CN114993173A - Heading machine pose detection and positioning system based on differential laser - Google Patents
Heading machine pose detection and positioning system based on differential laser Download PDFInfo
- Publication number
- CN114993173A CN114993173A CN202210576554.0A CN202210576554A CN114993173A CN 114993173 A CN114993173 A CN 114993173A CN 202210576554 A CN202210576554 A CN 202210576554A CN 114993173 A CN114993173 A CN 114993173A
- Authority
- CN
- China
- Prior art keywords
- laser
- differential
- heading machine
- receiving plate
- cutting head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- 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
- G01C21/1652—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 with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
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 differential laser, and aims to solve the problems that when the heading machine works underground, position and posture parameters of the heading machine cannot be well measured, the underground heading machine cannot be positioned, the position and posture detection and positioning automation of the heading machine cannot be realized, and overexcavation or underexcavation is easy to occur. The heading machine pose detection and positioning system based on the differential laser preliminarily resolves the pose of the heading machine according to the change of the laser drop point position, and combines the data obtained by the strapdown inertial navigation to realize the accurate detection of the pose of the heading machine body; the position of the cutting head is detected through the magnetostrictive distance sensor and the angle sensor arranged behind the cutting head, so that the position and posture parameters of the heading machine can be well measured, the underground heading machine is positioned, the automation of the position and posture detection and positioning of the heading machine is realized, and the occurrence of over-excavation or under-excavation is effectively avoided.
Description
Technical Field
The invention relates to the technical field of coal mine equipment, in particular to a heading machine pose detection and positioning system based on differential laser.
Background
With the continuous advance of the innovation of the coal mine automation technology, the concept of the intelligent coal mine is provided at present, and the development machine is used as a large-scale mining machine for underground operation, so that the realization of the automation operation becomes a key point for realizing the intelligent coal mine.
The underground environment of a coal mine is quite severe, the working environment in a roadway is complex, at present, when a heading machine works underground, the position and pose of the heading machine are judged and adjusted mainly by coal mine workers by utilizing guide laser, the position and pose parameters of the heading machine cannot be well measured and the underground heading machine is positioned because the dust concentration of the working environment is high and the sight is fuzzy or the experience of the workers is insufficient, the automation of the position and pose detection and positioning of the heading machine cannot be realized, and the phenomenon of over-excavation or under-excavation is easy to occur.
Disclosure of Invention
The invention provides a heading machine pose detection and positioning system based on differential laser, which aims to solve the problems that when a heading machine works underground, pose parameters of the heading machine cannot be well measured, the heading machine is positioned underground, automation of heading machine pose detection and positioning cannot be realized, and overexcavation or underexcavation is easy to occur.
In order to achieve the aim, the invention provides a heading machine pose detection and positioning system based on differential laser, which comprises a strapdown inertial navigation, a laser emission platform part, a laser direction indicator, a laser receiving device and a cutting head pose detection device, wherein the strapdown inertial navigation is connected with the laser emission platform part; the strapdown inertial navigation device is arranged at the central position of the upper surface of the tunneling machine body; the laser direction indicator is arranged in the middle of the top of the roadway behind the tunneling machine;
the laser emission platform part is horizontally arranged at the middle position of the top of a roadway behind the tunneling machine and comprises a laser mounting platform, positioning induction holes, a first inclination angle sensor, a first differential laser, a laser range finder and a second differential laser, wherein the first differential laser, the laser range finder and the second differential laser are arranged on the same plane of the laser mounting platform at intervals;
the laser receiving device is arranged at the seventy public place behind the strapdown inertial navigation, the laser receiving device comprises a first differential laser receiving plate, a distance measuring laser receiving plate and a second differential laser receiving plate, the distance measuring laser receiving plate is arranged on the central axis of the heading machine, and the first differential laser receiving plate and the second differential laser receiving plate are respectively arranged on two sides of the distance measuring laser receiving plate;
the position and posture detection device of the cutting head comprises magnetostrictive distance sensors and an angle sensor, wherein the magnetostrictive distance sensors are respectively arranged on a first-stage hydraulic cylinder of the cutting head, a second-stage hydraulic cylinder of the cutting head and a third-stage hydraulic cylinder of the cutting head, and the angle sensor is arranged at the center of a rotating shaft of the cutting head.
