CN202033006U - Location system of engineering machinery - Google Patents
Location system of engineering machinery Download PDFInfo
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- CN202033006U CN202033006U CN2011201197822U CN201120119782U CN202033006U CN 202033006 U CN202033006 U CN 202033006U CN 2011201197822 U CN2011201197822 U CN 2011201197822U CN 201120119782 U CN201120119782 U CN 201120119782U CN 202033006 U CN202033006 U CN 202033006U
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Abstract
The utility model discloses a location system of engineering machinery, which comprises a fixed light source (2) for offering fixed light beam, an optical transducer (1) for sensing the position irradiated by the light beam and converting the position signal of the light beam into electricity signal, a machinery arm (4), and a control device (3) connected with the optical transducer (1) and used for receiving the signal sent by the optical transducer (1) and obtaining the position parameter of the engineering machinery through calculation, wherein one end of the machinery arm (4) is arranged on a machine body of the engineering machinery, the other end of the machinery arm (4) can be freely located, and the optical transducer (1) is arranged at the free end of the machinery arm (4) which is also provided with a measuring part for measuring the position of the optical transducer (1). The system has flexible and convenient location process, and is simple in operation.
Description
Technical field
The utility model relates to technical field of engineering machinery, relates in particular to a kind of positioning system of engineering machinery.
Background technology
Along with the fast development of economic construction, all kinds of heavy constructions of China are increasing, and the demand for engineering machinery on the market is also strong day by day.Heading equipment is the engineering machinery of using always.
Heading equipment commonly used mainly comprises drilling staging machine and development machine, no matter be drilling staging machine or development machine, realize that automatic drilling and the prerequisite of tunneling automatically all are that equipment is accurately located on the central plane in tunnel or tunnel, the vertical section of equipment is overlapped with the tunnel mid-plane, and this just needs the accurate localization system.
Please refer to Fig. 1, Fig. 1 is the structural representation of the positioning system of existing heading equipment.
In the prior art, as shown in Figure 1, this positioning system comprise laser indicator 1 ', line laser transmitter 2 ', frame 3 ', laser target 4 ' and control device (not shown).Laser indicator 1 ' be to put installation according to ground, colliery location, provide the sensing of tunneling direction according to the tunnel designing requirement; Frame 3 ' be installed on the top board in tunnel, line laser transmitter 2 ' be installed on frame 3 ' on, by frame 3 ' about, about, motion such as pitching, make laser indicator 1 ' laser beam pass line laser transmitter 2 ' on aperture, thereby finish line laser transmitter 2 ' self location; Two laser targets 4 ' be parallel to each other and all be vertically positioned in the center line of fuselage.
Yet, in the above-mentioned positioning system, line laser transmitter 2 ' the position rely on frame 3 ' regulate, because frame 3 ' be fixed in the top board in tunnel, its position is far above equipment itself, therefore to frame 3 ' accurately operate with realize to line laser transmitter 2 ' accurate location difficulty relatively, very complexity and degree of accuracy are not high to make whole position fixing process.
Therefore, how on the basis of existing technology, improve the structure of the positioning system of existing engineering machinery, make that the positioning action of positioning system is simple, flexibly and degree of accuracy high, be the present urgent problem of those skilled in the art.
The utility model content
The technical problems to be solved in the utility model is for providing a kind of positioning system of engineering machinery, makes it can realize measurement to the pose parameter of engineering machinery, and the positioning action of positioning system is simple, flexibly and degree of accuracy high.
For solving the problems of the technologies described above, the utility model provides a kind of positioning system of engineering machinery, comprising:
The light source of fixed position is to provide the light beam of fixed position;
Optical sensor is used for the position of the described light beam irradiates of perception, and the position signalling of described light beam is converted to electric signal;
Mechanical arm, one end are located at body, the other end of described engineering machinery and can be freely located, and described optical sensor is located at the free end of described mechanical arm, and described mechanical arm also is provided with the measurement component of the position that is used to measure described optical sensor;
Control device is connected in described optical sensor, is used to receive the signal that described optical sensor sends, and it is carried out data computation, processing and conversion, draws the pose parameter of described engineering machinery.
Preferably, described mechanical arm comprises principal arm and Connection Block, and the bottom of described principal arm is connected with described Connection Block, and described Connection Block and described body are rotatably connected in surface level.
