悬臂式掘进机导航定位及自动截割方法研究

Research on Navigation Positioning and Automatic Cutting Method of Cantilever Roadheader

针对悬臂式掘进机自主导航定位不准确、巷道超欠挖现象严重等问题,提出一种悬臂式掘进机导航定位及自动截割方法。由捷联惯性导航、自动全站仪模块、测距传感器建立组合导航定位系统,通过捷联惯性导航测量的机身位姿与自动全站仪测量的位置相融合,有效提高掘进机定位定向精度。通过建立悬臂垂直摆动和水平摆动模型,获取截割头精确位置信息,使截割头按照工艺路径自动截割。该方法能够实现悬臂式掘进机精确定位定向,实现巷道断面自动截割及远程控制,提高人员操作安全性。

In response to problems of inaccurate autonomous navigation and positioning of cantilever roadheader,as well as serious over excavation and under excavation in roadway,a navigation positioning and automatic cutting method for cantilever roadheader was proposed.A combined navigation positioning system was established by strapdown inertial navigation,automatic total station module and ranging sensor.The positioning accuracy of the roadheader was effectively improved by integrating the body posture measured by strapdown inertial navigation with the position measured by automatic total station.By establishing cantilever vertical and horizontal swing models,accurate position information of the cutting head was obtained,which enables the cutting head to automatically cut according to the process path.This method can achieve precise positioning and orientation of cantilever roadheader,achieve automatic cutting and remote control of tunnel sections,and improve the safety of personnel operation.