CN114485634A - Digging and anchoring machine planning mining method and system based on multi-information fusion - Google Patents

Digging and anchoring machine planning mining method and system based on multi-information fusion Download PDF

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CN114485634A
CN114485634A CN202210006645.0A CN202210006645A CN114485634A CN 114485634 A CN114485634 A CN 114485634A CN 202210006645 A CN202210006645 A CN 202210006645A CN 114485634 A CN114485634 A CN 114485634A
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machine
tunneling
anchoring
anchoring machine
machine body
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贾曲
田原
陈宁
张婷
索艳春
董孟阳
李涛
郭皇煌
李小燕
马亚丽
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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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    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral

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Abstract

The invention provides a digging and anchoring machine planning and mining method based on multi-information fusion, which comprises the steps that an inertial navigation system measures the posture of the digging and anchoring machine in real time; the total station looks through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the body of the tunneling and anchoring machine; acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body; and controlling the machine body of the tunneling and anchoring machine and the cutting drum to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting drum according to a pre-planned roadway mining model. The method has the advantages that the data obtained by the inertial navigation system and the total station are subjected to information fusion to obtain the real-time position information of the cutting drum of the tunneling and anchoring machine, and the tunneling and anchoring machine can plan cutting according to the preset route. The invention also provides a digging and anchoring machine planning and mining system based on multi-information fusion.

Description

Digging and anchoring machine planning mining method and system based on multi-information fusion
Technical Field
The invention relates to the technical field of mining anchor driving machines, in particular to an anchor driving machine planning mining method and system based on multi-information fusion.
Background
Due to different geographic positions, each mine needs to investigate the coal bed, geological structure and hydrogeology of the coal bed in the process of well construction and production. According to the research on the geological structure of the coal bed of the mine, the mining of the mine is planned in advance, the problems of excess mining and insufficient mining of a roadway are avoided, and the mining efficiency of the roadway is improved.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the coal mine roadway is narrow and dark in space, float coal on a bottom plate is accumulated and fluctuated, the temperature and the humidity are high, and the complicated geomagnetic environment is faced. The process has strong dependence on operators and is not beneficial to realizing the automation of the tunneling working face.
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 digging and anchoring machine planning mining method and system based on multi-information fusion and capable of automatically cutting according to a plan.
In order to achieve the purpose, the invention provides a digging and anchoring machine planning mining method based on multi-information fusion, which comprises the following steps:
the inertial navigation system measures the attitude of the digging and anchoring machine in real time;
the total station looks through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the body of the tunneling and anchoring machine;
acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body;
and controlling the machine body of the tunneling and anchoring machine and the cutting drum to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting drum according to a pre-planned roadway mining model.
The method is based on the multi-information fusion tunneling and anchoring machine planning mining method, data obtained by an inertial navigation system and a total station are subjected to information fusion to obtain real-time position information of a cutting drum of the tunneling and anchoring machine, and the tunneling and anchoring machine planning cutting according to a preset route is realized. The method is little influenced by the environment, has strong autonomy and high intelligent integration level, and improves the automation degree of the tunneling working face to a certain extent.
Optionally, before the step of obtaining the real-time position of the body of the driving and anchoring machine by the total station through looking at the prism mounted on the driving and anchoring machine, the total station further includes: setting a first point P as a station point of the total station, and setting a second point A and a third point B as two known position points;
measuring to obtain the distance from P to A, the distance from P to B and the degree of < APB;
and calculating the coordinate of P according to the distance from P to A, the distance from P to B and the degree of < APB.
Optionally, the total station looks through a prism installed on the driving and anchoring machine, and obtaining the real-time position of the body of the driving and anchoring machine includes:
establishing a roadway coordinate system: with the roadway axis as ynAxis, xnThe axis being horizontal and perpendicular to ynAxis, znAxis and xnAxis and ynOrthogonal axes, origin o of the roadway coordinate systemnThe tunnel mouth is positioned on the tunneling working face;
establishing a coordinate system of a machine body: the longitudinal axis of the machine body of the digging and anchoring machine is forward ymAxis, xmAxis perpendicular to ymAxis horizontal to right, zmAxis perpendicular xm om ymPlane vertically up, fuselage coordinate system origin omIs positioned in the center of the surface of the fuselage;
the position of a prism on the machine body of the total station measuring tunneling and anchoring machine is L (x)0,y0,z0) According to the installation position of the prism on the machine body, obtaining the translation vector of the prism relative to the coordinate system of the machine body as
Figure BDA0003457128710000021
And the inertial navigation system measures the attitude angle of the machine body and calculates the coordinates of the driving and anchoring machine body in the geodetic coordinate system.