Preferably, described mechanical arm also comprises the first pitching oil cylinder; The movable part of the described first pitching oil cylinder and described principal arm are rotatably connected, and its fixed part and described Connection Block are rotatably connected; The bottom of described principal arm and described Connection Block are rotatably connected, and three rotary centerlines parallel and equal along continuous straight runs.
Preferably, described principal arm comprises flexible outer arm and is set in the flexible inner arm of described flexible outer arm inside that described flexible outer arm and described flexible inner arm are slidingly connected.
Preferably, described measurement component is specially angular transducer and displacement transducer.
Preferably, the free-ended top of described mechanical arm also is provided with freely positionable horizontal beam, and described optical sensor is located on the described horizontal beam.
Preferably, described optical sensor comprises incidence window, outgoing window and light splitting part, described light splitting part is located between described incidence window and the described outgoing window, and the three is positioned at straight line, and the light activated element of described optical sensor is located at the output terminal of described light splitting part.
Preferably, described light splitting part is a prism.
Preferably, the output signal of described optical sensor is a coordinate signal.
Adopt the positioning system of this structure, after the light source of fixed position sends light beam, mobile mechanical arm, to guarantee that light beam that light source sends can pass the incidence window of optical sensor, and use measurement component to measure the current location of optical sensor, the particular location of optical sensor perception this moment light beam irradiates, and be measurable signal with this information translation, export to control device, because the position of light beam, the position of optical sensor, the position of light beam irradiates on optical sensor all can accurately be measured, calculate and handle through control device, can draw current angle of deviation of heading equipment and deflection displacement, thereby realize the development machine angle of deviation, the measurement of deflection displacement.
This shows, the positioning system that this light source position is fixed, optical sensor is located by mechanical arm, can realize measurement to the pose parameter of heading equipment, determine the structure of laser transmitter positions by adjusting frame compared to existing technology, mechanical arm in this positioning system is installed on the frame of heading equipment, its free-ended moving process freedom, flexible, light, and simple to operate to the position measurement of optical sensor.
Description of drawings
Fig. 1 is the structural representation of the positioning system of existing heading equipment;
Fig. 2 is the structural representation of a kind of embodiment of positioning system that the utility model provides;
Fig. 3 is the vertical view of Fig. 2;
Fig. 4 is the fundamental diagram of positioning system that the utility model provides;
Fig. 5 is the location drawing of the angle of the measured angle of pitch of the positioning system among Fig. 1, roadway floor and tunneling direction;
Fig. 6 is the location drawing of the measured roll angle of the positioning system among Fig. 1;
Fig. 7 is the location drawing of measured angle of deviation of the positioning system among Fig. 1 and deflection displacement;
Fig. 8 is the structural representation of the optical sensor among Fig. 1;
Wherein, Reference numeral among Fig. 1 and the corresponding relation between the component names are: 1 ' laser indicator; 2 ' line laser transmitter; 3 ' frame; 4 ' laser target;
Corresponding relation among Fig. 2 to Fig. 8 between Reference numeral and the component names is: 1 optical sensor; 2 light sources; 3 control device; 4 mechanical arms; 41 principal arms; 42 Connection Blocks; 43 first pitching oil cylinders; 44 second pitching oil cylinders; 45 horizontal beams; 11 incidence windows; 12 outgoing windows; 13 light splitting parts; 14 light activated elements; 15 data processors; The α angle of pitch; The β roll angle; The b angle of deviation; The angle of φ roadway floor and tunneling direction; L is partial to displacement.
Embodiment
Core of the present utility model is for providing a kind of positioning system of engineering machinery, and this positioning system can realize the measurement to the pose parameter of engineering machinery, and the positioning action of positioning system is simple, flexible and degree of accuracy is high.
In order to make those skilled in the art understand the technical solution of the utility model better, be example with the heading equipment in the tunnel below, the utility model is described in further detail with specific embodiment in conjunction with the accompanying drawings.
Please refer to Fig. 2, Fig. 3 and Fig. 4, Fig. 2 is the structural representation of a kind of embodiment of positioning system that the utility model provides; Fig. 3 is the vertical view of Fig. 2; Fig. 4 is the fundamental diagram of positioning system that the utility model provides.
