CN112304285A - Attitude detection method and system for cantilever type heading machine cutting head - Google Patents
Attitude detection method and system for cantilever type heading machine cutting head Download PDFInfo
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- CN112304285A CN112304285A CN202011211833.4A CN202011211833A CN112304285A CN 112304285 A CN112304285 A CN 112304285A CN 202011211833 A CN202011211833 A CN 202011211833A CN 112304285 A CN112304285 A CN 112304285A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The application provides a posture detection method and system for a cutting head of a cantilever type tunneling machine, wherein the system comprises the following steps: the cantilever type tunneling machine is provided with an inclination angle sensor arranged on a cantilever of the cantilever type tunneling machine and used for collecting a pitch angle of the cantilever; the device comprises a combination of an angle sensor and a positioner, wherein the positioner is fixed on a rotary rack of the cantilever type tunneling machine, one end of the angle sensor is fixed on the positioner, the other end of the angle sensor is fixed on a rotary ear rack of the cantilever type tunneling machine, and the angle sensor rotates along with the rotation of a cantilever to acquire the yaw angle of the cantilever; and the programmable controller is connected with the inclination angle sensor and the angle sensor, and determines the attitude of the cutting head at the tail end of the cantilever according to the pitch angle acquired by the inclination angle sensor, the yaw angle acquired by the angle sensor and the length of the cantilever. The application provides a posture detection system of boom-type roadheader cutterhead, simple installation, simple structure, and environmental suitability is strong.
Description
Technical Field
The application relates to the technical field of automation of coal mine boom-type roadheader, in particular to a method and a system for detecting the attitude of a cutting head of a boom-type roadheader.
Background
A coal mine cantilever type heading machine is taken as the coal mine heading equipment widely used at present, the attitude of a cutting head relative to a machine body is reliably and stably detected, the premise that the attitude detection of the cutting head of the heading machine under the geodetic coordinate is realized is provided, and the key technology for improving the automation level of the heading machine is one of the key technologies.
At present, in order to detect the posture of the cutting head of the boom-type roadheader, a magnetostrictive displacement sensor is usually arranged in a boom lifting cylinder and a rotary cylinder of a rotary table, and the posture of the cutting head relative to a machine body is calculated according to a mathematical relation model between the spatial position of a boom and the telescopic amounts of the rotary cylinder and the lifting cylinder by detecting the displacement telescopic amount of the sensor. However, the posture detection mode of the magnetostrictive displacement sensor built in the oil cylinder needs to change the structure of the oil cylinder or the heading machine, and has the disadvantages of difficult installation, complex structure and poor environmental adaptability.
Disclosure of Invention
The application provides a posture detection method and system of a boom-type roadheader cutting head, which at least solve the technical problems of difficult installation, complex structure and poor environment adaptability of the posture detection method of the boom-type roadheader cutting head in the related technology.
An embodiment of the first aspect of the present application provides an attitude detection system of a boom-type roadheader cutting head, including: the cantilever type tunneling machine is provided with an inclination angle sensor arranged on a cantilever of the cantilever type tunneling machine and used for collecting a pitch angle of the cantilever; the device comprises a combination of an angle sensor and a positioner, wherein the positioner is fixed on a rotary rack of the cantilever type tunneling machine, one end of the angle sensor is fixed on the positioner, the other end of the angle sensor is fixed on a rotary ear rack of the cantilever type tunneling machine, and the angle sensor rotates along with the rotation of a cantilever to acquire the yaw angle of the cantilever; and the programmable controller is connected with the inclination angle sensor and the angle sensor, and determines the attitude of the cutting head at the tail end of the cantilever according to the pitch angle acquired by the inclination angle sensor, the yaw angle acquired by the angle sensor and the length of the cantilever.