In the heading machine pose detection and positioning system based on the differential laser, optionally, the laser emission platform part further comprises a first rotating mechanism and a second rotating mechanism, the first rotating mechanism and the second rotating mechanism are respectively installed on the first differential laser and the second differential laser, and the second rotating mechanism is installed on the laser range finder.
In the heading machine pose detection and positioning system based on the differential laser, optionally, the laser emission platform part further comprises a driving motor and a second inclination angle sensor, and the driving motor and the second inclination angle sensor are mounted on the laser range finder.
In the system for detecting and positioning the position and posture of the heading machine based on the differential laser, the first differential laser receiving plate, the ranging laser receiving plate and the second differential laser receiving plate may have the same structure.
In the above system for detecting and positioning the pose of the heading machine based on the differential laser, optionally, the first differential laser receiver board includes a first laser receiver board square surface and a first laser receiver board support frame, the first laser receiver board square surface is fixedly mounted on the first laser receiver board support frame, the first laser receiver board support frame is fixed on the heading machine, and a photosensitive element is placed in each small square in the first laser receiver board square surface.
In the heading machine pose detection and positioning system based on the differential laser, optionally, the first laser receiving plate support frame is fixedly provided with a first cleaning brush driving device, and the first cleaning brush driving device is provided with a first laser receiving plate cleaning brush.
According to the heading machine pose detection and positioning system based on the differential laser, laser emitted by a laser range finder is emitted onto a range finding laser receiving plate, laser emitted by a first differential laser and laser emitted by a second differential laser are respectively emitted onto the first differential laser receiving plate and the second differential laser receiving plate, the pose of the heading machine is preliminarily calculated according to the change of the laser landing point position, and the accurate detection of the pose of a heading machine body is realized by combining data obtained by strapdown inertial navigation; the position of the cutting head is detected through the magnetostrictive distance sensors in the first-stage hydraulic cylinder of the cutting head, the second-stage hydraulic cylinder of the cutting head, the third-stage hydraulic cylinder of the cutting head and the angle sensor arranged behind the cutting head, the position and posture parameters of the heading machine can be well measured, the underground heading machine is positioned, the position and posture detection and the positioning automation of the heading machine are realized, and the overexcavation or underexcavation is effectively avoided.
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 description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings are obtained according to the drawings without creative efforts.
Fig. 1 is an overall structural schematic diagram of a heading machine pose detection and positioning system based on differential laser provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a laser emission platform part of the heading machine pose detection and positioning system based on differential laser provided by the embodiment of the invention;
fig. 3 is a schematic structural diagram of a laser receiving device of a heading machine pose detection and positioning system based on differential laser according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first differential laser receiving plate of the heading machine pose detection and positioning system based on differential laser according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a three-stage hydraulic cylinder of a cutting head of the differential laser-based heading machine pose detection and positioning system according to the embodiment of the invention;
fig. 6 is a schematic diagram of a third working state of the heading machine pose detection and positioning system based on differential laser according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a fifth working state of the heading machine pose detection and positioning system based on differential laser according to the embodiment of the present invention.
