CN114485633A - Spatial positioning method and device for cutting head of cantilever type heading machine - Google Patents

Spatial positioning method and device for cutting head of cantilever type heading machine Download PDF

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Publication number
CN114485633A
CN114485633A CN202210006642.7A CN202210006642A CN114485633A CN 114485633 A CN114485633 A CN 114485633A CN 202210006642 A CN202210006642 A CN 202210006642A CN 114485633 A CN114485633 A CN 114485633A
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China
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coordinate system
cutting head
machine body
center
cantilever
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CN202210006642.7A
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Chinese (zh)
Inventor
张婷
陈宁
李涛
贾曲
索艳春
董孟阳
田原
郭皇煌
李小燕
常映辉
冀鹏飞
袁晓明
马亚丽
桑盛远
张娜
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Priority to CN202210006642.7A priority Critical patent/CN114485633A/en
Publication of CN114485633A publication Critical patent/CN114485633A/en
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

The invention provides a spatial positioning method for a cutting head of a cantilever type heading machine, which comprises the following steps that an inertial navigation unit measures an attitude angle of a machine body of the heading machine; measuring by a total station to obtain the position coordinates of a 360-degree prism, wherein the 360-degree prism is arranged on the heading machine body; and acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body. The method is not influenced by the severe environments such as coal mine dust, visibility, coal wall absorption and the like, can meet the requirement of high-precision centimeter-level positioning, and has high reliability and adaptability. The invention also provides a spatial positioning device for the cutting head of the cantilever type heading machine.

Description

Spatial positioning method and device for cutting head of cantilever type heading machine
Technical Field
The invention relates to the technical field of boom-type roadheader, in particular to a method and a device for spatially positioning a cutting head of a boom-type roadheader.
Background
The cantilever excavator is an effective excavating machine, integrates excavating and loading functions, and can be used for excavating construction of mining, road tunnels, railway tunnels, water tunnels, mining roadways and other underground chambers.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the positioning method of the cutting head of the cantilever type roadheader generally adopts the steps that an oil cylinder displacement sensor is arranged on a cutting arm, and the position of the cutting head is obtained through calculation. However, the method has great limitations: on one hand, the oil cylinder displacement sensor only collects the movement displacement of the cutting arm, and the position information of the machine body of the development machine cannot be determined; on the other hand, the displacement sensor is arranged in the oil cylinder, so that the existing mechanical structure is damaged, and the reliability of the sensor is poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a method and a device for positioning the space of the cutting head of the cantilever type heading machine, which have high reliability and strong adaptability.
In order to achieve the purpose, the invention provides a method for spatially positioning a cutting head of a cantilever type heading machine, which comprises the following steps:
the inertial navigation unit measures the attitude angle of the tunneling machine body;
measuring by a total station to obtain the position coordinates of a 360-degree prism, wherein the 360-degree prism is arranged on the heading machine body;
and acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
The cantilever type development machine cutting head space positioning method provided by the invention is not influenced by severe environments such as coal mine dust, visibility and coal wall absorption, can meet the requirements of high-precision centimeter-level positioning, and has strong reliability and adaptability; in addition, the positioning method does not change the existing mechanical structure of the airframe, and improves the reliability of the system from a sensor component level.
Optionally, the obtaining the real-time position of the cutting head according to the relative position of the cutting head and the heading machine body includes:
establishing a fuselage coordinate system OiXiYiZiWhere i is 0, 1, 2, 3, 4, the frame coordinate system includes a frame prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
Optionally, the obtaining the real-time position of the cutting head according to the relative position of the cutting head and the heading machine body further includes:
establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGThe axial direction is the sky direction;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
Optionally, the obtaining the real-time position of the cutting head according to the relative position of the cutting head and the heading machine body further includes:
establishing a tunnel coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
Correspondingly, the invention also discloses a cantilever type heading machine cutting head space positioning device, which comprises:
the inertial navigation unit is used for measuring the attitude angle of the tunneling machine body;
the total station is used for measuring and obtaining the position coordinates of the 360-degree prism, wherein the 360-degree prism is arranged on the heading machine body;
and the real-time position acquisition unit is used for acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
Optionally, the real-time position obtaining unit is specifically configured to:
establishing a fuselage coordinate system OiXiYiZiWherein, i is 0, 1,2, 3, 4, the frame coordinate system comprises a frame prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
Optionally, the real-time position obtaining unit is further specifically configured to:
establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGThe axial direction is the sky direction;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
Optionally, the real-time position obtaining unit is further specifically configured to:
establishing a tunnel coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
Additional aspects and advantages of the invention 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 invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention 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 flow chart of a method for spatially positioning a cutting head of a boom excavator according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a roadway layout of a spatial positioning method of a cutting head of a boom-type roadheader according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a position coordinate transformation process of a cutting head of the heading machine according to an embodiment of the invention.