The embodiment of the second aspect of the application provides a method for detecting the posture of a cutting head of a cantilever type heading machine, which comprises the following steps: acquiring a cantilever pitch angle acquired by a tilt angle sensor on a cantilever of the cantilever type tunneling machine; acquiring a cantilever yaw angle acquired by a combination of an angle sensor and a positioner on the cantilever type heading machine; acquiring the length of a cantilever on the cantilever type tunneling machine; and determining the attitude of the cutting head at the tail end of the cantilever according to the cantilever pitch angle, the cantilever yaw angle and the length of the cantilever.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
because the inclination angle sensor, the positioner and the programmable controller are externally arranged, the cantilever type tunneling machine can be simply arranged on the cantilever type tunneling machine without changing the structure of the original cantilever type tunneling machine, and therefore, the cantilever type tunneling machine is simple and convenient to install and simple in structure. In addition, because the anti-vibration performance of the angle sensor and the inclination angle sensor is high, the posture of the cutting head relative to the machine body can be accurately output in a strong vibration environment, so that the posture detection system provided by the application can be suitable for the strong vibration environment, and the environmental suitability is high.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of a complete machine installation of an attitude detection system of a boom excavator cutting head according to an embodiment of the present application;
fig. 2 is a schematic partial structural view of an attitude detection system of a boom excavator cutting head according to an embodiment of the present application;
FIG. 3 is a schematic view of an angle sensor provided in accordance with an embodiment of the present application;
FIG. 4 is a schematic view of a positioner provided in accordance with an embodiment of the present application;
figure 5 is another schematic structural view of an attitude sensing system for a cutting head of a boom excavator according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a method for detecting the attitude of the cutting head of the boom excavator according to an embodiment of the present application;
FIG. 7 is a schematic view of a yaw angle versus horizontal distance geometry provided in accordance with an embodiment of the present application;
fig. 8 is a schematic view of pitch angle versus vertical distance geometry provided in accordance with an embodiment of the present application.
Description of reference numerals:
a boom-type roadheader-101; a cantilever-102; a tilt sensor-103;
an angle sensor-104; a locator-105; a rotating gantry-106;
a pivoting ear mount-107; a programmable controller-108; an angle decoder-109;
an electric display control box-110; display device-111.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The attitude detection method and system of the boom-type roadheader cutting head according to the embodiment of the present application will be described with reference to the accompanying drawings.
First, the attitude detection system of the boom excavator cutting head provided in the embodiment of the present application will be described with reference to fig. 1 to 5.
As shown in fig. 1 and 2, the attitude detection system of the cutting head of the boom-type roadheader, hereinafter referred to as the attitude detection system, includes:
the cantilever type heading machine 101 is provided with an inclination angle sensor 103 arranged on a cantilever 102 of the cantilever type heading machine 101 and used for acquiring a pitch angle of the cantilever 102;
the combination of an angle sensor 104 and a positioner 105, wherein the positioner 105 is fixed on a rotary frame 106 of the cantilever excavator 101, one end of the angle sensor 104 is fixed on the positioner 105, and the other end is fixed on a rotary ear frame 107 of the cantilever excavator 101, and the angle sensor rotates along with the rotation of the cantilever 102 to acquire the yaw angle of the cantilever 102;
and the programmable controller 108 is connected with the inclination angle sensor 103 and the angle sensor 104, and determines the attitude of the cutting head at the tail end of the cantilever 102 according to the pitch angle acquired by the inclination angle sensor 103, the yaw angle acquired by the angle sensor 104 and the length of the cantilever 102.
The cantilever is arranged on the cantilever, and the cutting head on the cantilever is arranged on the cantilever and is in a vertical position relative to the cantilever excavator body; the yaw angle of the cantilever is specifically the yaw angle of the cutting head on the cantilever relative to the body of the cantilever type tunneling machine.
The tilt sensor 103 is a biaxial tilt sensor having a MEMS (Micro electro mechanical System) accelerometer and a gyroscope. In an exemplary embodiment, the tilt sensor 103 may be mounted on the side of the cantilever 102 as desired. In addition, the tilt sensor 103 is externally provided with an explosion-proof structure matched with the structure of the tilt sensor 103, and an explosion-proof shell can be provided for the tilt sensor 103.
