CN111323044A - Two-dimensional displacement measuring device and method for heading machine - Google Patents
Two-dimensional displacement measuring device and method for heading machine Download PDFInfo
- Publication number
- CN111323044A CN111323044A CN202010289407.6A CN202010289407A CN111323044A CN 111323044 A CN111323044 A CN 111323044A CN 202010289407 A CN202010289407 A CN 202010289407A CN 111323044 A CN111323044 A CN 111323044A
- Authority
- CN
- China
- Prior art keywords
- measuring device
- encoder
- mileage
- wheel
- carrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a two-dimensional displacement measuring device and a track measuring method for a heading machine, and aims to obtain the position and track information of a cantilever type heading machine in real time in a severe environment of a working face of the heading machine. The device comprises: a mileage measuring device that measures mileage variation information; an angle measuring device that measures angle change information; the tensioning device is connected with the carrier and the angle measuring device and has tensioning capacity and damping capacity; the shell is arranged outside the integral device to protect the integral device; and the calculation and display terminal processes the mileage and angle change information to obtain real-time position and track information, and displays the information so as to realize the directional tunneling of the coal mine tunnel and lay a foundation for the unmanned and intelligent coal mine. The two-dimensional displacement measuring device designed by the technical scheme has the advantages of simple structure, convenience in use, flexible arrangement mode and strong universality.
Description
Technical Field
The invention belongs to the technical field of automation of coal mine heading machines, and particularly relates to a real-time measurement method for a heading machine track.
Background
The unmanned mining is the target and direction of the development of the coal industry at present, and the automation and the intellectualization of the equipment are the basis and the premise of the unmanned mining. One of the important links of coal mining technology during tunnel excavation, in the construction of various coal mines, ensuring the directional excavation of a channel within a certain precision range is a basic requirement of a tunnel construction task, the quality of excavation directly influences the production efficiency and safety of the coal mine, the higher the degree of completing the expected planning, the better the benefit of mine construction can be ensured, once the deviation of the excavation direction occurs, the normal production of the whole mining area can be influenced, and even geological disasters in the tunnel can be caused in serious cases, so that underground safety accidents are caused, and the personal safety of all workers on the fully-mechanized excavation working face is threatened. The directional tunneling means widely applied to coal mines at present is a laser pointing method, the method judges the tunneling direction by visually observing the position of a laser point of the stroke of a laser pointing instrument on a roadway section by a miner, the method has limited visual precision, exact position data of the tunneling machine cannot be obtained, and the miner can be placed in a dangerous tunneling working face. The autonomous positioning navigation of the development machine is a key foundation for unmanned and intelligent coal mine, is one of basic links for realizing unmanned development, is in the most front sensing stage for realizing unmanned coal mining, researches an automatic measurement method for the position of the development machine, can realize the automatic measurement of the development machine in the fully mechanized development operation, thereby providing possibility for realizing unmanned development, and the autonomous measurement of the advancing track of the development machine is an important method for autonomous positioning and guiding control. In order to realize directional tunneling and ensure the expected planning of a coal mine, it is extremely important to measure the track of the tunneling machine.
In recent years, many domestic experts and scholars make many researches on position and posture detection and navigation of a heading machine in a coal roadway, and the position and posture detection of the heading machine at present can be roughly divided into: 1. the pose detection method based on the inertial navigation technology obtains the acceleration and the angular velocity of the development machine by utilizing a three-axis accelerometer and a three-axis gyroscope according to an inertial principle, and obtains the position and the attitude information of the development machine by integrating the acceleration and the angular velocity with respect to time; 2. the position and posture detection method based on the total station utilizes the light reflection principle to calculate the position and posture of the heading machine in a roadway by detecting the spatial positions of a plurality of prisms arranged on different positions of a machine body; 3. the pose detection method based on vision measurement comprises the steps of placing a laser spot on a machine body of the heading machine or a roadway behind the heading machine, and perceiving the relative position of the laser spot by vision, so as to settle the position and the posture of the heading machine at a position; 4. the pose detection method based on the iGPS is characterized in that a laser receiver is arranged at a known position of a machine body of the heading machine, and absolute positioning of the heading machine is realized by measuring a three-dimensional coordinate of the laser receiver under a transmitting station coordinate; 7. the position and posture detecting method based on Ultra Wide Band (UWB) ranging is characterized in that a wireless carrier communication technology is used, a master base station and a slave base station are respectively arranged at fixed positions and behind a tunneling machine body, the distance is measured through communication between the base stations, and the position and posture information of the tunneling machine is obtained according to different algorithms.