Fig. 4 is a schematic view of the body coordinate transformation process of the cutting head of the heading machine according to an embodiment of the invention.
Fig. 5 is a schematic diagram of a coordinate system of a heading machine body according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a roadway positioning of a cutting head of the heading machine according to an embodiment of the invention.
Reference numerals:
the method comprises the following steps of 1-a cutting head, 2-an inclination angle sensor, 3-an angle sensor, 4-a cantilever type tunneling machine body, 5-an inertial navigation unit, 6-a 360-degree prism, 7-a total station, 8-a first circular prism and 9-a second circular prism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of a method for spatially positioning a cutting head of a boom excavator according to an embodiment of the present invention.
In a first aspect, referring to fig. 1 and fig. 2, an embodiment of the present invention provides a method for spatially positioning a cutting head of a boom-type roadheader, including the following steps:
and S100, measuring the attitude angle of the heading machine body by the inertial navigation unit.
S200, measuring by a total station to obtain position coordinates of a 360-degree prism, wherein the 360-degree prism is arranged on a heading machine body;
and step S300, acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
Through the steps, the cutting head positioning in the prior art is prevented from being influenced by severe environments such as coal mine dust, visibility and coal wall absorption, the high-precision centimeter-level positioning can be met, and the reliability and the adaptability are high; in addition, the positioning method does not change the existing mechanical structure of the airframe, and improves the reliability of the system from a sensor component level.
As a possible implementation manner, the inertial navigation unit 5 is installed on the boom-type excavator body 4, the 360-degree prism 6 is installed at the tail of the boom-type excavator body 4, and the total station 7 is fixed in a roadway and has a height which satisfies the requirement of the full view of the 360-degree prism 6 in the moving process of the excavator.
The cantilever of the cantilever type excavator in the embodiment comprises a main cantilever and an auxiliary cantilever, the main rotating arm is hinged with the auxiliary cantilever, the tail end of the main rotating arm is provided with a cutting head 1, and the auxiliary cantilever is hinged with an excavator body. The heading machine is provided with an inclination angle sensor 2 and an angle sensor 3, wherein the inclination angle sensor 2 is used for measuring the pitching angle of the cantilever, and the angle sensor 3 is used for measuring the rotation angle of the cantilever.
The real-time position of the cutting head is obtained according to the relative position of the cutting head and the tunneling machine body, and can be determined according to actual requirements. That is to say, the mode of obtaining the real-time position of the cutting head has a lot of, as long as this kind of mode is through the relative position acquisition of cutting head and entry driving machine fuselage cutting head's position, can all no longer use among the prior art in the mode of cutting head newly-increased sensor carry out the cutting head position measurement, all can solve the problem among the prior art.
In some embodiments, referring to fig. 2, 6, the total station is to determine station coordinates prior to step S200. The total station 7 is erected at a certain distance from the rear of the heading machine; the 360-degree prism 6 is arranged at a higher position of the tail part of the tunneling machine body 4, so that the 360-degree prism is not shielded when being in communication with the total station 7; the first and second circular prisms 8 and 9 are fixed on a coal wall behind the total station, and the first and second circular prisms 8 and 9 and the total station 7 cannot be in the same straight line and should have a certain included angle, and the total station is guaranteed not to be shielded when being seen through. The first circular prisms 8 and the second circular prisms 9 are used as two rear control points, and the total station finishes rear intersection through automatic search and automatic collimation of the first circular prisms 8 and the second circular prisms 9, and determines the coordinate of the measuring station of the total station.
