CN114964139A - Heading machine pose detection and positioning system based on double-shaft tilt angle sensor - Google Patents
Heading machine pose detection and positioning system based on double-shaft tilt angle sensor Download PDFInfo
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- CN114964139A CN114964139A CN202210576551.7A CN202210576551A CN114964139A CN 114964139 A CN114964139 A CN 114964139A CN 202210576551 A CN202210576551 A CN 202210576551A CN 114964139 A CN114964139 A CN 114964139A
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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 invention relates to the technical field of coal mine equipment, in particular to a heading machine pose detection and positioning system based on a double-shaft tilt angle sensor, and aims to solve the problem that the real-time heading machine pose detection and space positioning are difficult to realize by the existing pose detection means. According to the heading machine pose detection and positioning system based on the double-shaft tilt angle sensor, a laser spot on a target is captured through a camera, a pitch angle and a roll angle of the heading machine are measured through the double-shaft tilt angle sensor, and a heading angle of the heading machine is dynamically adjusted according to a landing point of ranging laser on the target captured by the camera; the distance between the heading machine and the target is measured by the laser range finder, the linear distance between the heading machine and the target is calculated by combining pitch angle and roll angle parameters of the heading machine, the positioning work of the body of the heading machine is completed, and the pose detection of the cutting head part of the heading machine is completed by combining corresponding data measured by the magnetostrictive distance sensor and the angle sensor arranged at the center of the rotating shaft of the cutting head.
Description
Technical Field
The invention relates to the technical field of coal mine equipment, in particular to a position and posture detection and positioning system of a heading machine based on a double-shaft tilt angle sensor.
Background
With the continuous advance of the automation technology reformation of coal mines, the concept of intelligent coal mines is provided at present, the intelligent mining for realizing unmanned operation is the inevitable development direction of underground mining, and the development of the intelligent mining of coal mines becomes the problem which needs to be solved urgently on the development road of the intelligent mining of coal mines by using the development machine as a large-scale machine for underground development work and realizing the automatic detection and adjustment of the pose of the development machine.
The tunneling operation environment is severe and complex, a large amount of smoke is generated during working, the working environment has the characteristics of strong noise, strong magnetic field and the like, and the real-time pose detection and the space positioning of the tunneling machine are difficult to realize only by the traditional laser pointing mode or the existing partial pose detection means such as image recognition, inertial navigation and the like.
Disclosure of Invention
The invention provides a heading machine pose detection and positioning system based on a double-shaft tilt angle sensor, which aims to solve the problem that the real-time heading machine pose detection and space positioning are difficult to realize by the existing pose detection means.
In order to achieve the purpose, the invention provides a heading machine pose detection and positioning system based on a double-shaft inclination angle sensor, which comprises the double-shaft inclination angle sensor, an airborne ranging laser part, a camera part, a mobile target part and a cutting head pose detection part, wherein the double-shaft inclination angle sensor and the airborne ranging laser part are arranged on a central axis of the heading machine, the airborne ranging laser part is positioned at forty centimeters right behind the double-shaft inclination angle sensor, the camera part and the mobile target part are arranged on a roadway roof behind the heading machine, the camera part is positioned in front of the mobile target part and is opposite to the mobile target part, and the cutting head pose detection part is arranged on a cutting head of the heading machine.
In the heading machine pose detection and positioning system based on the dual-axis tilt sensor, optionally, the onboard distance measuring laser part comprises a laser distance measuring instrument moving platform, a first driving motor, a second driving motor, a laser distance measuring instrument, a first tilt sensor, a laser distance measuring instrument supporting plate, a second tilt sensor, a first displacement sensor, a third driving motor and a supporting seat, the laser distance measuring instrument is fixed on the laser distance measuring instrument supporting plate, the laser distance measuring instrument supporting plate is slidably mounted on the supporting seat, the supporting seat is fixed on the laser distance measuring instrument moving platform, the laser distance measuring instrument moving platform is fixed on a central axis of the heading machine, the first driving motor and the second driving motor are both connected with the laser distance measuring instrument, the first driving motor is mounted behind the laser distance measuring instrument, the second driving motor is mounted on one side of the laser distance measuring instrument, the first tilt sensor and the second tilt sensor are mounted on the laser distance measuring instrument, the first displacement sensor is installed on one side of the laser range finder support plate, the third driving motor is installed behind the support seat, and the third driving motor is connected with the laser range finder support plate through the transmission mechanism.