Description of reference numerals:
1-a region to be excavated;
2-a roadway;
3, strapdown inertial navigation;
4-a heading machine;
5-a laser emission platform part;
501-laser installation platform; 502-positioning the sensing hole; 503-a first tilt sensor; 504-a first differential laser; 505-a drive motor; 506-laser rangefinder; 507-a second tilt sensor; 508-a second differential laser; 509 — a first rotation mechanism; 510-a second rotation mechanism;
6-laser direction indicator;
7-a first differential laser receiving plate;
701-laser receiving plate grid surface; 702-a laser receiver plate cleaning brush; 703-a cleaning brush drive; 704-laser receiver plate support;
8-ranging laser receiving plate;
9-a second differential laser receiving plate;
10-a first-stage hydraulic cylinder of the cutting head;
11-a second-stage hydraulic cylinder of the cutting head;
12-an angle sensor;
13-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 fig. 1-3 and 5-7, the invention provides a heading machine pose detection and positioning system based on differential laser, which comprises a strapdown inertial navigation unit 3, a laser emission platform part 5, a laser direction indicator 6, a laser receiving device and a cutting head pose detection device; the strapdown inertial navigation unit 3 is arranged at the central position of the upper surface of the body of the heading machine 4; the laser direction indicator 6 is arranged in the middle of the top of the roadway 2 behind the tunneling machine 4;
the laser emission platform part 5 is horizontally arranged in the middle of the top of the roadway 2 behind the heading machine 4, the laser emission platform part 5 comprises a laser installation platform 501, a positioning induction hole 502, a first inclination angle sensor 503, a first differential laser 504, a laser range finder 506 and a second differential laser 508, the first differential laser 504, the laser range finder 506 and the second differential laser 508 are arranged on the same plane of the laser installation platform 501 at intervals, the laser range finder 506 is arranged in the center of the lower end face of the laser installation platform 501, the first differential laser 504 and the second differential laser 508 are symmetrically arranged on two sides of the laser range finder 506, the positioning induction hole 502 is arranged in the center of the laser installation platform 501, a photosensitive element is arranged in the positioning induction hole 502, and the first inclination angle sensor 503 is arranged beside the positioning induction hole 502;
it should be noted that the laser installation platform 501 is horizontally installed at the middle position of the top of the roadway 2 behind the heading machine 4, the first inclination angle sensor 503 is installed on the laser installation platform 501, the laser emission platform part 5 is located in front of the laser direction indicator 6, the laser direction indicator 6 is located at the rearmost end of the system to give a reference direction, laser emitted by the laser direction indicator 6 passes through the positioning induction hole 502, and the first inclination angle sensor 503 is combined to ensure that the laser installation platform 501 can be horizontally installed at the middle position of the top of the roadway 2.
The laser receiving device is arranged at a seventy public place behind the strapdown inertial navigation unit 3, the laser receiving device comprises a first differential laser receiving plate 7, a distance measuring laser receiving plate 8 and a second differential laser receiving plate 9, the distance measuring laser receiving plate 8 is arranged on the axial line of the heading machine 4, and the first differential laser receiving plate 7 and the second differential laser receiving plate 9 are respectively arranged on two sides of the distance measuring laser receiving plate 8;
in the working process, laser emitted by the laser range finder 506 is emitted onto the range finding laser receiving plate 8, laser emitted by the first differential laser 504 and the second differential laser 508 are respectively emitted onto the first differential laser receiving plate 7 and the second differential laser receiving plate 9, and the vertical distance from the machine body of the development machine 4 to the laser range finder 506 is resolved by combining the second tilt sensor 507 according to the distance parameter measured by the laser range finder 506 and utilizing a trigonometric function; the pose of the development machine is preliminarily calculated by means of the change of the laser drop point position, and the precise detection of the pose of the development machine 4 body is realized by combining the data obtained by the strapdown inertial navigation 3.
It should be noted that the strapdown inertial navigation system is a frameless system developed from a platform-type inertial navigation system, omits a complex physical entity platform, and has the advantages of simple structure, small volume, light weight, low cost, simple and convenient maintenance and high reliability; the pose detection method does not depend on any external information, does not radiate energy to the outside, can complete all-around pose detection, and is suitable for complex environments. However, due to the calculation principle, accumulated errors exist in the detection result of the strapdown inertial navigation system, and therefore mutual fusion of the accumulated errors and pose data measured by the differential laser is considered, and the detection precision is further improved.
