheader, after cutting for a period of time, the method further comprises the step of recalibrating the main inertial navigation component and the auxiliary inertial navigation component.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a navigation positioning and automatic cutting method of a boom-type development machine body and a cutting head, wherein an automatic total station assembly is arranged on a track fixed in a roadway, can move along the track when a positioning or calibration requirement is required, has high precision and flexibility in a positioning mode matched with a prism, is arranged on a top end track to move without mutual interference with the operation of ground equipment compared with manual positioning or ground moving equipment, and can effectively avoid the influence of a large amount of float coal on the ground, equipment vibration and other adverse conditions on the positioning and calibration precision and accuracy of the instrument. The main inertial navigation assembly is arranged on the body of the heading machine, and the auxiliary inertial navigation assembly is arranged on the cutting arm, so that the main inertial navigation assembly can detect the course and the posture of the body of the heading machine, and the auxiliary inertial navigation assembly can detect the space pose of the cutting head. The automatic total station assembly, the main inertial navigation assembly and the auxiliary inertial navigation assembly are combined, so that the navigation and positioning accuracy of the machine body of the heading machine and the automatic cutting accuracy of the space position of the cutting head can be effectively improved, and the overall navigation and positioning accuracy of the heading machine is improved. The navigation positioning and automatic cutting method of the boom-type roadheader body and the cutting head provided by the invention does not need an operator to operate on a field working face, and only needs to be remotely controlled at a monitoring center, so that the labor intensity of the personnel is reduced, and the number of the field personnel is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a heading machine in an embodiment of the invention;
FIG. 2 is a schematic connection diagram of a lifting cylinder, a cutting arm, a cantilever and a frame of the development machine in the embodiment of the invention;
FIG. 3 is a schematic view of the vertical swing of the cantilever of the tunneling machine;
fig. 4 is a schematic diagram of horizontal swinging of a cantilever of the heading machine.
In the figure: the device comprises a heading machine body 1, an auxiliary inertial navigation component 2, a distance measuring sensor 3, a main inertial navigation component 4, a prism group 5, an automatic total station component 6, a cantilever 7, a cutting arm 8, a lifting oil cylinder 9 and a rack 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described are only for illustrating the present invention and are not to be construed as limiting the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a navigation positioning and automatic cutting method for a boom-type development machine body and a cutting head, which comprises the following steps:
S1, arranging a main inertial navigation component on the body of the heading machine, installing an auxiliary inertial navigation component on the cutting arm, and meanwhile, installing an automatic total station component on a fixed track erected in a roadway, wherein the automatic total station component is used for measuring the absolute position and the posture of the heading machine and providing initial position information for the main inertial navigation component; the main inertial navigation component is used for detecting the heading and the attitude of the heading machine body, and the auxiliary inertial navigation component is used for detecting the spatial attitude of the cutting head.
S2, carrying out initial calibration on the main inertial navigation assembly and the auxiliary inertial navigation assembly, then controlling the heading machine according to the distance between the heading machine body and the front wall and the side wall measured by the distance measuring sensor, and adjusting the position of the heading machine body in the roadway; and the spatial position of the cutting head of the heading machine is calculated by combining the detection data of the main inertial navigation component and the auxiliary inertial navigation component.
As shown in fig. 1, in this embodiment, the device mainly includes a heading machine body 1, an auxiliary inertial navigation module 2, a distance measuring sensor 3, a main inertial navigation module 4, a prism group 5, an automatic total station module 6, and combines with a section automatic cutting model of a cutting head, so as to realize high-precision navigation positioning, attitude adjustment and automatic cutting of the cutting head of the heading machine.
The prism group 5 and the automatic total station assembly 6 are matched for use, wherein the prism group is arranged at the rear part of the heading machine body, the left and the right are symmetrically arranged, the total stations are arranged on a fixed track erected in a roadway, and the automatic total station assembly is used for providing high-precision initial course information and calibration information at intervals for the main inertial navigation assembly. The main inertial navigation assembly and the distance measurement sensor are arranged on the body of the development machine body, and the main inertial navigation assembly is used for navigation positioning and pose detection of the development machine body and measuring the course and pose information of the development machine body. 3 distance measuring sensors are arranged on the tunneling machine body and are used for measuring the distance between the tunneling machine body and the two side walls and the front wall of the roadway respectively. The auxiliary inertial navigation assembly is mounted on a cutting arm of the heading machine, and the auxiliary inertial navigation assembly is combined with the automatic cutting model to jointly detect the pose of the cutting head and automatically cut. The main inertial navigation component is a laser inertial navigation component, and the auxiliary inertial navigation component is an optical fiber inertial navigation component.
