基于激光扫描和中线捕获的智能掘进设计
Intelligent Tunneling Design Based on Laser Scanning and Midline Capture
郭岩1
作者信息
- 1. 山西潞安集团潞宁孟家窑煤业有限公司,山西忻州 034000
- 折叠
摘要
智能掘进机的定位技术对掘进机的自动截割功能非常重要.现有智能掘进机通常通过激光雷达扫描掘进机后部固定的基准标志牌来确定掘进机的位姿,导致准确度无法满足自动截割的需求.因此,设计研究基于激光雷达扫描和中线激光束捕获的综合位姿测量方法,通过将基于激光雷达测量的位姿数据和基于中线激光束捕获技术的位姿信息进行相互校准,可以获取掘进机更精准的位姿数据,最终实现掘进机的全自动截割,为掘进工作面的智能化减人和安全高效作业提供重要保证.
Abstract
The positioning technology of intelligent roadheader is very important for the automatic cutting function of roadheader.The existing intelligent roadheader usually determines the position and orientation of the roadheader by scanning the reference signboard fixed at the rear of the roadheader with laser radar,resulting in the accuracy unable to meet the requirements of automatic cutting.Therefore,a comprehensive pose measurement method based on laser radar scanning and midline laser beam capture is designed and studied.By calibrating the pose data based on laser radar measurement and the pose information based on midline laser beam capture technology,more accurate pose data of the roadheader can be obtained,and finally the full-automatic cutting of the roadheader can be realized,which provides an important guarantee for intelligent personnel reduction and safe and efficient operation of the heading face.
关键词
激光雷达/激光捕获/中线测量Key words
laser radar/laser capture/midline measurement引用本文复制引用
出版年
2024
NETL
NSTL
万方数据