基于掘进机姿态的巷道断面在线测量方法

On-line measurement of tunnel sections based on the roadheader posture

建立了悬臂式掘进机的悬臂运动学和车体运动学模型,通过坐标变换计算掘进机截割头中心和截齿的极限点坐标,生成掘进断面轮廓点坐标值,利用三次样条函数拟合生成断面轮廓曲线,并设计了断面测量轮廓的硬件和软件系统。试验表明,该方法能实现对断面轮廓准确的实时测量和显示,为掘进操作提供了参考。

The boom kinematical theory and the body kinematics models of the boom-type roadheader are established, the coordinates of the center point of the cutter and the limit point of the pick are calculated, and the point coordinate values of the tunneling sectional contour are gotten. Combined with the cubic spline function, the sectional contour curve is obtained and the contour-measured hardware and software are designed. The experiment shows the measurement method can achieve the exact real- time measurement and the display for the sectional contour and provides the references to tunneling operation.