In the heading machine pose detection and positioning system based on the dual-shaft tilt sensor, optionally, the lower end of the laser range finder support plate is provided with a long protrusion, the upper end face of the support seat is provided with a long groove, the long groove is matched with the long protrusion, the transmission mechanism is a gear rack mechanism, a gear of the transmission mechanism is fixed on a rotating shaft of a third driving motor, and a rack of the transmission mechanism is fixed on the long protrusion at the lower end of the laser range finder support plate.
In the heading machine pose detection and positioning system based on the dual-axis tilt sensor, optionally, the camera shooting part comprises a third tilt sensor, a fourth driving motor, a camera and a camera support, the camera is installed on the camera support, the camera support is fixed on a roadway roof, the third tilt sensor is installed behind the camera, the fourth driving motor is connected with the camera, and the fourth driving motor is fixed on one side of the camera support.
In the heading machine pose detection and positioning system based on the double-shaft tilt sensor, optionally, the moving target part comprises a first fixed pulley, a target moving frame, a target, a second displacement sensor, a target dragging motor and a second fixed pulley, the upper end of the target moving frame is fixed on a roadway roof, the first fixed pulley, the target dragging motor and the second fixed pulley are respectively fixed on the target moving frame, the target is slidably mounted on the target moving frame, the target dragging motor is connected with the target through a traction line, the traction line bypasses the first fixed pulley and the second fixed pulley, and the second displacement sensor is mounted above the target.
In the heading machine pose detection and positioning system based on the dual-axis tilt sensor, the cutting head pose detection part optionally comprises magnetostrictive distance sensors respectively arranged on the first-stage hydraulic cylinder of the cutting head, the second-stage hydraulic cylinder of the cutting head and the third-stage hydraulic cylinder of the cutting head, and an angle sensor arranged at the center of the rotating shaft of the cutting head.
The heading machine pose detection and positioning system based on the double-shaft tilt angle sensor provided by the invention captures laser points on a target through a camera, measures the pitch angle and the roll angle of the heading machine through the double-shaft tilt angle sensor, and dynamically adjusts the heading angle of the heading machine according to the landing point of ranging laser on the target captured by the camera; the method comprises the steps of measuring the distance between a heading machine and a target through a laser range finder, combining pitch angle and roll angle parameters of the heading machine, calculating the linear distance between the heading machine and the target, and completing positioning work of a body of the heading machine.
The construction of the present invention and other objects and advantages thereof will be more apparent from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of a heading machine pose detection and positioning system based on a dual-axis tilt sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an airborne ranging laser part of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the invention;
fig. 3 is a schematic cross-sectional structure view of an airborne ranging laser part of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of a camera part of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a mobile target part of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the invention;
fig. 6 is a schematic structural diagram of a cutting head of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the present invention;
fig. 7 is a schematic view of a third working state of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the present invention;
fig. 8 is a schematic diagram of a fifth working state of the heading machine pose detection and positioning system based on the dual-axis tilt sensor according to the embodiment of the present invention;
fig. 9 is a schematic diagram of a movement track of a laser landing point of a laser range finder of the heading machine pose detection and positioning system based on the dual-axis tilt sensor when a roll angle of the heading machine changes, according to the embodiment of the present invention.
Description of reference numerals:
1-a region to be excavated;
2-a roadway roof;
3-a heading machine;
4-a dual-axis tilt sensor;
5-airborne ranging laser part;
501-laser range finder moving platform; 502-a first drive motor; 503-a second drive motor; 504-laser rangefinder; 505-a first tilt sensor; 506-laser rangefinder support plate; 507-a second tilt sensor; 508-a first displacement sensor; 509-a third drive motor; 510-a support base;
6-an image pickup part;
601-a third tilt sensor; 602-a fourth drive motor; 603-a camera; 604-camera support;
7-a mobile target portion;
701-a first fixed pulley; 702-a target movement frame; 703-a target; 704 — a second displacement sensor; 705-target drag motor; 706-a second fixed pulley;
8-a first-stage hydraulic cylinder of the cutting head;
9-a second-stage hydraulic cylinder of the cutting head;
10-an angle sensor;
11-third stage hydraulic cylinder of cutting head.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in figure 1, the invention provides a heading machine pose detection and positioning system based on a double-shaft tilt angle sensor, which comprises a double-shaft tilt angle sensor 4, an airborne ranging laser part 5, a camera part 6, a mobile target part 7 and a cutting head pose detection part, wherein the double-shaft tilt angle sensor 4 and the airborne ranging laser part 5 are installed on a central axis of a heading machine 3, the airborne ranging laser part 5 is positioned at forty centimeters right behind the double-shaft tilt angle sensor 4, the camera part 6 and the mobile target part 7 are installed on a roadway roof 2 behind the heading machine 3, the camera part 6 is positioned in front of the mobile target part 7, the camera part 6 is just opposite to the mobile target part 7, and the cutting head pose detection part is installed on a cutting head of the heading machine 3.
