1. The utility model provides an accurate coordinate detecting system of cutterhead, includes cutterhead coordinate correction point (1), fuselage yaw angle detection device (2), fuselage angle detection device (3) that turns over that dives, its characterized in that: the cutting head coordinate correction point (1) is arranged on the cutting arm and close to the cutting head, the machine body yaw angle detection device (2) is arranged above the machine body, and the machine body pitch angle detection device (3) is arranged at a machine body (13) at a reasonable position of the machine body;

the device for detecting the yaw angle of the airplane body (2) comprises a first marker post (16) and a second marker post (17), wherein the first marker post (16) is arranged at a position coincident with the rotation center line of the airplane body, and the second marker post (17) is arranged in parallel with the first marker post (16) and has a certain distance from the first marker post (16);

the machine body dive-overturn angle detection device (3) comprises a light spot emitter (6), an emitting device (24) and a frame (12), wherein the light spot emitter (6) is arranged at the top end of the emitting device (24) and is coincided with the center line of the emitting device (24), the gravity center of the emitting device (24) is arranged on the center line of the emitting device and is deviated to the bottom, the emitting device (24) is installed on a second rotating shaft (9) and can freely rotate around a shaft, the second rotating shaft (9) is installed on a circular ring (8), the circular ring (8) is installed on a first rotating shaft (7), the first rotating shaft (7) is installed on a partition plate of the frame (12) and can freely rotate around the partition plate, and a receiving device is arranged above the light spot emitter (6) in the frame (12);

a movable carrier (5) is arranged on a top plate above the roadway, and a visual recognition device (4) is mounted on the movable carrier (5).

2. The cutting head precise coordinate detection system of claim 1, wherein: the mobile carrier (5) comprises an anchor pile (19) and a lifting plate (20); hanger plate (20) welding is on anchor pile (19) the fixed track (21) that is equipped with in hanger plate (20) below be equipped with on track (21) and be used for driving initiative walking wheel (22) that remove carrier (5) walked, initiative walking wheel (22) set up to wheel hub motor drive, simultaneously, track (21) below is equipped with and is used for guaranteeing supplementary tight pulley (23) that visual identification device (4) steadily impeld.

3. The cutting head precise coordinate detection system of claim 2, wherein: the frame (12) is divided into an upper cavity and a lower cavity by the partition plate, the receiving device comprises a projection plate (28) arranged between a top plate of the frame (12) and the partition plate, a second light spot detection camera (30) is arranged on the inner surface of the top plate of the frame (12), damping liquid (25) is arranged in the lower cavity of the frame (12), and the lower part of the transmitting device (24) is placed in the damping liquid (25).

4. The cutting head precise coordinate detection system of claim 2, wherein: the receiving device comprises a projection surface (10) which is arranged above the transmitting device (24) at the top plate of the frame (12), and a first light spot detection camera (11) is arranged on the bottom plate of the frame (12) above the projection surface (10).

5. A method for detecting accurate coordinates of a cutting head is characterized by comprising the following steps: which employs a cutting head precision coordinate detection system according to any of claims 1-4 and comprises the steps of:

the first step is as follows: and assembling an accurate coordinate detection system of the cutting head, and acquiring the reference pose of the heading machine.

The second step is that: measure entry driving machine position appearance and cutting arm pivot angle, specifically include:

s1: detecting a pitching angle and a rolling angle of the machine body in the position and posture of the heading machine through the machine body pitching angle detection device (3):

and acquiring a light spot (14) image of the light spot emitter (6) on the projection plate (28) by using a second light spot detection camera (30), calculating the distance between the light spot (14) and a horizontal shaft and a vertical shaft on the projection plate (28), and calculating the pitch angle and the roll angle of the fuselage according to the distance.

S2: detecting the yaw angle of the machine body and the midpoint coordinate of the machine body of the heading machine through a machine body yaw angle detection device (2):

the position relation image of the first marker post (16) and the second marker post (17) is obtained through the visual recognition device (4), and compared with the positions of the first marker post (16) and the second marker post (17) in the reference pose obtained in the first step, the yaw angle of the airplane body can be obtained.