The strapdown inertial navigation unit 3 can realize full-pose detection, can detect all pitch angles, roll angles and heading angles of the heading machine under different working states, and then is fused with the pitch angles, the roll angles and the heading angles detected by the differential laser, so that all pose parameters of the heading machine are obtained in real time; no matter which working state the heading machine is in, the heading position parameters are required to be comprehensively detected.
The cutting head pose detection device comprises magnetostrictive distance sensors and an angle sensor 12, wherein the magnetostrictive distance sensors are respectively arranged on a first-stage hydraulic cylinder 10 of the cutting head, a second-stage hydraulic cylinder 11 of the cutting head and a third-stage hydraulic cylinder 13 of the cutting head, and the angle sensor is arranged at the center of a rotating shaft of the cutting head.
It should be noted that the cutting head is a rotating part which is arranged on the heading machine 4 and used for directly cutting rocks, the front part of the cutting head is the region 1 to be excavated, two first-stage hydraulic cylinders 10, two second-stage hydraulic cylinders 11 and two third-stage hydraulic cylinders 13 are arranged on 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 12 which is arranged behind the cutting head is matched to detect the pose of the cutting head together.
The strapdown inertial navigation unit 3, the first tilt angle sensor 503, the first differential laser 504, the driving motor 505, the laser range finder 506, the second tilt angle sensor 507, the second differential laser 508, the built-in motor of the first rotating mechanism 509, the built-in motor of the second rotating mechanism 510, the laser direction finder 6, the first differential laser receiving plate 7, the ranging laser receiving plate 8, the second differential laser receiving plate 9, the magnetostrictive distance sensor and the angle sensor 12 in the system are all connected with the control system.
As shown in fig. 2, the laser emitting platform part 5 further includes a first rotating mechanism 509 and a second rotating mechanism 510, the first rotating mechanism 509 and the second rotating mechanism 510 are mounted on the first differential laser 504 and the second differential laser 508, and the second rotating mechanism 510 is mounted on the laser range finder 506.
It should be noted that both the first differential laser 504 and the second differential laser 508 can freely rotate under the action of the first rotating mechanism 509 and the second rotating mechanism 510, and the laser emission angles of the first differential laser 504 and the second differential laser 508 are adjusted to adapt to different working conditions, and the structures of the first rotating mechanism 509 and the second rotating mechanism 510 are not particularly limited as long as the rotating function can be realized.
As shown in fig. 2, the laser emitting platform part 5 further comprises a driving motor 505 and a second tilt sensor 507, and the driving motor 505 and the second tilt sensor 507 are mounted on the laser range finder 506.
It should be noted that, the driving motor 505 drives the laser range finder 506 to change the pitch angle, and according to the variation trend of the landing position of the ranging laser on the ranging laser receiving plate 8 and the distance parameter measured at that time, the driving motor 505, the second tilt sensor 507 and the second rotating mechanism 510 mounted on the laser range finder 506 cooperate with each other to ensure that the ranging laser can always hit the ranging laser receiving plate 8.
As shown in fig. 3 to 4, the first differential laser receiving plate 7, the ranging laser receiving plate 8, and the second differential laser receiving plate 9 have the same structure.
It should be noted that the ranging laser receiving plate 8 is used for receiving the laser emitted by the laser range finder 506; the first differential laser receiving plate 7 is used for receiving laser emitted by the first differential laser 504; the second differential laser receiving panel 9 is configured to receive laser light emitted from the second differential laser 508.
As shown in fig. 3 to 4, the first differential laser receiver board 7 includes a first laser receiver board square surface 701 and a first laser receiver board support frame 704, the first laser receiver board square surface 701 is fixedly mounted on the first laser receiver board support frame 704, the first laser receiver board support frame 704 is fixed on the heading machine 4, and a photosensitive element is placed in each small square in the first laser receiver board square surface 701.
