Designs Of Roadheader Robot Pose Measurement System

This paper is based on the roadheader robot test-bed as the background,Design roadheader robot pose measurement system . Roadheader robot pose measurement system is the most important part of its automatic control. In order to achieve automatic boring machine basis. Automatic roadheader boring machine can improve the quality of speed and heading. Guarantee that the roadway of the spatial location and shape accuracy. Tunneling process must be boring machine for real-time measurement of attitude. On the one hand for the boring machine operator to provide reference. On the one hand through the roadheader machine cutting head position and orientation detection and feedback. To achieve automatic control of the process of tunneling.Solve the problem is that cantilever boring robot pose measurement problems. Solution of artificial visual observation of tunneling machine cutting head position and orientation. Roadheader caused by the poor quality of cross-section shape problem. The purpose is to provide a cantilever boring machines attitude measurement system.Roadheader robot pose measurement system. Includes Roadheader robot test-bed,Cylinder,angular displacement sensor,Angle sensor,cylinder stroke sensor,Data acquisition module,MCU. Designed to angular displacement sensors. It will be installed in the turret inside. Angle sensors installed on the cantilever with turret hinge Office. Inclination Sensor installed on the boring machine after the rack. Boring machine cylinder stroke sensors installed in the nose. Data acquisition module and the computer installed on the boring machine control box. Data acquisition module collection angle sensor and inclination sensor and cylinder stroke sensor data. Measurement data were processed by a computer.