The angle sensor 104 includes a resolver. In addition, angle sensor 104 has explosion-proof structure, and wherein, explosion-proof structure sets up the resolver outward, and matches with the resolver structure, can provide explosion-proof shell for angle sensor 104.
A positioner 105 for fixing one end of the angle sensor 104 to a slewing bracket 106 of the boom excavator, wherein the positioner 105 is required to ensure coaxiality with the angle sensor 104 when mounted.
Specifically, in the embodiment of the present application, an inclination angle sensor 103 may be disposed on the boom 102 of the boom-type roadheader 101 to acquire a pitch angle of the boom 102, and a combination of an angle sensor 104 and a positioner 105 may be disposed between a rotating frame 106 and a rotating ear frame 107 of the boom-type roadheader 101, one end of the angle sensor 104 is fixed to the rotating frame 106 through the positioner 105, the other end of the angle sensor 104 is fixed to the rotating ear frame 107, and the angle sensor 104 rotates along with the rotation of the boom 102 to acquire a yaw angle of the boom 102. And the programmable controller 108 is connected with the inclination angle sensor 103 and the angle sensor 104, so that the attitude of the cutting head at the tail end of the cantilever 102 can be determined according to the pitch angle acquired by the inclination angle sensor 103, the yaw angle acquired by the angle sensor 104 and the length of the cantilever 102.
In a specific implementation, referring to the schematic diagram of the angle sensor shown in fig. 3 and the schematic diagram of the positioner shown in fig. 4, in the embodiment of the present application, the angle sensor 104 may be fixed on the rotary ear rack 107 through the port 1 and fixedly connected with the port 4 of the positioner 105 through the port 2 of the angle sensor 104, and the positioner 105 may be fixed in the center of the rotary rack 107 through the port 5.
It can be understood that the attitude detection system provided by the embodiment of the present application can acquire the precise attitude parameters of the cutting head in real time by setting the tilt angle sensor 103 on the boom-type roadheader 101 to acquire the pitch angle of the boom 102 and by setting the combination of the angle sensor 104 and the positioner 105 on the boom-type roadheader 101 to acquire the yaw angle of the boom 102, and further can accurately determine the attitude of the cutting head according to the acquired attitude parameters of the cutting head through the programmable controller 108, thereby providing accurate parameters for the control of the section boundary of the boom-type roadheader, so as to improve the automation level of the boom-type roadheader.
Because the inclination angle sensor 103, the angle sensor 104, the positioner 105 and the programmable controller 108 are externally arranged, the cantilever-type heading machine can be simply installed on the cantilever-type heading machine 101 without changing the structure of the original cantilever-type heading machine 101, and therefore, the installation is simple and convenient and the structure is simple. In addition, because the angle sensor and the inclination angle sensor 103 have high vibration resistance, the posture of the cutting head relative to the machine body can be accurately output in a strong vibration environment, so that the posture detection system provided by the application can be suitable for the strong vibration environment, and the environmental suitability is high.
It is understood that in one possible implementation form, the angle data collected by the angle sensor 109 may not be directly transmitted to the programmable controller 108, and then, in an exemplary embodiment, the angle data collected by the angle sensor 109 may be processed before being transmitted to the programmable controller 108.
That is, as shown in fig. 5, the hover gesture detecting system may further include: the angle decoder 109.
The angle decoder 109 is connected to the angle sensor 104, and is capable of sending an excitation signal to the angle sensor 104, receiving angle data returned by the angle sensor 104, and decoding the angle data to obtain a yaw angle. The angle decoder 109 is connected to the programmable controller 108, and can send the decoded yaw angle to the programmable controller 108, so that the programmable controller 108 can determine the attitude of the cutting head at the end of the boom according to the yaw angle sent by the angle decoder 109, the pitch angle acquired by the tilt sensor 103, and the length of the boom 102.