It should be noted that the first laser receiving plate supporting frame 704 is used to support and reinforce the first laser receiving plate square surface 701, and the photosensitive element in the first laser receiving plate square surface 701 is used to capture the laser landing position.
As shown in fig. 3 to 4, a first cleaning brush driving device 703 is fixedly installed on the first laser receiver board supporting frame 704, and a first laser receiver board cleaning brush 702 is installed on the first cleaning brush driving device 703.
It should be noted that the first laser receiving board cleaning brush 702 is driven by the first cleaning brush driving device 703 to swing, so as to complete the cleaning of the grid surface 701 of the first laser receiving board.
Before the heading machine 4 performs heading work, laser emitted by the laser direction indicator 6 penetrates through the positioning induction hole 502 to ensure that the laser mounting platform 501 is mounted on the central axis of the top plate of the roadway 2, and then the laser mounting platform 501 is horizontally fixed at the top end of the roadway by using the first inclination angle sensor 503; the first rotation mechanism 509, the second rotation mechanism 510, and the drive motor 505 are used to adjust the laser emission angles of the first differential laser 504, the laser range finder 506, and the second differential laser 508, so that the laser beams emitted from the first differential laser 504, the laser range finder 506, and the second differential laser 508 are emitted to the central positions of the first differential laser receiving plate 7, the range finding laser receiving plate 8, and the second differential laser receiving plate 9, respectively.
The first working state: only the pitch angle of the heading machine 4 is changed.
When the heading machine 4 starts to work, the pitch angle of the laser range finder 506 is adjusted according to the offset of the landing point of the ranging laser emitted by the laser range finder 506 on the ranging laser receiving plate 8, and the pitch angles of the first differential laser 504 and the second differential laser 508 are continuously adjusted according to the distance parameter measured by the laser range finder 506, so that the landing points of the differential laser of the first differential laser 504 and the second differential laser 508 are always kept at the central positions of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 respectively; the laser beam landing point of the laser range finder 506 is always placed on the range-finding laser-receiving plate 8 by the second rotating mechanism 510, the second tilt sensor 507, and the drive motor 505.
In the working process of the heading machine 4, when the pitch angle changes, the distance parameter at the moment is unchanged, the pitch angles of the first differential laser 504 and the second differential laser 508 are unchanged, the falling points of differential lasers emitted by the first differential laser 504 and the second differential laser 508 respectively move up and down along the central axes of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 and irradiate in different squares of the square surfaces of the laser receiving plates, the displacement of the laser falling points is obtained through the laser irradiated squares, the pitch angle information of the heading machine 4 is preliminarily calculated, and then the accurate measurement of the pose of the body of the heading machine 4 is realized by combining the data of the strapdown inertial navigation 3 arranged on the body of the heading machine 4; according to the obtained pose parameters of the body of the heading machine 4, combining the data obtained by six magnetostrictive sensors and an angle sensor 12 arranged in a first-stage hydraulic cylinder 10, a second-stage hydraulic cylinder 11 and a third-stage hydraulic cylinder 13 of the cutting head, so as to realize pose detection of the cutting head; according to the obtained position and posture parameters of the body of the heading machine 4 and the distance parameters obtained by the laser range finder 506, the positioning work of the heading machine 4 is completed.
A second working state: only the roll angle of the heading machine 4 changes.
