Research of Errors Elimination Strategy of Body Pose of Boom-type Roadheader

The paper proposed an errors elimination strategy of body pose of boom-type roadheader based on detection system of body pose of boom-type roadheader. Control principle of the strategy is as follows: judging pose errors size of each direction according to data collected by detection system of body pose of boom-type roadheader; adjusting boom-type roadheader through controlling track, shovel and support bracket to reduce errors of each direction of body when the errors are big; setting correct position of cutting contour and making automatic cutting according to current pose errors when the errors are reduced to control compensation range of cutting arm; calculating compensation quantity of residual pose errors of each direction and controlling boundary position of cutting section in automatic flitching process according to the compensation quantity. The strategy has certain reference for realizing automatic directional tunnelling and remote control of tunnelling.