CN105737825A - Position measuring system for heading machine cutting head - Google Patents
Position measuring system for heading machine cutting head Download PDFInfo
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- CN105737825A CN105737825A CN201610094748.1A CN201610094748A CN105737825A CN 105737825 A CN105737825 A CN 105737825A CN 201610094748 A CN201610094748 A CN 201610094748A CN 105737825 A CN105737825 A CN 105737825A
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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Abstract
The invention discloses a position measuring system for a heading machine cutting head. The position measuring system comprises an inertial measurement unit module, a laser range finder module, a heading machine parameter acquiring module, a CPU calculation module, a CAN communication module and an upper computer module; the inertial measurement unit module achieves attitude measurement on a moving carrier, the laser range finder module achieves range measurement in the system heading direction, the heading machine parameter acquiring module achieves reading of machine body parameters, the CPU calculation module is used for data transmission and position calculation, and the CAN communication module achieves data transmission and interaction. According to the position measuring system for the heading machine cutting head, multi-sensor information integration is achieved, data communication is achieved through the CAN module, the position information of the cutting head is calculated through the CPU calculation module, and then the position information of the heading machine cutting head is obtained.
Description
Technical field
The present invention relates to a kind of cutting head of roadheader position measuring system, can be used for the positioning and orientation field of coal mine development machine.
Background technology
The development machine in current colliery is mainly with laser beam for direction, and manipulator is according to this direction as advance, the bad environments of down-hole, dust concentration is big, and light is dark, has had a strong impact on the sight line excavated, therefore easily cause excavation inaccurate, owe to dig and cross to dig phenomenon.Intellectuality and digital development along with science and technology, it is achieved the digitized of coal mine development machine and intelligent excavation will become a big trend.Employing equipment monitors the cutting head of roadheader positional information at drift section in real time, use digital communication carries out data transmission, employing visualization interface displays, it is simple to manipulator grasps cutterhead positional information accurately in real time, and the strict requirement installing tunnel designer is excavated.It is thus desirable to design a kind of cutterhead position measuring system reliably.
Summary of the invention
The technology of the present invention solves problem: overcome the deficiencies in the prior art, provide a kind of cutting head of roadheader position measuring system, this system can be used for the measurement of colliery excavator kinestate, environmental suitability is strong, the cutterhead location measurement information of acquisition is passed to manipulator, improves the accuracy of excavation.
The technical solution of the present invention:
A kind of cutting head of roadheader position measuring system, including: used group module, laser range finder module, development machine parameter acquisition module, CPU computing module, input CAN, output CAN, upper computer module, angle of revolution sensor, luffing angle sensor and displacement transducer；
Laser range finder module is for aiming at the installation direction of used group, it is ensured that the forward direction that used group is installed is consistent with the axis direction of the cutting arm of development machine；
Angle of revolution and the luffing angle of cutterhead measured respectively by angle of revolution sensor and luffing angle sensor, and it is sent to CPU computing module by inputting CAN, the forward direction distance of displacement sensor development machine and vertical direction distance, and it is sent to CPU computing module by inputting CAN；
Used group module is navigated resolving by angular velocity and the acceleration information of measurement development machine, it is thus achieved that the navigation information of development machine is also sent to CPU computing module；
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to CPU computing module；
CPU computing module processes according to all of input information, calculating the positional information obtaining cutting head of roadheader, the positional information of the last calculated cutting head of roadheader of CPU computing module is sent to upper computer module by output CAN and carries out cutterhead position display.
Described angle of revolution sensor, luffing angle sensor and displacement transducer are arranged on the linking arm between cutterhead and machine body of boring machine.
Described used group of module includes three axle gyros and three axles add table, described navigation information includes positional information, velocity information, attitude information, Data Labels and time, positional information includes longitude, latitude and height, velocity information includes east orientation speed, north orientation speed and sky to speed, and attitude information includes the angle of pitch, roll angle and course angle.
