One kind roadheader cutting head positioning system and method and TBM

The present invention discloses a roadheader cutting head positioning system and method, and boring machine. The roadheader cutting head positioning system, by setting the boring machine body position and orientation detection module detects a horizontal boring machine body and the rotation angle of pitch angle and roll angle, in conjunction with cross cutting head pose detection module roadheader cutting arm the rotation angle and the pitch angle, and with the tunneling machine body parameter calculated position of the boring machine body section parameter in the roadway; and calculates the cutting arm according to the rotation angle and the pitch angle of the cutting arm and parameters said cutting head relative to the position parameter of the boring machine body; last position relative to the tunneling machine body parameter based on the position parameters of the tunnel boring machine body in the cross section of the cutting head and the calculated said cutting head position parameters in the cross section of the roadway, which can accurately measure a roadheader cutting position of the head, and prevent roadway overbreak underbreak phenomenon.