It should be noted that, during normal operation, the heading machine 3 is located in a roadway and operates the area to be excavated 1; the pitch angle and the roll angle of the body of the heading machine 3 are detected through the double-shaft tilt angle sensor 4, specifically, the double-shaft tilt angle sensor 4 can measure the angle change of two axial directions, the roll angle and the pitch angle of the heading machine can be measured in real time, and in addition, the double-shaft tilt angle sensor 4 has a filtering function, can work in a vibration situation, and is suitable for pose detection of the body of the heading machine.
As shown in fig. 2-3, the airborne ranging laser part 5 comprises a laser range finder moving platform 501, a first driving motor 502, a second driving motor 503, a laser range finder 504, a first tilt angle sensor 505, a laser range finder support plate 506, a second tilt angle sensor 507, a first displacement sensor 508, a third driving motor 509 and a support base 510, wherein the laser range finder 504 is fixed on the laser range finder support plate 506, the laser range finder support plate 506 is slidably mounted on the support base 510, the support base 510 is fixed on the laser range finder moving platform 501, the laser range finder moving platform 501 is fixed on the central axis of the heading machine 3, the first driving motor 502 and the second driving motor 503 are both connected with the laser range finder 504, the first driving motor 502 is mounted behind the laser range finder 504, the second driving motor 503 is mounted on one side of the laser range finder 504, the first tilt angle sensor 505 and the second tilt angle sensor 507 are mounted on the laser range finder 504, the first displacement sensor 508 is installed at one side of the laser range finder support plate 506, the third driving motor 509 is installed at the rear of the support base 510, and the third driving motor 509 is connected with the laser range finder support plate 506 through a transmission mechanism.
It should be noted that the first driving motor 502 is used for changing the roll angle of the laser range finder 504; the second driving motor 503 is used for changing the pitch angle of the laser range finder 504; the first tilt sensor 505 and the second tilt sensor 507 detect the roll angle and the pitch angle of the laser range finder 504 respectively; the first displacement sensor 508 is used to detect the displacement of the laser rangefinder support plate 506.
As shown in fig. 2-3, the lower end of the laser range finder support plate 506 is provided with a long protrusion, the upper end surface of the support base 510 is provided with a long groove, the long groove is matched with the long protrusion, the transmission mechanism is a rack-and-pinion mechanism, a gear of the transmission mechanism is fixed on a rotating shaft of the third driving motor 509, and a rack of the transmission mechanism is fixed on the long protrusion at the lower end of the laser range finder support plate 506.
It should be noted that the third driving motor 509 rotates to drive the laser range finder support plate 506 to slide on the support base 510 through the cooperation of the gear and the rack, and further drive the laser range finder 504 to slide along the support base 510.
As shown in fig. 4, the image pickup section 6 includes a third tilt sensor 601, a fourth drive motor 602, a camera 603, and a camera support 604, the camera 603 is mounted on the camera support 604, the camera support 604 is fixed on the roof panel 2, the third tilt sensor 601 is mounted behind the camera 603, the fourth drive motor 602 is connected to the camera 603, and the fourth drive motor 602 is fixed on one side of the camera support 604.
It should be noted that the third tilt sensor 601 is configured to detect a tilt angle of the camera 603; the fourth drive motor 602 is used to change the pitch angle of the camera 603, and the fourth drive motor 602 cooperates with the third tilt sensor 601 so that the camera 603 always photographs the moving target portion 7.
