CN105737825B - A kind of cutting head of roadheader position measuring system - Google Patents
A kind of cutting head of roadheader position measuring system Download PDFInfo
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- CN105737825B CN105737825B CN201610094748.1A CN201610094748A CN105737825B CN 105737825 B CN105737825 B CN 105737825B CN 201610094748 A CN201610094748 A CN 201610094748A CN 105737825 B CN105737825 B CN 105737825B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses a kind of cutting head of roadheader position measuring system, including used group module, laser range finder module, development machine parameter acquisition module, CPU computing modules, CAN communication module, upper computer module.Used group module realizes the attitude measurement of motion carrier, laser range finder module realizes the range measurement of system direction of advance, development machine parameter acquisition module realizes the reading of body parameters, CPU computing modules calculate for data transmission and position, and CAN communication module realizes the transmission and interaction of data.The present invention realizes the fusion of multi-sensor information, by CAN module into row data communication, cutterhead location information is calculated by CPU, obtains the location information of cutting head of roadheader.
Description
Technical field
The present invention relates to a kind of cutting head of roadheader position measuring system, the positioning and orientation available for coal mine development machine is led
Domain.
Background technology
At present the development machine in colliery mainly using laser beam as direction, manipulator according to this as advance direction,
The bad environments of underground, dust concentration is big, and light is dark, has seriously affected the sight excavated, therefore it is inaccurate to be easy to cause excavation
Really, owe to dig and cross digging phenomenon.Digitlization and the intelligence of coal mine development machine are realized in intelligence and digital development with science and technology
Energyization excavation will be as a big trend.Monitor location information of the cutting head of roadheader in drift section in real time using equipment,
Carried out data transmission using digital communication, shown using visualization interface, hand easy to operation is grasped accurately cut in real time
A location information is cut, the stringent requirement for installing tunnel designer is excavated.Therefore need to design a kind of reliable cutterhead
Position measuring system.
The content of the invention
The technology of the present invention solves the problems, such as：A kind of cutting head of roadheader position has been overcome the deficiencies of the prior art and provide to survey
Amount system, the system can be used for the measurement of colliery excavator motion state, and environmental suitability is strong, and the cutterhead position of acquisition is surveyed
Amount information passes to manipulator, improves the accuracy of excavation.
The technical solution of the present invention：
A kind of cutting head of roadheader position measuring system, including：Used group module, laser range finder module, development machine parameter
Acquisition module, CPU computing modules, input CAN communication module, output CAN communication module, upper computer module, angle of revolution sensing
Device, pitch angle sensor and displacement sensor；
Laser range finder module is used to aim at the installation direction of used group, ensures the forward direction of used group installation and the cut of development machine
The axis direction of arm is consistent；
Angle of revolution sensor and pitch angle sensor measure angle of revolution and the pitch angle of cutterhead respectively, and lead to
Cross input CAN communication module and be sent to CPU computing modules, the forward direction distance and vertical direction of displacement sensor development machine away from
From, and pass through and input CAN communication module and be sent to CPU computing modules；
Used group module carries out navigation calculation by the angular speed and acceleration information for measuring development machine, obtains leading for development machine
Boat information is simultaneously sent to CPU computing modules；
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to
CPU computing modules；
CPU computing modules are handled according to all input information, and the location information of cutting head of roadheader is calculated,
The location information for the cutting head of roadheader that last CPU computing modules are calculated by export CAN communication module be sent to it is upper
Machine module carries out cutterhead position display.
The angle of revolution sensor, pitch angle sensor and displacement sensor are mounted on cutterhead and machine body of boring machine
Between linking arm on.
The used group of module includes three axis accelerometer and three axis and adds table, the navigation information include location information, velocity information,
Attitude information, Data Labels and time, location information include longitude, latitude and height, and velocity information includes east orientation speed, north
To speed and sky orientation speed, attitude information includes pitch angle, roll angle and course angle.