The automatic total station assembly measures the absolute position and attitude of the heading machine. The automatic total station can move on the track, and is in information communication with a controller of the tunneling machine body through the wireless communication module, so that the interaction of the total station data and the controller instruction is completed. The track is erected at the top of the roadway, the track is installed simultaneously when the roadway is paved, anchored and protected, the track is provided with labels used for marking the absolute position of the roadway at certain intervals, and the position of the automatic total station in the roadway is determined by identifying the labels. The total station instrument is used in combination with the prism, the total station instrument can accurately determine the position of a measured object in a roadway, the total station instrument emits laser, the prism position can be determined by measuring the moving speed of the prism and the distance information from the total station instrument, and then the position of the excavator body provided with the prism is determined. After the total station instrument is positioned, the absolute position and the attitude of the heading machine can be determined through a prism arranged on the machine body of the heading machine and are sent to a controller of the machine body, the controller provides initial position information for the main inertial navigation component by utilizing the position and the attitude of the heading machine measured by the total station instrument, meanwhile, the auxiliary inertial navigation component determines the position and the attitude information of the cutting head according to the determined position and attitude information of the main inertial navigation component, the precision of the main inertial navigation component and the precision of the auxiliary inertial navigation component are ensured, and finally the course and attitude precision of the heading machine and the cutting head in operation are ensured.
When the heading machine is ready to work, firstly, the operator sets the target heading of the heading machine body, the cutting mode of the cutting head and other parameter information, and transmits the preset parameters to the controller. Initially, according to information such as the position of the automatic total station assembly, the speed of the heading machine and the like, the total station transmits the information such as the position, the speed and the like to the inertial navigation system, initial position information is provided for the inertial navigation system, the inertial navigation system calculates the position information to obtain information such as the position, the attitude angle and the like of the machine body, the information serves as the initial position information when the inertial navigation system starts to work, and initial calibration of the main inertial navigation assembly and the auxiliary inertial navigation assembly before work is completed. After the calibration work is finished, the controller controls the heading machine according to the distance between the heading machine body and the front wall and the side wall, which is measured by the distance measuring sensor, and the position of the heading machine body in the roadway is adjusted. After the cutting head is contacted with the front coal wall, an automatic cutting program of the controller is started, and the hydraulic system controls the cutting head to move to the starting position of automatic cutting to start automatic cutting of the coal wall. And after the cutting is finished, lapping, anchoring and protecting, erecting a track, stopping the tunneling machine at the moment, and after the anchoring and protecting track laying is finished, carrying out the next round of cutting. After cutting for a period of time, the inertial navigation system generates error accumulation along with the time, so that the main inertial navigation component and the auxiliary inertial navigation component need to be calibrated again at regular time, the position information is sent to the inertial navigation component through the combination of the total station and the prism, the initial information of the next inertial navigation work is determined, and the course and attitude precision of the heading machine body in the subsequent work is ensured.
S3, presetting a working process path of the cutting head, combining with a section automatic cutting model of the cutting head, establishing a position relation formula of the vertical swing of the cutting head and a lifting oil cylinder and a position relation formula of the horizontal swing of the cutting head and a rotary oil cylinder, and controlling the strokes of the lifting oil cylinder and the rotary oil cylinder according to the relation between the spatial position coordinate of the cutting head and the swing angle of the cutting arm, so that the cutting head moves to the starting position of automatic cutting, and the coal wall is cut automatically according to the process path.