Described development machine parameter list particularly as follows:
| Sequence number | Items | Unit |
| 1 | Inertial navigation center is to gyroaxis horizontal range | mm |
| 2 | Inertial navigation center is to gyroaxis vertical dimension | mm |
| 3 | Inertial navigation center is to the height of plane of rotation | mm |
| 4 | Gyroaxis and pitch axis common vertical line distance | mm |
| 5 | Mounting platform is to the vertical height of crawler belt plane | mm |
| 6 | The big arm lengths of cut | mm |
| 7 | The maximum external envelope radical length of cutterhead | mm |
| 8 | The zero-bit of development machine gyroaxis | ° |
| 9 | The zero-bit of development machine pitch axis | ° |
。
Described CPU computing module processes according to all of input information, calculates the positional information obtaining cutting head of roadheader, particularly as follows:
(1) cutterhead of calculating development machine positional information under fuselage coordinates system:
Wherein, x_head_imu, y_head_imu and z_head_imu represent the position coordinate value of the cutterhead under the fuselage coordinates system of calculating respectively, L_head represents the radical length of cutterhead, L_arm represents the length of cut large arm, L_r2s represents gyroaxis and pitch axis common vertical line distance, L_imu2r represents that inertial navigation center is to gyroaxis horizontal range, H_r2rplane represents the revolution axle center height to plane of rotation, H_imu2r represents that inertial navigation center is to gyroaxis vertical dimension, H_imu2cp represents the used group installation site vertical height to development machine crawler belt planeThe angle of revolution of the relatively used group of cutterhead is obtained for rotary sensor,Obtain the angle of pitch of the relatively used group of cutterhead for luffing angle sensor, x_body_g and z_body_g respectively displacement transducer obtains the displacement of development machine shifted laterally distance and vertical direction；
(2) cutterhead of calculating development machine positional information under the coordinate system of tunnel, concrete conversion regime is as follows:
Wherein, x_head_g, y_head_g and z_head_g represent the positional value of cutterhead X, Y, the Z under the tunnel coordinate system of calculating respectively, and T represents transition matrix；
(3) time span worked on power according to used group judges whether to need school mark to compensate, if the time that used group works on power be more than or equal to 10h, then needs school mark to compensate, enters step (4), is otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, cutterhead positional information under the coordinate system of tunnel is corrected, described index point is rotated to arbitrfary point on the laser beam in tunnel, it is thus achieved that the now site error Δ x and Δ z of cutterhead, concrete updating formula is as follows；
X ' _ head_g=x_head_g-Δ x
Z ' _ head_g=z_head_g-Δ z
Wherein, x ' _ head_g and z ' _ head_g represents the positional value after the cutterhead correction under the coordinate system of tunnel respectively, and Δ x and Δ z represents the cutterhead correction under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions is corrected, is obtained positional information x_body_g and the z_body_g of forward direction by displacement transducer, be decomposed into X to the positional value with Z-direction by below equation；
If entering step (5) from step (3), use formula
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
If entering step (5) from step (4), use formula
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
Wherein x " _ head_g and z " _ head_g represents the positional value after the correction of the dynamic fuselage of the cutterhead under the coordinate system of tunnel respectively.
Described fuselage coordinates system is defined as: initial point O is the position installing used group on fuselage；X-axis points to the right side of fuselage, and before Y-axis points to fuselage, Z axis is determined by the right-hand rule, and vertically upward；
Described tunnel coordinate system is defined as: initial point O is roadway entry center, and X-axis points to the right side in tunnel, and before Y-axis points to tunnel, Z axis is determined by the right-hand rule, and vertically upward.
Described transition matrix T is the matrix of 3 × 3, particularly as follows:
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=-sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
Wherein γ,θ is the roll angle of fuselage, yaw angle and the angle of pitch.
What the present invention compared with prior art brought has the beneficial effect that
(1) present invention devises seven modules, from the extraneous reception of sensing data, the transmission resolved to data of cutterhead position and display, defines a complete digitized measurement and display system；Employing CAN carries out data transmission, and improves transfer rate and the reliability of system；The present invention can pass through to design the parameter of the different fuselage of development machine parameter acquisition module amendment, improves practicality and the motility of system；Adopt laser range finder module to ensure that the accuracy that system is installed, calculate for cutterhead and provide powerful guarantee；Data are sent to host computer by CAN, form visualization, allow operator can get information about the cutterhead positional information of current time, provide data basis for further excavating, it is to avoid the error in judgement that perusal brings.
(2) present invention takes full advantage of the principle of inertial navigation, establish the transformational relation between fuselage coordinates and tunnel coordinate, carefully analyze the annexation between airframe structure and each joint of development machine, the goniometer in pitching joint and rotary joint by measuring cut large arm calculates the position coordinates of cutterhead, calculate clear thinking, legibility；The invention allows for index point bearing calibration simultaneously, eliminate inertial navigation system because of the cumulative error existed that works long hours, improve the accuracy of measurement；Consider tunneling machine cutting process exists sideslip phenomenon, devise the real time position adopting displacement transducer to obtain fuselage, thus the positional information of cutterhead is corrected, further improve the accuracy of measurement.