In an exemplary embodiment, the angle sensor 104 may receive signals such as a power supply signal and an excitation signal transmitted by the angle decoder 109 through the port 3 as shown in fig. 3.
It should be noted that, in the exemplary embodiment, the angle sensor 104 or the angle decoder 109 may send a yaw angle signal of the cantilever 102 to the programmable controller 108, the tilt angle sensor 103 may send a pitch angle signal of the cantilever 102 to the programmable controller 108, and after receiving the yaw angle signal and the pitch angle signal, the programmable controller 108 may perform an operation on the received yaw angle signal and the received pitch angle signal to obtain a yaw angle and a pitch angle.
In an exemplary embodiment, as shown in fig. 5, the posture detection system may further include: an electrical display control box 110 and a display device 111.
Among other things, a display device 111 may be provided on the electrical display control box 110 and connected to the programmable controller 108 to display data provided by the programmable controller 108.
For example, the programmable controller 108 may provide the pitch angle and yaw angle to the display device 111 so that the pitch angle magnitude and yaw angle magnitude may be displayed on the display device 111. Alternatively, when performing the zero calibration, the programmable controller 108 may issue a zero calibration instruction, so that the display device 111 may display the zero calibration instruction and a zero calibration picture. Alternatively, the display device 111 may display any other images according to data provided by the programmable controller 108, which is not limited in this application.
In an exemplary embodiment, as shown in fig. 5, the angle decoder 109 and the programmable controller 108 may be provided inside the electric display control box 110 to protect the angle decoder 109 and the programmable controller 108 through the electric display control box 110.
In addition, the electric display control box 110 is an explosion-proof box, and can provide an explosion-proof enclosure for the angle decoder 109 and the programmable controller 108.
Based on the attitude detection system of the boom-type roadheader cutting head provided by the embodiment, the embodiment of the application also provides an attitude detection method of the boom-type roadheader cutting head. The attitude detection method of the boom-type roadheader cutting head provided by the embodiment of the application is described below with reference to fig. 6 to 8.
Fig. 6 is a schematic flow chart of a method for detecting the attitude of the cutting head of the boom excavator according to an embodiment of the present application.
As shown in fig. 6, the method for detecting the attitude of the cutting head of the boom-type roadheader provided by the embodiment of the present application includes the following steps:
And 102, acquiring a cantilever yaw angle acquired by the combination of the angle sensor and the positioner on the cantilever type heading machine.
Specifically, the pitch angle of the cantilever can be obtained through an inclination angle sensor arranged on the cantilever of the cantilever type tunneling machine, and the yaw angle of the cantilever can be obtained through the combination of the angle sensor and a positioner arranged on the cantilever type tunneling machine.
And 103, acquiring the length of a cantilever on the cantilever type tunneling machine.
The length of the cantilever is the distance between a cutting head at the tail end of the cantilever and a hinged point of a rotary frame of the cantilever type tunneling machine.
Specifically, the length of the cantilever may be determined through actual measurement or may be determined in other manners, which is not limited in this application.
And 104, determining the attitude of the cutting head at the tail end of the cantilever according to the cantilever pitch angle, the cantilever yaw angle and the length of the cantilever.
In an exemplary embodiment, the attitude of the cutting head of the boom tip may be determined in the manner shown in steps 104a-104c below.
And 104a, determining the horizontal distance of the cutting head relative to the body of the cantilever type tunneling machine according to the yaw angle of the cantilever and the length of the cantilever.
Specifically, the horizontal calibration zero position angle of the cantilever can be obtained first, then the absolute value of the difference between the yaw angle of the cantilever and the horizontal calibration zero position angle is obtained, and the horizontal distance of the cutting head relative to the body of the cantilever type heading machine is calculated and determined according to the absolute value of the difference, the length of the cantilever and a sine function.