Referring to fig. 2 and 3, the swing of the cantilever in the vertical plane is analyzed, and as shown in fig. 3, the vertical swing is driven by a pair of lift cylinders 9, and the vertical swing of the cantilever 7 is changed by changing the stroke of the lift cylinders, which is reflected by the change of the height of the cutting head in the roadway section. The front end of the lifting oil cylinder is hinged with the frame 10, and the rear end is hinged with the cutting arm 8. In general, the length of a telescopic oil cylinder of a cutting part of the heading machine is kept unchanged in the vertical swinging and horizontal swinging processes of a cantilever, and the telescopic oil cylinder can be changed only when a coal rock layer is drilled. Therefore, all parts of the cutting mechanism of the heading machine are simplified, and the cantilever section of the cutting part is regarded as an integral rigid rod regardless of the specific structural form.
The lifting oil cylinder is PQ, the hinge point of the frame and the lifting oil cylinder is P, the hinge point of the cantilever and the lifting oil cylinder is Q, the vertical rotation center of the cantilever is O, and the position of the lifting oil cylinder is PQ when the cutting head cuts the highest point of the section of the roadway1When the cutting head is arranged on the roadway floor, the position of the lifting oil cylinder is PQ2。R、R1And R2The projections of the cutting head on the roadway section at the horizontal position, the highest point and the bottom plate are respectively corresponding, and M is the projection of the center of the cutting head in the horizontal plane of the heading machine when the axis of the cantilever is horizontal.The height from O to the ground is recorded as h1，|RM|＝h0And the vertical distance from Q to OM is h2And c is the height from the center of the cutting head to the ground at any moment, and L is the length of the lifting oil cylinder. When the cantilever is horizontal, the angle ROM is recorded as omega0The shape of Δ OQR remains unchanged during vertical oscillation of the cantilever. When the vertical swing angle of the cutting arm is gamma, the relation between the height c of the center of the cutting head from the ground and the gamma is
Figure BDA0002441262190000061
The angle QOM is omega1And < POM is omega2And angle POQ1 is ω, when the cantilever is horizontal,
Figure BDA0002441262190000062
when the swing angle of the cantilever is gamma, omega is equal to omega1+ω2+ gamma, at this time the length of the lift cylinder PQ is
Figure BDA0002441262190000063
Wherein L represents the length of the lift cylinder, LOPThe distance L between the hinge point P of the lifting oil cylinder and the frame and the O point of the vertical rotation center of the cantilever is shownOQShowing the distance between the hinge point Q of the lifting oil cylinder and the cantilever and the vertical rotation center O of the cantilever,
Figure BDA0002441262190000064
h2Indicates the vertical distance omega between the hinged point Q of the lifting oil cylinder and the cantilever and the horizontal plane of the heading machine2Indicating a POM, wherein M is the projection of the center of the cutting head in the horizontal plane of the heading machine when the axis of the cantilever is horizontal;
calculating the formula (1) to obtain:
Figure BDA0002441262190000071
wherein c represents the height from the center of the cutting head to the ground at any moment, | RM | -, h0，h1Denotes the height of point O from the ground, LOMAnd the distance between the vertical rotation center O point of the cantilever and the projection M of the center of the cutting head in the horizontal plane of the heading machine when the axis of the cantilever is horizontal is shown. Through the formula (1), the corresponding relation between the length L of the lifting oil cylinder and the swing angle gamma can be related, and the related fixed size relation of the heading machine is listed, so that the later-stage calculation is convenient to use. (2) In the formula, only the height c from the center of the cutting head to the ground at any moment is a variable, other parameters can be known or calculated according to the heading machine, and L is only related to c. When the center of the cutting head is positioned at the maximum depth of the bedridden part, the height of the center of the cutting head to the ground is the minimum value cminThe downward swing angle of the cantilever reaches the limit position gammaminWhile the length of the lift cylinder is the minimum value Lmin(ii) a When the center of the cutting head is positioned at the highest position of the roadway, the height of the center of the cutting head from the ground is the maximum value c maxThe upward swing angle of the cantilever reaches the limit position gammamaxWhile the length of the lift cylinder is at the maximum Lmax. That is, where c is a range, the minimum and maximum values of c are obtained, the maximum and minimum values of γ are obtained from the relationship of c to γ, and the maximum and minimum values of L are obtained from equation (2).