S3: displacement sensors are respectively arranged in the cutting arm lifting oil cylinder and the rotating oil cylinder, and the horizontal swing angle and the vertical swing angle of the cutting arm relative to the machine body can be obtained through calculation.

The third step: the method for obtaining the calculation space coordinate of the cutting head correction point (1) by adopting a matrix variation method specifically comprises the following steps:

and (3) obtaining the calculation space coordinate of the cutting head correction point (1) by using a space matrix transformation method according to the position and posture of the heading machine, the horizontal swing angle and the vertical swing angle of the cutting arm which are measured in the second step.

The fourth step: the method for acquiring the identification space coordinate of the cutting head correction point (1) by adopting an image identification method specifically comprises the following steps:

and (3) acquiring an image of the cutting head correction point (1) in real time by using a visual recognition device (4), and comparing the image with the position of the cutting head correction point (1) in the reference pose acquired in the first step to obtain the recognition space coordinate of the cutting head correction point (1).

The fifth step: calculating a correction coefficient, and acquiring a coordinate of the accurate cutting head, wherein the method specifically comprises the following steps:

analyzing and correcting the calculation space coordinate and the identification space coordinate of the cutting head correction point (1) obtained by the two methods to obtain a correction coefficient of the cutting head correction point (1) based on the calculation space coordinate, and acting the correction coefficient on the cutting head calculation space coordinate obtained by the method in the third step to obtain a better and accurate cutting head space coordinate so as to meet related requirements of intelligent cutting or automatic cutting and the like.

6. The method for detecting the precise coordinates of the cutting head according to claim 5, wherein the method comprises the following steps: and the second step also comprises the step of measuring the coordinate of the center point of the machine body of the heading machine by utilizing the machine body yaw angle detection device (4). The real-time position of the first marker post (16) is obtained by the visual recognition device (4), and is compared with the position of the first marker post (16) in the reference pose obtained in the first step, so that the real-time position variation of the first marker post (16) can be obtained, and the coordinate variation of the midpoint of the machine body in the roadway can be further obtained.

7. The method for detecting the precise coordinates of the cutting head according to claim 5, wherein the method comprises the following steps: marking the boundary of the section of the roadway on the section to be cut by using a roadway boundary laser transmitter arranged on the mobile device (5); and (3) measuring the coordinates of the cutting head correction point (1) under a laser roadway boundary coordinate system through the visual recognition device (4), comparing the coordinates with the position of the cutting head correction point (1) in the obtained reference pose to obtain the distance between the cutting head correction point (1) and the visual recognition device (4) in the length direction of the roadway, and finally obtaining the recognition space coordinates of the cutting head correction point (1).

Background

Coal mining technology is always the focus of research, and as fully mechanized mining equipment develops rapidly, the phenomenon of mining imbalance is increasingly serious. The working environment is severe in the cutting process of the heading machine, a driver is limited by the severe working condition of a heading working face, the forming quality of a roadway section formed by manual operation is poor, the phenomena of underexcavation, overexcavation and the like are easily caused, and the automatic accurate positioning of the position of a cutting head of the heading machine is a precondition for realizing intelligent unmanned mining of the heading machine.

