Combination measurement method of coal mine roadheaders based on space vector constraint

WANG Yizhong; AN Zhongmeng; HUANG Zhe; ZHANG Xiaori; XIANG Jian; ZHANG Kailun

doi:10.7510/jgjs.issn.1001-3806.2019.06.014

LASER TECHNOLOGY > 2019 > 43(6): 804-808. > DOI: 10.7510/jgjs.issn.1001-3806.2019.06.014

WANG Yizhong, AN Zhongmeng, HUANG Zhe, ZHANG Xiaori, XIANG Jian, ZHANG Kailun. Combination measurement method of coal mine roadheaders based on space vector constraint[J]. LASER TECHNOLOGY, 2019, 43(6): 804-808. DOI: 10.7510/jgjs.issn.1001-3806.2019.06.014

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Combination measurement method of coal mine roadheaders based on space vector constraint

1.
School of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300380, China
2.
Raising Measurement (Shanghai) Co. Ltd., Shanghai 200120, China

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Received Date: January 01, 2019
Revised Date: January 22, 2019
Published Date: November 24, 2019

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Abstract

Abstract

In order to solve the problem of measuring the position and posture of a coal mine roadheader, a set of reverse coaxial industrial cameras and strapdown inertial navigation system were assembled into a bias measurement unit. Combining vision measurement and inertial navigation technology, a real-time pose measurement method was proposed based on space vector constraints. In this method, the spatial vector of the light spot of laser pointer, the spatial vector of the light spot of palm face and the attitude information of roadheader were measured by the deviation measuring unit. Space vector constraint equation and coordinate system conversion were established. The location information of the roadheader was obtained. Theoretical analysis and experimental verification were carried out. The results show that, the six degrees of freedom information of the real-time position and posture of the roadheader can be obtained by this method. This method can be used to measure the position and posture of coal mine roadheaders, and has broad application and development prospects.
- measurement and metrology,
- roadheader,
- vision measurement,
- inertial navigation,
- space vector

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