And 104b, determining the vertical distance of the cutting head relative to the body of the cantilever type heading machine according to the cantilever pitch angle and the length of the cantilever.
Specifically, the vertical calibration zero position angle of the cantilever can be obtained first, then the absolute value of the difference between the cantilever pitch angle and the vertical calibration zero position angle is obtained, and the vertical distance of the cutting head relative to the body of the cantilever type excavator is calculated and determined according to the absolute value of the difference, the length of the cantilever and a sine function.
The horizontal calibration zero angle is the calibration zero angle of the cantilever and the vertical plane. And the vertical calibration zero angle is the calibration zero angle of the cantilever and the horizontal plane.
In an exemplary embodiment, the horizontal zero calibration instruction and the vertical zero calibration instruction can be triggered by touching a calibration button on an electrical display control box arranged on the cantilever type tunneling machine, the cantilever is manually operated to run to a calibration zero position, and the horizontal calibration zero position angle and the vertical calibration zero position angle are acquired by a programmable controller. The above process is repeated for a plurality of times, and the programmable controller can acquire a plurality of horizontal calibration zero-position angles and a plurality of vertical calibration zero-position angles.
It should be noted that, in an exemplary embodiment, the horizontal reference direction and the vertical reference direction may be set such that the horizontal-referenced null angle is determined to be a positive value when the offset direction of the horizontal-referenced null angle is the same as the horizontal reference direction, the horizontal-referenced null angle is determined to be a negative value when the offset direction of the horizontal-referenced null angle is opposite to the horizontal reference direction, the vertical-referenced null angle is determined to be a positive value when the offset direction of the vertical-referenced null angle is the same as the vertical reference direction, and the vertical-referenced null angle is determined to be a negative value when the offset direction of the vertical-referenced null angle is opposite to the vertical reference direction.
Specifically, refer to a schematic diagram of a geometric relationship between the yaw angle and the horizontal distance shown in fig. 7, where fig. 7 is a schematic diagram of a geometric relationship between the yaw angle and the horizontal distance when the cantilever is viewed from above.
Suppose alpha0For horizontal calibration of the zero angle, alpha1The yaw angle of the cantilever is adopted, R is the length of the cantilever, and X is the horizontal distance between the cutting head and the body of the cantilever type tunneling machine. Due to the horizontal calibration of the null angle alpha0If the value of (A) is small, alpha is found from FIG. 70、α1R, X have a geometrical relationship shown in the following formula (1).
X＝Rsin|(α1-α0)| (1)
Thus, the yaw angle α of the cantilever can be determined in the manner shown in equation (1)1Zero angle alpha with horizontal0And calculating and determining the horizontal distance X of the cutting head relative to the body of the cantilever type tunneling machine according to the absolute value of the difference, the length R of the cantilever and the sine function.
For example, assuming a boom yaw angle of 25 degrees, a horizontally-indexed null angle of-5 degrees, and a boom length of 3 meters, the horizontal distance of the cutting head from the boom body is 3sin | (25 ° +5 °) 3 × 0.5 ═ 1.5 meters.
Similarly, reference is made to the schematic diagram of pitch angle versus vertical distance geometry shown in FIG. 8, where FIG. 8 is a schematic diagram of pitch angle versus vertical distance geometry for a side view cantilever. Let beta be0For vertical calibration of the zero angle, beta1The cantilever pitch angle is adopted, R is the length of the cantilever, and Y is the vertical distance between the cutting head and the body of the cantilever type tunneling machine. Due to the vertical calibration of the null angle beta0If the value of (b) is small, as can be seen from FIG. 8, β0、β1R, Y have a geometric relationship as shown in the following equation (2).
Y＝Rsin|(β1-β0)| (2)
Thus, the cantilever pitch angle β can be determined in the manner shown in equation (2)1Zero angle beta from vertical0And calculating and determining the vertical distance Y of the cutting head relative to the body of the cantilever type tunneling machine according to the absolute value of the difference, the length R of the cantilever and the sine function.