Optionally, the inertial navigation system measures an attitude angle of the body, and the calculating to obtain coordinates of the bolting and excavating machine body in the geodetic coordinate system includes:
the inertial navigation system measures the attitude angle of the fuselage, the rotation angle around the Y axis is alpha, the rotation angle around the X axis is beta, and the rotation angle around the Z axis is
Figure BDA0003457128710000022
The rotation matrix with rotation angle α is then:
Figure BDA0003457128710000023
the rotation matrix for the rotation angle β is:
Figure BDA0003457128710000024
angle of rotation
Figure BDA0003457128710000025
The rotation matrix of (a) is:
Figure BDA0003457128710000026
the rotation matrix R of the geodetic coordinate system relative to the coordinate system of the machine body can be obtained1Comprises the following steps:
Figure BDA0003457128710000027
calculating to obtain the coordinate M (x) of the tunneling and anchoring machine body under the geodetic coordinate system1,y1,z1) Comprises the following steps:
Figure BDA0003457128710000031
optionally, the obtaining the real-time position of the cutting drum according to the relative position of the cutting drum and the bolting machine body comprises:
determining the position coordinates of the cutting drum in the machine body coordinate system according to the size of the cantilever of the heading machine and the relative position of the central point of the machine body coordinate system in the machine body to obtain the translation vector of the cutting drum relative to the machine body coordinate system
Figure BDA0003457128710000032
Obtaining the pitch angle phi of the cutting drum according to the dip angle encoder, and calculating to obtain a rotation matrix of the cutting drum relative to a machine body coordinate system
Figure BDA0003457128710000033
Then obtaining the coordinate H (x) of the cutting drum under the geodetic coordinate system2,y2,z2) Comprises the following steps:
Figure BDA0003457128710000034
accordingly, the invention provides a mining and anchoring machine planning and mining system based on multi-information fusion, which comprises:
the inertial navigation system is used for measuring the posture of the tunneling and anchoring machine in real time;
the total station is used for looking through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the machine body of the tunneling and anchoring machine;
the real-time position acquisition unit of the cutting drum is used for acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body;
and the tunneling and anchoring machine control unit is used for controlling the tunneling and anchoring machine body and the cutting roller to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting roller according to a pre-planned roadway mining model.
Optionally, the method further comprises: and the real-time dynamic differential measurement unit is used for calculating to obtain the coordinate of the first point P according to the measured distance from the first point P to the second point A, the distance from the first point P to the third point B and the degree of < APB, wherein the first point P is a station of the total station, and the second point A and the third point B are two known position points.
Optionally, the inertial navigation system is mounted at the tail of the excavator body; the prism is a 360-degree prism and is installed at the tail of the excavator body.
Optionally, the total station is suspended on the tunnel roof, and an installation frame of the total station is fixedly connected with the tunnel roof.
Optionally, the method further comprises:
and the dip angle encoder is arranged on the tunneling and anchoring machine and is used for measuring the pitch angle of the cutting drum.
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 mining and anchoring machine planning and mining method based on multi-information fusion according to an embodiment of the present invention.
Fig. 2 is a schematic field use diagram of a multi-information fusion-based driving and anchoring machine planning mining system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a total station acquiring a station position according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of reserving bottom coal according to geological information according to an embodiment of the present invention.
In the figure, 1-coal wall, 2-inertial navigation system, 3-360 degree prism, 4-anchor driving machine and 5-total station.
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 mining and anchoring machine planning and mining method based on multi-information fusion according to an embodiment of the present invention.
Referring to fig. 1 and 4, a digging and anchoring machine planning mining method based on multi-information fusion is characterized by comprising the following steps:
and S102, the inertial navigation system measures the attitude of the driving and anchoring machine in real time.
In this embodiment, the inertial navigation system may measure the attitude angle of the driving and anchoring machine. The attitude angle includes three rotation angles orthogonal two by two.
And S104, the total station looks through a prism arranged on the driving and anchoring machine to obtain the real-time position of the body of the driving and anchoring machine.
And S106, acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body.
And S108, controlling the machine body of the tunneling and anchoring machine and the cutting drum to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting drum according to a pre-planned roadway mining model.
