Measurement of roadheader position and posture based on laser target tracking

Abstract

Aiming to realize the automatic measurement of all the position and posture parameters of the roadheader by single point layout, based on the analysis of the existing measurement methods of the position and posture of the roadheader, a measurement method of the position and posture of the roadheader based on the combination measurement of the laser tracking platform and the laser target is proposed. This paper expounds the composition and working principle of the measuring system and the method of extracting the spot coordinates by laser target. By studying the conversion relations among the position and posture of the roadheader, the position and posture of the laser target, the position and posture of the laser tracking platform and the coordinate system of the tunnel, a mathematical model of the measuring system of the position and posture of the roadheader is established, and the mathematical expression of the absolute position and posture of the roadheader relative to the coordinate system of the tunnel is solved by using Matlab to analyze the measurement errors of the position and posture parameters of the roadheader. The experimental results show that when the measurement distance is 60 m, the error of the roll angle is less than 0.7°, the error of the pitch angle is less than 0.7°, the error of the direction angle is less than 0.2°, the error of the X axis is less than 10 mm, the error of the Y axis is less than 40 mm, and the error of the Z axis is less than 30 mm, which meets the accuracy requirements of the position and posture measurement of the roadheader.

Keywords

• roadheader
• position and posture measurement
• laser tracking
• laser target
• error analysis