School of Electronic Information and Automation, Tianjin University of Science and Technology
Lixin Measurement (Shanghai)Co., Ltd.

Aiming at the problem that it is difficult to achieve the real-time and accurate measurement of the bolter miner’sposition and orientation during the excavation process in coal mines, which leads to the difficulty in achieving directionalexcavation, a guidance method for bolter miner based on dual-screen visual target is proposed. Using two vertically installedlight-sensitive imaging screens to form the dual-screen visual target surfaces and the indication laser emitted by thelaser instrument presents light spots on the front and rear target surfaces. Combining with the visual measurement, highprecisionraster calibration and other technology are applied to establish the mapping relationship of the spot centroid between 2D-3D coordinates, which is used to form the point cloud data of the coordinates. Based on the principle of gridindexing, coordinate transformation and Euler angle solving, combining with the biaxial inclinometer at the bottom of targetto obtain the bolter miner body’s real-time position and orientation, the key points’ horizontal/vertical deviations relativeto the roadway axis are calculated, which can provide data support for deviation correction during the excavation process.The off-target problem of the system is analyzed by constructing a mathematical model. Meanwhile, the effectivenessof the guidance method is verified by building an experimental platform. The experimental results indicate that thismethod can achieve a precision measurement of six-degrees-of-freedom spatial pose for the machine body. When themeasurement distance is 9 m, the repeatability measurement precision of the yaw angle is better than 0.01º and the error ofabsolute measurement is less than 0.05º. Within the measurement range of 15-40 m, which uses the total station and mininglaser to set the planning line, the measurement errors of key points’ horizontal/vertical deviations are less than 5 mmand 15 mm, respectively. The guiding system developed based on this method has also been successfully applied to the undergroundroadway excavation in coal mine, which fully meets the requirements of underground roadway excavation andthe positioning of the machine body’s key points. The error characteristic of the guiding method is independent of the testdistance. Also, all optical measurement functions involved in the method are realized inside the target, which can effectivelyshield the influence of the underground complex environment for the measurement function, and greatly improve thecapacity of anti-dust interference in field application.

天津市自然科学基金资助项目(18JCYBJC88600)；天津大学精密测试技术与仪器国家重点实验室开放课题资助项目(pilab1905)

黄喆，李佳雄，杜文阳，等. 基于双屏视觉标靶的掘锚机机身位姿测量技术[J]. 煤炭学报，2023，48(4)：1814−1824

HUANG Zhe，LI Jiaxiong，DU Wenyang，et al. Position and orientation measurement technology for bolter miner body based on dual-screen visual target[J]. Journal of China Coal Society，2023，48(4)：1814−1824