The method completes the position detection of the heading machine to a certain extent, but has certain limitations:
(1) the dust environment of underground, particularly the fully mechanized excavation working surface is severe, and the machine vision method is easy to generate misjudgment in the environment, so that the precision is low;
(2) the inertial navigation positioning method is a positioning detection method reliably used in the ground and the external space, the application conditions are most effective in high-speed, real-time and dynamic measurement, and the autonomy is high.
(3) In the application of the method based on the laser total station in a coal mine roadway, the working environment is dark and humid, the visual field is narrow, professional survey personnel are required to participate in the work, and the complexity of the work is increased;
(4) the UWB technology has higher precision and strong anti-interference capability, but the startup debugging time is longer;
(5) in addition to the inertial measurement method, other measurement methods have poor dynamic measurement capability and low autonomy.
In view of the limitation of the method, the invention provides a design scheme for a two-dimensional displacement measuring device of the heading machine and a using method thereof in order to realize high autonomy navigation of the cantilever type heading machine and dynamically acquire position data of the heading machine.
Disclosure of Invention
The purpose of the invention is: a two-dimensional displacement measuring device and a track measuring method for a heading machine are provided.
The technical scheme of the invention is as follows:
a two-dimensional displacement measuring device of a heading machine is characterized in that:
the device comprises a mileage measuring device, an angle measuring device, a tensioning device, a shell and a calculating and displaying terminal.
The mileage measuring device consists of a mileage wheel, a wheel shaft, an encoder and a support, wherein the mileage wheel is arranged on the support through the wheel shaft, the encoder (1) is fixed on the support, the encoder (1) is connected with the mileage wheel through the wheel shaft, and when the mileage wheel rotates, the encoder inputs the number of real-time pulses to the calculating and displaying terminal;
the angle measuring device consists of a gear disc, a cylindrical gear, a supporting plate, a connecting shaft and an encoder (2), wherein the gear disc and the supporting plate are concentrically connected through the connecting shaft, the supporting plate is fixedly connected with the support, the encoder (2) is fixedly connected onto the supporting plate and connected with the cylindrical gear, the cylindrical gear is meshed with the gear disc, and when the cylindrical gear rotates, the encoder (2) inputs a real-time pulse number into the calculation and display terminal;
the tensioning device plays a role in connection between the carrier and the angle measuring device, simultaneously provides tensioning force for the mileage measuring device, enables the mileage wheel to keep contact with the ground, can serve as a damping device when encountering a ground bulge, provides buffering for the mileage measuring device and the angle measuring device, and ensures the safety of the mileage measuring device and the angle measuring device;
the shell is arranged on the outer side of the integral device and provides protection for the integral device;
and the calculation and display terminal acquires the pulse numbers of the encoder (1) and the encoder (2) in real time, calculates the pulse numbers to obtain the motion track of the carrier and displays the motion track.
Furthermore, the tensioning device is arranged at the lower part of the carrier, the upper part of the tensioning device is connected with the carrier, and the lower part of the tensioning device is connected with the gear disc in the angle measuring device.
Furthermore, the mileage wheel can rotate on the support through the wheel shaft, and the mileage wheel and the wheel shaft, the wheel shaft and the encoder (1) can meet the requirements of over-fit, interference fit, key connection and the like, so that the mileage wheel and the encoder (1) can synchronously rotate.
Furthermore, the gear disc and the supporting plate can rotate around the same center, and when the gear disc and the supporting plate rotate, the gear disc and the supporting plate drive a cylindrical gear connected with the encoder (1) on the supporting plate to rotate.