The development machine parameter list is specially：
The CPU computing modules are handled according to all input information, and the position of cutting head of roadheader is calculated
Information, specially：
(1) location information of the cutterhead of development machine under fuselage coordinates system is calculated：
Wherein, x_head_imu, y_head_imu and z_head_imu represent cutting under the fuselage coordinates system calculated respectively
The position coordinate value of head is cut, L_head represents the radical length of cutterhead, and L_arm represents the length of cut large arm, and L_r2s is represented
Rotating shaft and pitch axis common vertical line distance, L_imu2r represent inertial navigation center to rotating shaft horizontal distance, and H_r2rplane represents used
Guiding center to the height of plane of rotation, H_imu2r expression inertial navigation centers to rotating shaft vertical range, the used group of H_imu2cp expressions is pacified
Holding position to development machine crawler belt plane vertical height,The relatively used group of cutterhead is obtained for angle of revolution sensor
Angle of revolution,The pitch angle of the relatively used group of cutterhead, x_body_g and z_body_g are obtained for pitch angle sensor
The development machine lateral movement distance and the displacement distance of vertical direction that respectively displacement sensor obtains；
(2) location information of the cutterhead of development machine under the coordinate system of tunnel is calculated, specific conversion regime is as follows：
Wherein, x_head_g, y_head_g and z_head_g represent the cutterhead position under the tunnel coordinate system calculated respectively
Value is put, T represents transition matrix；
(3) time span to be worked on power according to used group is to determine whether need school mark compensation, if used group works on power
Time be more than or equal to 10h, then need school mark compensation, enter step (4), be otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, to location information of the cutterhead under the coordinate system of tunnel
Be corrected, the index point rotated to arbitrary point on the laser beam in tunnel, obtain the site error Δ x of cutterhead at this time and
Δ z, specific updating formula are as follows；
X ' _ head_g=x_head_g- Δs x
Z ' _ head_g=z_head_g- Δs z
Wherein, x ' _ head_g and z ' _ head_g represents the positional value after the cutterhead correction under the coordinate system of tunnel respectively,
Δ x and Δ z represents the cutterhead correction amount under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions are corrected, the x_body_g and z_body_g obtained by displacement sensor passes through
Following formula is decomposed into the positional value after the cutterhead dynamic fuselage correction under the coordinate system of tunnel；
Formula is used if (5) are entered step from step (3)
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
Formula is used if (5) are entered step from step (4)
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
After wherein x " _ head_g and z " _ head_g represents the cutterhead dynamic fuselage correction under the coordinate system of tunnel respectively
Positional value.
The fuselage coordinates system is defined as：Origin O is the position of the used group of installation on fuselage；X-axis is directed toward the right side of fuselage, Y-axis
Before being directed toward fuselage, Z axis is determined by the right-hand rule, and vertically upward；
The tunnel coordinate system is defined as：Origin O is roadway entry center, and X-axis is directed toward the right side in tunnel, and Y-axis is directed toward tunnel
Before, Z axis is determined by the right-hand rule, and vertically upward.
The transition matrix T is 3 × 3 matrix, is specially：
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=- sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
WhereinFor the roll angle of fuselage, yaw angle and pitch angle.
What the present invention was brought compared with prior art has the beneficial effect that：
(1) present invention devises seven modules, the resolving of reception, cutterhead position from extraneous sensing data to data
It sends and shows, form a complete digitized measurement and display system；Carried out data transmission using CAN communication module,
Improve the transmission rate and reliability of system；The present invention can change different fuselages by designing development machine parameter acquisition module
Parameter improves practicability and the flexibility of system；The accuracy of system installation is ensure that using laser range finder module, to cut
It cuts head calculating and provides powerful guarantee；Data are sent to host computer by CAN communication module, form visualization, allow operator
The cutterhead location information to current time can be got information about, data basis is provided for further excavation, avoids meat
The error in judgement that eye observation is brought.
(2) present invention takes full advantage of the principle of inertial navigation, establishes the conversion between fuselage coordinates and tunnel coordinate
Relation, carefully analyzed development machine airframe structure and each joint between connection relation, by measuring bowing for cut large arm
The position coordinates of the goniometer calculating cutterhead of joint and rotary joint is faced upward, calculates clear thinking, legibility；The present invention also carries simultaneously
Index point bearing calibration is gone out, has eliminated inertial navigation system because of accumulated error existing for working long hours, improve the accurate of measurement
Degree；In view of, there are sideslip phenomenon, devising the real time position that fuselage is obtained using displacement sensor during tunneling machine cutting,
So as to be corrected to the location information of cutterhead, the accuracy of measurement is further improved.
Description of the drawings
Fig. 1 is present system block schematic illustration；
Fig. 2 receives flow scheme design
Fig. 3 cutterheads position resolves flow scheme design
Fig. 4 transmission flows design
Specific embodiment
Colliery industry, digging technology is relatively traditional, estimates laser beam to ensure the route to advance, can be deposited with the tunnel of design
In larger excavation error, and the operating environment in colliery is severe, and traditional operating type heavy workload, efficiency are low.For these
Problem, the present invention, which is proposed, is combined inertial navigation technique with development machine digging technology, and number is transmitted using the common CAN bus of industry
According to calculating the position of cutting head of roadheader, tested by the platform actually carried, it is accurate less than 10cm to obtain error
Location information.