The accurate detection of the coordinates of the cutting head is the core technology of the intelligent development machine. The premise of the coordinate detection of the cutting head is to obtain the position and posture of the heading machine, and under the normal condition, the position and posture of the heading machine are composed of a yaw angle (namely a turning angle of a machine body in the roadway direction), a pitch angle (namely a front-back inclination angle of the machine body in the roadway length direction), a roll angle (namely a left-right inclination angle of the machine body in the roadway length direction) and the position of the machine body in the roadway. At present, the position and posture detection method of the heading machine comprises a strapdown inertial navigation technology, an ultra wide band technology, a total station and the like. The strapdown inertial navigation calculates an attitude angle according to the angular speed information measured by the gyroscope; calculating acceleration information measured by an accelerometer in a secondary integration mode to obtain position information; but the measured data error is larger because the vibration of the machine body is more severe, the temperature change in the roadway is large and the inertial sensor has accumulated errors. The ultra wideband technology (UWB) adopts the radio signal ranging principle to position and orient the development machine; however, the ultra-wideband signal is affected by the large dust concentration in the tunnel, so that the diffuse reflection phenomenon is easy to occur in the transmission process, the authorized spectrum of the ultra-wideband technology has a lot of existing communication equipment, and the power of the ultra-wideband equipment needs to be lower than a certain threshold so as not to affect other communication systems, which results in that the ultra-wideband technology is not suitable for the directional positioning of the underground long-distance heading machine. The total station emits laser to a prism arranged on the heading machine, obtains the coordinate of the prism in the roadway, and performs correlation calculation on the coordinate to obtain the position and posture of the heading machine; however, laser is affected by dust in the roadway, scattering is easy to occur, and a propagation path is easy to be shielded, so that the measurement result is inaccurate.

Based on the analysis of the detection methods of the cutting head coordinate of the heading machine, the methods have common limitations, namely the measurement precision of the cutting head coordinate detected by a single method is low, and the position relation between the profile of the cutting head of the heading machine and the roadway boundary cannot be accurately obtained, so that the method is difficult to adapt to the underground complex environment. In addition, the current pose detection result is only used for displaying and cannot be used for controlling the cutting boundary and the cutting track.

Disclosure of Invention

It is an object of the present invention to provide a cutting head precision coordinate detection system and method that overcomes some or all of the disadvantages of the prior art.

The cutting head accurate coordinate detection system comprises a cutting head coordinate correction point, a machine body yaw angle detection device and a machine body pitch-over angle detection device, wherein the cutting head coordinate correction point is arranged on a cutting arm and is close to the cutting head;

the device for detecting the yaw angle of the airplane body comprises a first marker post and a second marker post, wherein the first marker post is arranged at a position coinciding with the rotation center line of the airplane body, and the second marker post is arranged in parallel with the first marker post and is a certain distance away from the first marker post;

the detecting device for the downward turning angle of the machine body comprises a light spot emitter, an emitting device and a frame, wherein the light spot emitter is arranged at the top end of the emitting device and is superposed with the center line of the emitting device, the center of gravity of the emitting device is on the center line of the emitting device and is deviated to the bottom, the emitting device is arranged on a second rotating shaft and can freely rotate around a shaft, the second rotating shaft is arranged on a circular ring, the circular ring is arranged on a first rotating shaft, the first rotating shaft is arranged on a partition plate of the frame and can freely rotate around the partition plate, and a receiving device is arranged above the light spot emitter in the frame;

a movable carrier is arranged on a top plate above the roadway, and a visual recognition device is mounted on the movable carrier.

Preferably, the mobile carrier comprises an anchor pile and a lifting plate; the hanger plate welding is on the anchor pile the fixed track that is equipped with in hanger plate below be equipped with the initiative walking wheel that is used for driving the walking of removal carrier on the track, the initiative walking wheel sets up to wheel hub motor drive, simultaneously the track below is equipped with and is used for guaranteeing the steady propulsive supplementary tight pulley of visual identification device.

Preferably, the frame is divided into an upper cavity and a lower cavity by a partition plate, the receiving device comprises a projection plate arranged between a top plate of the frame and the partition plate, the second light spot detection camera is arranged on the inner surface of the top plate of the frame, damping liquid is arranged in the lower cavity of the frame, and the lower part of the transmitting device is placed in the damping liquid.

Preferably, the receiving device comprises a projection surface arranged above the transmitting device at the top plate of the frame, and a first light spot detection camera is arranged on a bottom plate of the frame above the projection surface.

The invention also provides a method for detecting the precise coordinates of the cutting head, which adopts the method for detecting the precise coordinates of the cutting head and comprises the following steps:

the first step is as follows: and assembling an accurate coordinate detection system of the cutting head, and acquiring the reference pose of the heading machine.