A track measuring method of a two-dimensional displacement measuring device of a heading machine is characterized by comprising the following steps:
(1) the two-dimensional displacement measuring device of the heading machine is used;
(2) fixedly connecting the two-dimensional displacement measuring device with a carrier chassis to enable the mileage wheel to be in contact with the ground;
(3) when the device is used, the mileage wheel is in real-time contact and friction with the ground, so that the wheel shaft and the encoder (1) are driven, and the encoder (1) outputs a group of square wave pulses to the calculation and display terminal and respectively counts the square wave pulses;
(4) and judging the rotation direction according to the pulse group output by the encoder (1), wherein one pulse is a zero pulse and is used for positioning a reference point, and when one pulse is sent out at each zero position as required, counters corresponding to other pulses are cleared and the pulses are sent to the computing and displaying terminal, so that mileage information is obtained.
(5) When the carrier deviates or rotates, the gear disc rotates along with the carrier, the bracket keeps static due to friction between the odometer wheel and the ground, the cylindrical gear rotates due to meshing with the gear disc, and therefore the encoder (2) is driven, a group of pulses are output to the calculation and display terminal, and the angle information is obtained through calculation by the cylindrical gear.
(6) And the calculation and display terminal fuses the mileage information and the angle information to obtain the position information of the carrier relative to the natural coordinate system at each moment, and the terminal is used for sequentially connecting the position information of the natural coordinate system at each moment in the same coordinate system to obtain the real-time track of the heading machine and outputting the real-time track to the display terminal.
(7) And (4) repeating the steps (4) to (6).
In conclusion, the two-dimensional displacement measuring device and the track measuring method of the heading machine, which are uniquely designed, aim to acquire the position and track information of the cantilever type heading machine in real time under the severe environment of the working face of the heading machine so as to realize the directional heading of a coal mine tunnel and lay a foundation for unmanned and intelligent coal mines. The two-dimensional displacement measuring device designed by the technical scheme has the advantages of simple structure, convenience in use, flexible arrangement mode and strong universality.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic left-view cross-sectional view of a two-dimensional displacement measuring device;
FIG. 3 is a schematic sectional view of a two-dimensional displacement measuring device;
FIG. 4 is a schematic diagram of a two-dimensional displacement measuring device trajectory measuring method;
wherein:
1. carrier 7, supporting plate 13 and cylindrical gear
2. Rod seat 8, bracket 14 and ball
3. Shell 9, mileage wheel 15, 17 bolt
4. Top cover 10, wheel shaft 16 and limiting pin shaft
5. Barrel seat 11, connecting pin 18 and spring
6. Gear disc 12, encoder 19 and encoder
Detailed Description
An embodiment of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are intended for purposes of illustration and explanation only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic diagram of an overall structure of a two-dimensional displacement measuring device according to an embodiment of the present invention. As shown in figure 1, the invention mainly comprises a two-dimensional displacement measuring device and a calculating and displaying terminal, wherein an encoder and an encoder (2) in the two-dimensional displacement measuring device can measure information of a carrier in real time when the carrier moves, convert the information into pulse signals and transmit the pulse signals to the calculating and displaying terminal in real time, and the information is transmitted to the displaying terminal after being processed by the calculating and displaying terminal.
In the implementation mode, the calculation terminal adopts an STM32 series single chip microcomputer.
Fig. 2 is a schematic structural front sectional view of a two-dimensional displacement measuring device provided according to an embodiment of the present invention. As shown in fig. 2, in an embodiment, the two-dimensional displacement measuring device includes:
mileage measuring device, angle measuring device, overspeed device tensioner, shell 3, calculation and display terminal.
In the embodiment, the mileage measuring device consists of a mileage wheel 9, a wheel shaft 10, an encoder 19 and a bracket 8, wherein the mileage wheel is installed on the bracket through the wheel shaft, the encoder is fixed on the bracket and is connected with a mileage meter through the wheel shaft, and when the mileage wheel rotates, the encoder inputs the real-time pulse number to the calculating and displaying terminal;
in the embodiment, the angle measuring device consists of a gear disc 6, a cylindrical gear 13, a supporting plate 7, a connecting shaft 11 and an encoder 12, wherein the gear disc and the supporting plate are concentrically connected through the connecting shaft, the supporting plate is fixedly connected with the bracket, the encoder 12 is fixedly connected on the supporting plate and is connected with the cylindrical gear, the cylindrical gear is meshed with the gear disc, and when the cylindrical gear rotates, the encoder 12 inputs the real-time pulse number into the calculating and displaying terminal;
in the embodiment, the tensioning devices (2 and 5) play a role in connecting the carrier 1 and the angle measuring device, and simultaneously provide tensioning force for the mileage measuring device, so that the mileage wheel 9 is kept in contact with the ground, and the tensioning devices can serve as a damping device when encountering a ground bulge, so as to provide buffering for the mileage measuring device and the angle measuring device and ensure the safety of the mileage measuring device and the angle measuring device; the shell 3 is arranged on the outer side of the integral device and provides protection for the integral device;
in the embodiment, the calculation and display terminal collects the pulse numbers of the encoder 19 and the encoder 12 in real time, and calculates and displays the position information of the carrier 1.