As shown in Figure 1, a kind of cutting head of roadheader position measuring system provided by the invention, including：Used group module, laser
Rangefinder module, development machine parameter acquisition module, CPU computing modules, input CAN communication module, output CAN communication module, on
Position machine module, angle of revolution sensor, pitch angle sensor and displacement sensor；
Laser range finder module is used to aim at the installation direction of used group, ensures the forward direction of used group installation and the cut of development machine
The axis direction of arm is consistent；
The angle of revolution sensor, pitch angle sensor and displacement sensor are mounted on cutterhead and machine body of boring machine
Between linking arm on.Angle of revolution sensor and pitch angle sensor measure angle of revolution and the pitch angle of cutterhead respectively
Degree, and pass through and input CAN communication module and be sent to CPU computing modules, the forward direction distance of displacement sensor development machine and hangs down
Nogata passes through to distance and inputs CAN communication module and be sent to CPU computing modules.
The baud rate of CAN communication module design is used to implement transmission for 250kbps, transmission frequency 100HZ, acceptance filtenng,
The correlation functions such as interrupt response.CAN receive informations are designed as shown in Fig. 2, CAN controller is using the reception mode inquired about.CPU is read
Take the status register of CAN controller, it is necessary first to whether controller is judged in data overflow status, if so, reading empty report
Text, release caching, understands data overflow position；Secondly whether the Status Flag of inquire-receive buffer is full, completely indicates message
It can receive, then read the identification code of message, judge whether it is the message met the requirements, data length be read, according to reading
Data length make CPU from order caching area read message；Last set command register, discharges order caching device, under wait
The reception of secondary message.
Pitch angle, roll angle and shift value are obtained by different sensor senses, are consequently belonging to three kinds of different letters
Breath, reads in three times, and 10 bytes at most can be read every time, and preceding 2 bytes are used for ID number and byte length for infomational message,
8 bytes are used to represent specifying information afterwards.Data parsing is carried out to the digital quantity of acquisition, is converted into cutterhead bowing with respect to fuselage
The displacement of elevation angle degree, angle of revolution and fuselage.
Used group module carries out navigation calculation by the angular speed and acceleration information for measuring development machine, obtains leading for development machine
Boat information is simultaneously sent to CPU computing modules；The used group of module includes three axis accelerometer and three axis add table, and the navigation information includes
Location information, velocity information, attitude information, Data Labels and time, location information include longitude, latitude and height, speed
Information includes east orientation speed, north orientation speed and sky orientation speed, and attitude information includes pitch angle, roll angle and course angle.
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to
CPU computing modules；
The development machine parameter list is specially：
This parameter list can modify according to different development machines, improve flexibility and the versatility of system.
The fuselage coordinates system is defined as：Origin O is the position of the used group of installation on fuselage；X-axis is directed toward the right side of fuselage, Y-axis
Before being directed toward fuselage, Z axis is determined by the right-hand rule, and vertically upward；
The tunnel coordinate system is defined as：Origin O is roadway entry center, and X-axis is directed toward the right side in tunnel, and Y-axis is directed toward tunnel
Before, Z axis is determined by the right-hand rule, and vertically upward.
Inertial navigation system is installed to the position of center line of development machine, using inertial navigation system as baseline system, combines pick first
Into the structure feature and size of machine fuselage, length, width and the radian of cut large arm and cutterhead, the rotatable angle of cut large arm
Degree, calculates three-dimensional coordinate of the cutterhead under fuselage coordinates system；Secondly the position coordinates of cutterhead is converted to tunnel coordinate
Under system；System is carried out school mark compensation judge, if desired then carry out error correction, if need not if be directly entered data sending.
CPU computing modules are handled according to all input information, and the location information of cutting head of roadheader is calculated,
The location information for the cutting head of roadheader that last CPU computing modules are calculated by export CAN communication module be sent to it is upper
Machine module carries out cutterhead position display.