As shown in fig. 4, the swing of the cantilever in the horizontal plane is analyzed, the horizontal swing is driven by the rotary cylinder of the rotary table, and the horizontal swing of the cantilever is changed by changing the stroke of the rotary cylinder, which is reflected as the change of the width of the cutting head on the section of the roadway. One side of the rotary oil cylinder is hinged with the rack, one side of the rotary oil cylinder is hinged with the rotary table, the oil cylinder on one side is extended, the oil cylinder on the other side is correspondingly shortened, the rotary table is driven to rotate, and then the swinging direction of the cantilever in the horizontal plane is changed.
Two oil cylinders are respectively O1O2And O3O4. H is the center of the horizontal rotary table, O is the vertical rotary center of the cantilever, and the distance between the H and the vertical rotary center is e. M1The projection of the center of the cutting head in the horizontal plane when the cantilever is positioned in the middle position of the roadway, and W is the width of the roadway. Let the length of the extension cylinder be LmThe length of the oil cylinder is shortened to Ln，∠O1HO2Is beta0，O1N and HN are each f1，f2. SelectingWhen the cantilever rotates clockwise in the horizontal plane to be positive, the relation between the distance f between the center of the cutting head and the center line and the horizontal swing angle rho is
Figure BDA0002441262190000072
At this time, the corresponding extension and shortening cylinder lengths are respectively
Figure BDA0002441262190000073
Figure BDA0002441262190000074
Wherein the length of the extension oil cylinder is LmThe length of the oil cylinder is shortened to be Ln，
Figure BDA0002441262190000075
Showing the distance between the fixed end O4 of the extension cylinder and the center H of the horizontal turntable,
Figure BDA0002441262190000076
showing the movable end O of the extension cylinder3The distance between the horizontal rotary table and the center H of the horizontal rotary table,
Figure BDA0002441262190000077
showing the distance between the fixed end O1 of the shortening cylinder and the center H of the horizontal turntable,
Figure BDA0002441262190000078
the distance between the movable end O2 of the shortening oil cylinder and the center H of the horizontal rotary table is shown; beta is a0Expression of & lt O1HO2ρ represents the horizontal yaw angle of the cutting head;
by operating expressions (3) and (4), the following results are obtained:
Figure BDA0002441262190000081
Figure BDA0002441262190000082
wherein f is1Showing the distance between the hinge point O1 of the shortening cylinder and the frame and the middle position of the roadway, f2Showing the length of the projection of the extension cylinder in the center of the roadway,
Figure BDA0002441262190000083
the distance between the hinge point O2 of the oil cylinder and the cantilever and the middle position of the roadway is shortened,
Figure BDA0002441262190000084
the distance between the extension oil cylinder and a hinge point O3 of the cantilever and the middle position of the roadway is shown; gamma denotes the angle of oscillation of the cantilever, omega0Representing < ROM, R represents the projection on the roadway section when the cutting head is horizontal, LOHDenotes the distance, L, between the vertical swivel center O of the cantilever and the center H of the horizontal swivelORThe distance between the vertical rotation center O of the cantilever and the position R of the cutting head is represented, and f represents the distance between the center of the cutting head and the center line of the roadway;
When the cantilever is positioned on the center line of the roadway, the horizontal swing angle rho is 0; when a connecting line OR of the vertical swing hinge point O and the center R of the cutting head is in a horizontal position, the swing range of the cantilever in the horizontal plane has a maximum value rhomaxAnd the cantilever is bilaterally symmetrical when swinging on the horizontal plane, and the vertical swing angle gamma is-omega0。
Through geometric analysis, a matrix expression between the spatial position coordinate of the cutting head and the swing angle of the cutting arm can be obtained:
Figure BDA0002441262190000085
(x, y, z) is the space position coordinate of the cutting head in the roadway, e represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantilever, and L represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantileverORThe distance between the centre of the cutting head and the centre O of vertical rotation of the boom is indicated. According to the geometrical relationship between the cutting head and the swing angle of the cantileverThe space position coordinates of the cutting head are determined, the space running track of the cutting head is formed, and automatic cutting of the cutting head of the heading machine can be realized.