In this embodiment, the roadway mining model is detected before actual mining, and the parameters contained in the model include the bed coal altitude of the whole mining roadway and the roadway height. And combining the real-time coordinates of the cutting drum, and controlling the machine body of the tunneling and anchoring machine, the bottom of the cutting drum and the lifting amount by the control system to realize planning cutting of the tunneling and anchoring machine.
The method provided by the embodiment of the invention is a digging and anchoring machine planning mining method based on multi-information fusion, data obtained by an inertial navigation system and a total station are subjected to information fusion to obtain real-time position information of a cutting drum of the digging and anchoring machine, and the digging and anchoring machine plans to cut according to a preset route. The method is little influenced by the environment, has strong autonomy and high intelligent integration level, and improves the automation degree of the tunneling working face to a certain extent.
In some embodiments, before the step of obtaining the real-time position of the main body of the driving and anchoring machine by the total station looking through the prism installed on the driving and anchoring machine, the total station further includes step S103, referring to fig. 3, including:
setting a first point P as a station point of the total station, and setting a second point A and a third point B as two known position points;
measuring to obtain the distance from P to A, the distance from P to B and the degree of < APB;
and calculating the coordinate of P according to the distance from P to A, the distance from P to B and the degree of < APB. The coordinates of the point P are the survey station coordinates of the total station.
In step S104, the total station looks through a prism installed on the anchor driving machine to obtain the real-time position of the anchor driving machine body includes:
establishing a roadway coordinate system: with the roadway axis as ynAxis, xnThe axis being horizontal and perpendicular to ynAxis, znAxis and xnAxis and ynOrthogonal axes, origin o of the roadway coordinate systemnThe tunnel mouth is positioned on the tunneling working face;
establishing a coordinate system of a machine body: the longitudinal axis of the machine body of the digging and anchoring machine is forward ymAxis, xmAxis perpendicular to ymAxis horizontal to right, zmAxis perpendicular xm om ymPlane vertically up, fuselage coordinate system origin omIs positioned in the center of the surface of the fuselage;
the position of a prism on the machine body of the total station measuring tunneling and anchoring machine is L (x)0,y0,z0) Root of Chinese characterAccording to the installation position of the prism on the machine body, obtaining the translation vector of the prism relative to the machine body coordinate system as
Figure BDA0003457128710000051
The inertial navigation system measures the attitude angle of the machine body, and the calculation of the coordinates of the tunneling and anchoring machine body under the geodetic coordinate system specifically comprises the following steps: the inertial navigation system measures the attitude angle of the fuselage, the rotation angle around the Y axis is alpha, the rotation angle around the X axis is beta, and the rotation angle around the Z axis is
Figure BDA0003457128710000052
The rotation matrix with rotation angle α is then:
Figure BDA0003457128710000053
the rotation matrix for the rotation angle β is:
Figure BDA0003457128710000054
angle of rotation
Figure BDA0003457128710000055
The rotation matrix of (a) is:
Figure BDA0003457128710000056
multiplying the 3 rotation matrixes to obtain a rotation matrix R of the geodetic coordinate system relative to the fuselage coordinate system1Comprises the following steps:
Figure BDA0003457128710000057
calculating to obtain the coordinate M (x) of the tunneling and anchoring machine body under the geodetic coordinate system1,y1,z1) Comprises the following steps:
Figure BDA0003457128710000061
step S106, obtaining the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body, and specifically comprises the following steps:
determining the position coordinates of the cutting drum in the machine body coordinate system according to the size of the cantilever of the heading machine and the relative position of the central point of the machine body coordinate system in the machine body to obtain the translation vector of the cutting drum relative to the machine body coordinate system
Figure BDA0003457128710000062
Obtaining the pitch angle phi of the cutting drum according to the dip angle encoder, and calculating to obtain a rotation matrix of the cutting drum relative to a machine body coordinate system
Figure BDA0003457128710000063
Then obtaining the coordinate H (x) of the cutting drum under the geodetic coordinate system2,y2,z2) Comprises the following steps:
Figure BDA0003457128710000064
the method has the advantages that planning cutting of the tunneling and anchoring machine is achieved by means of the information fusion algorithm, the intelligent degree is high, the tunneling and anchoring machine cuts along bottom coal, and coal mining efficiency is improved.