In the embodiment, the shell 3 is fixedly connected with the carrier 1 and the tensioning devices (2, 5), the shell body is cylindrical, the bottom of the outer side of the shell body is provided with a radian for clearing obstacles, and the top of the shell body is provided with a group of four through holes with the same center distance and the same diameter for being fixed with the tensioning devices and the carrier through bolts.
In the embodiment, the tensioning devices (2, 5) are composed of an upper rod seat 2, a lower barrel seat 5, a middle spring 18 and a limit pin shaft 16, and are fixedly connected with the gear disc 6 through bolts 15; the spring is placed between the rod seat and the barrel seat, a through hole with the same diameter as the limiting pin shaft is radially arranged on the rod seat, the outer wall of the barrel seat is radially provided with a groove, the two seats are connected through the limiting pin shaft, and the limiting pin shaft can limit the maximum rebound position of the damping device. The chassis of the two seats are respectively provided with four through holes, and the rod seat is connected with the shell 3 through bolts.
In the embodiment, the gear plate 6, its upper and lower surface have the same calibre, different ring channel of diameter, put the ball 14 in its groove, link with top cover 4, brace 7 through the connecting axle 11, can rotate concentrically with top cover 4, brace 7, the gear plate 6 has four equi-centre-distance, circular through holes of the same diameter around the axle center, pass the bolt 15, nut building in with the barrel seat 5 in the above-mentioned damping device, can engage with cylindrical gear 13 connected with encoder 12; the top and the bottom of the gear disc 6 are provided with circular tracks with different diameters around the circle center, the top track is used for placing small balls 14 to be matched with the top cover 4, and the bottom track is matched with the tray 7.
In the embodiment, the top cover 4 is provided with an annular groove at the bottom corresponding to the upper surface of the gear disc 6, is used for matching with the gear disc 6 after the ball 14 is placed, and is provided with a circular groove at the upper surface, so that a position is reserved for a nut matched with the connecting shaft 11;
in the embodiment, the tray 7 is provided with an annular groove corresponding to the lower surface of the gear disc 6 on the upper surface, is provided with a limiting hole connected with the bracket 8 through a screw and is static relative to the bracket, and the tray 7 provides a mounting position for the encoder 12; the top of the tray 7 is provided with a circular track corresponding to the bottom of the gear plate 6, and balls 14 are placed to be matched with the gear plate 6; four positioning through holes are arranged around the central hole of the tray 7 and are connected with the bracket 8 through screws, so that the fixed connection between the two is ensured; the tray 7 has a larger through hole, around which there are three smaller through holes for the installation of the encoder 12;
in the embodiment, the bracket 8 provides a mounting position for the mileage wheel 9 and the encoder 19, and a circular through hole is formed in the center of the bracket 8, is connected with the gear disc 6 through the connecting shaft 11, the top cover 4 and the tray 7 and can rotate relative to the gear disc 6; two bearings are also arranged at the lower shaft hole of the bracket 8 and used for supporting the wheel shaft 10 and reducing friction; the top plate of the bracket 8 is provided with four blind hole threads corresponding to the positioning through holes of the tray 7; the top plate of the bracket 8 is provided with a hexagonal groove for installing and positioning the connecting shaft 11; the right side of the lower part of the bracket 8 is provided with a mounting hole for the encoder 19.
In the embodiment, the mileage wheel 9 directly contacts with the ground and rotates by friction, and drives the wheel shaft 10 and the encoder 19; the mileage wheel 9 is connected with the wheel shaft 10 through a key and then connected with the bracket 8 through a bearing, and the wheel and the shaft are relatively static during movement; the axle 10 is left free on the side of the frame to be connected to an encoder 19.