As shown in fig. 5, the moving target portion 7 includes a first fixed pulley 701, a target moving frame 702, a target 703, a second displacement sensor 704, a target dragging motor 705, and a second fixed pulley 706, an upper end of the target moving frame 702 is fixed to the roadway roof 2, the first fixed pulley 701, the target dragging motor 705, and the second fixed pulley 706 are respectively fixed to the target moving frame 702, the target 703 is slidably mounted on the target moving frame 702, the target dragging motor 705 is connected to the target 703 via a traction line, the traction line passes around the first fixed pulley 701 and the second fixed pulley 706, and the second displacement sensor 704 is mounted above the target 703.
It should be noted that one end of the pull wire is fixed to the rotating shaft of the target drag motor 705, the other end of the pull wire is fixed to the suspension loop at the upper section of the target 703, the pull wire is wound around the first fixed pulley 701 and the second fixed pulley 706 to connect the target drag motor 705 with the target 703, the target 703 moves up and down in the target moving frame 702 by pulling the pull wire through the target drag motor 705, and the second displacement sensor 704 is used for detecting the moving distance of the target 703.
The laser range finder 504 is positioned on the heading machine 3, the target 703 is positioned at the top of the roadway, and in order to overcome the problem that the target 703 is missed by laser, a laser range finder support plate 506 and a target moving frame 702 are designed, so that the laser range finder 504 and the target 703 make corresponding position adjustment according to the pose of the heading machine 3;
as shown in fig. 6, the cutter head pose detection section includes magnetostrictive distance sensors respectively mounted on the cutter head first-stage hydraulic cylinder 8, the cutter head second-stage hydraulic cylinder 9, and the cutter head third-stage hydraulic cylinder 11, and an angle sensor 10 mounted at the center of the cutter head rotation shaft.
It should be noted that the cutting head is a rotary part which is arranged on the heading machine 3 and used for directly cutting rocks, the front part of the cutting head is a region 1 to be excavated, two first-stage hydraulic cylinders 8, two second-stage hydraulic cylinders 9 and two third-stage hydraulic cylinders 11 are arranged in the cutting head, six magnetostrictive distance sensors are arranged, the six magnetostrictive distance sensors are used for measuring the displacement of hydraulic rods driven by the hydraulic cylinders of the cutting head part, and an angle sensor 10 which is arranged behind the cutting head is matched to detect the pose of the cutting head together.
In the system, a double-shaft tilt sensor 4, a first driving motor 502, a second driving motor 503, a laser range finder 504, a first tilt sensor 505, a second tilt sensor 507, a first displacement sensor 508, a third driving motor 509, a third tilt sensor 601, a fourth driving motor 602, a camera 603, a second displacement sensor 704, a target dragging motor 705, a magnetostrictive distance sensor, an angle sensor 10 and the like are connected with a control system.
Before the heading machine 3 starts to work, the positions of the laser range finder 504 and the target 703 are adjusted, so that the falling point of the ranging laser emitted by the laser range finder 504 is just at the central position of the target 703; during the tunneling process, the camera part 6 is used for detecting the landing point of the ranging laser emitted by the laser range finder 504 in real time, and under the detection of the first inclination sensor 505 and the second inclination sensor 507, the first driving motor 502 and the second driving motor 503 are used for driving the laser range finder 504 so that the landing point of the ranging laser emitted by the laser range finder 504 is located at the center of the target 703.
The first working state: only the pitch angle of the roadheader changes.
In the working process of the development machine 3, only when the pitch angle of the development machine 3 changes, the airborne distance measurement laser part 5 is still in the same plane with the mobile target part 7 in the horizontal direction, and the pitch angle of the development machine 3 can be measured through the double-shaft tilt angle sensor 4; combining the pitch angle data of the heading machine 3 measured by the double-shaft tilt angle sensor 4, continuously measuring the pitch angle of the laser range finder 504 through the real-time detection of the second tilt angle sensor 507, and driving the laser range finder 504 to make corresponding pitch angle changes by means of the second driving motor 503 to make up for the pitch angle changes of the heading machine; the camera 603 captures a laser spot on the target 703, and after the laser range finder 504 makes a corresponding pitch angle change, the ranging laser emitted by the laser range finder 504 still strikes the center position of the target 703; and calculating the distance from the heading machine 3 to the target 703 according to the pitch angle measured by the second tilt angle sensor 507 on the laser range finder 504 and the distance measured by the laser range finder 504, so as to realize the positioning of the body of the heading machine 3, and finishing the pose detection of the cutting head part of the heading machine 3 by combining corresponding data measured by the magnetostrictive distance sensors arranged on the first-stage hydraulic cylinder 8 of the cutting head, the second-stage hydraulic cylinder 9 of the cutting head and the third-stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 arranged at the center of the rotating shaft of the cutting head.