Referring to fig. 2, an embodiment of the present invention provides a mining and anchoring machine planning and mining system based on multi-information fusion, including: inertial navigation system 2, total station 5 and prism. The inertial navigation system 2 is used for measuring the attitude of the digging and anchoring machine in real time; the total station 5 is used for looking through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the machine body of the tunneling and anchoring machine; the real-time position acquisition unit of the cutting drum is used for acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body;
and the tunneling and anchoring machine control unit is used for controlling the tunneling and anchoring machine body and the cutting roller to cut the tunneling and anchoring machine according to the planning according to a pre-planned roadway mining model and by combining the real-time position of the cutting roller, so that the mining efficiency of the roadway is improved, and the problems of roadway over-mining and under-mining are avoided.
In the system in the embodiment, the control unit of the tunneling and anchoring machine is combined with the real-time coordinates of the cutting drum, and the machine body of the tunneling and anchoring machine, the bottom of the cutting drum and the lifting amount are controlled, so that the planning cutting of the tunneling and anchoring machine is realized, and the automation degree and the coal mining efficiency of a coal mine are improved.
In some embodiments, the mining system is planned based on a multi-information fusion excavator, and the real-time dynamic differential measurement unit is used for calculating the coordinate of a first point P according to the measured distance from the first point P to a second point A, the distance from the first point P to a third point B and the degree of ≈ APB, wherein the first point P is a station point of a total station, and the second point A and the third point B are two known position points.
As a possible implementation mode, the inertial navigation system is installed at the tail part of the machine body of the tunneling and anchoring machine; in order to be easier to see through with the total station, the prism is a 360-degree prism 3 and is arranged at the tail of the excavator 4.
Advantageously, the total station 5 is suspended from the roadway roof, with the mounting frame of the total station being fixedly connected to the roadway roof. The hanging of the device on the top plate of the roadway does not affect the passing of personnel and equipment in the roadway, and the higher position is also beneficial to the through vision of the total station.
It can be understood that the excavation and bolting machine planning mining system based on multi-information fusion further comprises a dip angle encoder which is arranged on the excavation and bolting machine and used for measuring the pitch angle of the cutting drum.
Because the multi-information fusion-based mining and anchoring machine planning and mining system in the embodiment of the system is based on the same concept as the embodiment of the method, the technical effect brought by the multi-information fusion-based mining and anchoring machine planning and mining system is the same as the embodiment of the method, specific contents can be referred to the description in the embodiment of the method, and the description is omitted here.
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 of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like 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 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 (10)

1. A digging and anchoring machine planning mining method based on multi-information fusion is characterized by comprising the following steps:
the inertial navigation system measures the attitude of the digging and anchoring machine in real time;
the total station looks through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the body of the tunneling and anchoring machine;
acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body;
and controlling the machine body of the tunneling and anchoring machine and the cutting drum to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting drum according to a pre-planned roadway mining model.
2. The mining method based on multi-information fusion of driving and anchoring machine planning as claimed in claim 1,
before the step of obtaining the real-time position of the machine body of the driving and anchoring machine by the total station instrument through looking at the prism arranged on the driving and anchoring machine, the total station instrument further comprises the following steps: setting a first point P as a station point of the total station, and setting a second point A and a third point B as two known position points;
measuring to obtain the distance from P to A, the distance from P to B and the degree of < APB;
and calculating the coordinate of P according to the distance from P to A, the distance from P to B and the degree of < APB.
3. The mining method for planning the driving and anchoring machine based on the multi-information fusion as claimed in claim 1 or 2, wherein the total station is used for looking through a prism installed on the driving and anchoring machine, and the obtaining of the real-time position of the body of the driving and anchoring machine comprises the following steps:
establishing a roadway coordinate system: with the roadway axis as ynAxis, xnThe axis being horizontal and perpendicular to ynAxis, znAxis and xnAxis and ynOrthogonal axes, origin o of the roadway coordinate systemnThe tunnel mouth is positioned on the tunneling working face;
establishing a coordinate system of a machine body: the longitudinal axis of the machine body of the digging and anchoring machine is forward ymAxis, xmAxis perpendicular to ymAxis horizontal to right, zmAxis perpendicular xmomymPlane vertically up, fuselage coordinate system origin omIs positioned in the center of the surface of the fuselage;
the position of a prism on the machine body of the total station measuring tunneling and anchoring machine is L (x)0,y0,z0) According to the installation position of the prism on the machine body, obtaining the translation vector of the prism relative to the coordinate system of the machine body as
Figure FDA0003457128700000011
And the inertial navigation system measures the attitude angle of the machine body and calculates the coordinates of the driving and anchoring machine body in the geodetic coordinate system.