In a kind of concrete embodiment, as Fig. 2, Fig. 3 and shown in Figure 4, the positioning system that the utility model provides comprises light source 2, optical sensor 1, mechanical arm 4 and control device 3; Light source 2 is devices that aligned bundle is provided in the positioning system, and this light source 2 is light sources of fixed position, and the light beam of known location can be provided; Optical sensor 1 is the particular location that the perception light beam is radiated at optical sensor 1 in the positioning system, but and this information translation is become the parts of measuring-signal; Mechanical arm 4 is parts of location optical sensor 1, one end of mechanical arm 4 is located at heading equipment, its other end can freely be located, and mechanical arm 4 also is provided with the measurement component of the position that is used to measure optical sensor 1, and optical sensor 1 is located at the free end of mechanical arm 4; Control device 3 is control assemblies of positioning system, is mainly used in to receive the signal that optical sensor 1 sends, and it is carried out data computation, processing, conversion and demonstration.
Adopt the positioning system of this structure, after the light source 2 of fixed position sends light beam, mobile mechanical arm 4, to guarantee that light beam that light source 2 sends can pass the incidence window 11 of optical sensor 1, and use measurement component to measure the current location of optical sensor 1, this moment optical sensor 1 perception light beam irradiates particular location, and be measurable signal with this information translation, export to control device 3, because the position of light beam, the position of optical sensor 1, the position of light beam irradiates on optical sensor 1 all can accurately be measured, calculate and handle through control device 3, can draw current angle of deviation of heading equipment and deflection displacement, thereby realize the development machine angle of deviation, the measurement of deflection displacement.
This shows, the positioning system that this light source 2 stationkeeping, optical sensor 1 are located by mechanical arm 4, can realize measurement to the pose parameter of heading equipment, determine the structure of laser transmitter positions by adjusting frame compared to existing technology, mechanical arm 4 in this positioning system is installed on the frame of heading equipment, its free-ended moving process freedom, flexible, light, and simple to operate to the position measurement of optical sensor 1.
What specify is, can comprise 1 optical sensor 1 in the above-mentioned positioning system, in preferred embodiment, can also comprise 2 optical sensors 1, the light beam that in the position fixing process light source is sent passes the incidence window of 2 optical sensors 1 simultaneously, can strengthen the accurate positioning of positioning system like this.Certainly, above-mentioned positioning system can also comprise the optical sensor 1 of greater number.
Need to prove that " freely locating " that the foregoing description occurred refers in surface level, vertical plane and all can move freely.Do not limit the concrete mode that mechanical arm 4 is freely located in the foregoing description; do not limit the locator meams of light source 2 yet; do not limit the concrete mode of optical sensor 1 perception light beam irradiates yet; in fact, every positioning system that comprises light source 2, optical sensor 1, the control device 3 of fixed position and be used to locate the mechanical arm 4 of optical sensor 1 all belongs in the protection domain of the present utility model.
The concrete mode of freely locating of above-mentioned mechanical arm 4 can also further be set.
In the concrete embodiment of another kind, above-mentioned mechanical arm 4 can comprise principal arm 41 and Connection Block 42, and Connection Block 42 is rotatably connected with the body of heading equipment, and the bottom of principal arm 41 is connected with Connection Block 42.Adopt this structure, when needs optical sensor 1 is mobile in surface level, seat 42 only need be rotationally connected, just can drive mechanical arm 4 moves freely in surface level, thereby drive optical sensor 1 and in surface level, move to needed position, as seen this structure can realize that the free end of mechanical arm 4 moves freely in surface level, and has simple in structure, reliable characteristics.
Particularly, the structure of oscillating oil cylinder that can adopt above-mentioned Connection Block 42 realizes mechanical arm 4 moving in surface level, can also adopt the rotating shaft of vertical setting to realize, certainly, can also adopt other structure, for example can be set to slide mechanism by Connection Block, promptly on the body of heading equipment, be fixed with guide rail, guide rail is set with the linear bearing that can move freely outward, the bottom of mechanical arm 4 is fixedly connected on linear bearing, when needs mechanical arm 4 is mobile in surface level, only needs the promotion linear bearing just can drive mechanical arm 4 and integrally in surface level, move freely.
