CN105352504B - The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning - Google Patents
The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning Download PDFInfo
- Publication number
- CN105352504B CN105352504B CN201510870392.1A CN201510870392A CN105352504B CN 105352504 B CN105352504 B CN 105352504B CN 201510870392 A CN201510870392 A CN 201510870392A CN 105352504 B CN105352504 B CN 105352504B
- Authority
- CN
- China
- Prior art keywords
- coal
- winning machine
- laser scanning
- inertial navigation
- microprocessor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 239000003245 coal Substances 0.000 title claims abstract description 50
- 238000005065 mining Methods 0.000 title claims abstract description 20
- 238000004880 explosion Methods 0.000 claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 238000013528 artificial neural network Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 8
- 230000004807 localization Effects 0.000 claims description 7
- 230000005284 excitation Effects 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- ONUFESLQCSAYKA-UHFFFAOYSA-N iprodione Chemical compound O=C1N(C(=O)NC(C)C)CC(=O)N1C1=CC(Cl)=CC(Cl)=C1 ONUFESLQCSAYKA-UHFFFAOYSA-N 0.000 claims description 3
- 230000000644 propagated effect Effects 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 2
- XCWPUUGSGHNIDZ-UHFFFAOYSA-N Oxypertine Chemical compound C1=2C=C(OC)C(OC)=CC=2NC(C)=C1CCN(CC1)CCN1C1=CC=CC=C1 XCWPUUGSGHNIDZ-UHFFFAOYSA-N 0.000 claims 1
- 238000003062 neural network model Methods 0.000 claims 1
- 230000007935 neutral effect Effects 0.000 claims 1
- 238000002156 mixing Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009415 formwork Methods 0.000 description 2
- 210000004218 nerve net Anatomy 0.000 description 2
- 238000001028 reflection method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning, belong to the device and method of coal-winning machine positioning.Positioner：Positioner explosion-resistant enclosure, laser signal receiving module are fixed with coal-winning machine fuselage；Inertial navigation positioner, laser scanning microprocessor are arranged in explosion-protection equipment；When coal-winning machine works, inertial navigation positioner obtains real-time angular speed, real time acceleration by sensor, and data are reached into inertial navigation microprocessor；In laser scanning device, laser scanning arrangement of base stations is received in coal-winning machine working region, its laser signal by laser signal receiving module, while data reach laser scanning microprocessor；Microprocessor is connected by serial ports with host computer, the location data each gathered is reached into coal-winning machine positioning control system to realize the processing of data, it uses the blending algorithm based on least square method-neural network algorithm to determine coal winning machine position, and realization is accurately positioned.Advantage is：It is registration, safe and reliable.
Description
Technical field
The present invention relates to a kind of device and method of coal-winning machine positioning, particularly a kind of inertial navigation merges with laser scanning
Coal mining machine positioning device and method.
Background technology
Location technology, refer to take target certain means to measure, and then obtain the technology of target position information.With
The continuous progress of modern technologies, in production and living, the status of positioning also more and more higher.In many positioning fields, to ore deposit
The visual field of people is just slowly being stepped into the positioning of underground various kinds of equipment.Due under mine in recent years security incident take place frequently, disaster it is serious
The problems such as protrude, therefore the positioning to ore deposit underground equipment is particularly important, and this simultaneously and realizes automated production and safety
The precondition of production.In the recovery process of coal resources, coal-winning machine is one of important equipment of underground work, therefore, right
The position positioning of coal-winning machine is just particularly important.However, due to the specific condition under mine, the complexity of its environment causes very
The positioning means of more generally uses do not reach the requirement of positioning precision under mine, or even can not be realized to coal-winning machine under mine
The determination of position.Under this background, the continuous development of the technology such as inertial navigation positioning, laser scanning positioning so as to mining
What seat in the plane was put, which be accurately positioned, is possibly realized.