For example, assuming that the boom pitch angle is 35 degrees, the vertical nominal null angle is 5 degrees, and the boom length is 3 meters, the vertical distance of the cutting head from the boom excavator body is Y-3 sin | (35 ° -5 °) 3 | -0.5 | -1.5 meters.
And 104c, determining the attitude of the cutting head according to the cantilever pitch angle, the cantilever yaw angle, and the horizontal distance and the vertical distance of the cutting head relative to the body of the cantilever type tunneling machine.
It should be noted that, in the embodiment of the present application, the horizontal distance and the vertical distance of the cutting head relative to the boom-type excavator body may be the horizontal distance and the vertical distance of the cutting head relative to the center of the boom-type excavator body, respectively.
In the embodiment of the application, the center of the body of the boom-type excavator can be used as the origin of coordinates, and a space rectangular coordinate system is established, so that the quadrant of the cutting head in the space rectangular coordinate system can be determined according to the yaw angle and the pitch angle of the boom, and the specific position of the cutting head relative to the body of the boom-type excavator can be determined by combining the horizontal distance and the vertical distance of the cutting head relative to the body of the boom-type excavator.
The attitude detection method for the cutting head of the boom-type roadheader, provided by the embodiment of the application, comprises the steps of firstly obtaining a boom pitch angle collected by an inclination angle sensor on a boom of the boom-type roadheader, obtaining a boom yaw angle collected by a combination of the angle sensor and a positioner on the boom-type roadheader, obtaining the length of the boom on the boom-type roadheader, and further determining the attitude of the cutting head at the tail end of the boom according to the boom pitch angle, the boom yaw angle and the length of the boom, so that the attitude of the cutting head can be accurately determined in real time.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides an attitude detection system of boom-type roadheader cutterhead which characterized in that includes:
the cantilever type tunneling machine is provided with an inclination angle sensor arranged on a cantilever of the cantilever type tunneling machine and used for collecting a pitch angle of the cantilever;
the device comprises a combination of an angle sensor and a positioner, wherein the positioner is fixed on a rotary rack of the cantilever type tunneling machine, one end of the angle sensor is fixed on the positioner, the other end of the angle sensor is fixed on a rotary ear rack of the cantilever type tunneling machine, and the angle sensor rotates along with the rotation of a cantilever to acquire the yaw angle of the cantilever;
and the programmable controller is connected with the inclination angle sensor and the angle sensor, and determines the attitude of the cutting head at the tail end of the cantilever according to the pitch angle acquired by the inclination angle sensor, the yaw angle acquired by the angle sensor and the length of the cantilever.
2. The attitude detection system according to claim 1, characterized by further comprising: the angle decoder is connected with the angle sensor, sends an excitation signal to the angle sensor, receives angle data returned by the angle sensor, and decodes the angle data to obtain the yaw angle;
and the angle decoder is connected with the programmable controller and sends the yaw angle to the programmable controller.
3. The attitude detection system according to claim 1, characterized by further comprising: the electric display control box comprises an electric display control box and display equipment;
the display equipment is arranged on the electric display control box, is connected with the programmable controller and displays data provided by the programmable controller.
4. The attitude detection system according to claim 3, wherein the angle decoder and the programmable controller are provided in the electric display control box.
5. An attitude detection system according to claim 3 or 4, wherein said electrical display control box is an explosion-proof box.
6. The attitude detection system according to claim 1, wherein the angle sensor includes: the anti-explosion structure is externally arranged on the rotary transformer and is matched with the rotary transformer in structure;
the inclination angle sensor is a double-shaft inclination angle sensor with an MEMS accelerometer and a gyroscope, and an explosion-proof structure matched with the inclination angle sensor is arranged outside the inclination angle sensor.
