CN101629807B - Position and attitude parameter measurement system of machine body of boring machine and method thereof - Google Patents
Position and attitude parameter measurement system of machine body of boring machine and method thereof Download PDFInfo
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Abstract
The invention relates to a position and attitude parameter measurement system of a machine body of a boring machine and a method thereof, and the position and attitude parameter measurement system consists of a line laser transmitter, a rack of the line laser transmitter, laser targets, a programmable computer controller, an A/D conversion module and two inclination sensors. The line laser transmitter is positioned by a laser direction indicator and the rack of the line laser, emits a fan-shaped laser beam and forms linear spots on the machine body of the boring machine. An photosensitive element in one position on one of the two laser targets consisting of the photosensitive elements senses the laser beam and generates a current signal at any time, and the current signals are processed and calculated by an internal circuit of the laser targets and the programmable computer controller, thereby determining the positions of the laser beam on the laser targets; furthermore, the mounting positions of the laser targets on the boring machine are known, thereby obtaining a deflection angle and deflection displacement of the boring machine. Two inclination sensors measure a pitch angle and a roll angle of the boring machine, thereby completing the measurement of position and attitude parameters of the machine body of the boring machine. The system has the advantages of low cost, high precision, good real-time property and convenient operation.
Description
Technical Field
The invention relates to a heading machine for underground coal mine operation in the field of heading machines, in particular to a heading machine body pose parameter measurement system and a heading machine body pose parameter measurement method.
Background
The tunnel boring machine is a combined unit which can realize cutting, loading, transportation, coal rock transfer, movable walking and spray dust removal, and the cantilever tunnel boring machine is widely applied to coal rock boring machines at home and abroad at present.
However, on the basis of following a certain cutting process flow of the coal roadway, a tunneling driver mainly operates the tunneling machine manually through a handle, and randomness is high. Although the mining explosion-proof laser direction indicator plays a role in guiding the tunneling direction in cutting, the construction quality is favorably improved. But the working environment is severe (gas concentration is high, dust is large, darkness is high, etc.), and the safety is low; the operating condition restriction entry driving machine seat is lower and far away from the cutterhead, causes the specific cutting condition in place ahead that the limited sight of driver of the in-process of cutting field of vision is unclear, can not in time effectively adjust when the entry driving machine appears the operation position appearance error, the easy super-excavation that appears, the phenomenon is dug owely, still is equipped with corresponding personnel for this reason and feeds back the place ahead cutting condition in the actual work, nevertheless the effect is not good, the section is cut irregularly. In addition, the tunnel space is narrow, the light is dim, float coal on the bottom plate is accumulated, the ground is soft and fluctuated, and a large amount of other electromechanical equipment is arranged around the machine body. In such a working condition, it is not easy to manually adjust the pose of the fuselage. Under the condition of lacking an automatic adjusting means, the manual adjusting process is complex, the adjusted pose precision cannot be guaranteed, and finally the roadway section cutting error is further increased.
The use of the tunnel boring machine has a closely related and inseparable relationship for people, and in order to improve the defects of the tunnel boring machine, methods for measuring the pose of the tunnel boring machine are sequentially proposed:
the notice number is CN201013380Y, and the notice date of authorizing is 2008 1 month 30 days, the utility model discloses a title "full-automatic entry driving machine", the design of this patent proposes a remote control mode, and it is through adopting space navigation locater, and real-time detection entry driving machine carries out real time control at inertial space's absolute position coordinate, contains the measuring of cutterhead spatial position at entry driving machine and cutterhead. Although the patent is feasible theoretically, the precision of the spaceflight instrument is easily influenced by the underground severe environment of the coal roadway, the specific implementation is difficult to a certain degree, and the underground implementation is not practical.
The publication number is CN101266134A, publication date 2008, 9, 17, and the patent name is "measuring system and method of the attitude of the boom nose", the design of the patent proposes a measuring system of the attitude of the boom nose, which measures the attitude of the heading machine by adopting a laser mobile total station. The laser is transmitted to the heading machine through the laser mobile total station, reflected by the prism, received by the transmitted laser signal, transmitted by the wireless signal transmission device to reach the computer in the heading machine, and all pose parameters of the heading machine are measured at one time. The invention receives and transmits signals on the heading machine and measures the parameters of each position respectively. Although the patent is feasible theoretically, the coal mine explosion-proof device has the defects of high adjusting difficulty, high requirement on workers, high cost and the like, and a mature explosion-proof product is not available so far, so that the coal mine explosion-proof device is difficult to popularize and apply in a coal mine.