In an embodiment, encoder 12 is connected to the secondary encoder by a key.
In the embodiment, when the device is used, the mileage wheel 9 is in real-time contact with the ground, rubs and rotates, so that the wheel shaft 10 and the encoder 19 are driven to rotate in a grating mode, three square wave pulses of A, B and Z are output to the calculation and display terminal, and the three square wave pulses are counted respectively; every time the Z phase sends out a pulse, A, B the counter corresponding to the pulse is cleared, thus obtaining mileage information. When the carrier 3 rotates or deviates, the gear disc 6 rotates along with the carrier, the bracket 8 keeps static due to the friction between the odometer wheel 9 and the ground, and the cylindrical gear 13 connected with the encoder 12 rotates due to the meshing with the gear disc 6, so that the encoder 12 is driven to output three square wave pulses, and angle information is obtained through calculation. And the calculation and display terminal fuses the mileage information and the angle information to obtain the position information of the carrier relative to the natural coordinate system in real time.
The track measuring method of the two-dimensional displacement measuring device provided in the above embodiment includes the following steps:
firstly, mounting a two-dimensional displacement measuring device at the bottom of a carrier to ensure that a mileage wheel is in contact with the ground and a tensioning device works normally;
secondly, as the carrier advances, rotates or shifts, the encoder 19 and the encoder 12 respectively output two groups of pulse signals to the computing and displaying terminal;
third, the computing and display terminal processes the signals from the encoders 19 and 12 and displays the resulting position information output value on the display terminal.
In an embodiment, both encoders 12, 19 are incremental encoders.
In various embodiments, the encoder 12 may be replaceable as needed.
In the embodiment, after the number of the mileage wheel turns is obtained, the distance traveled by the carrier, namely the mileage, can be calculated by utilizing the diameter of the mileage wheel which is worthy of calculation in advance.
In an embodiment, the calculation of the mileage is performed by a calculation and display terminal. (ii) a
In the embodiment, the number of teeth of the spur gear and the number of teeth of the gear plate are respectively counted as Z1、Z2
In the embodiment, the speed is assumed to be v, the mileage is assumed to be L, the total sampling time is assumed to be T, and the sampling is performed every Δ T. Encoder 19 is programmed to count pulses output by zero as NZThe forward single-turn through grating count is NFReverse single pass raster count of NRWhen N is presentZWhen the value changes NFAnd NRZero clearing with the number of gratings NLAnd the diameter of the mileage wheel is d, the displacement L (n) with any sampling period is:
in an embodiment, the total time of sampling is T, sampling every Δ T. Noting the pulse count of the zero output of encoder 12 as NZ2The forward single-turn through grating count is NF2Reverse single pass raster count of NR2When N is presentZ2When the value changes NF2And NR2Zero clearing with the number of gratings NL2Angular velocity ω of rotation of the grating with an arbitrary sampling perioda(n) is:
angle of rotation theta of carriernComprises the following steps:
based on dead reckoning, position coordinates PnThe formula is as follows:
and the computing terminal draws the position information of the carrier in the natural coordinate system at each moment in the same coordinate system in sequence to obtain a carrier track and outputs the carrier track to the display terminal.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (6)
1. A two-dimensional displacement measuring device for a heading machine, the device comprising:
the mileage measuring device consists of a mileage wheel, a wheel shaft, an encoder and a bracket, wherein the mileage wheel is arranged on the bracket through the wheel shaft, the encoder is fixed on the bracket and is connected with the odometer through the wheel shaft, and when the mileage wheel rotates, the encoder inputs the number of real-time pulses to the calculating and displaying terminal;
the angle measuring device consists of a gear disc, a cylindrical gear, a supporting plate, a connecting shaft and an encoder (2), wherein the gear disc and the supporting plate are concentrically connected through the connecting shaft, the supporting plate is fixedly connected with the support, the encoder (2) is fixedly connected onto the supporting plate and connected with the cylindrical gear, the cylindrical gear is meshed with the gear disc, and when the cylindrical gear rotates, the encoder (2) inputs the real-time pulse number into the calculation and display terminal;
the tensioning device plays a role in connection between the carrier and the angle measuring device, simultaneously provides tensioning force for the mileage measuring device, keeps the mileage wheel in contact with the ground, can serve as a damping device when encountering a ground bulge, provides buffering for the mileage measuring device and the angle measuring device, and ensures the safety of the mileage measuring device and the angle measuring device;
the shell is arranged on the outer side of the integral device and provides protection for the integral device;
and the calculation and display terminal is used for acquiring the pulse numbers of the encoder (1) and the encoder (2) in real time, calculating to obtain the motion track of the carrier and displaying the motion track.