7. A posture detection method for a cutting head of a cantilever type heading machine is characterized by comprising the following steps:
acquiring a cantilever pitch angle acquired by a tilt angle sensor on a cantilever of the cantilever type tunneling machine;
acquiring a cantilever yaw angle acquired by a combination of an angle sensor and a positioner on the cantilever type heading machine;
acquiring the length of a cantilever on the cantilever type tunneling machine;
and determining the attitude of the cutting head at the tail end of the cantilever according to the cantilever pitch angle, the cantilever yaw angle and the length of the cantilever.
8. The attitude sensing method of claim 7, wherein said determining the attitude of the cutting head of the boom tip from the boom pitch angle, the boom yaw angle, and the length of the boom comprises:
determining the horizontal distance of the cutting head relative to the body of the cantilever type tunneling machine according to the yaw angle of the cantilever and the length of the cantilever;
determining the vertical distance of the cutting head relative to the body of the cantilever type tunneling machine according to the cantilever pitch angle and the length of the cantilever;
and determining the attitude of the cutting head according to the cantilever pitch angle, the cantilever yaw angle, and the horizontal distance and the vertical distance of the cutting head relative to the body of the cantilever type heading machine.
9. The attitude sensing method of claim 8, wherein said determining a horizontal distance of said cutting head from a boom of a roadheader based on a yaw angle of said boom and a length of said boom comprises:
acquiring a horizontal calibration zero position angle of the cantilever;
acquiring the absolute value of the difference between the cantilever yaw angle and the horizontal calibration zero position angle;
and calculating and determining the horizontal distance of the cutting head relative to the body of the cantilever type tunneling machine according to the absolute value of the difference, the length of the cantilever and the sine function.
10. The attitude sensing method of claim 8, wherein said determining a vertical distance of said cutting head relative to a boom of a roadheader based on said boom pitch angle and said boom length comprises:
acquiring a vertical calibration zero position angle of the cantilever;
acquiring the absolute value of the difference between the cantilever pitch angle and the vertical calibration zero position angle;
and calculating and determining the vertical distance of the cutting head relative to the body of the cantilever type tunneling machine according to the absolute value of the difference, the length of the cantilever and the sine function.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112943282A (en) * | 2021-02-19 | 2021-06-11 | 中国铁建重工集团股份有限公司 | Intelligent cantilever type heading machine |
| CN113867198A (en) * | 2021-09-16 | 2021-12-31 | 中国煤炭科工集团太原研究院有限公司 | Control system, method and device of tunneling equipment |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
| CN116952562A (en) * | 2023-09-21 | 2023-10-27 | 中国船舶集团有限公司第七〇七研究所 | Method for identifying vibration state of cutting part of heading machine based on time-frequency analysis method |
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| CN105737825A (en) * | 2016-02-19 | 2016-07-06 | 北京航天控制仪器研究所 | Position measuring system for heading machine cutting head |
| CN108564628A (en) * | 2018-04-17 | 2018-09-21 | 北京理工大学 | A kind of cutterhead vision positioning orientation system towards development machine automation |
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| CN112943282A (en) * | 2021-02-19 | 2021-06-11 | 中国铁建重工集团股份有限公司 | Intelligent cantilever type heading machine |
| CN112943282B (en) * | 2021-02-19 | 2022-09-06 | 中国铁建重工集团股份有限公司 | Intelligent cantilever type heading machine |
| CN113867198A (en) * | 2021-09-16 | 2021-12-31 | 中国煤炭科工集团太原研究院有限公司 | Control system, method and device of tunneling equipment |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
| CN116952562A (en) * | 2023-09-21 | 2023-10-27 | 中国船舶集团有限公司第七〇七研究所 | Method for identifying vibration state of cutting part of heading machine based on time-frequency analysis method |
| CN116952562B (en) * | 2023-09-21 | 2023-12-15 | 中国船舶集团有限公司第七〇七研究所 | Method for identifying vibration state of cutting part of heading machine based on time-frequency analysis method |
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