Accompanying drawing explanation
Fig. 1 is present system block schematic illustration；
Fig. 2 receives flow scheme design
Fig. 3 cutterhead position resolves flow scheme design
Fig. 4 transmission flow designs
Detailed description of the invention
Colliery industry, digging technology is relatively conventional, and range estimation laser beam ensures the route advanced, and can there is bigger excavation error with the tunnel of design, and the working environment in colliery is severe, and traditional operating type workload is big, efficiency is low.For these problems, the present invention proposes and is combined with development machine digging technology by inertial navigation technique, adopts the CAN transmission data that industry is conventional, calculates the position of cutting head of roadheader, the platform carried by reality has been tested, it is thus achieved that the error accurate location information less than 10cm.
As shown in Figure 1, a kind of cutting head of roadheader position measuring system provided by the invention, including: used group module, laser range finder module, development machine parameter acquisition module, CPU computing module, input CAN, output CAN, upper computer module, angle of revolution sensor, luffing angle sensor and displacement transducer；
Laser range finder module is for aiming at the installation direction of used group, it is ensured that the forward direction that used group is installed is consistent with the axis direction of the cutting arm of development machine；
Described angle of revolution sensor, luffing angle sensor and displacement transducer are arranged on the linking arm between cutterhead and machine body of boring machine.Angle of revolution and the luffing angle of cutterhead measured respectively by angle of revolution sensor and luffing angle sensor, and it is sent to CPU computing module by inputting CAN, the forward direction distance of displacement sensor development machine and vertical direction distance, and it is sent to CPU computing module by inputting CAN.
The baud rate of CAN design is 250kbps, transmission frequency 100HZ, is used for realizing the correlation functions such as transmission, acceptance filtenng, interrupt response.Design CAN receives information as in figure 2 it is shown, CAN controller adopts the reception mode of inquiry.CPU reads the status register of CAN controller, it is necessary first to judge whether controller is in data overflow status, if so, then reads empty message, discharges buffer memory, knows data overflow position；Secondly whether the Status Flag of inquire-receive buffer is full, completely indicate that message can receive, then read the identification code of message, it may be judged whether be meet the message required, read data length, make CPU read message from receiving buffer area according to the data length read；Last set command register, release receives buffer, waits the reception of message next time.
The angle of pitch, roll angle and shift value are to be obtained by different sensor senses, it is consequently belonging to information three kinds different, point three readings, can read at most 10 bytes every time, front 2 bytes are for No. ID and byte length for infomational message, and rear 8 bytes are used for representing specifying information.The digital quantity obtained is carried out data parsing, converts the displacement of the luffing angle of the relative fuselage of cutterhead, angle of revolution and fuselage to.
Used group module is navigated resolving by angular velocity and the acceleration information of measurement development machine, it is thus achieved that the navigation information of development machine is also sent to CPU computing module；Described used group of module includes three axle gyros and three axles add table, described navigation information includes positional information, velocity information, attitude information, Data Labels and time, positional information includes longitude, latitude and height, velocity information includes east orientation speed, north orientation speed and sky to speed, and attitude information includes the angle of pitch, roll angle and course angle.
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to CPU computing module；
Described development machine parameter list particularly as follows:
| Sequence number | Items | Unit |
| 1 | Inertial navigation center is to gyroaxis horizontal range | mm |
| 2 | Inertial navigation center is to gyroaxis vertical dimension | mm |
| 3 | Inertial navigation center is to the height of plane of rotation | mm |
| 4 | Gyroaxis and pitch axis common vertical line distance | mm |
| 5 | Mounting platform is to the vertical height of crawler belt plane | mm |
| 6 | The big arm lengths of cut | mm |
| 7 | The maximum external envelope radical length of cutterhead | mm |
| 8 | The zero-bit of development machine gyroaxis | ° |
| 9 | The zero-bit of development machine pitch axis | ° |
。
This parameter list can be modified according to different development machines, improves motility and the versatility of system.
Described fuselage coordinates system is defined as: initial point O is the position installing used group on fuselage；X-axis points to the right side of fuselage, and before Y-axis points to fuselage, Z axis is determined by the right-hand rule, and vertically upward；
Described tunnel coordinate system is defined as: initial point O is roadway entry center, and X-axis points to the right side in tunnel, and before Y-axis points to tunnel, Z axis is determined by the right-hand rule, and vertically upward.