In the working process of the heading machine 4, when the rolling angle changes, the laser falling points of the first differential laser 504 and the second differential laser 508 in the square surfaces of the laser receiving plates of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 move according to the circular tracks, but because the supporting points of the heading machine 4 during rolling are different and the radiuses of the two circular tracks are different, the displacement of the two laser falling points is different (for example, if the heading machine 4 rolls to the left, the displacement of the laser falling point moving on the left laser receiving plate is far smaller than that on the right laser receiving plate), the rolling direction of the heading machine 4 is determined according to the positions of the laser falling points on the first differential laser receiving plate 7 and the second differential laser receiving plate 9, the rolling angle is calculated according to the moving distance on one of the receiving plates, and then the data obtained by the strapdown inertial navigation 3 are combined, finishing the pose detection of the body of the heading machine 4; according to the obtained pose parameters of the body of the heading machine 4, combining the data obtained by six magnetostrictive sensors and an angle sensor 12 arranged in a first-stage hydraulic cylinder 10, a second-stage hydraulic cylinder 11 and a third-stage hydraulic cylinder 13 of the cutting head, so as to realize pose detection of the cutting head; according to the obtained pose parameters of the body of the heading machine 4 and the distance parameters obtained by the laser range finder 506, the positioning work of the heading machine 4 is completed.
The third working state: the pitch angle and the roll angle of the heading machine change simultaneously.
In the working process of the heading machine 4, when the pitch angle and the roll angle change simultaneously, as shown in fig. 6, the laser landing points of the first differential laser 504 and the second differential laser 508 on the laser receiving plate grid surfaces of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 will deviate up and down respectively, but the amplitudes of the vertical deviation of the landing points are different because the roll angle of the heading machine 4 changes; determining the roll angle direction of the heading machine 4 according to the difference of the offset amplitudes of the differential laser emitted by the first differential laser 504 and the second differential laser 508 on the first differential laser receiving plate 7 and the second differential laser receiving plate 9; according to the total offset displacement, the displacement caused by the change of the rolling angle and the change of the pitching angle of the development machine 4 is resolved, the rolling angle and the pitching angle of the development machine 4 are further calculated, and the pose detection of the body of the development machine 4 is completed by combining the data obtained by the strapdown inertial navigation 3; according to the obtained pose parameters of the body of the heading machine 4, combining the data obtained by six magnetostrictive sensors and an angle sensor 12 arranged in a first-stage hydraulic cylinder 10, a second-stage hydraulic cylinder 11 and a third-stage hydraulic cylinder 13 of the cutting head, so as to realize pose detection of the cutting head; according to the obtained position and posture parameters of the body of the heading machine 4 and the distance parameters obtained by the laser range finder 506, the positioning work of the heading machine 4 is completed.
The fourth working state: only the heading angle of the heading machine 4 changes.
In the working process of the development machine 4, when the heading angle changes, the laser falling points of the first differential laser 504 and the second differential laser 508 in the laser receiving plate grid surfaces of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 can simultaneously move leftwards or rightwards, so as to distinguish the change direction of the heading angle of the development machine 4; calculating the value of a course angle according to the displacement of a laser drop point on a certain laser receiving plate; and then combining the data obtained by the strapdown inertial navigation unit 3 to complete the pose detection of the body of the heading machine 4. According to the obtained pose parameters of the body of the heading machine 4, combining the data obtained by six magnetostrictive sensors and an angle sensor 12 arranged in a first-stage hydraulic cylinder 10, a second-stage hydraulic cylinder 11 and a third-stage hydraulic cylinder 13 of the cutting head, so as to realize pose detection of the cutting head; according to the obtained position and posture parameters of the body of the heading machine 4 and the distance parameters obtained by the laser range finder 506, the positioning work of the heading machine 4 is completed.
The fifth working state: the course angle, the pitch angle and the roll angle are changed simultaneously.
When the heading angle, the pitch angle, and the roll angle change simultaneously during the operation of the heading machine 4, as shown in fig. 7, the displacement of the laser landing points of the first differential laser 504 and the second differential laser 508 in the laser receiving plate grid surfaces of the first differential laser receiving plate 7 and the second differential laser receiving plate 9 is complicated.
