悬臂式掘进机截割头空间定位方法研究  

Research on Spatial Positioning Method of Cutting Head of Cantilever Roadheader

作　　者：张婷 Zhang Ting(CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030032,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,太原030032

出　　处：《煤矿机械》2024年第11期90-92,共3页Coal Mine Machinery

基　　金：山西省重点研发计划项目(202202020101005)。

摘　　要：针对悬臂式掘进机截割头定位困难、定位不准确的问题,提出一种悬臂式掘进机截割头空间定位方法。结合自动全站仪、惯性导航单元、倾角传感器、角度传感器等多种传感器采集机身位姿及截割头姿态参数,建立空间定位坐标系,通过分析掘进机各组成变量的变换关系,获取截割头在巷道的空间位置坐标。该方法不改变掘进机机身原有机械结构,为掘进机截割控制提供数据支撑,提升掘进效率和掘进机自动化、智能化水平。Aiming at the problems of the difficult and inaccurate positioning of the cutting head of cantilever roadheader,a spatial positioning method of the cutting head of cantilever roadheader was proposed.Combined various sensors such as an automatic total station,inertial navigation unit,inclination sensor,and angle sensor to collect the position and attitude parameters of the body and the attitude parameters of the cutting head,a spatial positioning coordinate system was established,and obtained the spatial position coordinates of the cutting head in the roadway through analyzing the transformation relationship of various composition variables of the roadheader.This method does not change the original mechanical structure of the roadheader body,provides data support for the cutting control of the roadheader,and improves excavation efficiency and the level of automation and intelligence of the roadheader.

关 键 词：悬臂式掘进机 截割头 空间定位 巷道坐标系 

分 类 号：TD421.5[矿业工程—矿山机电]