悬臂式掘进机机身位姿误差消除策略的研究

基于悬臂式掘进机机身位姿检测系统,提出了一种悬臂式掘进机机身位姿误差消除策略:根据悬臂式掘进机机身位姿检测系统所采集的数据,判断各方向位姿误差的大小;当误差较大时,通过控制履带、前铲板与后支撑对悬臂式掘进机整体进行调整,减小机身各方向误差;当误差减小到截割臂的控制补偿范围,根据当前位姿误差设定截割轮廓的正确位置并进行自动截割;解算出各方向剩余位姿误差的补偿量,根据补偿量在自动刷帮过程中控制截割断面的边界位置。该策略对实现自动定向掘进和掘进远程控制具有一定的参考价值。

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.