In view of the defects of the invention, the inventor of the invention creates the invention with practical value after continuous research and design, repeated trial production of samples and improvement in order to realize automatic cutting and tunneling of the tunneling machine, reduce the labor intensity of coal miners and ensure the tunneling quality of a tunneling coal roadway.
Disclosure of Invention
The invention mainly aims to overcome the defects of the existing position and posture parameter measuring system of the tunneling machine body, and provides a position and posture parameter measuring system of the tunneling machine body and a method thereof, which are used for measuring position and posture parameters (including deflection displacement, deflection angle, pitch angle and rolling angle) of the tunneling machine body and thoroughly solving the problem that a special measuring device for the position and posture parameter of the tunneling machine body is lacked in coal roadway tunneling for a long time. Because the device can establish direct connection with the existing laser direction indicator for coal roadway tunneling, the position and attitude parameter measurement of the tunneling machine body has a definite absolute measurement reference, so that the position and attitude of the tunneling machine in a space absolute coordinate system can be completely determined without transforming the obtained position and attitude parameters, and the position and attitude parameter error of the tunneling machine body can be directly determined by comparing the position and attitude parameters with the coal roadway design parameters. And continuously correcting the pose errors in the coal roadway tunneling process to obtain a high-quality roadway according with the coal roadway design parameters.
The invention also aims to provide a heading machine body pose parameter measurement system and a method thereof, which can be used for measuring the pose of the heading machine body in real time, thereby being the basis for automatic heading and cutting of the heading machine and remote control of the heading machine ground and finally achieving the aim of unmanned working face.
The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme. The heading machine body pose parameter measuring system and method provided by the invention comprise a laser direction indicator, a line laser transmitter frame, a laser target, a programmable computer controller A/D conversion module A and A/D conversion module B, an inclination angle sensor A and an inclination angle sensor B. The linear laser transmitter is positioned according to the pointing direction of the laser pointer, the specific position of the linear laser transmitter is adjusted and determined by the linear laser frame, and fan-shaped laser beams are emitted so as to form linear light spots on the body of the heading machine. Two laser targets composed of photosensitive elements are parallelly installed on the known position of a heading machine body, at any moment, the photosensitive elements at one position on the two laser targets respectively sense laser beams and generate current signals, the current signals are processed by an internal circuit of the laser targets and are transmitted into a programmable computer controller through an A/D conversion module B, the positions of the laser beams on the laser targets can be determined through processing and calculation, the installation positions of the laser targets on the heading machine are known, and therefore the deviation angle and the deviation displacement of the heading machine are obtained. The tilt angle sensor A and the tilt angle sensor B are arranged in a rear rack of the heading machine and are used for respectively measuring a pitching angle and a rolling angle of the heading machine. Therefore, the machine body pose parameter measurement of the heading machine is completed.
