悬臂掘进机自动导向和定位技术探索  

Discussion of Automatic Guidance and Location Technology for Cantilever Excavator

作　　者：田原[1] 

机构地区：[1]煤炭科学研究总院太原研究院电气研究所,山西太原030006

出　　处：《工矿自动化》2010年第8期26-29,共4页Journal Of Mine Automation

基　　金：天地科技股份有限公司科技发展基金(TZ-JJ-09-SXMJ-7);科研院所技术开发研究专项资金(2009EG122179)

摘　　要：介绍了掘进机自动导向和定位技术,分析和比较了基于全站仪、陀螺仪、电子罗盘、激光导向仪和视觉检测等的掘进机自动导向和定位技术的原理和特点,得出了如下结论:(1)基于陀螺仪和电子罗盘的自动导向和定位技术可实现自主导航,其它方法则需要给定参考坐标系;(2)以倾角仪作为俯仰角和横滚角检测传感器的装备技术更适合于水平巷道导向;(3)以巷道指向激光为参照系的方法更易于同煤矿现有自动导向和定位方式相结合。The paper introduced automatic guidance and location technology for cantilever excavator,analyzed and compared principle and characteristics of automatic guidance and location technology for cantilever excavator based on total station,gyro scope,electronic compass,guiding laser,visual inspection,etc. It obtained following conclutions： the guidance technology based on gyro scope and electronic compass can be used in autonomous navigation and needn＇t provide reference coordinate system;the technology that gets pitch angle and roll angle by inclinometer is suitable for level roadway;those technologies that use given direction laser as reference coordinate system can be easily combined with existing navigation technology.

关 键 词：悬臂式掘进机 自动导向 定位 全站仪 陀螺仪 电子罗盘 激光导向仪 视觉检测 

分 类 号：TD421[矿业工程—矿山机电]