In the classical calibration fashion of coal-winning machine, tend not to realize accurate calibration, constant error be present.Currently, colliery
The coal-winning machine positioning method that underground typically uses mainly has gear counting method, infrared emission method, supersonic reflection method, wireless sensing
Network positions method and pure-inertial guidance method.Wherein, it is by the circle to running part pinion rotation that coal-winning machine gear, which counts positioning mode,
Number is counted, and orients the position of coal-winning machine according to hydraulic support, and this method is fairly simple, and cost is low, but due to
Coal-winning machine is moved along working face transverse direction and longitudinal direction in operation process, and gear counting method can only determine coal-winning machine walking road
Journey, therefore cause positioning inaccurate, produce very big error；Infrared emission positioning rule is to install infrared emission in coal-winning machine fuselage
Device, infrared receiving device is fixed with hydraulic support, it is strong to reception signal by reception device in coal-winning machine operation process
Weak analysis, it is the position that can not continuously detect coal-winning machine using the shortcomings that this method so as to judge coal-winning machine particular location
Put, while the transmitting and reception of infrared signal necessarily be in same level, be difficult otherwise effective reception signal, therefore in reality
In the subsurface environment on border, because disturbing factor is numerous, it can not often be accurately positioned；Wireless sensor network positioning is to pass through
The technology such as WIFI, ZIGBEE, UWB or bluetooth positions to coal winning machine position, and this positioning method is often limited by positioning system
Uniting, unstable and technical research is immature, cost is too high therefore can not be used in underground；Pure inertial positioning method is to utilize acceleration
Degree meter and gyroscope draw the axle acceleration and axis angular rate of coal-winning machine, and the position of coal-winning machine is then determined by algorithm, this
Kind of method shortcoming is due to that gyroscope and accelerometer have drift, and accumulated error constantly increases, thus precision it is difficult to ensure that,
The absolute fix to coal-winning machine can not be realized.
In summary, existing coal-winning machine positioning method, such as gear counting method, infrared emission method, supersonic reflection method, nothing
Line sensing network positioning mode and pure-inertial guidance method etc., the position positioning to ore deposit silo shearer still suffer from larger error, often
The influence of its detection mode itself and ore deposit downhole detection environment is limited by, the positioning to coal-winning machine can not meet to want precision
Ask.
The content of the invention
Technical problem：The invention aims to overcome the deficiencies in the prior art, there is provided a kind of inertial navigation
The coal mining machine positioning device and method merged with laser scanning, solution simply use inertial navigation positioning and accumulated error be present not
The problem of disconnected increase, realize and the position of coal-winning machine is accurately positioned.
Technical scheme：To achieve these goals, the technical solution adopted by the present invention is：The inertial navigation and laser scanning
The coal mining machine positioning device and localization method of fusion；
Coal mining machine positioning device includes：Coal-winning machine, inertial navigation positioner, laser scanning device, positioner are explosion-proof
Shell and host computer；The laser signal that positioner explosion-resistant enclosure and laser scanning device are fixed with coal-winning machine fuselage receives
Module；Inertial navigation positioner is arranged in positioner explosion-resistant enclosure；
Described inertial navigation positioner includes three-axis gyroscope, three axis accelerometer, inertial navigation microprocessor；Three
Axle gyroscope includes three axis accelerometer sensor, and three axis accelerometer includes 3-axis acceleration sensor；Run in coal-winning machine
During, inertial navigation positioner measures the real-time angular speed on three directions by three-axis gyroscope, is accelerated by three axles
Degree measures to obtain real time acceleration value on three directions, and by three axis accelerometer sensor and the measurement number of 3-axis acceleration sensor
It is connected according to sampling to inertial navigation microprocessor, inertial navigation microprocessor by serial ports with host computer；
Described laser scanning device includes laser scanning base station, laser signal receiving module and laser scanning microprocessor
Device；Laser scanning arrangement of base stations is in coal-winning machine working region；Laser scanning microprocessor is arranged in positioner explosion-resistant enclosure；
Laser signal receiving module is connected with laser scanning microprocessor, and laser scanning microprocessor is connected by serial ports with host computer,
Laser scanning location data is reached into coal-winning machine positioning control system in host computer；The laser of laser scanning Base Transmitter is by mining
Laser signal receiving module on machine fuselage is received, and the temporal information received is acquired by laser scanning microprocessor
Processing；Host computer determines coefficient weights, neural network algorithm by carrying out differentiation processing to data message, using least square method
The blending algorithm of assessment position finally to determine coal winning machine position, realization is accurately positioned.