The programmable computer controller, the A/D conversion module A and the A/D conversion module B are arranged in an electric control box of the heading machine.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
According to the heading machine body pose parameter measuring system and the method thereof, the line laser transmitter is positioned by the laser direction indicator. The laser direction indicator is installed at a coal mine ground measuring part, provides direction indication of a tunneling direction according to the design requirement of a roadway, and is the only direction reference for tunneling the roadway. The line laser transmitter utilizes the laser beam emitted by the laser direction indicator to enable the laser beam to completely pass through two small holes arranged on the line laser transmitter, so that the position of the line laser transmitter is determined.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
The position and posture parameter measuring system and the method for the heading machine body are characterized in that the laser direction instrument is used for positioning the line laser transmitter, and the method is characterized in that the position of the line laser transmitter can be adjusted by a line laser transmitter rack arranged on a roadway top plate 3-4 meters in front of the laser direction instrument arranged in a coal roadway, so that the line laser transmitter can flexibly move up and down, left and right, pitch and rotate, laser beams of the laser direction instrument can easily penetrate through two small holes in the line laser transmitter, and the positioning of the line laser transmitter is completed.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
According to the heading machine body pose parameter measuring system and the method thereof, the linear laser transmitter can transmit fan-shaped laser beams, and the fan-shaped laser beams are perpendicular to the ground and parallel to the laser beams of the laser direction indicator so as to form linear light spots on the heading machine body. The effective illumination distance of the laser beam is more than 30 meters and less than 130 meters, namely the illumination dead angle is 30 meters.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
According to the heading machine body pose parameter measuring system and method, the laser targets are arranged on the heading machine body, and the two laser targets are parallel to each other and perpendicular to the center line of the heading machine body. At any moment, the photosensitive elements at one position on the two laser targets respectively sense the laser beams and generate current signals, the current signals are processed by internal circuits of the laser targets and are transmitted into the programmable computer controller through the A/D conversion module B, the positions of the laser beams on the laser targets can be determined through processing and calculation, the mounting positions of the laser targets on the heading machine are known, and therefore the deviation angle and the deviation displacement of the heading machine are obtained. The resolution errors of the system to the deviation angle and the deviation displacement of the development machine are respectively less than 0.1 degree and 5 cm.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
According to the heading machine body pose parameter measuring system and the method thereof, the laser target has good identification capability on the laser beam and is not influenced by other rays. The photosensitive element has the function of a switch, and when the light intensity is less than a certain value, the photosensitive element does not induce current and is in a closed state; when the intensity of light is greater than this value, the light sensitive element induces a current, and as the intensity of light increases, the current increases, which is maintained when the current increases to a certain value, and does not increase any more, during which the light sensitive element is in an open state.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
In the heading machine body pose parameter measuring system and method, the initial position of the heading machine is set to be that the midpoint of the two laser targets is on the center line of the roadway, and when the laser beams emitted by the line laser emitter deviate a certain distance relative to the center line of the roadway, the deviated distance can be reflected into a program by modifying the parameters in the program of the programmable computer controller, so that the measurement of the deviation displacement of the heading machine is not influenced.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
In the heading machine body pose parameter measuring system and the method thereof, the tilt angle sensor A and the tilt angle sensor B are installed in the rear rack of the heading machine, and data measured by the tilt angle sensor A and the tilt angle sensor B are transmitted to the programmable computer controller through the A/D conversion module A to respectively obtain the pitch angle and the roll angle of the heading machine. The angle measuring direction of the inclination angle sensor A is set to be parallel to the center line of the machine body, and the output signal of the sensor reflects the absolute included angle between the plane of the machine body and the horizontal plane in the longitudinal direction of the machine body; the angle measuring direction of the inclination angle sensor B is set to be a direction vertical to the center line of the machine body, and the output signal of the sensor reflects the absolute included angle between the plane of the machine body and the horizontal plane in the transverse direction of the machine body. The coal mine ground measuring department can provide the longitudinal horizontal inclination angle value and the transverse horizontal inclination angle value of the current roadway floor. Subtracting the longitudinal inclination angle of the current roadway floor from the angle reading of the inclination angle sensor A
The included angle value between the plane of the machine body and the plane of the current roadway bottom plate in the longitudinal direction can be obtained, and the value is the pitching angle of the machine body; subtracting the horizontal inclination angle of the current roadway bottom plate from the angle reading of the inclination angle sensor B
The plane of the machine body and the current lane can be obtainedThe included angle value between the horizontal planes of the road bottom plates is the rolling angle of the machine body. The resolution error of the pitch angle and the roll angle of the fuselage is less than 0.1 degree.
Compared with the prior art, the automatic position and orientation measurement system and the method thereof for the heading machine body have obvious advantages and beneficial effects. By means of the technical scheme, the heading machine body pose parameter measuring system and the method thereof provided by the invention can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
(1) the invention replaces the traditional manual visual inspection mode with the line laser transmitter, the laser target, the signal transmission line and the programmable computer controller, obviously improves the automation level of the measurement process, and can detect the pose parameters of the machine body of the heading machine in real time, namely has real-time property.
(2) The invention provides a necessary technical condition for automatically correcting pose deviation of a heading machine and further realizing automatic control of the heading machine on the basis of automatic heading cutting and ground remote control of the heading machine, solves the problems of inaccurate positioning, serious over-excavation and under-excavation phenomena and low control precision of the heading machine by visual inspection of the heading machine pose by a driver of the heading machine, reduces labor intensity, improves the forming quality and the heading speed of a roadway, and provides guarantee for the comfort and the safety of the construction of a coal mine roadway.