As shown in figure 3, CPU computing modules are handled according to all input information, cutting head of roadheader is calculated
Location information, be specially：
(1) location information of the cutterhead of development machine under fuselage coordinates system is calculated：
Wherein, x_head_imu, y_head_imu and z_head_imu represent cutting under the fuselage coordinates system calculated respectively
The position coordinate value of head is cut, L_head represents the radical length of cutterhead, and L_arm represents the length of cut large arm, and L_r2s is represented
Rotating shaft and pitch axis common vertical line distance, L_imu2r represent inertial navigation center to rotating shaft horizontal distance, and H_r2rplane represents used
Guiding center to the height of plane of rotation, H_imu2r expression inertial navigation centers to rotating shaft vertical range, the used group of H_imu2cp expressions is pacified
Holding position to development machine crawler belt plane vertical height,The relatively used group of cutterhead is obtained for angle of revolution sensor
Angle of revolution,The pitch angle of the relatively used group of cutterhead is obtained for pitch angle sensor, x_body_g and z_body_g divide
It Wei not the development machine lateral movement distance of displacement sensor acquisition and the displacement distance of vertical direction；
(2) location information of the cutterhead of development machine under the coordinate system of tunnel is calculated, specific conversion regime is as follows：
Wherein, x_head_g, y_head_g and z_head_g represent the cutterhead position under the tunnel coordinate system calculated respectively
Value is put, T represents transition matrix；
The transition matrix T is 3 × 3 matrix, is specially：
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=- sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
WhereinFor the roll angle of fuselage, yaw angle and pitch angle.
(3) time span to be worked on power according to used group is to determine whether need school mark compensation, if used group works on power
Time be more than or equal to 10h, then need school mark compensation, enter step (4), be otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, to location information of the cutterhead under the coordinate system of tunnel
Be corrected, the index point rotated to arbitrary point on the laser beam in tunnel, obtain the site error Δ x of cutterhead at this time and
Δ z, specific updating formula are as follows；
X ' _ head_g=x_head_g- Δs x
Z ' _ head_g=z_head_g- Δs z
Wherein, x ' _ head_g and z ' _ head_g represents the positional value after the cutterhead correction under the coordinate system of tunnel respectively,
Δ x and Δ z represents the cutterhead correction amount under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions are corrected, the x_body_g and z_body_g obtained by displacement sensor passes through
Following formula is decomposed into the positional value after the cutterhead dynamic fuselage correction under the coordinate system of tunnel；
Formula is used if (5) are entered step from step (3)
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
Formula is used if (5) are entered step from step (4)
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
After wherein x " _ head_g and z " _ head_g represents the cutterhead dynamic fuselage correction under the coordinate system of tunnel respectively
Positional value.Final cutterhead location information is calculated by above two mode by the present invention, it is contemplated that when ins error is long
Between build-up effect, using correcting mode, eliminate this error, obtain accurate measured value, improve the precision of system.
The cutterhead location information calculated is sent to by user side by CAN communication module.Design interface agreement is sent
Part and the frequency of transmission, to complete the packing of data and transmission, transmission flow design is as shown in Figure 4：
By CAN communication module complete independently, the message (message) that CPU will be sent first is transmitted to transmission for the transmission of data
Buffer, then by " sending request position " flag set in command register.Using inquiry sending method.As long as controller is just
Data are being sent, buffer is being sent and is just write locking, CPU has to check for state and posts before new message is put into transmission buffer
The state of the transmission buffer of storage.
Send data order below：
1) status register is inquired about, judges whether receiving or send, if buffer area is locked；
2) update sends the message data of buffer；
3) configuration order register starts and sends.
Since CAN communication module breaks down, excessively busy etc. error conditions have here, it is necessary to carry out certain processing
Two kinds of situations, first, bus is excessively busy and message priority is too low, causes message that can not send success within normal time；Two
It is that bus breaks down or controller sends error due to disturbing strongly etc., it is impossible to return and send Success Flag.It needs pair
Transmission is monitored and error handling processing.
The real work that present invention design is tunneled from the development machine of colliery industry, can change traditional tunneling method,
Accurate location information is measured by Design of digital, is the intelligence such as automation driving, autonomous cut, the remote control of colliery industry
Energyization development has stepped major step, reduces human cost, has liberated human resources, also improves the security of colliery industry.
The present invention is tested on the coal mine development machine of a reality, be mounted with need pitch angle, the anglec of rotation and
Displacement sensor is installed system on the right side of the operation bench of development machine, intimate fuselage center position, devises the fortune of cutterhead
Flowing mode, system designed by the invention measure the location information of cutterhead in motion process, and use total powerstation
Measuring system measures the location information of each point, and the two is compared, and obtains final error amount, and error exists
Within 100mm, effectiveness of the invention is fully demonstrated.
