Pose measurement method of cantilever roadheader based on wire sensors

doi:10.13474/j.cnki.11-2246.2025.0523

Abstract

Abstract: Dynamic pose measurement is the key technology of intelligent operation of cantilever roadheader. Aiming at the characteristics of high dust scene in tunnel operation, a method of dynamic pose measurement by pulling wire is proposed. In this method, six fixing points on the car body are connected with the fixing points in the tunnel by six pull wire devices, and the three-dimensional position and orientation information of the car body is obtained by measuring the distance of the pull wire between the fixing points. An iterative method based on singular value decomposition of matrix is proposed to solve the 6-DOF multiplicity of vehicle body pose. Simulation results show that the method meets the accuracy requirements of the position and attitude measurement of the tunnel cantilever tunneling machine, and provides a reference method for high-precision dynamic position and orientation measurement of large targets in special environments.

Key words: high dust, cantilever roadheader, wire measurement, dynamic posture, iterative algorith

CLC Number:

P258

SUN Senzhen, JING Liujie, LI Guangyun, ZHANG Xiaoping. Pose measurement method of cantilever roadheader based on wire sensors[J]. Bulletin of Surveying and Mapping, 2025, 0(5): 138-144,151.

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