(3) The invention relates to a heading machine body pose parameter measuring system and a method thereof.A laser target consisting of parallel photosensitive elements is utilized, a signal transmitted by each photosensitive element bears coordinate point information, and the signal is processed by a computer to obtain the body pose information of the heading machine. The method has the advantage of high precision, and the partial errors of the deviation angle and the deviation displacement of the heading machine are respectively less than 0.1 degree and 5 centimeters.
(4) According to the heading machine body pose parameter measuring system and method, the linear laser transmitter frame can enable the linear laser transmitter to flexibly move up and down, left and right, pitching and rotating, and the installation and adjustment operations are simple and rapid.
(5) The heading machine body pose parameter measuring system and the method thereof have the advantages that related equipment is simple and practical, and the cost of the system is lower.
In conclusion, the heading machine body pose parameter measuring system with the special structure aims to provide a novel heading machine body pose parameter measuring method and a novel heading machine body pose parameter measuring system, thoroughly solve the problem of real-time measurement of heading machine body pose parameters (including deflection displacement, a deflection angle, a pitch angle and a rolling angle), lay the foundation for automatic heading and cutting of the heading machine and remote control of the heading machine ground, and finally achieve the aim of unmanned working face. The system is suitable for coal roadway tunneling and practical and has industrial utilization value. The coal roadway tunneling measurement device has the advantages and practical values, the measurement principle and the structural design are not published or used but are innovated, great progress is made in the coal roadway tunneling measurement technology, good and practical effects are produced, the device is greatly different from the published similar patents in the measurement principle and structure, and multiple effects are enhanced, so that the device is more practical, has industrial wide utilization value, and is a novel, improved and practical new design.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
FIG. 1 is a system diagram of the present invention
FIG. 2 is a schematic view of the structure of the present invention
FIG. 3 is a schematic illustration of a laser target of the present invention
FIG. 4 is a schematic top view of the system structure of the present invention
FIG. 5 is a diagram of a mathematical model of the present invention
FIG. 6 is a schematic diagram of pose parameters of each body of the related heading machine
In the figure:
1: laser direction indicator 2: line laser transmitter
3: laser target 4: linear laser transmitter frame
5: programmable computer controller 6: development machine
7: the A/D conversion module A8: tilt angle sensor A
9: tilt angle sensor B10: A/D conversion module B
11: an electric cabinet 12: rear frame of development machine
Detailed Description
In order to further explain the technical means and effects adopted by the invention to achieve the predetermined purpose, the following detailed description will be given to the specific implementation, structure, features and effects of the heading machine body pose parameter measurement system and the method thereof according to the invention, in conjunction with the accompanying drawings and the preferred embodiments.
The foregoing and other technical and scientific aspects, features and advantages of the present invention will be apparent from the following detailed description of preferred embodiments, which is to be read in connection with the accompanying drawings. While the present invention has been described in connection with the preferred 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 specific embodiments thereof.
As shown in fig. 1, 2, 3 and 4, the heading machine body pose parameter measurement system and method of the preferred embodiment of the invention are composed of a laser direction indicator 1, a line laser emitter 2, a laser target 3, an a/D conversion module B10, a programmable computer controller 5, a heading machine 6, an a/D conversion module A7, an inclination angle sensor A8, an inclination angle sensor B9, a line laser emitter frame 4, an electric cabinet 11 and a heading machine rear frame 12. Wherein,
a line laser transmitter rack 4 is installed on a roadway roof three to four meters in front of an existing laser direction indicator 1 in a coal roadway, a line laser transmitter 2 is installed on the line laser transmitter rack 4, and two holes are formed in the line laser transmitter 2.
Two laser targets 3 are mounted on the body of the heading machine 6 at known locations, parallel to each other and both perpendicular to the centerline of the body. The laser target 3 consists of a row of juxtaposed light sensitive elements.
The programmable computer controller 5, the A/D conversion module A7 and the A/D conversion module B10 are arranged in the electric control box 12 of the heading machine.
The inclination angle sensor A8 and the inclination angle sensor B9 are arranged in the rear frame 12 of the heading machine.