There are various ways to obtain the real-time position of the cutting head according to the relative position of the cutting head and the heading machine body, and in this embodiment, the following optional implementation manners are provided, referring to fig. 3 and 4, and the steps are as follows:
step S301, referring to FIG. 5, establishes a fuselage coordinate system OiXiYiZiWhere i is 0, 1, 2, 3, 4, the fuselage coordinate system includes the prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
In particular, the coordinate system O1X1Y1Z1The longitudinal axis of the transverse shaft is consistent with the axial direction of the machine body; the distance between the center of the rotating shaft on the axis of the machine body and the geometric center of the upper surface of the machine body is a, and a coordinate system O is adopted2X2Y2Z2The longitudinal axis of the transverse shaft is consistent with the axial direction of the auxiliary cantilever and fixedly connected with the auxiliary cantilever; the center of the pitching axis is on the axis of the auxiliary cantilever, the distance between the center of the auxiliary cantilever rotating shaft and the center of the pitching axis is b, and a coordinate system O3X3Y3Z3The longitudinal axis of the transverse shaft is consistent with the axial direction of the cantilever and fixedly connected with the cantilever; the distance between the center of the pitching shaft and the geometric center of the bottom surface of the cutting head, namely the length of the cantilever is c; the revolution angle is alpha, the pitch angle is beta, the x-direction distance between the 360-degree prism of the machine body and the geometric center of the upper surface of the machine body is d, and the y-direction distance between the 360-degree prism of the machine body and the geometric center of the upper surface of the machine body is e.
Establishing a coordinate system O by using the position of the 360-degree prism as an origin0X0Y0Z0Geometric center of upper surface of fuselage O1In a coordinate system O0X0Y0Z0Can be expressed as:
Figure BDA0003457128780000041
with centre of rotation in the coordinate system O0X0Y0Z0Can be represented as:
Figure BDA0003457128780000042
center of pitch in coordinate system O0X0Y0Z0Can be expressed as:
Figure BDA0003457128780000051
geometric center of the bottom surface of the cutting head is in a coordinate system O0X0Y0Z0Can be expressed as:
Figure BDA0003457128780000052
and obtaining the coordinates of the cutting head under the machine body coordinate system.
Step S302, establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGAxial directionIs the direction of the day;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
Specifically, the total station measures the position coordinate of the 360-degree prism as (X)p,Yp,Zp). If the onboard inertial navigation unit outputs the machine body with the heading tau, the pitching nu and the rolling gamma at the moment, the geometric center o of the bottom surface of the cutting head4(x4,y4,z4) In the geodetic coordinate system can be expressed as:
Figure BDA0003457128780000053
wherein the content of the first and second substances,
Figure BDA0003457128780000054
step S303, establishing a roadway coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
Establishing a roadway coordinate system oLxLyLzLIf the included angle between the axial line of the roadway and the true north is psi and the included angle between the axial line of the roadway and the true north is theta, the geometric center o of the bottom surface of the cutting head is determined4(x4,y4,z4) In the roadway coordinate system, can be expressed as:
Figure BDA0003457128780000055
wherein the content of the first and second substances,
Figure BDA0003457128780000061
at this time, the geometric center O of the upper surface of the heading machine body1The position in the roadway coordinate system can be expressed as:
Figure BDA0003457128780000062
wherein, the geometric center O of the upper surface of the development machine body1The position in the geodetic coordinate system can be expressed as:
Figure BDA0003457128780000063
the coordinate of the geometric center of the fuselage under the coordinate system of the fuselage is (X)O1,YO1,ZO1) Geometric center O of upper surface of machine body of heading machine1The position in the fuselage coordinate system can be expressed as:
Figure BDA0003457128780000064
as can be seen from the above, the spatial positioning method for the cutting head of the boom-type roadheader provided by this embodiment can realize spatial positioning of the cutting head in a roadway space coordinate system, is based on absolute coordinates of the roadway coordinate system, and the spatial positioning of the cutting head is based on accurate detection of the position and posture information of the machine body, thereby fully considering the influence of the posture of the machine body on the spatial position of the cutting head. The position detection of the cutting head of the heading machine requires the conversion among a machine body coordinate system, a geodetic coordinate system and a roadway coordinate system, the machine body coordinate system needs to be converted among a plurality of connecting units such as a prism, a machine body geometric center, a rotation center, a cutting arm pitching center, the cutting head and the like, and finally the position coordinate of the cutting head under the roadway coordinate system is determined.