The second working state: only the roll angle of the heading machine 3 changes.
In the working process of the heading machine 3, only when the roll angle of the heading machine 3 changes, as shown in fig. 9, the position of the ranging laser emitted by the laser range finder 504 moves from point B to point a; the double-shaft inclination angle sensor 4 can measure the roll angle alpha and can find a point C on the same longitudinal axis direction with the point B, and under the condition that the size of the body of the heading machine 3 is known, the distance l that the point A needs to move to the point C along the angle alpha and the displacement H relative to the point B can be calculated. After calculation, under the detection of the first displacement sensor 508 and the action of the third driving motor 509, the laser range finder support plate 506 moves correspondingly, the falling point of the ranging laser emitted by the laser range finder 504 is moved from the point a to the point C, and the target 703 moves in the target moving frame 702 under the action of the target dragging motor 705 and the detection of the second displacement sensor 704 to compensate for the longitudinal displacement H.
According to the roll angle measured by the double-shaft tilt sensor 4, the roll angle of the laser range finder 504 is continuously measured through the real-time detection of the first tilt sensor 505, and the first driving motor 502 is used for driving the laser range finder 504 to make corresponding roll angle changes so as to compensate for the roll angle changes of the heading machine; the camera 603 captures a laser spot on the target 703, and after the laser range finder 504 makes a corresponding change in the roll angle, the ranging laser emitted by the laser range finder 504 still strikes the center of the target 703; according to the roll angle measured by the first tilt sensor 505 on the laser range finder 504 and the distance measured by the laser range finder 504, the distance from the heading machine 3 to the target 703 is calculated, the positioning of the heading machine is realized, and the position and attitude detection of the cutting head part of the heading machine 3 is completed by combining corresponding data measured by the magnetostrictive distance sensors arranged on the first-stage hydraulic cylinder 8 of the cutting head, the second-stage hydraulic cylinder 9 of the cutting head and the third-stage hydraulic cylinder 11 of the cutting head and the angle sensor 10 arranged at the center of the rotating shaft of the cutting head.
The third working state: the pitch angle and the roll angle of the heading machine 3 change simultaneously.
In the working process of the heading machine 3, when the pitch angle and the roll angle of the heading machine 3 change simultaneously, as shown in fig. 7, similar to the first working state and the second working state, the pitch angle and the roll angle of the heading machine 3 are measured by the dual-axis tilt sensor 4, and according to the pitch angle and the roll angle measured by the dual-axis tilt sensor 4, the second driving motor 503 and the first driving motor 502 respectively drive the laser range finder 504 to make corresponding changes in the pitch angle and the roll angle so as to compensate for the changes in the angle of the heading machine; the camera 603 captures a laser spot on the target 703, and simultaneously adjusts the positions of the laser range finder 504 and the target 703 according to the second working state according to the change of the roll angle of the heading machine 3, so that the laser emitted by the laser range finder 504 is finally made to strike on the central axis of the target 703; the distance between the heading machine 3 and the target 703 is measured by the laser range finder 504, the linear distance between the heading machine 3 and the target 703 can be calculated according to the pitch angle and roll angle parameters of the heading machine 3 respectively measured by the second tilt sensor 507 and the first tilt sensor 505, the positioning work of the machine body of the heading machine 3 is completed, and the pose detection of the cutting head part of the heading machine 3 is completed by combining the magnetostrictive distance sensors arranged on the first-stage hydraulic cylinder 8 of the cutting head, the second-stage hydraulic cylinder 9 of the cutting head and the third-stage hydraulic cylinder 11 of the cutting head and the corresponding data measured by the angle sensor 10 arranged at the center of the rotating shaft of the cutting head;
the fourth working state: only the heading angle of the heading machine 3 changes.