The second step is that: measure entry driving machine position appearance and cutting arm pivot angle, specifically include:

s1: detecting a pitching angle and a rolling angle of the machine body in the position and posture of the heading machine through the machine body pitching angle detection device:

and acquiring a light spot image of the light spot emitter on the projection plate by using a second light spot detection camera, calculating the distance between the light spot and a horizontal shaft and a vertical shaft on the projection plate, and calculating the pitch angle and the roll angle of the machine body according to the distance.

S2: detecting the yaw angle of the machine body and the midpoint coordinate of the machine body of the heading machine through a machine body yaw angle detection device:

and acquiring a position relation image of the first marker post and the second marker post through the visual recognition device, and comparing the position relation image with the positions of the first marker post and the second marker post in the reference pose acquired in the first step to acquire the yaw angle of the airplane body.

S3: displacement sensors are respectively arranged in the cutting arm lifting oil cylinder and the rotating oil cylinder, and the horizontal swing angle and the vertical swing angle of the cutting arm relative to the machine body can be obtained through calculation.

The third step: the method for obtaining the calculation space coordinate of the cutting head correction point by adopting the matrix change method specifically comprises the following steps:

and obtaining the calculation space coordinate of the correction point of the cutting head by using a space matrix transformation method according to the position and posture of the heading machine, the horizontal swing angle and the vertical swing angle of the cutting arm which are measured in the second step.

The fourth step: the method for obtaining the identification space coordinate of the cutting head correction point by adopting an image identification method specifically comprises the following steps:

and (3) acquiring images of the cutting head correction points in real time by using a visual recognition device, and comparing the images with the positions of the cutting head correction points in the reference pose acquired in the first step to obtain the recognition space coordinates of the cutting head correction points.

The fifth step: calculating a correction coefficient, and acquiring a coordinate of the accurate cutting head, wherein the method specifically comprises the following steps:

analyzing and correcting the calculation space coordinate and the identification space coordinate of the cutting head correction point obtained by the two methods to obtain a correction coefficient of the cutting head correction point based on the calculation space coordinate, and applying the correction coefficient to the cutting head calculation space coordinate obtained by the method in the third step to obtain a better and accurate cutting head space coordinate so as to meet related requirements of intelligent cutting or automatic cutting and the like.

Preferably, the second step further comprises measuring the coordinate of the center point of the machine body of the heading machine by using the machine body yaw angle detection device; the real-time position of the first marker post is obtained by the visual recognition device, and is compared with the position of the first marker post in the reference pose obtained in the first step, so that the real-time position variation of the first marker post can be obtained, and the coordinate variation of the midpoint of the machine body in the roadway can be further obtained.

Preferably, a roadway boundary laser transmitter arranged on the mobile device is used for marking the boundary of the roadway section on the section to be cut; and measuring the coordinates of the cutting head correction point under the boundary coordinate system of the laser roadway by the visual recognition device, comparing the coordinates with the position of the cutting head correction point in the obtained reference pose to obtain the distance between the cutting head correction point and the visual recognition device in the length direction of the roadway, and finally obtaining the recognition space coordinates of the cutting head correction point.

Compared with the prior art, the invention has the following advantages:

firstly, acquiring a roll angle, a pitch angle and a yaw angle of the development machine by adopting a visual identification method; the visual perception technology can better adapt to complex environments such as large mine dust concentration, strong noise, large humidity and the like, particularly, a machine body strongly vibrates in the tunneling process, the problem that measurement caused by vibration is inaccurate is difficult to solve by a common method, the visual perception technology can solve the problem by adopting an airborne image stabilization technology, and the requirements of high-precision cutting and tunneling are met.

The fuselage pitch-over angle detection device comprises a light spot emitter, an emitting device and a frame, wherein the light spot emitter is arranged at the top end of the emitting device and is superposed with the center line of the emitting device, the gravity center of the emitting device is on the center line of the emitting device and deviates to the bottom, and meanwhile, the emitting device can be always kept vertical by the action of gravity of the emitting device when the pose of the fuselage changes by matching with relevant technical characteristics of a second rotating shaft, a circular ring, a first rotating shaft and the like;

in addition, the lower part of the launching device is placed in the damping liquid with a certain damping effect, and when the posture of the machine body changes, the gravity center of the launching device is in the damping liquid, so that the launching device is prevented from generating high-frequency vibration along with the machine body, the influence of the high-frequency vibration on the measurement precision during cutting is eliminated, and the measurement precision is improved.