4. The multi-information fusion-based machine-anchored planning mining method of claim 3, wherein the inertial navigation system measures attitude angles of the machine body, and the calculating of the coordinates of the machine body under the geodetic coordinate system comprises:
the inertial navigation system measures the attitude angle of the fuselage, the rotation angle around the Y axis is alpha, the rotation angle around the X axis is beta, and the rotation angle around the Z axis is
Figure FDA0003457128700000012
The rotation matrix with rotation angle α is then:
Figure FDA0003457128700000013
the rotation matrix for the rotation angle β is:
Figure FDA0003457128700000021
angle of rotation
Figure FDA0003457128700000022
The rotation matrix of (a) is:
Figure FDA0003457128700000023
the rotation matrix R of the geodetic coordinate system relative to the coordinate system of the machine body can be obtained1Comprises the following steps:
Figure FDA0003457128700000024
calculating to obtain the coordinate M (x) of the tunneling and anchoring machine body under the geodetic coordinate system1,y1,z1) Comprises the following steps:
Figure FDA0003457128700000025
5. the mining method for planning of the driving and anchoring machine based on the multi-information fusion as claimed in claim 3, wherein the obtaining of the real-time position of the cutting drum according to the relative position of the cutting drum and the driving and anchoring machine body comprises:
determining the position coordinates of the cutting drum in the machine body coordinate system according to the size of the cantilever of the heading machine and the relative position of the central point of the machine body coordinate system in the machine body to obtain the translation vector of the cutting drum relative to the machine body coordinate system
Figure FDA0003457128700000026
Obtaining the pitch angle phi of the cutting drum according to the dip angle encoder, and calculating to obtain a rotation matrix of the cutting drum relative to a machine body coordinate system
Figure FDA0003457128700000027
Then obtaining the coordinate H (x) of the cutting drum under the geodetic coordinate system2,y2,z2) Comprises the following steps:
Figure FDA0003457128700000028
6. a digging and anchoring machine planning and mining system based on multi-information fusion is characterized by comprising:
the inertial navigation system is used for measuring the posture of the tunneling and anchoring machine in real time;
the total station is used for looking through a prism arranged on the tunneling and anchoring machine to obtain the real-time position of the machine body of the tunneling and anchoring machine;
the real-time position acquisition unit of the cutting drum is used for acquiring the real-time position of the cutting drum according to the relative position of the cutting drum and the tunneling and anchoring machine body;
and the tunneling and anchoring machine control unit is used for controlling the tunneling and anchoring machine body and the cutting roller to enable the tunneling and anchoring machine to cut according to the plan by combining the real-time position of the cutting roller according to a pre-planned roadway mining model.
7. The multi-information fusion-based mining and anchoring machine planning mining system as claimed in claim 6, further comprising: and the real-time dynamic differential measurement unit is used for calculating to obtain the coordinate of the first point P according to the measured distance from the first point P to the second point A, the distance from the first point P to the third point B and the degree of < APB, wherein the first point P is a station of the total station, and the second point A and the third point B are two known position points.
8. The multi-information fusion-based driving and anchoring machine planning mining system as claimed in claim 6, wherein the inertial navigation system is mounted at the tail part of the body of the driving and anchoring machine; the prism is a 360-degree prism and is installed at the tail of the excavator body.
9. The multi-information fusion-based driving and anchoring machine planning mining system according to claim 6, characterized in that the total station is suspended on a roadway roof, and a mounting frame of the total station is fixedly connected with the roadway roof.
10. The multi-information fusion-based mining and anchoring machine planning mining system as claimed in claim 6, further comprising:
and the dip angle encoder is arranged on the tunneling and anchoring machine and is used for measuring the pitch angle of the cutting drum.
CN202210006645.0A 2022-01-05 2022-01-05 Digging and anchoring machine planning mining method and system based on multi-information fusion Pending CN114485634A (en)

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CN111485879A (en) * 2020-06-28 2020-08-04 中国铁建重工集团股份有限公司 Heading machine vehicle body and positioning method and positioning system of cutting drum of heading machine vehicle body
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CN103821510A (en) * 2014-01-25 2014-05-28 三一重型装备有限公司 Tunnel boring machine as well as cutting head positioning system, cutting system and cutting method thereof
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
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