The parameter of fuselage is as follows：
1 body parameters of table
| Sequence number | Items | Numerical value | Unit |
| 1 | Inertial navigation center is to rotating shaft horizontal distance | 1631 | mm |
| 2 | Inertial navigation center is to rotating shaft vertical range | 10 | mm |
| 3 | Inertial navigation center to plane of rotation height | -125 | mm |
| 4 | Rotating shaft and pitch axis common vertical line distance | 600 | mm |
| 5 | Mounting platform is to the vertical height of crawler belt plane | 1655 | mm |
| 6 | The big arm lengths of cut | 3010 | mm |
| 7 | Cutterhead maximum external envelope radical length | 1130 | mm |
| 8 | The zero-bit of development machine rotating shaft | 0.97 | ° |
| 9 | The zero-bit of development machine pitch axis | 3.85 | ° |
Embodiment 1：
5.0 ° of positions are placed into pitching joint, rotate cut large arm from right to left, different angle of revolution measurements is spaced and cuts
The location information of head is cut, it is as a result as follows：
2 revolute joint rotation measuring data 1 of table
Embodiment 2：
Revolute joint is placed into 14.0 ° of positions, lifts cut large arm from top to bottom, different pitch angle measurements is spaced and cuts
The location information of head is cut, it is as a result as follows：
3 pitching articulation measurement data 1 of table
Embodiment 3：
Fuselage advances a distance, and revolute joint and pitching joint are placed any angle, choose 10 random positions
The location information of cutterhead is measured, it is as a result as follows：
4 fuselage of table advances a distance measurement data
By above data X is can be seen that the error with Z-direction within 100mm, it was demonstrated that the present invention is in static state
With high-precision measurement result can be obtained under current intelligence, demonstrate the present invention feasibility and advantage.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (6)
1. a kind of cutting head of roadheader position measuring system, it is characterised in that including：Used group module, laser range finder module, pick
Into machine parameter acquisition module, CPU computing modules, input CAN communication module, output CAN communication module, upper computer module, revolution
Angular transducer, pitch angle sensor and displacement sensor；
Laser range finder module is used to aim at the installation direction of used group, ensures to be used to the cutting arm of the forward direction of group installation and development machine
Axis direction is consistent；
Angle of revolution sensor and pitch angle sensor measure angle of revolution and the pitch angle of cutterhead respectively, and pass through defeated
Enter CAN communication module and be sent to CPU computing modules, the forward direction distance of displacement sensor development machine and vertical direction distance,
And pass through and input CAN communication module and be sent to CPU computing modules；
Used group module carries out navigation calculation by the angular speed and acceleration information for measuring development machine, obtains the navigation letter of development machine
It ceases and is sent to CPU computing modules；
Development machine parameter acquisition module obtains the parameters information of development machine, forms development machine parameter list and is transferred to CPU meters
Calculate module；
CPU computing modules are handled according to all input information, the location information of cutting head of roadheader are calculated, finally
The location information for the cutting head of roadheader that CPU computing modules are calculated is sent to host computer mould by exporting CAN communication module
Block carries out cutterhead position display；
The CPU computing modules are handled according to all input information, and the location information of cutting head of roadheader is calculated,
Specially：
(1) location information of the cutterhead of development machine under fuselage coordinates system is calculated：
Wherein, x_head_imu, y_head_imu and z_head_imu represent the cutterhead under the fuselage coordinates system calculated respectively
Position coordinate value, L_head represent cutterhead radical length, L_arm represent cut large arm length, L_r2s represent revolution
Axis and pitch axis common vertical line distance, L_imu2r represent inertial navigation center to rotating shaft horizontal distance, and H_r2rplane is represented in inertial navigation
A group installation position is used in the heart to the height of plane of rotation, H_imu2r expression inertial navigation centers to rotating shaft vertical range, H_imu2cp expressions
It puts to the vertical height of development machine crawler belt plane,The revolution of the relatively used group of cutterhead is obtained for angle of revolution sensor
Angle,The pitch angle of the relatively used group of cutterhead is obtained for pitch angle sensor, x_body_g and z_body_g are respectively
The development machine forward movement distance and the displacement distance of vertical direction that displacement sensor obtains；