The initial position of the heading machine 6 is that the midpoint of the two laser targets 3 is on the middle line of the roadway, the offset distance between the laser beam emitted by the line laser emitter 2 and the middle line of the roadway is measured, and the initial parameters in the programmable computer program are set. When the laser beam emitted by the line laser emitter 2 deviates a certain distance from the center line of the roadway, the deviation distance can be reflected into the program by modifying the parameters in the program of the programmable computer controller, so that the measurement of the deviation displacement of the heading machine is not influenced.
The laser direction indicator 1 is a positioning line laser emitter 2. The laser direction indicator 1 is installed at a coal mine ground measuring part, provides direction indication of a tunneling direction according to the design requirement of a tunnel, is a unique direction reference for tunneling the tunnel, and can be used as a reference of a line laser transmitter 2. According to the indication direction of the existing laser direction indicator 1 in the coal roadway, the linear laser transmitter 2 does vertical, horizontal, pitching and rotating motion on the linear laser transmitter frame 4 by manually adjusting the linear laser transmitter frame 4, and the laser beam emitted by the laser direction indicator 1 is utilized to completely pass through two small holes arranged on the linear laser transmitter 2, so that the positioning of the linear laser transmitter 2 is completed.
The line laser emitter 2 emits fan-shaped laser beams, the fan-shaped laser surfaces are perpendicular to the ground and parallel to the laser of the laser direction indicator 1, and the laser beams form linear light spots on the body of the heading machine. The effective illumination distance of the laser beam is 100 meters (more than 30 meters and less than 130 meters, namely the illumination dead angle is 30 meters).
As shown in fig. 3, at any time, the two laser targets 3 respectively have a photosensitive element at a position on the two laser targets 3 to sense a laser beam and generate a current signal, the current signal is processed by an internal circuit of the laser target 3 and is transmitted to the programmable computer controller 5 through the a/D conversion module B10, and after processing and calculation, the position of the laser beam on the laser target 3 can be determined, and the installation position of the laser target 3 on the heading machine is known, so that the deviation angle and the deviation displacement of the heading machine 6 can be obtained. The resolution errors of the system to the deviation angle and the deviation displacement of the development machine are respectively less than 0.1 degree and 5 cm. As shown in fig. 5, wherein:
point O-the midpoint of the heading machine body;
O1point-the midpoint of the first laser target;
O2point-the midpoint of the second laser target;
P1point-the point of the scanning laser beam on the first laser target;
P2spot-the landing of the scanning laser beam on the second laser target;
point H-the vertical foot of the vertical line from the center point O of the machine body to the laser plane;
OA-parallel to the two laser targets, point A on the pointing laser plane;
l-the distance of the installation position of the line laser transmitter deviating from the center line of the roadway (if the line laser transmitter is exactly positioned in the center of the roadway, then L is 0)
By calculating the deflection angle and deflection displacement of the fuselage using fig. 5, the following results can be obtained:
(a)
note: if the calculation result is positive, the following results are shown: when viewed from the top, the fuselage deflects in a counter-clockwise direction. Conversely, it indicates that the fuselage is rotating in a clockwise direction.
(b)
Note: if the calculation result is positive, the following results are shown: when looking down, the central point of the machine body translates towards the left side of the roadway. Otherwise, the translation is indicated to the right side of the roadway
By using the formulas (a) and (b), two parameters of the deviation angle alpha of the airplane body and the deviation displacement A of the airplane body can be obtained.
Two inclination angle sensors are arranged in a rear frame 12 of the heading machine, the angle measuring direction of the inclination angle sensor A8 is set to be parallel to the center line of the machine body, and the output signals of the sensors reflect the absolute included angle between the plane of the machine body and the horizontal plane in the longitudinal direction of the machine body; the angle measurement direction of the inclination sensor B9 is set to be perpendicular to the centerline of the fuselage, and the output signal of the sensor reflects the absolute angle of the plane of the fuselage with the horizontal plane in the lateral direction of the fuselage.
As shown in fig. 6a, 6b, 6c, and 6d, the coal mine ground department may provide the longitudinal horizontal inclination angle value and the transverse horizontal inclination angle value of the current roadway floor. Subtracting the longitudinal inclination angle of the current roadway bottom plate from the angle reading of the inclination angle sensor A to obtain the longitudinal included angle value between the plane of the machine body and the plane of the current roadway bottom plate, wherein the value is the pitching angle of the machine body; and subtracting the horizontal inclination angle of the current roadway bottom plate from the angle reading of the inclination angle sensor B to obtain the horizontal included angle value between the plane of the machine body and the plane of the current roadway bottom plate, wherein the value is the rolling angle of the machine body.
