Research On An Automatic Detection System For The Position And Orientation Parameters Of Boom-type Roadheader Body

This paper is designated to propose a set of relatively complete technical solution focused on the position and orientation detection of roadheaders. With respect to the roadway excavation, it is devoted to realize the automatic detection of position and orientation absolute error of the roadheader, so as to achieve the automatic directional excavation. In this paper, it has set up a coordinate system for the position and orientation detection of the roadheader, and established the modeling of roadheader body; based on this coordinate system and the model, a comprehensive and systematic definition has been put forward for the five position and orientation parameters of the roadheader body (α、A、β、γ、L), clarifying the correlation between the position and orientation parameters of roadheader body and the roadway directional excavation. This paper has studied the realization method of automatic directional excavation and proposed "The Directional Excavation Method Based on The Absolute Error Detection Of Roadheader Position And Orientation".A total of three position and orientation detection schemes have been put forward, and explicitly expounded and proved in this paper; in accordanceith the analysis and research results, and in combination with the suggestions of the technicians at the excavation site, thus it has determined the final position and orientation detection scheme. On the basis of this scheme, a detailed design has been presented for the position and orientation detection system, and it has completed the manufacture of the system required equipment, the development of software systems, the system-wide integration and ground tests, as well as fabricated the ultimate industrial prototype. In the end, this paper has presented the accuracy analysis of the entire detection system, and carried out the downhole industrial tests with the duration of three months, while the entire system has been subjected to the practical application. In line with the results of field investigation, it is indicated that the position and orientation detection system can better adapt to the conditions of downhole work environment, and the performances are in conformance with the requirements of assessment indicators prescribed by the subject.