(2) location information of the cutterhead of development machine under the coordinate system of tunnel is calculated, specific conversion regime is as follows：
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Wherein, x_head_g, y_head_g and z_head_g represent the cutterhead positional value under the tunnel coordinate system calculated respectively,
T represents transition matrix；
(3) time span that is worked on power according to used group to determine whether need school mark compensation, if used group work on power when
Between be more than or equal to 10h, then need school mark compensation, enter step (4), be otherwise directly entered step (5)；
(4) any point in cut large arm is chosen as index point, and location information of the cutterhead under the coordinate system of tunnel is carried out
The index point is rotated to arbitrary point on the laser beam in tunnel, obtains the site error Δ x of cutterhead and Δ z at this time by correction,
Specific updating formula is as follows；
X ' _ head_g=x_head_g- Δs x
Z ' _ head_g=z_head_g- Δs z
Wherein, x ' _ head_g and z ' _ head_g represent respectively under the coordinate system of tunnel cutterhead correction after positional value, Δ x and
Δ z represents the cutterhead correction amount under the coordinate system of tunnel respectively；
(5) dynamic fuselage positions are corrected, the x_body_g and z_body_g obtained by displacement sensor, by following
Formula be decomposed under the coordinate system of tunnel cutterhead dynamic fuselage correction after positional value；
Formula is used if (5) are entered step from step (3)
X " _ head_g=x_head_g+x_body_g；
Z " _ head_g=z_head_g+z_body_g；
It is corrected；
Formula is used if (5) are entered step from step (4)
X " _ head_g=x ' _ head_g+x_body_g；
Z " _ head_g=z ' _ head_g+z_body_g；
It is corrected,
Wherein x " _ head_g and z " _ head_g represents the position after the cutterhead dynamic fuselage correction under the coordinate system of tunnel respectively
Value.
2. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that：The angle of revolution
Sensor, pitch angle sensor and displacement sensor are mounted on the linking arm between cutterhead and machine body of boring machine.
3. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that：The used group of module
Add table including three axis accelerometer and three axis, the navigation information include location information, velocity information, attitude information, Data Labels with
And time, location information include longitude, latitude and height, velocity information includes east orientation speed, north orientation speed and sky orientation speed, appearance
State information includes pitch angle, roll angle and course angle.
4. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that：The development machine ginseng
Counting table is specially：
5. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that：The fuselage coordinates
System is defined as：Origin O is the position of the used group of installation on fuselage；X-axis is directed toward the right side of fuselage, and before Y-axis is directed toward fuselage, Z axis is by the right side
Hand rule determines, and vertically upward；
The tunnel coordinate system is defined as：Origin O is roadway entry center, and X-axis is directed toward the right side in tunnel, before Y-axis is directed toward tunnel,
Z axis determines by the right-hand rule, and vertically upward.
6. a kind of cutting head of roadheader position measuring system according to claim 1, it is characterised in that：The transition matrix
T is 3 × 3 matrix, is specially：
T [0] [1]=sin (γ) * cos (θ)；
T [2] [0]=sin (γ) * cos (θ)；
T [2] [1]=- sin (θ)；
T [2] [2]=cos (γ) * cos (θ)；
Wherein γ,θ is roll angle, yaw angle and the pitch angle of fuselage.
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| US10459462B2 (en) * | 2017-06-21 | 2019-10-29 | Caterpillar Inc. | Sensor fusion feedback for controlling fluid pressures in a machine |
| CN108507573A (en) * | 2017-12-27 | 2018-09-07 | 中煤科工集团上海有限公司 | A kind of mine full development machine gyroscope guidance system and guidance method |
| CN108398955B (en) * | 2018-01-18 | 2020-04-07 | 中国矿业大学(北京) | Heading machine attitude control system and method |
| CN109579831B (en) * | 2018-11-09 | 2020-05-19 | 西安科技大学 | Visual auxiliary guide method and system for mining boom-type roadheader |
| CN109763817B (en) * | 2019-02-28 | 2023-10-20 | 辽宁工程技术大学 | Heading machine cutting head with changeable line cutting distance |
| CN112050732B (en) * | 2020-08-21 | 2022-03-15 | 西安科技大学 | Method and system for automatically detecting spatial pose of cantilever type heading machine |
| CN112304285A (en) * | 2020-11-03 | 2021-02-02 | 中国煤炭科工集团太原研究院有限公司 | Attitude detection method and system for cantilever type heading machine cutting head |
| CN114485634A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Digging and anchoring machine planning mining method and system based on multi-information fusion |
| CN114485633A (en) * | 2022-01-05 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Spatial positioning method and device for cutting head of cantilever type heading machine |
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