2. The connecting device according to claim 1, characterized in that it is mounted on the lower part of the carrier, the upper part of which is connected to the carrier and the lower part of which is connected to the gear disc in the angle measuring device.
3. The tensioner as in claim 1, wherein there is a limiting member that limits the maximum rebound position.
4. According to the claim 1, the mileage wheel can rotate on the bracket through the wheel shaft, and the mileage wheel and the wheel shaft, the wheel shaft and the encoder can meet the over-fit or interference fit or key connection and the like, so that the mileage wheel and the encoder can synchronously rotate.
5. According to claim 1, the gear plate is rotatable about the same center as the carrier plate, and upon rotation, drives a cylindrical gear on the carrier plate that is coupled to the encoder to rotate.
6. A track measuring method of a two-dimensional displacement measuring device of a heading machine is characterized by comprising the following steps:
(1) the two-dimensional displacement measuring device of the heading machine is used;
(2) fixedly connecting the two-dimensional displacement measuring device with a carrier chassis to enable the measuring wheel to be in contact with the ground;
(3) when the device is used, the mileage wheel is in real-time contact and friction with the ground, so that the wheel shaft and the encoder (1) are driven, and the encoder (1) outputs a group of square wave pulses to the calculation and display terminal and respectively counts the square wave pulses;
(4) and judging the rotation direction according to the pulse group output by the encoder (1), wherein one pulse is a zero pulse and is used for positioning a reference point, and when one pulse is sent out at each zero position as required, counters corresponding to other pulses are cleared and the pulses are sent to the computing and displaying terminal, so that mileage information is obtained.
(5) When the carrier deviates or rotates, the gear disc rotates along with the carrier, the bracket keeps static due to friction between the odometer wheel and the ground, the cylindrical gear rotates due to meshing with the gear disc, and therefore the encoder (2) is driven, a group of pulses are output to the calculation and display terminal, and the angle information is obtained through calculation by the cylindrical gear.
(6) And the calculation and display terminal fuses the mileage information and the angle information to obtain the position information of the carrier relative to the natural coordinate system at each moment, and the terminal is used for sequentially connecting the position information of the natural coordinate system at each moment in the same coordinate system to obtain the real-time track of the heading machine and outputting the real-time track to the display terminal.
(7) And (4) repeating the steps (4) to (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010289407.6A CN111323044A (en) | 2020-04-14 | 2020-04-14 | Two-dimensional displacement measuring device and method for heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010289407.6A CN111323044A (en) | 2020-04-14 | 2020-04-14 | Two-dimensional displacement measuring device and method for heading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111323044A true CN111323044A (en) | 2020-06-23 |
Family
ID=71168181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010289407.6A Pending CN111323044A (en) | 2020-04-14 | 2020-04-14 | Two-dimensional displacement measuring device and method for heading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111323044A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736458A (en) * | 2019-12-06 | 2020-01-31 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
| CN116132917A (en) * | 2023-01-05 | 2023-05-16 | 深圳大学 | Indoor positioning device and method for long and narrow space |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990549A (en) * | 2015-06-15 | 2015-10-21 | 中国矿业大学 | Method and device for relatively locating coal cutter and hydraulic supports |
| CN107121082A (en) * | 2017-06-09 | 2017-09-01 | 武汉理工大学 | Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method |
| US20180135412A1 (en) * | 2015-07-20 | 2018-05-17 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN108444465A (en) * | 2018-03-22 | 2018-08-24 | 山东大学 | A kind of AGV pose measuring apparatus and its application based on Dual-encoder |
| CN110095135A (en) * | 2019-06-03 | 2019-08-06 | 中南大学 | A kind of method and device for development machine positioning and directing |