And thirdly, coordinates of the cutting head of the heading machine are obtained by adopting a visual identification method, and the coordinates are obtained by adopting the visual identification method, so that the accuracy is higher than that of calculation.

And fourthly, obtaining coordinates of the corrected point of the cutting head by two methods, namely method redundancy, calculating a correction coefficient, and acting the correction coefficient on the cutting head, thereby obtaining accurate coordinates of the cutting head which cannot directly obtain the coordinates by visual recognition, and meeting the requirements of related control such as roadway boundary control, cutting path control, intelligent cutting control and the like.

Drawings

FIG. 1 is a schematic view of a precise coordinate detection system of a cutting head;

FIG. 2 is a schematic top view of the device for detecting yaw angle of the fuselage of FIG. 1;

FIG. 3 is an enlarged view of part A of FIG. 2;

FIG. 4 is a schematic structural view of a detecting device for detecting a nose-down angle of a fuselage in embodiment 1 of FIG. 1;

FIG. 5 is a schematic view of the sectional structure A-A in FIG. 4;

FIG. 6 is a schematic view of the projection plane of FIG. 4;

FIG. 7 is a schematic diagram of the structure of the mobile carrier of FIG. 1;

FIG. 8 is a view of the sectional structure B-B in FIG. 7;

FIG. 9 is a schematic structural view of a detecting apparatus for detecting a nose-down angle of a body in embodiment 2;

FIG. 10 is a schematic view of the cut-away structure C-C of FIG. 9;

fig. 11 is a schematic diagram of the laser position of the lane boundary in example 3.

Wherein:

1. correcting points of coordinates of the cutting head; 2. a body yaw angle detection device; 3. a fuselage pitch angle detection device; 4. a visual recognition device; 5. moving the carrier; 6. a light spot emitter; 7. a first rotating shaft; 8. a circular ring; 9. a second rotation shaft; 10. a projection surface; 11. a first light spot detection camera; 12. a frame; 13. a body; 14. light spots; 15. a center point; 16. a first marker post; 17. a second marker post; 18. a roadway roof; 19. anchoring piles; 20. a hanger plate; 21. a track; 22. driving travelling wheels; 23. an auxiliary fixed wheel; 24. a transmitting device; 25. damping fluid; 26. laser roadway boundaries; 27. a cutting head; 28. a projection plate; 30. a second spot detection camera.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.

Example 1

As shown in fig. 1-8, an accurate coordinate detection system for a cutting head comprises a cutting head coordinate correction point 1, a machine body yaw angle detection device 2 and a machine body pitch angle detection device 3, wherein the cutting head coordinate correction point 1 is arranged on a cutting arm and is close to the cutting head, the machine body yaw angle detection device 2 is arranged above the machine body, and the machine body pitch angle detection device 3 is arranged at a machine body 13 at a reasonable position of the machine body;

as shown in fig. 1 to 3, the device 2 for detecting the yaw angle of the fuselage comprises a first marker post 16 and a second marker post 17, wherein the first marker post 16 is arranged at a position coinciding with the rotation center line of the fuselage, and the second marker post 17 is arranged in parallel with the first marker post 16 and is at a certain distance from the first marker post 16;

as shown in fig. 4 and 5, the device 3 for detecting the dive angle of the fuselage comprises a light spot emitter 6, a transmitter 24 and a frame 12, wherein the light spot emitter 6 is arranged at the top end of the transmitter 24 and coincides with the center line of the transmitter 24, the center of gravity of the transmitter 24 is on the center line of the transmitter and is inclined to the bottom, the transmitter 24 is arranged on a second rotating shaft 9 and can rotate freely around the shaft, the second rotating shaft 9 is arranged on a ring 8, the ring 8 is arranged on a first rotating shaft 7, and the first rotating shaft 7 is arranged on a partition board of the frame 12 and can rotate freely around the partition board, so that the transmitter 24 is always kept vertical under the action of the gravity when the pose of the fuselage changes, and a receiver is arranged above the light spot emitter 6 in the frame 12 to receive and obtain the position difference of the light spot emitter 6;