Coal-winning machine localization method, comprises the following steps：
A. positioner explosion-resistant enclosure is mounted with coal-winning machine fuselage, whole inertial navigation positioner is arranged on
In explosion-resistant enclosure；Positioner measured respectively by three-axis gyroscope, three axis accelerometer real-time angular speed on three directions,
Real time acceleration value, and measured value is sent into inertial navigation microprocessor, resolved by algorithm, obtain adopting for inertial navigation measurement
Coal machine positioning result；
B. in coal-winning machine working region arrangement laser scanning base station, laser signal reception mould is installed on coal-winning machine fuselage
Block, while laser scanning microprocessor is fixed in explosion-resistant enclosure, to realize that the coal-winning machine of laser scanning positions.
C. inertial navigation microprocessor, laser scanning microprocessor are connected by serial ports with host computer, establish data communication,
Obtained coal-winning machine positioning result will be each resolved respectively and is sent to host computer coal-winning machine positioning control system, realizes the friendship of data
Mutually；
D. in the coal-winning machine positioning control system of host computer, according to real work region and device deployment scenarios, establish
Coal-winning machine location model, model include laser scanning system, inertial navigation system to realize that location data is classified, accurate measurement
The three-dimensional location coordinates input laser scanning system of laser scanning base station, it is accurate to measure coal-winning machine initial position co-ordinates input inertia
Navigation system；
E. coal-winning machine normal work, the operation of coal-winning machine alignment system.
In described step B, comprise the steps of：
B1. the arrangement of laser scanning base station should be according to the working environment of current coal-winning machine, according in coal-winning machine running
Every bit can by more than two base station scans to principle be arranged, while base station Cost Problems are considered, to arrange 3
Realize positioning in individual base station；
B2., laser signal receiving module is installed, module number is 3, to realize to laser signal on coal-winning machine fuselage
Receive；Laser scanning microprocessor in explosion-resistant enclosure is connected by serial ports with laser signal receiving module, to realize data
Reading；
B3. laser scanning microprocessor includes signal threshold value setting section, because laser signal is easily by dust, masking
The influence of thing, when laser signal is poor, the relatively low requirement for being unable to reach positioning desired signal of intensity, microprocessor is without data
Resolve；Setting signal threshold value is δ, and when received signal strength is more than δ, microprocessor carries out location data resolving, passes through algorithm
Calculate coal winning machine position information.
Comprised the steps of in described step E：
E1. coal-winning machine normal work, inertial navigation system, laser scanning system normal operation, due to micro- in laser scanning
There is signal threshold value judgement in processor, in the case of signal intensity satisfaction, the coal-winning machine location data that two systems provide is sent into
Blending algorithm, optimize；When signal intensity is unsatisfactory for the demand of laser scanning, only with inertial navigation location data conduct
Coal winning machine position information；
E2. assume that inertial navigation system positioning coal winning machine position is (x1、y1、z1）, laser scanning system coal-winning machine sprocket bit
It is set to (x2、y2、z2), then according to current detection condition, distribute weight coefficient a, b, i.e. coal winning machine position coordinate (x, y, z)：
(x, y, z)=a (x1、y1、z1）+b(x2、y2、z2)
Meet coefficient a+b=1 simultaneously；
E3. after the distribution of weight coefficient is determined using least square method, and use artificial neural network algorithm is to distribution
Coefficient and position location are assessed, and final realize positions to coal winning machine position；
Principle of least square method：Assuming that there is function：
Pn(x)=(x, y, z)=a (x1、y1、z1)+b(x2、y2、z2)=anxn+an-1xn-1+…+a1x+a0
Wherein, a0, a1..., anFor coefficient constant, Pn(x) it is expansion multinomial.Then assume array for（xi, yi) | i=1,
2 ..., m }
Selectivity constant a0, a1..., anSo that variance is minimum, i.e.,
Wherein S is variance, in order that S is minimized, is met for coefficient constant a0, a1..., an,Then determine multinomial
Formula Pn(x), and then weight coefficient a, b can be tried to achieve；
Artificial neural network algorithm：Actual requirement is positioned with reference to coal-winning machine, establishes coal-winning machine fusion alignment system nerve net
Network model, its input layer are two elements of a fix for distributing weights, i.e. input layer vector P is as follows：
P=[a (x1、y1、z1)、b(x2、y2、z2）]
Output layer O is the coal winning machine position coordinate for wanting to obtain, i.e.,：O=[(x, y, z)]
Rule of thumb formulaIn formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is