The automatic cutting of the cutting head of the heading machine is realized by presetting a working process path of the cutting head, the cutting head runs according to the appointed process path and forms a space motion track, and the space track is jointly determined by the swinging of the cantilever on a vertical plane and a horizontal plane and the expansion of the cutting head. Therefore, the stroke of the lifting oil cylinder and the rotary oil cylinder is controlled by establishing the position relationship between the vertical swing and the lifting oil cylinder and the position relationship between the horizontal swing and the rotary oil cylinder in the spatial position of the cutting head, so that the cutting head moves according to the preset process route, and the automatic cutting of the roadway cutting head is realized.
The automatic cutting of the cutting head of the heading machine is realized by planning the running path of the cutting head in a controller, controlling a hydraulic system by a main controller to realize the running path of the cutting head, and jointly detecting the position of the cutting head by a main inertial navigation component and an auxiliary inertial navigation component. The main inertial navigation assembly measures pose information of a heading machine body, the auxiliary inertial navigation assembly measures pose information of the cutting arm and transmits the pose information to the main controller by taking the heading machine body as a reference, the position information of the heading machine in a roadway measured by the distance measuring sensor is combined, the controller obtains the space position of the actual cutting head after calculation, the space position is compared with a planned path, and if an error occurs, the controller sends out a control instruction to enable the cutting arm to be continuously adjusted. In the working process of the cutting arm, the position of a shovel plate of the heading machine is monitored, and the cutting arm is prevented from colliding with the shovel plate during automatic cutting.
According to the navigation positioning and automatic cutting method of the boom-type heading machine body and the cutting head, the automatic total station assembly is installed on a track fixed in a roadway and used for determining the position information of the heading machine body, after the measurement is started, the total station is fixed at a known and accurate position on the track, the prism is installed on the heading machine body, when the heading machine moves, the total station is matched with the prism, the positioning information of the heading machine is obtained by measuring the speed of the heading machine and the position of the prism from the total station, the heading machine position can be positioned with high precision, and the positioning mode is high in precision and flexible. In the working process of the total station, if the prism receives a laser signal which is shielded and cannot receive the total station, the total station is required to move to a precise position known in advance along the track, and the position of the heading machine is obtained again and sent to the inertial navigation component. Compared with manual positioning or ground moving equipment, the device is installed on the top end rail to move without mutual interference with the ground equipment, and meanwhile, the influence of a large amount of float coal on the ground, equipment vibration and other adverse conditions on the positioning and calibration precision and accuracy of the instrument can be effectively avoided.
The main inertial navigation component is arranged on the body of the heading machine, and the auxiliary inertial navigation component is arranged on the cutting arm, so that the main inertial navigation component can detect the course and the posture of the body of the heading machine, and the auxiliary inertial navigation component can detect the spatial posture of the cutting head. The automatic total station assembly, the main inertial navigation assembly and the auxiliary inertial navigation assembly are combined, so that the navigation and positioning accuracy of the machine body of the heading machine and the automatic cutting accuracy of the spatial position of the cutting head can be effectively improved, and the overall navigation and positioning accuracy of the heading machine is improved. The accurate positioning information of the body of the heading machine and the position information of the cutting head can provide basic position information for automatic cutting of the cutting arm, and an automatic cutting algorithm is established by combining a vertical swing model and a horizontal swing model of the cantilever, so that the cutting head can efficiently complete automatic cutting in one cycle. The navigation positioning and automatic cutting method of the boom-type roadheader body and the cutting head provided by the invention does not need to be operated on a field working face by an operator, and only needs to be remotely controlled by a monitoring center, so that the labor intensity of the personnel is reduced, and the number of the field personnel is reduced.
While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A navigation positioning and automatic cutting method of a cantilever type heading machine is characterized by comprising the following steps:
s1, arranging a main inertial navigation component on the body of the heading machine, installing an auxiliary inertial navigation component on the cutting arm, and meanwhile, installing an automatic total station component on a fixed track erected in the roadway, wherein the automatic total station component is used for measuring the absolute position and the attitude of the heading machine and providing initial position information for the main inertial navigation component; the main inertial navigation component is used for detecting the heading and attitude of the development machine body, and the auxiliary inertial navigation component is used for detecting the spatial attitude of the cutting head;
s2, carrying out initial calibration on the main inertial navigation assembly and the auxiliary inertial navigation assembly, then controlling the heading machine according to the distance between the heading machine body and the front wall and the side wall measured by the distance measuring sensor, and adjusting the position of the heading machine body in the roadway; calculating the spatial position of the cutting head of the heading machine by combining the detection data of the main inertial navigation component and the auxiliary inertial navigation component;
s3, presetting a working process path of the cutting head, combining with a section automatic cutting model of the cutting head, establishing a position relation formula of the vertical swing of the cutting head and a lifting oil cylinder and a position relation formula of the horizontal swing of the cutting head and a rotary oil cylinder, and controlling the strokes of the lifting oil cylinder and the rotary oil cylinder according to the relation between the spatial position coordinate of the cutting head and the swing angle of the cutting arm, so that the cutting head moves to the starting position of automatic cutting, and the coal wall is cut automatically according to the process path.
