摘要
针对巷道掘进机机身位姿测量难题,提出一种基于光电传感器的掘进机机身位姿测量方法。在掘进机机身上安装自主研发的激光接收标靶,通过提取巷道后方顶板上的十字激光特征,结合双轴倾角传感器,利用构建的掘进机机身位姿解算模型,完成机身的位姿测量解算,实现掘进机的位姿测量。以SANDVIK的MB670型掘锚一体机为试验对象,在张家峁煤矿进行现场试验,试验结果表明:掘进机机身位置误差在±15 mm范围内,机身姿态角误差在±0.15°范围内,满足巷道掘进机机身位姿的实时、准确、自动测量要求。
In this article,in order to measure the roadheader’s body position and attitude,a method based on the photoelectric sensor is proposed.The laser receiving target which is independently developed is installed on the roadheader’s body;the cross laser characteristic of the roadway’s rear roof is extracted;combined with the biaxial tilt sensor,efforts are made to set up the calculation model of body position and attitude,so as to work out the related solution and then measure the roadheader’s position and attitude.With the SANDVIK MB670 all-in-one tunneling anchor machine as the focus,some field experiments are carried out in Zhangjiamao Coal Mine.The results show that the body-posture error is within the range of ±15 mm,and the body-attitude angle error is within the range of ±0.15°.This meets the requirements of real-time,accuracy and automation for measuring the roadheader’s body position and attitude.
作者
杨秀宇
YANG Xiu-yu(Wangjialing Branch of Shanxi Zhongmei Huajin Group Company,Hejin 043300)
出处
《机械设计》
CSCD
北大核心
2022年第7期117-121,共5页
Journal of Machine Design
关键词
掘进机
机身位姿
激光接收标靶
双轴倾角传感器
测量误差
roadheader
body position and attitude
laser receiving target
biaxial tilt sensor
measurement error