Constant within 1-10, L are node in hidden layer, and it is 3 to select node in hidden layer, then is required, built according to neural network algorithm
Formwork erection type；
PjRepresent the input of j-th of node of input layer, j=1,2；wijRepresent i-th of node of hidden layer to j-th of input layer
Weights between node；θiRepresent the threshold value of i-th of node of hidden layer；Represent the excitation function of hidden layer；wiRepresent output
The weights that layer is arrived between i-th of node of hidden layer, i=1,2,3；τ represents the threshold value of output layer；Represent the excitation of output layer
Function；O represents the output of output layer；ForTypically it is taken as the sigmoid functions of continuous value in (0,1)：ForPurelin functions typically are used, are selectedThen
(1) the propagated forward process of signal
The input net of i-th of node of hidden layeri：neti=wi1P1+wi2P2+θi；The output y of i-th of node of hidden layeri Output layer inputs net：Output layer is defeated
Go out O：
(2) back-propagation process of error
For the positional information of each input, and assume only one group of sample every time, define error function：Wherein, T refers to expected output valve, and E is error amount size；
Principle, output layer weights changes delta w are declined according to error gradientiFormula：
Output layer changes of threshold Δ τ adjusts formula：
Hidden layer weights changes delta wijAdjust formula：
Hidden layer threshold value changes delta
θiAdjust formula：
Eventually pass through the network optimization, output coal-winning machine coordinate vector O=[(x, y, z)]；
E4. the coal-winning machine positioning result after algorithm process is inputted to inertial navigation microprocessor, as under by serial ports
Inertial navigation microprocessing unit carries out the initial value of position resolving, meanwhile, provide positioning result in coal-winning machine location model；
E5. stop working state is in when coal-winning machine is run to tip position, coal-winning machine, now inertial navigation system stops
Work, multiplicating measurement is carried out by laser scanning, reject and coal mining seat in the plane is obtained using minimum circumscribed circle algorithm after wrong data
Put, and this position result is assigned to coal winning machine position initial value in inertial navigation system；Coal-winning machine works on, and repetition E1~
E4。
Beneficial effect, as a result of such scheme, coal mining machine positioning device and method, inertial navigation is positioned, laser
Scan orientation is merged to realize the positioning to coal-winning machine；Solve to simply use inertial navigation and position and there can be accumulation mistake
The problem of poor constantly increase, coal-winning machine positioning precision misalignment is caused, it is accurate fixed to be realized using the positioning method of laser scanning
Position, and accurate positional information can be assigned to the positioning initial value being set as in inertial navigation system each time, so as to remove
Accumulated error；Although laser scanning methodses registration, scanning is often affected because of underground rugged environment, such as
Dust, veil etc. so that scanning can not be obtained a result, while mistake is produced the problems such as there is also because of time synchronized, time delay
Difference, now, at the time of inertial navigation system can be excessive in laser-scanning position errored message or can not positioned, provide coal-winning machine
Positioning result；Two ways is be combined with each other, and is further handled using combinated optimization algorithm, obtains coal winning machine position seat
Mark, realizes and coal winning machine position is accurately positioned.
Advantage：
(1) the coal-winning machine localization method that inertial navigation merges with laser scanning is chosen, make use of two kinds of localization methods in itself
Advantage, i.e. inertial navigation positioning strong antijamming capability, laser scanning accurate positioning the advantages of, while effectively inhibit inertia
The shortcomings that navigation time accumulated error and laser scanning are easily interfered and block influence, ensure that the precision of positioning, subtracts
Few position error, meets the requirement of coal-winning machine positioning.
(2) the inventive method uses, and securely and reliably, installs and easy to operate, has evaded and having been produced in actual dynamic measures
The situation of error, there is important reference value and practical significance.
Brief description of the drawings
Fig. 1 is coal-winning machine alignment system workflow diagram of the present invention.
Fig. 2 is the coal mining machine positioning device layout drawing that inertial navigation of the present invention merges with laser scanning.
Fig. 3 is positioner explosion-resistant enclosure schematic internal view of the present invention.
Fig. 4 is inventive algorithm flow chart.
In figure：1st, coal-winning machine；2nd, positioner explosion-resistant enclosure；3rd, laser signal receiving module；4th, inertial navigation positioning dress
Put；4-1, three-axis gyroscope；4-2, three axis accelerometer；4-3, inertial navigation microprocessor；5th, laser scanning microprocessor；6、
Host computer.
