Long distance high precision positioning system of anchor digger

Aiming at the problems of high labor intensity, low degree of automation and low positioning accuracy of single way in the construction process of existing coal mine anchor digging machine, a long-distance positioning system suitable for anchor digging machine is developed by using sensor measurement, machine vision, inertial navigation and other technologies. The system consists of anchor digger, inertial positioning subsystem, visual positioning subsystem, total station positioning subsystem and parameter monitoring subsystem. Anchor digger main machine adopts MB670-1 anchor digger; the inertial navigation and positioning subsystem is composed of built-in optical fiber inertial navigation and explosion-proof computer. The visual positioning subsystem includes infrared explosion-proof target, laser pointing device, front explosion-proof industrial camera and explosion-proof computer. The positioning subsystem of total station consists of 360° prism, three laser pointing instrument and rearview prism. Parameter monitoring subsystem includes parameter display, parameter setting and parameter solution module. The system was successfully developed and tested in Dahaize Coal Mine of China National Coal Group. The experiment shows that the long-distance high-precision positioning system of the all-in-one anchor digger has the advantages of flexible operation and highpositioning accuracy, and can realize the positioning and parameter monitoring of the all-in-one anchor digger.