| CN110736458A (en) * | 2019-12-06 | 2020-01-31 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
-
2020
- 2020-04-14 CN CN202010289407.6A patent/CN111323044A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990549A (en) * | 2015-06-15 | 2015-10-21 | 中国矿业大学 | Method and device for relatively locating coal cutter and hydraulic supports |
| US20180135412A1 (en) * | 2015-07-20 | 2018-05-17 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN107121082A (en) * | 2017-06-09 | 2017-09-01 | 武汉理工大学 | Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method |
| CN108444465A (en) * | 2018-03-22 | 2018-08-24 | 山东大学 | A kind of AGV pose measuring apparatus and its application based on Dual-encoder |
| CN110095135A (en) * | 2019-06-03 | 2019-08-06 | 中南大学 | A kind of method and device for development machine positioning and directing |
| CN110736458A (en) * | 2019-12-06 | 2020-01-31 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
Non-Patent Citations (2)
| Title |
|---|
| WANG SHIBO，等: "Dynamic Precise Positioning Method of Shearer Based on Closing Path Optimal Estimation Model", 《IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING》 * |
| 黄开启，等: "井下凿岩机器人自主操作方法研究进展", 《矿山机械》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736458A (en) * | 2019-12-06 | 2020-01-31 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
| CN110736458B (en) * | 2019-12-06 | 2021-10-22 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
| CN116132917A (en) * | 2023-01-05 | 2023-05-16 | 深圳大学 | Indoor positioning device and method for long and narrow space |
| CN116132917B (en) * | 2023-01-05 | 2023-10-20 | 深圳大学 | Indoor positioning device and method for long and narrow space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110736458B (en) | Heading machine autonomous navigation system and method based on dead reckoning | |
| CN104990549B (en) | A kind of method and device of coal-winning machine hydraulic support relative positioning | |
| CN101266134B (en) | Cantilever driving frame head posture measuring systems and its method | |
| CN100357706C (en) | Method for detecting position and speed of object moving along orbit | |
| CN101672913B (en) | Laser three-point dynamic positioning method and system thereof | |
| CN102322857B (en) | Position and posture measuring system and method for mechanical equipment | |
| CN111323044A (en) | Two-dimensional displacement measuring device and method for heading machine | |
| CN104776843A (en) | Boom-type roadheader body and cutting head pose detection method | |
| CN101169323A (en) | Method for indoor measuring for TV theodolite dynamic angle measurement accuracy using rotary target | |
| CN102183255A (en) | Positioning device and method of coal mining machine in full-mechanized mining face | |
| CN110847905A (en) | Autonomous navigation system and method for coal mining machine | |
| CN102720503A (en) | Active-type automatic deviation rectification device of pipe-jacking tunneling machine | |
| CN107121082A (en) | Coal mine roadway based on fiber-optic inertial technology continuous linear detection means and method | |
| CN112012759A (en) | A tunnelling is equipped with navigation positioning system for coal mine tunnel | |
| CN205426176U (en) | Coal -winning machine positioner that inertial navigation and laser scanning fuse | |
| CN108082210A (en) | A kind of track automatic measurement vehicle with sensor combinations | |
| CN209634595U (en) | A kind of novel mine detection robot with automatic obstacle avoiding function | |
| CN113075650A (en) | Underground roadway tunneling equipment real-time positioning method based on UWB and inertial unit | |
| CN204705359U (en) | A kind of boom-type roadheader fuselage and cutting head pose detection system | |
| CN106500649A (en) | A kind of ore deposit underground vehicle track deformation monitoring method based on inertia measurement and back indicator combination technique | |
| AU2014201513A1 (en) | Mining machine position tracking and mapping | |
| AU2013203365B2 (en) | Apparatus for aligning drilling machines | |
| CN105353348B (en) | A kind of system and method for being used to position underground coal mine movement target | |
| CN101936736A (en) | Small-caliber underground pipeline accurate measurer in communication industry | |
| CN113970329A (en) | Strapdown inertial navigation and laser sensing combined heading machine pose detection system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200623 |
|
| WD01 | Invention patent application deemed withdrawn after publication |