Embodiment
Further description is done to the present invention below in conjunction with the accompanying drawings：
From Fig. 2, Fig. 3, a kind of coal mining machine positioning device that inertial navigation merges with laser scanning, coal-winning machine positioning dress
Put including：Coal-winning machine 1, inertial navigation positioner 4, laser scanning device, positioner explosion-resistant enclosure 2 and host computer 6；Adopting
The laser signal receiving module of positioner explosion-resistant enclosure 2 and laser scanning device is fixed with the fuselage of coal machine 1；Inertial navigation is determined
Position device 4 is arranged in positioner explosion-resistant enclosure 2；
Described inertial navigation positioner 4 includes three-axis gyroscope 4-1, three axis accelerometer 4-2, the micro- place of inertial navigation
Manage device 4-3；Three-axis gyroscope 4-1 includes three axis accelerometer sensor, and three axis accelerometer 4-2 includes 3-axis acceleration sensing
Device；In coal-winning machine running, inertial navigation positioner 4 is measured real-time on three directions by three-axis gyroscope 4-1
Angular speed, measures the real time acceleration value on three directions by three axis accelerometer 4-2, and by three axis accelerometer sensor and three
The measurement data of axle acceleration sensor is sampled to inertial navigation microprocessor, inertial navigation microprocessor by serial ports with it is upper
Machine connects；
Described laser scanning device includes laser scanning base station, laser signal receiving module 3 and laser scanning microprocessor
Device 5；Laser scanning arrangement of base stations is in coal-winning machine working region；Laser scanning microprocessor 5 is arranged on positioner explosion-resistant enclosure 2
It is interior；Laser signal receiving module 3 is connected with laser scanning microprocessor 5, and laser scanning microprocessor 5 passes through serial ports and host computer
6 connections, coal-winning machine positioning control system in host computer 6 is reached by laser scanning location data；Laser scanning Base Transmitter swashs
Light is received by the laser signal receiving module on coal-winning machine fuselage, and the temporal information received is by laser scanning microprocessor
5 are acquired processing；Host computer 6 determines coefficient weights, god by carrying out differentiation processing to data message, using least square method
Through network algorithm carry out position assessment blending algorithm finally to determine coal winning machine position, realization is accurately positioned.
The coal-winning machine localization method that a kind of inertial navigation merges with laser scanning, comprises the following steps：
A. positioner explosion-resistant enclosure is mounted with coal-winning machine fuselage, whole inertial navigation positioner is arranged on
In explosion-resistant enclosure.Positioner measured respectively by three-axis gyroscope, three axis accelerometer real-time angular speed on three directions,
Real time acceleration value, and measured value is sent into inertial navigation microprocessing unit, resolved by algorithm, obtain inertial navigation measurement
Coal-winning machine positioning result.
B. in coal-winning machine working region arrangement laser scanning base station, laser signal reception mould is installed on coal-winning machine fuselage
Block, while laser scanning microprocessing unit is fixed in explosion-resistant enclosure, to realize that the coal-winning machine of laser scanning positions.
C. inertial navigation microprocessing unit, laser scanning microprocessing unit are connected by serial ports with host computer, establish data
Communication, obtained coal-winning machine positioning result will be each resolved respectively and is sent to host computer coal-winning machine positioning control system, realizes number
According to interaction.
D. in the coal-winning machine positioning control system of host computer, according to real work region and device deployment scenarios, establish
Coal-winning machine location model, model include laser scanning system, inertial navigation system to realize that location data is classified, accurate measurement
The three-dimensional location coordinates input laser scanning system of laser scanning base station, it is accurate to measure coal-winning machine initial position co-ordinates input inertia
Navigation system.
E. coal-winning machine normal work, the operation of coal-winning machine alignment system.
In described step B, comprise the steps of：
B1. the arrangement of laser scanning base station should be according to the working environment of current coal-winning machine, according in coal-winning machine running
Every bit can by more than two base station scans to principle be arranged, while consider base station Cost Problems, general cloth
3 base stations are put to realize positioning.
B2., laser signal receiving module is installed, module number is 3, to realize to laser signal on coal-winning machine fuselage
Receive.Laser scanning microprocessing unit in explosion-resistant enclosure is connected by serial ports with laser signal receiving module, to realize number
According to reading.
B3. laser scanning microprocessing unit includes signal threshold value setting section, because laser signal is easily by dust, screening
Cover the influence of thing, when laser signal is poor, the relatively low requirement for being unable to reach positioning desired signal of intensity, microprocessing unit without
Data calculation.Setting signal threshold value is δ, and when received signal strength is more than δ, microprocessing unit carries out location data resolving, leads to
Cross algorithm and calculate coal winning machine position information.