Inertial navigation system is mounted to the position of center line of development machine, using inertial navigation system as benchmark system, first in conjunction with the architectural feature of machine body of boring machine and size, cut large arm and the length of cutterhead, width and radian, the rotating angle of cut large arm, calculates cutterhead three-dimensional coordinate under fuselage coordinates system；Secondly the position coordinates of cutterhead is converted under the coordinate system of tunnel；System is carried out school mark and compensates judgement, if desired then carry out error correction, if need not, it is directly entered data and sends.
CPU computing module processes according to all of input information, calculating the positional information obtaining cutting head of roadheader, the positional information of the last calculated cutting head of roadheader of CPU computing module is sent to upper computer module by output CAN and carries out cutterhead position display.
As it is shown on figure 3, CPU computing module processes according to all of input information, calculate the positional information obtaining cutting head of roadheader, particularly as follows:
(1) cutterhead of calculating development machine positional information under fuselage coordinates system:
Wherein, x_head_imu, y_head_imu and z_head_imu represent the position coordinate value of the cutterhead under the fuselage coordinates system of calculating respectively, L_head represents the radical length of cutterhead, L_arm represents the length of cut large arm, L_r2s represents gyroaxis and pitch axis common vertical line distance, L_imu2r represents that inertial navigation center is to gyroaxis horizontal range, H_r2rplane represents the revolution axle center height to plane of rotation, H_imu2r represents that inertial navigation center is to gyroaxis vertical dimension, H_imu2cp represents the used group installation site vertical height to development machine crawler belt planeThe angle of revolution of the relatively used group of cutterhead is obtained for rotary sensor,Obtain the angle of pitch of the relatively used group of cutterhead for luffing angle sensor, x_body_g and z_body_g respectively displacement transducer obtains the displacement of development machine shifted laterally distance and vertical direction；
(2) cutterhead of calculating development machine positional information under the coordinate system of tunnel, concrete conversion regime is as follows:
Wherein, x_head_g, y_head_g and z_head_g represent the positional value of cutterhead X, Y, the Z under the tunnel coordinate system of calculating respectively, and T represents transition matrix；
Described transition matrix T is the matrix of 3 × 3, particularly as follows:
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=-sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
Wherein γ,θ is the roll angle of fuselage, yaw angle and the angle of pitch.
(3) time span worked on power according to used group judges whether to need school mark to compensate, if the time that used group works on power be more than or equal to 10h, then needs school mark to compensate, enters step (4), is otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, cutterhead positional information under the coordinate system of tunnel is corrected, described index point is rotated to arbitrfary point on the laser beam in tunnel, it is thus achieved that the now site error Δ x and Δ z of cutterhead, concrete updating formula is as follows；
X ' _ head_g=x_head_g-Δ x
Z ' _ head_g=z_head_g-Δ z
Wherein, x ' _ head_g and z ' _ head_g represents the positional value after the cutterhead correction under the coordinate system of tunnel respectively, and Δ x and Δ z represents the cutterhead correction under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions is corrected, is obtained positional information x_body_g and the z_body_g of forward direction by displacement transducer, be decomposed into X to the positional value with Z-direction by below equation；
If entering step (5) from step (3), use formula
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
If entering step (5) from step (4), use formula
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
Wherein x " _ head_g and z " _ head_g represents the positional value after the correction of the dynamic fuselage of the cutterhead under the coordinate system of tunnel respectively.The present invention is calculated by above two mode and obtains final cutterhead positional information, it is contemplated that ins error long time integration effect, adopts correcting mode, eliminates this error, it is thus achieved that measured value accurately, improves the precision of system.
By CAN, the cutterhead positional information calculated is sent to user side.The frequency of design interface agreement, transmitting portion and transmission, completes packing and the transmission of data, and transmission flow designs as shown in Figure 4:
The transmission of data is by CAN complete independently, and the message (message) that first CPU will send is sent to transmission buffer, then by " sending request position " flag set in command register.Adopt inquiry transmission mode.As long as controller is sending data, sending buffer and just write locking, before new message is put into transmission buffer, CPU has to check for the state sending buffer of status register.
Send data order below:
1) query State depositor, it may be judged whether receive or send, if buffer area is locked；
2) message data sending buffer is updated；
3) configuration order depositor, starts and sends.