Under the condition, the heading angle direction of the heading machine 4 is judged according to the horizontal displacement of a laser landing point on a first differential laser receiving plate 7 and a second differential laser receiving plate 9, the pitch angle direction of the heading machine 4 is judged according to the displacement in the vertical direction, the displacement of the laser landing point on the laser receiving plates is decomposed, the displacement brought by the heading angle change of the heading machine 4, the displacement brought by the pitch angle change and the displacement brought by the rolling angle change are respectively found out, the heading angle, the pitch angle and the rolling angle of the heading machine 4 are preliminarily calculated according to the calculated displacement, and then the heading angle, the pitch angle and the rolling angle are combined with the data obtained by the strapdown inertial navigation 3 to finish the posture detection of the body of the heading machine 4; according to the obtained pose parameters of the body of the heading machine 4, the pose of the cutting head is detected by combining data obtained by six magnetostrictive sensors and an angle sensor 12 which are arranged in a first-stage hydraulic cylinder 10, a second-stage hydraulic cylinder 11 and a third-stage hydraulic cylinder 13 of the cutting head; according to the obtained position and posture parameters of the body of the heading machine 4 and the distance parameters obtained by the laser range finder 506, the positioning work of the heading machine 4 is completed.
According to the heading machine pose detection and positioning system based on the differential laser, the laser emitted by the laser range finder 506 is emitted onto the range finding laser receiving plate 8, the laser emitted by the first differential laser 504 and the laser emitted by the second differential laser 508 are respectively emitted onto the first differential laser receiving plate 7 and the second differential laser receiving plate 9, the pose of the heading machine is preliminarily calculated according to the change of the laser landing point position, and the accurate detection of the body pose of the heading machine 4 is realized by combining the data obtained by the strapdown inertial navigation 3; the position of the cutting head is detected through the magnetostrictive distance sensors in the first-stage hydraulic cylinder 10, the second-stage hydraulic cylinder 11 and the third-stage hydraulic cylinder 13 of the cutting head and the angle sensor 12 arranged behind the cutting head, so that the position and posture parameters of the heading machine can be well measured, the underground heading machine is positioned, the position and posture detection and the positioning automation of the heading machine are realized, and the occurrence of over-excavation or under-excavation is effectively avoided.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, such that a fixed connection, also an indirect connection through intervening media, may be internal to two elements or in interactive relation with two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood 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 claims of this application and in the above-described drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used are 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 are still modified, or some or all of the technical features are 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 heading machine pose detection and positioning system based on differential laser is characterized by comprising a strapdown inertial navigation device, a laser emission platform part, a laser direction indicator, a laser receiving device and a cutting head pose detection device; the strapdown inertial navigation device is arranged at the central position of the upper surface of the tunneling machine body; the laser direction indicator is arranged in the middle of the top of the roadway behind the tunneling machine;
the laser emission platform part is horizontally arranged at the middle position of the top of a roadway behind the tunneling machine and comprises a laser arrangement platform, a positioning induction hole, a first inclination angle sensor, a first differential laser, a laser range finder and a second differential laser, wherein the first differential laser, the laser range finder and the second differential laser are arranged on the same plane of the laser arrangement platform at intervals;
the laser receiving device is arranged at a seventy centimeters behind the strapdown inertial navigation, and comprises a first differential laser receiving plate, a distance measuring laser receiving plate and a second differential laser receiving plate, wherein the distance measuring laser receiving plate is arranged on the axial line of the heading machine, and the first differential laser receiving plate and the second differential laser receiving plate are respectively arranged on two sides of the distance measuring laser receiving plate;
the cutting head pose detection device comprises magnetostrictive distance sensors and an angle sensor, wherein the magnetostrictive distance sensors are respectively arranged on a first-stage hydraulic cylinder of the cutting head, a second-stage hydraulic cylinder of the cutting head and a third-stage hydraulic cylinder of the cutting head, and the angle sensor is arranged at the center of a rotating shaft of the cutting head.
2. The differential laser-based heading machine pose detecting and positioning system according to claim 1, wherein the laser emitting platform portion further comprises a first rotating mechanism and a second rotating mechanism, the first rotating mechanism and the second rotating mechanism are mounted on the first differential laser and the second differential laser, and the second rotating mechanism is mounted on the laser range finder.
