Automatic positioning and orientation method of four-point type heading machine

The invention belongs to the technical field of automation of coal mine equipment, and provides an automatic positioning and orientation method of a four-point type heading machine, aiming at solving the technical problem of realizing automatic positioning and orientation in a working process of the heading machine in an underground roadway. The automatic positioning and orientation method of the heading machine based on a machine vision technology comprises the following steps: taking four characteristic points on a machine body of the heading machine, and obtaining images of the characteristic points through an industrial intelligent camera; resolving parameters including a deflection angle, a roll angle and a pitch angle of the machine body of the heading machine relative to the industrial intelligent camera, a transverse offset amount and a longitudinal offset amount of the machine body, a distance from the machine body to the industrial intelligent camera and the like, so as to realize the automatic posi