多传感器的掘进机定位系统研究

Study on Positioning System of Roadheader by Multi Sensor

研究的定位系统采用三轴加速度传感器、单轴陀螺仪和超声波测距传感器,通过掘进机的位姿、转向角度和位移的多信息融合处理,得到掘进机的位置,当发现掘进机偏离预设行走轨迹时,通过整平与对中的控制,对掘进机实现纠偏,为掘进机的自动前移提供技术保障。

We use a three-axis accelerometer,an individual gyroscope and an ultrasonic distance measuring transducer to get information.The position of machine can be determined through fusion processment of multiple information like pose,turning angle and displacement of machine.And if roadheader deviates presupposed walking path,system can realize its automatic position control by adjusting machine’s level and alignment.The system of determining position of roadheader would provide technical foundation for roadheader’s moving control.