During the operation of the heading machine 3, only when the heading angle of the heading machine 3 changes, the landing point of ranging laser emitted by a laser range finder 504 on a target 703 deviates from the central axis of the target 703, a camera 603 captures a laser spot on the target 703, the heading angle of the heading machine 3 is dynamically adjusted according to the deviation, it is noted that after the heading angle of the heading machine is known, a controller controls a heading machine crawler walking hydraulic motor to adjust the heading angle of the heading machine, after the heading angle of the heading machine is adjusted, the laser spot returns to the central axis of the target 703, the distance from the heading machine 3 to the target 703 is calculated according to the calculated heading angle and the distance measured by the laser range finder 504, so as to realize the positioning of the heading machine, magnetostrictive distance sensors mounted on a first-stage hydraulic cylinder 8 of a cutting head, a second-stage hydraulic cylinder 9 of the cutting head and a third-stage hydraulic cylinder 11 of the cutting head and corresponding data measured by an angle sensor 10 mounted at the center of a rotating shaft of the cutting head are combined, and finishing the pose detection of the cutting head part of the heading machine 3.
The solution can be calculated by utilizing a trigonometric function.
Course angle: when the course angle changes, the distance between a laser drop point on the target 703 and the central axis of the target 703 can be measured by using an image recognition technology, because the heading machine 3 has a slow advancing speed during working, the vertical distance from the heading machine 3 to the target 703 measured at the previous moment can be used as the vertical distance from the heading machine 3 to the target 703 at the current moment, and then the distance measured by the laser range finder 504 at the current moment is combined to form a triangle, so that the course angle can be approximately calculated, and then the course angle is dynamically adjusted under the monitoring of the camera 603.
Vertical distance of heading machine 3 to target 703: after the course angle is adjusted, the distance measuring laser drop point falls on the central axis of the target 703, the distance from the drop point to the ground is obtained by using an image recognition technology, and the vertical distance from the development machine 3 to the target 703 can be obtained by using the pythagorean theorem in combination with the distance measured by the distance measuring laser.
As shown in fig. 9, the problem of the position adjustment of the laser distance measuring device 504 when the roll angle of the heading machine 3 changes may be calculated by using a trigonometric function.
The fifth working state: the course angle, the pitch angle and the roll angle are changed simultaneously.
In the working process of the heading machine 3, when the heading angle, the pitch angle and the roll angle change simultaneously, as shown in fig. 8, the positions of the laser range finder 504 and the target 703 are firstly adjusted with reference to the third working state, and the heading angle of the heading machine 3 is dynamically adjusted according to the landing point of the ranging laser emitted by the laser range finder 504 on the target 703, so that the landing point of the laser returns to the central axis of the target 703 again. After the course angle is adjusted, the roll angle and the pitch angle of the heading machine 3 change again, at this moment, according to a third working state, the second driving motor 503 and the first driving motor 502 respectively drive the laser range finder 504 to make corresponding pitch angle and roll angle changes to compensate for the angle changes of the heading machine, so that the landing point of the ranging laser falls on the center of the target 703 again, the distance between the heading machine 3 and the target 703 is measured by the laser range finder 504, the linear distance between the heading machine 3 and the target 703 can be calculated according to the pitch angle and roll angle parameters of the heading machine 3, the positioning work of the body of the heading machine 3 is completed, the magnetostrictive distance sensors arranged on the first-stage hydraulic cylinder 8 of the cutting head, the second-stage hydraulic cylinder 9 of the cutting head and the third-stage hydraulic cylinder 11 of the cutting head and corresponding data measured by the angle sensor 10 arranged at the center of the rotating shaft of the cutting head are combined, and finishing the pose detection of the cutting head part of the development machine 3, so that the course angle correction of the development machine 3, the pose detection of the whole development machine 3 and the positioning work of the development machine body are finished.
According to the heading machine pose detection and positioning system based on the double-shaft tilt angle sensor, laser points on a target 703 are captured through a camera 603, a pitch angle and a roll angle of a heading machine 3 are measured through a double-shaft tilt angle sensor 4, and a heading angle of the heading machine 3 is dynamically adjusted according to a landing point of ranging laser on the target 703 captured by the camera 603; the distance between the heading machine 3 and the target 703 is measured by the laser range finder 504, the linear distance between the heading machine 3 and the target 703 is calculated by combining pitch angle and roll angle parameters of the heading machine 3, the positioning work of the machine body of the heading machine 3 is completed, the position and orientation detection of the cutting head part of the heading machine 3 is completed by combining corresponding data measured by magnetostrictive distance sensors arranged on the first-stage hydraulic cylinder 8 of the cutting head, the second-stage hydraulic cylinder 9 of the cutting head and the third-stage hydraulic cylinder 11 of the cutting head and an angle sensor 10 arranged at the center of the rotating shaft of the cutting head, and the problems that the real-time position and orientation detection and the space positioning of the heading machine are difficult to realize by the existing position and orientation detection means are solved.