2. The method of claim 1, wherein the relationship between the vertical swing of the cutting head and the position of the lift cylinder is as follows:
Figure FDA0003637670390000011
wherein L represents the length of the lift cylinder, LOPThe distance L between the hinge point P of the lifting oil cylinder and the frame and the O point of the vertical rotation center of the cantilever is shownOQHinge for indicating lift cylinder and cantileverThe distance between the contact Q and the vertical rotation center O of the cantilever,
Figure FDA0003637670390000012
h2indicates the vertical distance omega between the hinged point Q of the lifting oil cylinder and the cantilever and the horizontal plane of the heading machine2Indicating a POM, wherein M is the projection of the center of the cutting head in the horizontal plane of the heading machine when the axis of the cantilever is horizontal, and gamma indicates the swing angle of the cantilever;
the position relation formula of the horizontal swing of the cutting head and the rotary oil cylinder is as follows:
Figure FDA0003637670390000013
Figure FDA0003637670390000014
wherein the length of the extension oil cylinder is LmThe length of the oil cylinder is shortened to Ln，
Figure FDA0003637670390000021
Showing the distance between the fixed end O4 of the extension cylinder and the center H of the horizontal turntable,
Figure FDA0003637670390000022
showing the movable end O of the extension cylinder3The distance between the horizontal rotary table and the center H of the horizontal rotary table,
Figure FDA0003637670390000023
showing the distance between the fixed end O1 of the shortening cylinder and the center H of the horizontal turntable,
Figure FDA0003637670390000024
the distance between the movable end O2 of the shortening oil cylinder and the center H of the horizontal rotary table is shown; beta is a0Expression of & lt O 1HO2ρ represents the horizontal yaw angle of the cutting head;
the relation between the spatial position coordinate of the cutting head and the swing angle of the cutting arm is as follows:
Figure FDA0003637670390000025
wherein (x, y, z) represents the spatial position coordinates of the cutting head in the roadway, e represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantilever, and L represents the distance between the center H of the horizontal rotary table and the vertical rotary center O of the cantileverORThe distance between the centre of the cutting head and the centre O of vertical rotation of the boom is indicated.
3. The method of claim 1, further comprising determining the boom lowering angle limit γ from the relationship between the vertical swing of the cutting head and the position of the lift cylinderminAnd upper swing angle limit value gammamaxDetermining the maximum swinging angle rho of the cantilever in the horizontal plane according to the position relation of the horizontal swinging of the cutting head and the rotary oil cylindermaxThe step (2).
4. The method of claim 1, wherein the primary inertial navigation module is a laser inertial navigation module and the secondary inertial navigation module is a fiber inertial navigation module.
5. The method of claim 1, further comprising the step of mounting a prism assembly on the boom tractor body, wherein the prism assembly is mounted at a rear position of the tractor body and symmetrically arranged left and right, and the prism assembly is used in cooperation with the automatic total station assembly.
6. The method of claim 1, wherein in step S2, the method for initially calibrating the primary inertial navigation module and the secondary inertial navigation module comprises: providing initial position information for the inertial navigation system according to the position of the automatic total station assembly and the speed of the heading machine, calculating the position information by the inertial navigation system to obtain the position and attitude angle information of the machine body, using the position and attitude angle information as the initial position information when the inertial navigation system starts to work, and completing the initial calibration of the main inertial navigation assembly and the auxiliary inertial navigation assembly before the work.
7. The method of claim 1, wherein the primary inertial navigation assembly and the secondary inertial navigation assembly are recalibrated after a period of cutting.
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