Fig. 1 is coal-winning machine alignment system workflow diagram, and coal-winning machine alignment system workflow is as described in E1~E5：
E1. coal-winning machine normal work, inertial navigation system, laser scanning system normal operation, due to micro- in laser scanning
There is signal threshold value judgement in processor, in the case of signal intensity satisfaction, the coal-winning machine location data that two systems provide is sent into
Blending algorithm, optimize；When signal intensity is unsatisfactory for the demand of laser scanning, only with inertial navigation location data conduct
Coal winning machine position information；
E2. assume that inertial navigation system positioning coal winning machine position is (x1、y1、z1）, laser scanning system coal-winning machine sprocket bit
It is set to (x2、y2、z2), then according to current detection condition, distribute weight coefficient a, b, i.e. coal winning machine position coordinate (x, y, z)：
(x, y, z)=a (x1、y1、z1）+b(x2、y2、z2)
Meet coefficient a+b=1 simultaneously；
E3. after the distribution of weight coefficient is determined using least square method, and use artificial neural network algorithm is to distribution
Coefficient and position location are assessed, and final realize positions to coal winning machine position；
Principle of least square method：Assuming that there is function：
Pn(x)=(x, y, z)=a (x1、y1、z1)+b(x2、y2、z2)=anxn+an-1xn-1+…+a1x+a0
Wherein, a0, a1..., anFor coefficient constant, Pn(x) it is expansion multinomial.Then assume that array is { (xi, yi) | i=1,
2 ..., m }
Selectivity constant a0, a1..., anSo that variance is minimum, i.e.,
Wherein S is variance, in order that S is minimized, is met for coefficient constant a0, a1..., an,Then determine multinomial
Formula Pn(x), and then weight coefficient a, b can be tried to achieve；
Artificial neural network algorithm：Actual requirement is positioned with reference to coal-winning machine, establishes coal-winning machine fusion alignment system nerve net
Network model, its input layer are two elements of a fix for distributing weights, i.e. input layer vector P is as follows：
P=[a (x1、y1、z1)、b(x2、y2、z2）]
Output layer O is the coal winning machine position coordinate for wanting to obtain, i.e.,：O=[(x, y, z)]
Rule of thumb formulaIn formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is
Constant within 1-10, L are node in hidden layer, and it is 3 to select node in hidden layer, then is required, built according to neural network algorithm
Formwork erection type；PjRepresent the input of j-th of node of input layer, j=1,2；wijRepresent i-th of node of hidden layer to j-th of input layer
Weights between node；θiRepresent the threshold value of i-th of node of hidden layer；Represent the excitation function of hidden layer；wiRepresent output
The weights that layer is arrived between i-th of node of hidden layer, i=1,2,3；τ represents the threshold value of output layer；Represent the excitation of output layer
Function；O represents the output of output layer；ForTypically it is taken as the sigmoid functions of continuous value in (0,1)：ForPurelin functions typically are used, are selectedThen
(1) the propagated forward process of signal
The input net of i-th of node of hidden layeri：neti=wi1P1+wi2P2+θi；The output y of i-th of node of hidden layeri Output layer inputs net：Output layer is defeated
Go out O：
(2) back-propagation process of error
For the positional information of each input, and assume only one group of sample every time, define error function：Wherein, T refers to expected output valve, and E is error amount size；
Principle, output layer weights changes delta w are declined according to error gradientiFormula：
Output layer changes of threshold Δ τ adjusts formula：
Hidden layer weights changes delta wijAdjust formula：
Hidden layer threshold value changes delta
θiAdjust formula：
Eventually pass through the network optimization, output coal-winning machine coordinate vector O=[(x, y, z)]；
E4. the coal-winning machine positioning result after algorithm process is inputted to inertial navigation microprocessing unit by serial ports, as
Inertial navigation microprocessing unit carries out the initial value of position resolving next time.Meanwhile positioning knot is provided in coal-winning machine location model
Fruit.