a movable carrier 5 is arranged at a top plate above the roadway, and a visual recognition device 4 is arranged on the movable carrier 5;

as shown in fig. 7 and 8, the mobile carrier 5 includes an anchor pile 19 and a hanger plate 20; hanger plate 20 welds on anchor pile 19, the fixed track 21 that is equipped with in hanger plate 20 below, be equipped with the initiative walking wheel 22 that is used for driving the walking of removal carrier 5 on track 21, initiative walking wheel 22 sets up to wheel hub motor drive, simultaneously, be equipped with the supplementary tight pulley 23 that is used for guaranteeing the steady propulsion of visual identification device 4 below track 21, so set up, when the entry driving machine impels, it impels to remove carrier 5 can follow the entry driving machine, be favorable to realizing the intelligence cutting of entry driving machine.

As shown in fig. 4, the frame 12 is divided into an upper chamber and a lower chamber by a partition, the receiving device includes a projection plate 28 disposed between the top plate of the frame 12 and the partition, a second light spot detection camera 30 is disposed on the inner surface of the top plate of the frame 12, a damping liquid 25 is disposed in the lower chamber of the frame 12, and the lower portion of the emitting device 24 is disposed in the damping liquid 25, the damping of the damping liquid 25 should be controlled within a certain range to avoid high-frequency oscillation of the emitting device 24, but cannot hinder the ability of the emitting device to correct its own state by gravity and keep its vertical state all the time; therefore, when the posture of the machine body changes, the gravity center of the launching device 24 is in the damping liquid 25, so that the launching device 24 is prevented from generating high-frequency vibration along with the machine body, the influence of the high-frequency vibration on the measurement precision during cutting is eliminated, and the measurement precision is improved.

Meanwhile, the invention also discloses a method for detecting the precise coordinates of the cutting head, which comprises the following steps:

the first step is as follows: and assembling any cutting head accurate coordinate detection system, and acquiring the reference pose of the heading machine.

S1: and assembling all parts according to the disclosed technical characteristics of the accurate coordinate detection system of the cutting head and carrying out positioning inspection.

S2: and acquiring a picture to be cut in the roadway of the static heading machine by using the visual recognition device 4, extracting and storing information in the picture, and taking the information in the picture as a reference pose in subsequent pose recognition.

The second step is that: and measuring the position and the posture of the heading machine and the swing angle of the cutting arm.

S1: detecting a pitching angle and a rolling angle of the machine body in the position and posture of the heading machine through the machine body pitching angle detection device 3:

as shown in fig. 4-6, the second light spot detection camera 30 is used to obtain the image of the light spot 14 of the light spot emitter 6 on the projection plate 28, and the distance between the light spot 14 and the horizontal axis and the vertical axis on the projection plate 28 is calculated, so as to calculate the pitch angle and the roll angle of the fuselage.

When the heading machine body is parallel to the horizontal plane, the light spot 14 falls on the central point 15 of the projection plate 28; when the roadheader is only pitched, as shown in fig. 6, the light spot 14 only moves on the horizontal axis; when the heading machine is only rolling, as shown in fig. 6, the light spot 14 is only moving on the vertical axis; when the heading machine has both pitch and roll, the spot 14 is spaced from the center point 15 of the projected board 28 as shown in figure 6.

S2: detecting the yaw angle of the machine body and the midpoint coordinate of the machine body of the heading machine through the yaw angle detection device 2:

the position relation image of the first marker post 16 and the second marker post 17 is obtained through the visual recognition device 4, and compared with the positions of the first marker post 16 and the second marker post 17 in the reference pose obtained in the first step, the body yaw angle can be obtained. When the yaw angle of the airplane body is zero, the first marker post 16 and the second marker post 17 are coincided along the roadway direction by the vision recognition device 4; when the body yaw angle is not zero, the first marker post 16 and the second marker post 17 are not overlapped, and the relative rotation direction and the relative rotation magnitude thereof can be obtained from the obtained image based on the static image obtained in the first part S2 according to the relative position relationship between the first marker post 16 and the second marker post 17, so that the body yaw angle can be obtained.

Meanwhile, the machine body yaw angle detection device 4 is used for detecting the coordinate of the center point of the machine body of the heading machine. The real-time position of the first marker post 16 is obtained by the visual recognition device 4, and compared with the position of the first marker post 16 in the reference pose obtained in the first step, the real-time position variation of the first marker post 16 can be obtained, and the position of the middle point of the machine body in the roadway can be further obtained, meanwhile, the real-time position variation of the first marker post 16 can replace the variation of the middle point coordinate of the machine body of the heading machine as the first marker post 16 is arranged at the position coinciding with the rotation center line of the machine body.

S3: displacement sensors are respectively arranged in the cutting arm lifting oil cylinder and the rotating oil cylinder, and the horizontal swing angle and the vertical swing angle of the cutting arm relative to the machine body can be obtained through calculation.

The third step: and obtaining the calculation space coordinate of the cutting head correction point 1 by adopting a matrix change method.

And obtaining the calculation space coordinate of the cutting head correction point 1 by using a space matrix transformation method according to the position and posture of the heading machine, the horizontal swing angle and the vertical swing angle of the cutting arm which are measured in the second step.

The fourth step: and obtaining the identification space coordinate of the cutting head correction point 1 by adopting an image identification method.

And (3) acquiring an image of the cutting head correction point 1 in real time by using a visual recognition device 4, and comparing the image with the position of the cutting head correction point 1 in the reference pose acquired in the first step to obtain the recognition space coordinate of the cutting head correction point 1.

The fifth step: and calculating a correction coefficient to obtain the coordinate of the accurate cutting head.

Analyzing and correcting the calculation space coordinate and the identification space coordinate of the cutting head correction point 1 obtained by the two methods to obtain a correction coefficient of the cutting head correction point 1 based on the calculation space coordinate, and applying the correction coefficient to the cutting head calculation space coordinate obtained by the method in the third step to obtain a better and accurate cutting head space coordinate so as to meet related requirements of intelligent cutting or automatic cutting and the like.

Because the cutterhead cuts in the process of cutting the coal wall, the difficulty of directly identifying the cutterhead is high, and the cutterhead correction point 1 is specially introduced, meanwhile, the distance between the cutterhead correction point 1 and the cutterhead is very close, and the error between the correction coefficient of the cutterhead correction point and the correction coefficient of the cutterhead can be ignored, therefore, the correction coefficient of the cutterhead is replaced by the correction coefficient of the cutterhead correction point 1 in the embodiment.

Example 2

As shown in fig. 1-3 and 6-10, compared with embodiment 1, this embodiment is different from embodiment 1 in that a cutting head precise coordinate detection system is provided, the receiving device includes a projection surface 10 disposed above the transmitting device 24 at the top plate of the frame 12, a first light spot detection camera 11 is disposed on the bottom plate of the frame 12 above the projection surface 10, and the first light spot detection cameras 11 may be disposed in two left and right directions, as shown in fig. 9 and 10, only one of which is disposed in this embodiment.

Example 3

Compared with the embodiment 1 or 2, the embodiment is different in that a roadway boundary laser transmitter is mounted on the moving device 5, and the roadway boundary laser transmitter marks the boundary of the roadway section on the section to be cut, as shown in fig. 11. And (3) measuring the coordinates of the cutting head correction point 1 under the boundary coordinate system of the laser roadway by the visual recognition device 4, comparing the coordinates with the position of the cutting head correction point 1 in the obtained reference pose to obtain the distance between the cutting head correction point 1 and the visual recognition device 4 in the length direction of the roadway, and finally obtaining the recognition space coordinates of the cutting head correction point 1.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.