Owing to CAN breaks down, the error condition such as excessively busy, it is necessary to carry out certain process, have two kinds of situations here, one is that bus is excessively busy and message priority is too low, causes that message cannot send successfully in normal time；Two is bus malfunctions, or controller is made mistakes owing to the reasons such as interference strongly send, it is impossible to returns and sends Success Flag.Need transmission is monitored and error handling processing.
The real work that present invention design is tunneled from the development machine of colliery industry, traditional tunneling method can be changed, positional information accurately is measured by Design of digital, tunnel for the automatization of colliery industry, the intelligent development such as autonomous cut, remote control has stepped major step, decrease human cost, liberate human resources, also improve the safety of colliery industry.
The present invention has tested on an actual coal mine development machine, it is mounted with the angle of pitch, the anglec of rotation and the displacement transducer that need, system is mounted on the right side of the operation bench of development machine, it is close to fuselage center position, devise the motion mode of cutterhead, adopt designed system of the present invention to the positional information measurement of cutterhead in motor process, and use total station measuring system that the positional information of each point is measured, both are compared, obtain final error amount, error, all within 100mm, fully demonstrates effectiveness of the invention.
The parameter of fuselage is as follows:
Table 1 body parameters
| Sequence number | Items | Numerical value | Unit |
| 1 | Inertial navigation center is to gyroaxis horizontal range | 1631 | mm |
| 2 | Inertial navigation center is to gyroaxis vertical dimension | 10 | mm |
| 3 | Inertial navigation center is to the height of plane of rotation | -125 | mm |
| 4 | Gyroaxis and pitch axis common vertical line distance | 600 | mm |
| 5 | Mounting platform is to the vertical height of crawler belt plane | 1655 | mm |
| 6 | The big arm lengths of cut | 3010 | mm |
| 7 | The maximum external envelope radical length of cutterhead | 1130 | mm |
| 8 | The zero-bit of development machine gyroaxis | 0.97 | ° |
| 9 | The zero-bit of development machine pitch axis | 3.85 | ° |
Embodiment 1:
5.0 ° of positions are placed in pitching joint, rotates cut large arm from right to left, the positional information of the angle of revolution measurement cutterhead that interval is different, result is as follows:
Table 2 revolute joint rotation measuring data 1
Embodiment 2:
Revolute joint is placed 14.0 ° of positions, lifts cut large arm from top to bottom, the positional information of the luffing angle measurement cutterhead that interval is different, result is as follows:
Table 3 pitching articulation measurement data 1
Embodiment 3:
Fuselage advances a segment distance, places arbitrarily angled by revolute joint and pitching joint, chooses the positional information of random 10 position measurement cutterhead, and result is as follows:
Table 4 fuselage advances a segment distance measurement data
By above data it can be seen that X to the error with Z-direction all within 100mm, it was demonstrated that the present invention all can obtain high-precision measurement result under static and current intelligence, demonstrates feasibility and the advantage of the present invention.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (7)
1. a cutting head of roadheader position measuring system, it is characterised in that including: used group module, laser range finder module, development machine parameter acquisition module, CPU computing module, input CAN, output CAN, upper computer module, angle of revolution sensor, luffing angle sensor and displacement transducer；
Laser range finder module is for aiming at the installation direction of used group, it is ensured that the forward direction that used group is installed is consistent with the axis direction of the cutting arm of development machine；
Angle of revolution and the luffing angle of cutterhead measured respectively by angle of revolution sensor and luffing angle sensor, and it is sent to CPU computing module by inputting CAN, the forward direction distance of displacement sensor development machine and vertical direction distance, and it is sent to CPU computing module by inputting CAN；
Used group module is navigated resolving by angular velocity and the acceleration information of measurement development machine, it is thus achieved that the navigation information of development machine is also sent to CPU computing module；
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to CPU computing module；
CPU computing module processes according to all of input information, calculating the positional information obtaining cutting head of roadheader, the positional information of the last calculated cutting head of roadheader of CPU computing module is sent to upper computer module by output CAN and carries out cutterhead position display.
2. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that: described angle of revolution sensor, luffing angle sensor and displacement transducer are arranged on the linking arm between cutterhead and machine body of boring machine.
3. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterized in that: described used group of module includes three axle gyros and three axles add table, described navigation information includes positional information, velocity information, attitude information, Data Labels and time, positional information includes longitude, latitude and height, velocity information includes east orientation speed, north orientation speed and sky to speed, and attitude information includes the angle of pitch, roll angle and course angle.
4. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that: described development machine parameter list particularly as follows:
。
5. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that: described CPU computing module processes according to all of input information, calculates the positional information obtaining cutting head of roadheader, particularly as follows:
(1) cutterhead of calculating development machine positional information under fuselage coordinates system:
Wherein, x_head_imu, y_head_imu and z_head_imu represent the position coordinate value of the cutterhead under the fuselage coordinates system of calculating respectively, L_head represents the radical length of cutterhead, L_arm represents the length of cut large arm, L_r2s represents gyroaxis and pitch axis common vertical line distance, L_imu2r represents that inertial navigation center is to gyroaxis horizontal range, H_r2rplane represents the revolution axle center height to plane of rotation, H_imu2r represents that inertial navigation center is to gyroaxis vertical dimension, H_imu2cp represents the used group installation site vertical height to development machine crawler belt planeThe angle of revolution of the relatively used group of cutterhead is obtained for rotary sensor,Obtain the angle of pitch of the relatively used group of cutterhead for luffing angle sensor, x_body_g and z_body_g respectively displacement transducer obtains the displacement of development machine shifted laterally distance and vertical direction；
(2) cutterhead of calculating development machine positional information under the coordinate system of tunnel, concrete conversion regime is as follows:
Wherein, x_head_g, y_head_g and z_head_g represent the positional value of cutterhead X, Y, the Z under the tunnel coordinate system of calculating respectively, and T represents transition matrix；
(3) time span worked on power according to used group judges whether to need school mark to compensate, if the time that used group works on power be more than or equal to 10h, then needs school mark to compensate, enters step (4), is otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, cutterhead positional information under the coordinate system of tunnel is corrected, described index point is rotated to arbitrfary point on the laser beam in tunnel, it is thus achieved that the now site error Δ x and Δ z of cutterhead, concrete updating formula is as follows；
X ' _ head_g=x_head_g-Δ x
Z ' _ head_g=z_head_g-Δ z
Wherein, x ' _ head_g and z ' _ head_g represents the positional value after the cutterhead correction under the coordinate system of tunnel respectively, and Δ x and Δ z represents the cutterhead correction under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions is corrected, is obtained positional information x_body_g and the z_body_g of forward direction by displacement transducer, be decomposed into X to the positional value with Z-direction by below equation；
If entering step (5) from step (3), use formula
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
If entering step (5) from step (4), use formula
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
Wherein x " _ head_g and z " _ head_g represents the positional value after the correction of the dynamic fuselage of the cutterhead under the coordinate system of tunnel respectively.
6. a kind of cutting head of roadheader position measuring system according to claim 5, it is characterised in that: described fuselage coordinates system is defined as: initial point O is the position installing used group on fuselage；X-axis points to the right side of fuselage, and before Y-axis points to fuselage, Z axis is determined by the right-hand rule, and vertically upward；
Described tunnel coordinate system is defined as: initial point O is roadway entry center, and X-axis points to the right side in tunnel, and before Y-axis points to tunnel, Z axis is determined by the right-hand rule, and vertically upward.
7. a kind of cutting head of roadheader position measuring system according to claim 5, it is characterised in that: described transition matrix T is the matrix of 3 × 3, particularly as follows:
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=-sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
Wherein γ,θ is the roll angle of fuselage, yaw angle and the angle of pitch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610094748.1A CN105737825B (en) | 2016-02-19 | 2016-02-19 | A kind of cutting head of roadheader position measuring system |
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| CN109579831A (en) * | 2018-11-09 | 2019-04-05 | 西安科技大学 | Mining boom-type roadheader visualization auxiliary guidance method and system |
| CN109579831B (en) * | 2018-11-09 | 2020-05-19 | 西安科技大学 | Visual auxiliary guide method and system for mining boom-type roadheader |
| CN109763817A (en) * | 2019-02-28 | 2019-05-17 | 辽宁工程技术大学 | A kind of variable transversal away from cutting head of roadheader |
| CN109763817B (en) * | 2019-02-28 | 2023-10-20 | 辽宁工程技术大学 | Heading machine cutting head with changeable line cutting distance |
| CN112050732A (en) * | 2020-08-21 | 2020-12-08 | 西安科技大学 | Method and system for automatically detecting spatial pose of cantilever type heading machine |
| CN112304285A (en) * | 2020-11-03 | 2021-02-02 | 中国煤炭科工集团太原研究院有限公司 | Attitude detection method and system for cantilever type heading machine cutting head |
| CN114485634A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Digging and anchoring machine planning mining method and system based on multi-information fusion |
| CN114485633A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Spatial positioning method and device for cutting head of cantilever type heading machine |
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