In concrete scheme, above-mentioned mechanical arm 4 can also comprise the first pitching oil cylinder 43, the movable part and the principal arm 41 of this first pitching oil cylinder 43 are rotatably connected, the fixed part of the first pitching oil cylinder 43 and Connection Block 42 are rotatably connected, the bottom of principal arm 41 and Connection Block 42 are rotatably connected, and three rotary centerlines parallel and equal along continuous straight runs.Adopt this structure, when needs optical sensor 1 raises, only need the control first pitching oil cylinder 43 in vertical plane, make the upwards elongation of its movable end, the free end that promptly drives mechanical arm 4 raises, and arrives the target location thereby drive optical sensor 1; When needs optical sensor 1 reduces in vertical plane, only need the control first pitching oil cylinder 43, its movable part is shunk downwards, the free end that promptly drives mechanical arm 4 reduces, and arrives the target location thereby drive optical sensor 1.This shows, can realize that by the structure that the first pitching oil cylinder 43 is set mechanical arm 4 moves freely in perpendicular.Certainly, above-mentioned mechanical arm 4 can also adopt other modes to realize that it moves freely in perpendicular.
In the concrete embodiment of another kind, the measurement component in the above-mentioned positioning system can be specially displacement transducer and angular transducer.Adopt this structure, after finish optical sensor 1 location, can accurately measure the displacement and the angle of mechanical arm 4 each degree of freedom by displacement transducer and angular transducer, thus the exact position that draws the optical sensor 1 that is installed on the mechanical arm 4.Certainly, except adopting the mode of sensor, can also other mode come the position of measurement mechanical arm 4, for example can accepted scale, tape etc. accurately measures.
Above-mentioned principal arm 41 can also comprise flexible outer arm and be set in the flexible inner arm of its inside that flexible outer arm and flexible inner arm adopt and be slidingly connected.Adopt this mode, make mechanical arm length to regulate, make positioning action more flexible.
In embodiment more specifically, the free-ended top of above-mentioned mechanical arm 4 can also be provided with freely positionable horizontal beam 45, and optical sensor 1 can be located on this horizontal beam 45.By this horizontal beam 45 is set, optical sensor 1 is connected on the mechanical arm 4 by this horizontal beam 45, optical sensor 1 is horizontal all the time, thereby has improved the accuracy of positioning system.Can also be connected with the second pitching oil cylinder 44 between this horizontal beam 45 and the principal arm 41, the stiff end of the second pitching oil cylinder 44 is connected in principal arm 41, its movable end is connected in the bottom of horizontal beam 45, in the positioning action process, can realize that horizontal beam 45 remains horizontality by movable part elongation or the shortening of controlling the second pitching oil cylinder 44.With the structural similarity of principal arm 41, above-mentioned horizontal beam 45 also can adopt slew gear to realize that horizontal beam rotates in surface level with respect to principal arm 41, does not repeat them here.
Above-mentioned positioning system can also comprise the double-shaft tilt angle instrument, and the double-shaft tilt angle instrument is arranged at the middle part of the body of heading equipment, by the measurement of angle direction of double-shaft tilt angle instrument is set, can access the angle of pitch and the roll angle of heading equipment.
Need to prove, the pose parameter of Chu Xianing mainly comprises the angle of angle of deviation, deflection displacement, the angle of pitch, roll angle and roadway floor and tunneling direction herein, as Fig. 5, Fig. 6 and shown in Figure 7, " angle of pitch " refers to the bottom surface of mole and surface level at body angle, i.e. angle α longitudinally; " roll angle " refers to the bottom surface of heading equipment and surface level at the horizontal angle of body, i.e. angle β; " angle of deviation " refers to perpendicular and the angle of tunneling direction, i.e. the angle b that passes the heading equipment center line; " deflection displacement " refers to perpendicular and the distance between the tunneling direction, the i.e. length L of passing the heading equipment center line; " angle of roadway floor and tunneling direction " refers to the angle of working direction of the driving parts of tunneling direction and heading equipment, i.e. angle φ.
The version of above-mentioned optical sensor 1 can also further be set.
Please refer to Fig. 8, Fig. 8 is the structural representation of the optical sensor among Fig. 1.
