Position and Attitude Measurement System Design of Boom-type Roadheader

Abstract

In deep coal seam, high rock-burst and frequent geological disasters lead to high danger coefficient, so research of unmanned mining technology is extremely important. Autonomous position and attitude measurement technology of boom-type roadheader is a core part of unmanned mining technology, which has great research significance. In the boom-type roadheader position and attitude measurement system of this paper, the laser transmitter is equipped on boom-type roadheader to transmit fan-shaped laser beam, and the laser receiver is fixedly set in the rear of the laser transmitter. Bases on principle of angle measurement by the fan-shaped laser beam, the position and attitude parameters of boom-type roadheader is measured and calculated. This system is able to achieve autonomous and high-precision measurement of the position and attitude. In this paper, laser-based positioning technology is improved, and the fundamental principle of position and attitude measurement is established. Based on that, the position and attitude measurement system is designed, and the hardware architecture of the fan-shaped laser beam transmitter and receiver is designed and selected. Boom-type roadheader position and attitude measurement system in this paper changes the traditional mode of roadway excavation and lays foundation for unmanned mining in deep dangerous coal seam.

A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting

“…However, it is known that the inertial system is subject to accumulated error from double integration as well as drift error for long distance and extensive running time. A pose detection method based on laser cross was proposed [7], in which a fan-shaped laser beam between the transmitter and the receiver was employed to calculate the roadheader pose. Although this method was shown to exhibit good performance, it was subject to complicated deployment as well as error problems when employed in practice.…”