Study on principle and technology of position and attitude parameters measurement system for roadheader

The roadheader is one of the most important equipments for efficient production of coal mining. How to get all of the position and attitude parameters of a roadheader to achieve automatic directional excavation efficiently, and realize the fast-excavation and remote visualization, has always been a technical problem of coal mining and coal tunnel excavation. In this paper, we give an effective new means of position and attitude parameters measurement and a measurement system for roadheaders in the coal tunnel. Based on this means of position and attitude parameters measurement and measurement system , we also has established a mathematical relationship between the position and attitude parameters, and has gave the formulas to get all of the position and attitude parameters of a roadheader. This new means of position and attitude parameters measurement and a measurement system can get position and attitude parameters of a roadheader efficiently and exactly, and lay a solid foundation for achieving automatic directional excavation of roadheaders.