掘进设备自动导向及标定校准系统的设计与实现

Design and Implementation of Auto-guidance and Calibration System for Tunneling Equipment

针对目前掘进设备掘进精度不高、半自动化等问题,提出了一种新型掘进设备自动导向及其标定校准系统。系统结合激光光斑定位与航姿参考系统对掘进设备的姿态参数进行有效、实时测量,并进一步使用全站仪进行标定校准。系统采用摄像头获取掘进设备的位移参数、航姿仪测量姿态角参数,全站仪对航姿仪所测姿态角进行标定,并使用控制算法对其校准。对姿态测量数据进行了误差分析实验,验证了系统的精确性。

To address the issues of low accuracy and half-automation of the present tunneling equipment,the paper presents a new automatic guidance and calibration system for tunneling equipment.The system combines laser spot location and attitude reference system to realize effective and real-time measurement of the attitude parameters of tunneling equipment,and then uses total station instrument for further calibration.The system adopts a camera to obtain the displacement parameters of the tunneling equipment,an AHRS to measure the attitude angle parameter,and a total station instrument and control algorithm to calibrate the attitude angle.Finally,an error analysis experiment of the attitude measurement is performed,which verifies the accuracy of the system.