E5. stop working state is in when coal-winning machine is run to tip position, coal-winning machine, now inertial navigation system stops
Work, multiplicating measurement is carried out by laser scanning, reject and coal mining seat in the plane is obtained using minimum circumscribed circle algorithm after wrong data
Put, and this position result is assigned to coal winning machine position initial value in inertial navigation system.Coal-winning machine works on, and repetition E1~
E4。
Claims (4)
1. the coal mining machine positioning device that a kind of inertial navigation merges with laser scanning, it is characterized in that：Coal mining machine positioning device includes：
Coal-winning machine, inertial navigation positioner, laser scanning device, positioner explosion-resistant enclosure and host computer；On coal-winning machine fuselage
It is fixed with the laser signal receiving module of positioner explosion-resistant enclosure and laser scanning device；Inertial navigation positioner is arranged on
In positioner explosion-resistant enclosure；
Described inertial navigation positioner includes three-axis gyroscope, three axis accelerometer, inertial navigation microprocessor；Three axle tops
Spiral shell instrument includes three axis accelerometer sensor, and three axis accelerometer includes 3-axis acceleration sensor；In coal-winning machine running
In, inertial navigation positioner measures the real-time angular speed on three directions by three-axis gyroscope, passes through three axis accelerometer
The real time acceleration value on three directions is measured, and the measurement data of three axis accelerometer sensor and 3-axis acceleration sensor is adopted
Sample to inertial navigation microprocessor, inertial navigation microprocessor is connected by serial ports with host computer；
Described laser scanning device includes laser scanning base station, laser signal receiving module and laser scanning microprocessor；Swash
Optical scanning arrangement of base stations is in coal-winning machine working region；Laser scanning microprocessor is arranged in positioner explosion-resistant enclosure；Laser
Signal receiving module is connected with laser scanning microprocessor, and laser scanning microprocessor is connected by serial ports with host computer, will be swashed
Optical scanning location data reaches coal-winning machine positioning control system in host computer；The laser of laser scanning Base Transmitter is by coal-winning machine machine
Laser signal receiving module with it is received, and the temporal information received is acquired place by laser scanning microprocessor
Reason；By carrying out differentiation processing to data message, the distribution of weight coefficient is determined host computer using least square method, and uses people
Artificial neural networks algorithm is assessed the coefficient after distribution and position location, and final realize positions to coal winning machine position；It is described
Artificial neural network algorithm：Actual requirement is positioned with reference to coal-winning machine, establishes coal-winning machine fusion alignment system neural network model,
Its input layer is two elements of a fix for distributing weights；
Inertial navigation is positioned, laser scanning positioning is merged to realize the positioning to coal-winning machine；Using determining for laser scanning
Position mode, which can be realized, to be accurately positioned, and accurate positional information is assigned to the positioning being set as in inertial navigation system each time
Initial value, so as to remove accumulated error；Inertial navigation system is excessive or at the time of can not position in laser-scanning position errored message,
Provide coal-winning machine positioning result；Two ways is be combined with each other, and is further handled, is mined using combinated optimization algorithm
Machine position coordinates, realizes and coal winning machine position is accurately positioned.
2. the localization method for the coal mining machine positioning device that a kind of inertial navigation described in claim 1 merges with laser scanning, its
It is characterized in：Coal-winning machine localization method, comprises the following steps：
A. positioner explosion-resistant enclosure is mounted with coal-winning machine fuselage, whole inertial navigation positioner is arranged on explosion-proof
In shell；Positioner measures real-time angular speed on three directions, in real time by three-axis gyroscope, three axis accelerometer respectively
Acceleration magnitude, and measured value is sent into inertial navigation microprocessor, resolved by algorithm, obtain the coal-winning machine of inertial navigation measurement
Positioning result；
B. in coal-winning machine working region arrangement laser scanning base station, laser signal receiving module is installed on coal-winning machine fuselage, together
When laser scanning microprocessor is fixed in explosion-resistant enclosure, with realize the coal-winning machine of laser scanning position；
C. inertial navigation microprocessor, laser scanning microprocessor are connected by serial ports with host computer, establish data communication, respectively
Obtained coal-winning machine positioning result will each be resolved and be sent to host computer coal-winning machine positioning control system, realize the interaction of data；
D. in the coal-winning machine positioning control system of host computer, according to real work region and device deployment scenarios, establish and mine
Machine location model, model include laser scanning system, inertial navigation system to realize that location data is classified, accurately measure laser
The three-dimensional location coordinates input laser scanning system of base station is scanned, it is accurate to measure coal-winning machine initial position co-ordinates input inertial navigation
