Research on Measuring and Controlling of Pose and Position Parameters for Roadheaders

摘要

A measurement method for the pose and position parameters of a roadheader is presented in this paper.The coordinates relationship between tunnel benchmark and roadheader body is established.Discrete model of intelligent walking of roadheaders is constructed.This paper also presents that the first condition of profiling cut for a roadheader is precise control of the parameters,meaning intelligent walking.Also the control method for the pose parameters of roadheader rectification is discussed,and the intelligent walking can provide parameters for the intelligent cutting,calculation shows that the measurement method is acceptable and the error of the pose and position is controllable.