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GUO Lunfeng, GUO Yinan, JIANG Kangqing, GE Shirong. Measurement and calculation method of attitude parameters of roadheader[J]. Journal of Mine Automation, 2021, 47(12): 46-54. DOI: 10.13272/j.issn.1671-251x.2021070010
Citation: GUO Lunfeng, GUO Yinan, JIANG Kangqing, GE Shirong. Measurement and calculation method of attitude parameters of roadheader[J]. Journal of Mine Automation, 2021, 47(12): 46-54. DOI: 10.13272/j.issn.1671-251x.2021070010
shu

Measurement and calculation method of attitude parameters of roadheader

  • 1.

    School of Mechanical Electronic & Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China;

  • 2.

    Institute of Intelligent Mines & Robotics, China University of Mining and Technology(Beijing), Beijing 100083, China

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  • Received Date: July 02, 2021
  • Revised Date: December 04, 2021
    Graphical Abstract
    • Abstract
  • The current roadheader attitude parameter measurement method uses the output angle of the biaxial inclinometer directly as the pitch angle and roll angle of the roadheader. By analyzing the attitude parameter measurement of the roadheader and the measurement principle of the biaxial inclinometer, it is concluded that whether it is in a horizontal or inclined roadway, the pitch angle and roll angle cannot be measured by using the biaxial inclinometer alone. The biaxial inclinometer must be integrated with the positioning method containing the heading information of the roadheader to calculate the full attitude parameters of the roadheader simultaneously. Aiming at two typical driving conditions of horizontal roadway and inclined roadway, the attitude calculation method of combining sector laser and biaxial inclinometer (method 1) and the attitude calculation method of combining roadheader two-point coordinates and biaxial inclinometer (method 2) are proposed. In method 1, the yaw angle of the roadheader relative to the roadway coordinate system is determined in real time according to the spot position of the sector laser beam, and the pitch angle and the roll angle of the roadheader body relative to the roadway coordinate system are obtained by a biaxial inclinometer, so that the yaw angle, the pitch angle and the roll angle of the roadheader are calculated. In method 2, the three-dimensional coordinates of two points to be measured on the roadheader body in the roadway coordinate system are firstly measured, and then according to the principle of double-vector attitude determination, the attitude parameters of the roadheader are measured and calculated by using the biaxial inclinometer. The co-simulation results of Matlab and Gazebo show that in horizontal roadway and inclined roadway with four different inclination angles, the method of taking the output angle of biaxial inclinometer as the pitch angle and roll angle of roadheader directly has large errors, which can not meet the needs of attitude parameter measurement of roadheader. The errors of method 1 and method 2 are very small. The average maximum angle error in the horizontal roadway is 0.004 9°, and the average maximum angle error in the inclined roadway is 0.025°, which verifies the rationality of the two roadheader attitude calculation methods.
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    • References (18)
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