In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically stated otherwise.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A position and orientation detection and positioning system of a heading machine based on a double-shaft tilt sensor is characterized by comprising the double-shaft tilt sensor, an airborne ranging laser part, a camera part, a mobile target part and a cutting head position and orientation detection part; the double-shaft inclination angle sensor and the airborne ranging laser part are arranged on a central axis of the heading machine, the airborne ranging laser part is positioned at forty centimeters right behind the double-shaft inclination angle sensor, the camera shooting part and the mobile target part are arranged on a roadway roof behind the heading machine, the camera shooting part is positioned in front of the mobile target part and is opposite to the mobile target part, and the cutting head pose detection part is arranged on a cutting head of the heading machine.
2. The position and orientation system of a heading machine based on a dual-axis tilt sensor of claim 1, wherein the airborne ranging laser section comprises a laser range finder moving platform, a first driving motor, a second driving motor, a laser range finder, a first tilt sensor, a laser range finder support plate, a second tilt sensor, a first displacement sensor, a third driving motor and a support base; the laser range finder is fixed on the laser range finder support plate, the laser range finder support plate is slidably arranged on the support seat, the supporting seat is fixed on the laser range finder moving platform which is fixed on the central axis of the heading machine, the first driving motor and the second driving motor are both connected with the laser range finder, the first driving motor is arranged behind the laser range finder, the second driving motor is arranged on one side of the laser range finder, the first inclination angle sensor and the second inclination angle sensor are arranged on the laser range finder, the first displacement sensor is installed on one side of the laser range finder support plate, the third driving motor is installed behind the support seat, and the third driving motor is connected with the laser range finder support plate through a transmission mechanism.
3. The position and orientation system of a heading machine based on a dual-axis tilt angle sensor of claim 2, wherein the lower end of the laser range finder support plate is provided with a long protrusion, the upper end surface of the support base is provided with a long groove, the long groove is matched with the long protrusion, the transmission mechanism is a rack-and-pinion mechanism, a gear of the transmission mechanism is fixed on a rotating shaft of the third driving motor, and a rack of the transmission mechanism is fixed on the lower long protrusion of the laser range finder support plate.
4. The system for detecting and positioning the pose of the heading machine based on the dual-axis tilt sensor of claim 1, wherein the camera part comprises a third tilt sensor, a fourth driving motor, a camera and a camera support, the camera is mounted on the camera support, the camera support is fixed on a roadway roof, the third tilt sensor is mounted behind the camera, the fourth driving motor is connected with the camera, and the fourth driving motor is fixed on one side of the camera support.
5. The dual-axis tilt sensor-based heading machine pose detection and positioning system according to claim 4, wherein the moving target portion comprises a first fixed pulley, a target moving frame, a target, a second displacement sensor, a target dragging motor and a second fixed pulley, wherein the upper end of the target moving frame is fixed on a roadway roof, the first fixed pulley, the target dragging motor and the second fixed pulley are respectively fixed on the target moving frame, the target is slidably mounted on the target moving frame, the target dragging motor and the target are connected through a traction line, the traction line bypasses the first fixed pulley and the second fixed pulley, and the second displacement sensor is mounted above the target.
6. The system according to claims 1-5, wherein the position detecting part comprises magnetostrictive distance sensors respectively mounted on the first stage hydraulic cylinder, the second stage hydraulic cylinder and the third stage hydraulic cylinder of the cutting head, and an angle sensor mounted at the center of the rotating shaft of the cutting head.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210576551.7A CN114964139A (en) | 2022-05-25 | 2022-05-25 | Heading machine pose detection and positioning system based on double-shaft tilt angle sensor |
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| CN202210576551.7A CN114964139A (en) | 2022-05-25 | 2022-05-25 | Heading machine pose detection and positioning system based on double-shaft tilt angle sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115962783A (en) * | 2023-03-16 | 2023-04-14 | 太原理工大学 | Positioning method of cutting head of heading machine and heading machine |
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- 2022-05-25 CN CN202210576551.7A patent/CN114964139A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115962783A (en) * | 2023-03-16 | 2023-04-14 | 太原理工大学 | Positioning method of cutting head of heading machine and heading machine |
| CN115962783B (en) * | 2023-03-16 | 2023-06-02 | 太原理工大学 | Positioning method of cutting head of heading machine and heading machine |
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