Data measured by the two tilt angle sensors are transmitted into the programmable computer controller 5 through an A/D conversion module A7 in the electric cabinet 11, and a pitch angle and a rolling angle of the heading machine 6 are obtained. Therefore, the measurement of the position and posture parameters of the excavator body is completed.
The laser target 3 has good identification capability on the laser beam and is not influenced by other rays. This is because the light sensitive element of the laser target 3 has a switching function, and when the light intensity is less than a certain value, the light sensitive element does not induce a current, and is in an off state at this time; when the intensity of light is greater than this value, the light sensitive element induces a current, and as the intensity of light increases, the current increases, which is maintained when the current increases to a certain value, and does not increase any more, during which the light sensitive element is in an open state.
The heading machine body pose parameter measuring system and the method thereof have the implementation steps that:
(1) the linear laser emitter frame 4 is fixed, and the frame is adjusted to enable the laser beam of the laser direction indicator 1 to pass through two holes in the linear laser emitter 2.
(2) The line laser transmitter 2 is started, and the line laser transmitter 2 transmits a fan-shaped laser beam to the laser target 3 on the heading machine 6.
(3) Two photosensitive elements on the laser target 3 sense laser, and generate current signals which are transmitted into the processing circuit in the laser target 3 and the A/D conversion module B10.
(4) Two tilt angle sensors installed in the rear frame 12 of the heading machine measure the pitching angle and the rolling angle of the machine body of the heading machine respectively.
(5) The data of the A/D conversion module B10 and the data of the A/D conversion module A7 in the electric control box 11 of the heading machine are transmitted to the programmable computer controller 5.
(6) The programmable computer controller 5 calculates the deviation displacement and the deviation angle of the heading machine by using a formula (a) and a formula (b), and then the body pose parameters of the heading machine can be obtained according to the data of the A/D conversion module A7.
The technical innovation of the heading machine body pose parameter measuring system and the method thereof formed by the structure has many advantages for technical personnel in the same industry at present, and indeed has technical progress.
The basic idea of the invention is described above. However, other operable embodiments of the present invention may be modified within the technical field of the present invention as long as they have the most basic knowledge. In the present invention, a patent is claimed for the essential technical solution, and the protection scope of the patent should include all the changes with the technical characteristics.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a heading machine fuselage position appearance parameter measurement system, includes that laser direction appearance (1) that has been equipped with in heading machine (6) and the coal road, its characterized in that: further comprising: a line laser transmitter (2), a line laser transmitter frame (4), a laser target (3), a programmable computer controller (5), an A/D conversion module A (7), an A/D conversion module B (10), an inclination angle sensor A (8) and an inclination angle sensor B (9),
the laser direction indicator (1) is installed at a coal mine ground measuring part, provides heading direction according to the design requirement of a roadway, is the only direction reference for roadway heading and is used as the reference of the line laser transmitter (2);
the linear laser transmitter (2) is arranged on the linear laser transmitter rack (4), the linear laser transmitter (2) emits fan-shaped laser beams to form linear light spots on the machine body of the heading machine (6), and the linear light spots can flexibly move on the linear laser transmitter rack (4) according to the indication direction of the existing laser direction indicator (1) in a coal roadway so as to enable the laser beams emitted by the laser direction indicator (1) to penetrate through small holes in the linear laser transmitter (2) and determine the position of the linear laser transmitter (2);
the line laser transmitter rack (4) is arranged on a roadway roof 3-4 meters in front of a laser direction indicator (1) installed in a coal roadway, so that the line laser transmitter (2) can move up and down, left and right, pitch and rotate, the position of the line laser transmitter (2) is adjusted, a laser beam of the laser direction indicator (1) can easily pass through a small hole in the line laser transmitter (2), and the positioning of the line laser transmitter (2) is completed;
the two laser targets (3) are composed of a row of parallel photosensitive elements, the two laser targets (3) are arranged on the body of the heading machine (6) and are parallel to each other and perpendicular to the center line of the body, and at any moment, the photosensitive elements at one position on the two laser targets (3) respectively sense laser beams and generate current signals;
the programmable computer controller (5), the A/D conversion module A (7) and the A/D conversion module B (10) are installed in an electric control box (11) of the heading machine, the photosensitive elements sense laser beams and generate current signals, the current signals are processed through an internal circuit of the laser target (3), the current signals are transmitted into the programmable computer controller (5) through the A/D conversion module B (10), and after processing and calculation, the photosensitive elements sense the laser beams, the positions of the laser beams on the laser target (3) can be determined, the installation positions of the laser target (3) on the heading machine (6) are known, and therefore the deflection angle and the deflection displacement of the heading machine (6) are obtained;
the inclination angle sensor A (8) and the inclination angle sensor B (9) are arranged in a rear rack (12) of the heading machine and are used for respectively measuring a pitch angle and a roll angle of the heading machine (6), wherein the angle measuring direction of the inclination angle sensor A (8) is set to be parallel to the center line of the machine body, an output signal of the inclination angle sensor reflects an absolute included angle between the plane of the machine body and the horizontal plane in the longitudinal direction of the machine body, the angle measuring direction of the inclination angle sensor B (9) is set to be perpendicular to the center line of the machine body, and an output signal of the inclination angle sensor reflects an absolute included angle between the plane of the machine body and the horizontal plane in the transverse direction of the machine body, so that the.
