A high-accuracy position and orientation measurement method for bolter-miner based on double-screen visual target

Abstract

In this paper, a position and orientation measurement method for bolter-miner based on double-screen visual target is proposed, in which the target is composed of two industrial cameras and photosensitive surfaces. The point-cloud data of 2D–3D coordinates is established by using the method of grid calibration and index. Consequently, the posture parameters of bolter-miner and the horizontal/vertical offset distance of machine body key-points relative to the laneway tunneling axis (LTA) can be finally calculated with the prior information of the indicating laser. The experimental results show that the static repeatability measurement accuracy of laser-spot 3D coordinate is 0.07 mm, the repeatability measurement accuracy of yaw angle is better than 0.01°, the absolute measurement error of yaw angle is less than 0.05°, and the measurement error of horizontal/vertical offset distance are less than 5 mm. The experiment results proved that this method is practicable for application of the guidance and localization for bolter-miner.