In the concrete embodiment of another kind, as shown in Figure 8, above-mentioned optical sensor 1 can comprise incidence window 11, outgoing window 12, light splitting part 13, light activated element 14 and data processor 15; Incidence window 11 is inlets that light beam enters optical sensor 1; Outgoing window 12 is that light beam penetrates the outlet that optical sensor 1 penetrates; Light splitting part 13 is located between incidence window 11 and the outgoing window 12, and the three is positioned at straight line, and light splitting part 13 is the parts that in the sensor light beam that absorbs carried out beam split; Light activated element 14 is located at the output terminal of light splitting part 13, and it is the position of perception light beam irradiates in the sensor, and is the parts of electric quantity signal with this conversion of signals; Data processor 15 makes the parts that the electric quantity signal of light activated element 14 outputs are converted to other measurable signals through change-over circuit.
Adopt this structure, the light beam irradiates of sending when light source 2 is when the incidence window 11 of optical sensor 1, light beam enters optical sensor 1 inside, light splitting part 13 is divided into two parts with light beam, a part shines the light activated element 14 of optical sensor 1, remainder still shines along rectilinear direction, and penetrates from outgoing window 12; The light beam that light activated element 14 perception absorb, and be electric quantity signal with light beam irradiates in the particular location signal transition of incidence window 11, and output it to data processor 15; Data processor 15 is converted to electric quantity signal other measurable signal output again through change-over circuit.
This shows, adopt the optical sensor 1 of light splitting part 13, a part of beam absorption can be made it participate in detecting, remainder still can penetrate by straight line, to finish other functions.This has satisfied at some in particular cases, and when for example heading equipment tunneled the tunnel, the laser indicator can realize that the laser that sends had both participated in location survey, and the function of direction indication can also be provided for heading equipment simultaneously.Therefore, in corresponding positioning system, just can adopt passive design, promptly do not need independent light source 2 to provide light beam for positioning system, only need capture the light beam that the laser indicator sends and to finish location survey, can not have influence on the direction indication of heading equipment simultaneously again.
In addition, because above-mentioned optical sensor 1 has the beam split function, it directly captures the position of the light beam that the laser indicator sends, thereby can determine the angle of roadway floor and tunneling direction, i.e. angle φ.
The specific constructive form of above-mentioned light splitting part 13 can also further be set.
In the concrete embodiment of another kind, above-mentioned light splitting part 13 can be prism.Prism is the polyhedron of being made by transparent material (as glass, crystal etc.), is widely used in optical instrument.Adopt the light splitting part 13 of prism, can realize the function of beam split, make the part of light beam enter sensor internal participation measurement, remainder penetrates from outgoing window 12.Certainly, the light splitting part 13 in the foregoing description can also adopt other version, for example light splitting part 13 can be set to the level crossing that two overlap joints are the prism form, can realize the function of beam split equally.
The concrete form of the output signal of above-mentioned optical sensor 1 can also further be set.
In the concrete embodiment of another kind, above-mentioned light activated element 14 perception light beams are radiated at the particular location of incidence window 11, and be after electric quantity signal is exported to data processor 15 with this information translation, data processor 15 can be a coordinate signal with this conversion of signals.Like this, operating personnel can find out horizontal-shift distance and the offset of vertical distance of light-beam position apart from initial point exactly, thereby draw the current pose parameter of heading equipment more exactly.
Certainly, the output signal of above-mentioned optical sensor 1 is not limited to coordinate signal, can also be multiple other forms of signal, for example can also be vision signal, promptly laser beam irradiation directly is transferred to terminal presentation facility in the position of optical sensor 1 incidence window 11 with optical fiber or cable, like this, operating personnel can find out more intuitively laser beam irradiation as penetrate the original position of window, thereby convenient follow-up heading equipment pose CALCULATION OF PARAMETERS.In addition, the output signal of the sensor can also be electric signal such as electric current, voltage, frequency.
Need to prove that it is the technique effect that example has been introduced above-mentioned positioning system that this paper only carries out tunnelling with heading equipment, in fact, positioning system provided by the utility model is not limited in heading equipment, can also be the positioning system of other equipment.