2. The heading machine body pose parameter measurement system according to claim 1, wherein the fan-shaped laser surface of the fan-shaped laser beam emitted by the linear laser emitter (2) is perpendicular to the ground and parallel to the laser of the laser direction indicator (1) to form a linear light spot on the heading machine body (6), and the effective illumination distance of the laser beam is greater than 30 meters and less than 130 meters.
3. The heading machine body pose parameter measurement system according to claim 1, wherein the deviation angle resolution error of the heading machine (6) is less than 0.1 degree, and the deviation displacement resolution error is less than 5 cm.
4. The system for measuring the pose parameters of the machine body of the heading machine according to claim 1, wherein data respectively measured by the tilt sensor A (8) and the tilt sensor B (9) are transmitted to the programmable computer controller (5) through an A/D conversion module A (7) to respectively obtain a pitch angle and a roll angle of the heading machine (6), and a measurement error is less than 0.1 degree.
5. The heading machine body pose parameter measurement system according to any one of claims 1-4, wherein the initial position of the heading machine (6) is set such that the midpoint of the two laser targets is on the center line of the roadway, and when the laser beam emitted by the line laser emitter (2) is offset by a certain distance from the center line of the roadway, the offset distance can be reflected into the program by modifying parameters in the program of the programmable computer controller, so as not to affect the measurement of the heading machine deflection displacement.
6. The heading machine body pose parameter measuring system according to claim 5, wherein the photosensitive element of the laser target (3) has a switching function, and when the light intensity is smaller than a certain value, the photosensitive element does not induce and generate current, and is in a closed state; when the light intensity is larger than the value, the photosensitive element senses and generates current, the current is increased along with the increase of the light intensity, the value is kept and is not increased when the current is increased to a certain value, and in the process, the photosensitive element is in an open state, so that the laser target (3) has good identification capacity on the laser beam and is not influenced by other rays.
7. A method for measuring the position and orientation parameters of a heading machine body using the system for measuring the position and orientation parameters of a heading machine body according to claim 1, characterized in that: the method comprises the following steps:
(1) fixing a linear laser transmitter frame (4), and adjusting the frame to enable the laser beam of the laser direction indicator (1) to pass through two holes on the linear laser transmitter (2);
(2) starting a linear laser transmitter (2), wherein the linear laser transmitter (2) transmits a fan-shaped laser beam to a laser target (3) on a heading machine (6);
(3) two photosensitive elements on the laser target (3) sense laser, and generate current signals which are transmitted into an inner processing circuit and an A/D conversion module B (10) of the laser target (3);
(4) an inclination angle sensor A (8) and an inclination angle sensor B (9) which are arranged in a rear rack (12) of the development machine respectively measure a pitch angle and a roll angle of a machine body of the development machine;
(5) and data of an A/D conversion module B (10) and data of an A/D conversion module A (7) in an electric control box (11) of the heading machine are transmitted to a programmable computer controller (5), the programmable computer controller (5) calculates deviation displacement and deviation angle of the heading machine (6), and the pose parameter of the machine body of the heading machine can be obtained according to the data of the A/D conversion module A (7).
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