In a second aspect, an embodiment of the present invention provides a boom-type roadheader cutting head space positioning device, which includes an inertial navigation unit, a total station, and a real-time position acquisition unit. The inertial navigation unit is used for measuring the attitude angle of the heading machine body; the total station is used for measuring and obtaining the position coordinates of the 360-degree prism, wherein the 360-degree prism is arranged on the heading machine body; and the real-time position acquisition unit is used for acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
Optionally, the real-time position obtaining unit is specifically configured to:
establishing a fuselage coordinate system OiXiYiZiWhere i is 0, 1, 2, 3, 4, the frame coordinate system includes a frame prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
The real-time location obtaining unit is further specifically configured to:
establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGThe axial direction is the sky direction;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
The real-time location obtaining unit is further specifically configured to:
establishing a tunnel coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
It should be noted that, because each constituent unit and component of the above-mentioned apparatus provided in the embodiment of the apparatus of the present invention are based on the same concept as that of the embodiment of the method of the present invention, the technical effect brought by the embodiment of the method of the present invention is the same as that of the embodiment of the method of the present invention, and specific contents may refer to descriptions in the embodiment of the method of the present invention, and are not described herein again.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
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 specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention 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 invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above do not necessarily 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. A boom-type roadheader cutting head space positioning method is characterized by comprising the following steps:
the inertial navigation unit measures the attitude angle of the tunneling machine body;
measuring by a total station to obtain the position coordinates of a 360-degree prism, wherein the 360-degree prism is arranged on the heading machine body;
and acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
2. The method of claim 1, wherein obtaining the real-time position of the cutting head based on the relative position of the cutting head to the body of the roadheader comprises:
establishing a fuselage coordinate system OiXiYiZiWherein i is 0, 1, 2, 3, 4, and the body coordinate system includes a body prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
3. The method of claim 2, wherein obtaining the real-time position of the cutting head based on the relative position of the cutting head to the body of the roadheader further comprises:
establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGThe axial direction is the sky direction;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
4. The method of claim 3, wherein obtaining the real-time position of the cutting head based on the relative position of the cutting head to the body of the roadheader further comprises:
establishing a tunnel coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
5. The utility model provides a boom-type roadheader cutterhead space positioning device which characterized in that includes:
the inertial navigation unit is used for measuring the attitude angle of the tunneling machine body;
the total station is used for measuring and obtaining the position coordinates of the 360-degree prism, wherein the 360-degree prism is arranged on the tunneling machine body;
and the real-time position acquisition unit is used for acquiring the real-time position of the cutting head according to the relative position of the cutting head and the tunneling machine body.
6. The boom miner cutting head spatial positioning device of claim 5, wherein the real-time position acquisition unit is specifically configured to:
establishing a fuselage coordinate system OiXiYiZiWhere i is 0, 1, 2, 3, 4, the frame coordinate system includes a frame prism coordinate system O0X0Y0Z0Geometric center coordinate system O of upper surface of machine body1X1Y1Z1Cantilever rotating shaft center coordinate system O2X2Y2Z2Cantilever pitch axis center coordinate system O3X3Y3Z3And a geometrical center coordinate system O of the bottom surface of the cutting head4X4Y4Z4；
And uniformly expressing the coordinate of the geometric center of the upper surface of the machine body, the coordinate of the center of the rotating shaft of the cantilever, the center of the pitching shaft of the cantilever and the geometric center of the bottom surface of the cutting head by using a machine body prism coordinate system to obtain the coordinate of the cutting head under the machine body coordinate system.
7. The boom miner cutting head spatial positioning device of claim 6, wherein the real-time position obtaining unit is further specifically configured to:
establishing a geodetic coordinate system OGXGYGZGWherein X isGThe axis is in the east direction, YGThe axis being in the north direction, ZGThe axial direction is the sky direction;
and converting the coordinates of the cutting head under the coordinate system of the machine body into coordinates under a geodetic coordinate system.
8. The boom miner cutting head spatial positioning device of claim 7, wherein the real-time position obtaining unit is further specifically configured to:
establishing a tunnel coordinate system OLXLYLZLWherein X isLThe axis points to the right side of the tunnel, YLThe shaft pointing in the heading direction of the heading machine, ZLThe axis pointing vertically to the top plate of the roadway, ZLZ in the axial direction and the geodetic coordinate systemGThe axial directions are parallel;
and converting the coordinates of the cutting head under a geodetic coordinate system into coordinates under a roadway coordinate system.
CN202210006642.7A 2022-01-05 2022-01-05 Spatial positioning method and device for cutting head of cantilever type heading machine Pending CN114485633A (en)

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