More than the positioning system of a kind of engineering machinery provided by the utility model is described in detail.Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (9)
1. the positioning system of an engineering machinery is characterized in that, comprising:
The light source of fixed position (2) is to provide the light beam of fixed position;
Optical sensor (1) is used for the position of the described light beam irradiates of perception, and the position signalling of described light beam is converted to electric signal;
Mechanical arm (4), the one end is located at body, the other end of described engineering machinery and can be freely located, described optical sensor (1) is located at the free end of described mechanical arm (4), and described mechanical arm (4) also is provided with the measurement component of the position that is used to measure described optical sensor (1);
Control device (3) is connected in described optical sensor (1), is used to receive the signal that described optical sensor (1) sends, and it is carried out data computation, processing and conversion, draws the pose parameter of described engineering machinery.
2. positioning system according to claim 1, it is characterized in that, described mechanical arm (4) comprises principal arm (41) and Connection Block (42), and the bottom of described principal arm (41) is connected with described Connection Block (42), and described Connection Block (42) is rotatably connected in surface level with described body.
3. positioning system according to claim 2 is characterized in that, described mechanical arm (4) also comprises the first pitching oil cylinder (43); The movable part of the described first pitching oil cylinder (43) and described principal arm (41) are rotatably connected, and its fixed part and described Connection Block (42) are rotatably connected; The bottom of described principal arm (41) and described Connection Block (42) are rotatably connected, and three rotary centerlines parallel and equal along continuous straight runs.
4. positioning system according to claim 2 is characterized in that, described principal arm (41) comprises flexible outer arm and be set in the flexible inner arm of described flexible outer arm inside that described flexible outer arm and described flexible inner arm are slidingly connected.
5. positioning system according to claim 1 is characterized in that described measurement component is specially angular transducer and displacement transducer.
6. positioning system according to claim 1 is characterized in that, the free-ended top of described mechanical arm (4) also is provided with freely positionable horizontal beam (45), and described optical sensor (1) is located on the described horizontal beam (45).
7. according to each described positioning system of claim 1-6, it is characterized in that, described optical sensor (1) comprises incidence window (11), outgoing window (12) and light splitting part (13), described light splitting part (13) is located between described incidence window (11) and the described outgoing window (12), and the three is positioned at straight line, and the light activated element (14) of described optical sensor (1) is located at the output terminal of described light splitting part (13).
8. positioning system according to claim 7 is characterized in that, described light splitting part (13) is a prism.
9. positioning system according to claim 7 is characterized in that, the output signal of described optical sensor (1) is a coordinate signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201197822U CN202033006U (en) | 2011-04-21 | 2011-04-21 | Location system of engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201197822U CN202033006U (en) | 2011-04-21 | 2011-04-21 | Location system of engineering machinery |
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| Publication Number | Publication Date |
|---|---|
| CN202033006U true CN202033006U (en) | 2011-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201197822U Expired - Lifetime CN202033006U (en) | 2011-04-21 | 2011-04-21 | Location system of engineering machinery |
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| CN (1) | CN202033006U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221335A (en) * | 2011-04-21 | 2011-10-19 | 三一重型装备有限公司 | Positioning system and method for engineering machine |
| CN105484794A (en) * | 2015-11-19 | 2016-04-13 | 辽宁工程技术大学 | Anti-deflection system for tunnel excavation |
| CN112197756A (en) * | 2020-10-12 | 2021-01-08 | 中国矿业大学(北京) | Heading machine pose detection system and method based on mechanical arm visual perception |
-
2011
- 2011-04-21 CN CN2011201197822U patent/CN202033006U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221335A (en) * | 2011-04-21 | 2011-10-19 | 三一重型装备有限公司 | Positioning system and method for engineering machine |
| CN102221335B (en) * | 2011-04-21 | 2013-06-05 | 三一重型装备有限公司 | Positioning system and method for engineering machine |
| CN105484794A (en) * | 2015-11-19 | 2016-04-13 | 辽宁工程技术大学 | Anti-deflection system for tunnel excavation |
| CN112197756A (en) * | 2020-10-12 | 2021-01-08 | 中国矿业大学(北京) | Heading machine pose detection system and method based on mechanical arm visual perception |
| CN112197756B (en) * | 2020-10-12 | 2023-10-17 | 中国矿业大学(北京) | Heading machine pose detection system and method based on mechanical arm visual perception |
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