3. The differential laser-based heading machine pose detection and positioning system of claim 2, wherein the laser emission platform portion further comprises a drive motor and a second tilt sensor, and the laser range finder is provided with the drive motor and the second tilt sensor.
4. The differential laser-based heading machine pose detection and positioning system according to claim 1, wherein the first differential laser receiving board, the ranging laser receiving board and the second differential laser receiving board are identical in structure.
5. The differential laser-based heading machine pose detecting and positioning system according to claim 4, wherein the first differential laser receiver plate comprises a first laser receiver plate square surface and a first laser receiver plate support frame, the first laser receiver plate square surface is fixedly mounted on the first laser receiver plate support frame, the first laser receiver plate support frame is fixed on the heading machine, and a photosensitive element is placed in each small square in the first laser receiver plate square surface.
6. The differential laser-based heading machine pose detection and positioning system of claim 6, wherein a first cleaning brush driving device is fixedly mounted on the first laser receiver plate support frame, and a first laser receiver plate cleaning brush is mounted on the first cleaning brush driving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210576554.0A CN114993173A (en) | 2022-05-25 | 2022-05-25 | Heading machine pose detection and positioning system based on differential laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210576554.0A CN114993173A (en) | 2022-05-25 | 2022-05-25 | Heading machine pose detection and positioning system based on differential laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114993173A true CN114993173A (en) | 2022-09-02 |
Family
ID=83029847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210576554.0A Pending CN114993173A (en) | 2022-05-25 | 2022-05-25 | Heading machine pose detection and positioning system based on differential laser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114993173A (en) |
-
2022
- 2022-05-25 CN CN202210576554.0A patent/CN114993173A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101063610B (en) | Automatic monitoring system for engineering project deformation | |
| EP2912232B1 (en) | Wheel loader comprising a grading blade and a machine control system | |
| CN111380522B (en) | Navigation positioning and automatic cutting method of cantilever type tunneling machine | |
| CN102589514B (en) | Heading machine pose parameter measuring device and method thereof | |
| JPH068733B2 (en) | Laser positioner and fixed point marking method using the same | |
| CN110736446B (en) | Pose identification system and method for cantilever type heading machine | |
| GB2101742A (en) | Determining the position of a forwarding pipe or tunnel section | |
| WO1994015024A1 (en) | Arrangement and method for measuring and correcting the line of a track | |
| WO2007089429A2 (en) | Position indicating and guidance control system and method thereof | |
| CN104776843A (en) | Boom-type roadheader body and cutting head pose detection method | |
| KR101391512B1 (en) | pile motion sensing apparatus | |
| CN110847905A (en) | Autonomous navigation system and method for coal mining machine | |
| CN108150154A (en) | The laser target and its measuring device of guidance system in railroad survey and constructing tunnel | |
| CN204705359U (en) | A kind of boom-type roadheader fuselage and cutting head pose detection system | |
| CN114689045A (en) | Positioning and navigation system and positioning and navigation method for heading machine | |
| CN113970329A (en) | Strapdown inertial navigation and laser sensing combined heading machine pose detection system and method | |
| CN114993173A (en) | Heading machine pose detection and positioning system based on differential laser | |
| CN102829727B (en) | Line structured light based device and line structured light based method for automatic detection of level difference of cutting head of boom-type roadheader | |
| JP4175727B2 (en) | Method for detecting elevation angle and turning angle of excavation boom in free section excavator | |
| JP3429046B2 (en) | Position measurement light emitting device and light emitting device mounting structure | |
| JP2002188389A (en) | Blasting excavation and drilling method for tunnel, and drilling system | |
| JP3124780B2 (en) | Shield surveying method | |
| WO2023274431A1 (en) | Method of accurately measuring the topography of surfaces in civil engineering and a device for carrying out this method | |
| JP2996521B2 (en) | Shield surveying method | |
| JP2002070082A (en) | Construction equipment control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |