Heading machine pose detection system and method based on mechanical arm visual perception

• Main Authors: WANG XIAOLIN, CHANG BOSHEN, YANG JIANJIAN, WANG CHAO, ZHANG QIANG
• Format: Patent
• Language: Chinese; English
• Published: 08.01.2021
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a heading machine pose detection system and method based on mechanical arm visual perception. The heading machine pose detection system is composed of a laser pointing instrument, a mechanical arm, a CCD image sensor, a programmable computer controller and airborne tilt angle sensors. The laser pointing instrument emits laser to form a laser light path, the programmable computer controller controls the mechanical arm installed on the heading machine to enable the tail end of the mechanical arm to coincide with the laser light path, the CCD image sensor receives laser spot position information, the mechanical arm feeds back posture information of all joints, and therefore the deviation angle and the deviation displacement of the heading machine are calculated. Meanwhile, the measurement of the pose parameters of the body of the heading machine is completed according to the roll angle and the pitch angle measured by the two airborne tilt angle sensors. 本发明涉及一种基于机械臂视觉感知的掘进机位姿检测系统及方法，由激光指