System；
E. coal-winning machine normal work, the operation of coal-winning machine alignment system.
3. the positioning side for the coal mining machine positioning device that a kind of inertial navigation according to claim 2 merges with laser scanning
Method, it is characterised in that in described step B, comprise the steps of：
B1. the arrangement of laser scanning base station should be according to the working environment of current coal-winning machine, according to each in coal-winning machine running
Point can by more than two base station scans to principle be arranged, while base station Cost Problems are considered, to arrange 3 bases
Realization of standing positions；
B2., laser signal receiving module is installed, module number is 3, to realize the reception to laser signal on coal-winning machine fuselage；
Laser scanning microprocessor in explosion-resistant enclosure is connected by serial ports with laser signal receiving module, to realize the reading of data
Take；
B3. laser scanning microprocessor includes signal threshold value setting section, because laser signal is easily by dust, veil
Influence, when laser signal is poor, the relatively low requirement for being unable to reach positioning desired signal of intensity, microprocessor is without data solution
Calculate；Setting signal threshold value is δ, and when received signal strength is more than δ, microprocessor carries out location data resolving, passes through algorithm solution
Calculate coal winning machine position information.
4. the positioning side for the coal mining machine positioning device that a kind of inertial navigation according to claim 2 merges with laser scanning
Method, it is characterised in that comprised the steps of in described step E：
E1. coal-winning machine normal work, inertial navigation system, laser scanning system normal operation, due in laser scanning microprocessor
There is signal threshold value judgement in device, in the case of signal intensity satisfaction, the coal-winning machine location data that two systems provide is sent into fusion
Algorithm, optimize；When signal intensity is unsatisfactory for the demand of laser scanning, only with inertial navigation location data as coal mining
Machine positional information；
E2. assume that inertial navigation system positioning coal winning machine position is (x1、y1、z1), laser scanning system coal-winning machine position location is
(x2、y2、z2), then according to current detection condition, distribute weight coefficient a, b, i.e. coal winning machine position coordinate (x, y, z)：
(x, y, z)=a (x1、y1、z1)+b(x2、y2、z2)
Meet coefficient a+b=1 simultaneously；
E3. the distribution of weight coefficient is determined using least square method, and using artificial neural network algorithm to the coefficient after distribution
And position location is assessed, final realize positions to coal winning machine position；
Principle of least square method：Assuming that there is function：
Pn(x)=(x, y, z)=a (x1、y1、z1)+b(x2、y2、z2)
=anxn+an-1xn-1+…+a1x+a0
Wherein, a0, a1..., anFor coefficient constant, Pn(x) it is expansion multinomial；Then assume that array is { (xi, yi) | i=1,2 ...,
m}
Selectivity constant a0, a1..., anSo that variance is minimum, i.e.,
Wherein S is variance, in order that S is minimized, is met for coefficient constant a0, a1..., an,Then determine multinomial Pn
(x), and then weight coefficient a, b can be tried to achieve；
Artificial neural network algorithm：Actual requirement is positioned with reference to coal-winning machine, establishes coal-winning machine fusion alignment system neutral net mould
Type, its input layer are two elements of a fix for distributing weights, i.e. input layer vector P is as follows：
P=[a (x1、y1、z1)、b(x2、y2、z2)]
Output layer O is the coal winning machine position coordinate for wanting to obtain, i.e.,：O=[(x, y, z)]
Rule of thumb formulaIn formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is 1-10
Within constant, L is node in hidden layer, select node in hidden layer be 3, then required according to neural network algorithm, establish mould
Type；
PjRepresent the input of j-th of node of input layer, j=1,2；wijRepresent i-th of node of hidden layer to j-th of node of input layer
Between weights；θiRepresent the threshold value of i-th of node of hidden layer；Represent the excitation function of hidden layer；wiRepresent that output layer arrives
Weights between i-th of node of hidden layer, i=1,2,3；τ represents the threshold value of output layer；Represent the excitation letter of output layer
Number；O represents the output of output layer；ForIt is taken as the sigmoid functions of continuous value in (0,1)：It is right
InUsing purelin functions, selectionThen
(1) the propagated forward process of signal
The input net of i-th of node of hidden layeri：neti=wi1P1+wi2P2+θi；The output y of i-th of node of hidden layeri Output layer inputs net：Output layer exports
O：
(2) back-propagation process of error
For the positional information of each input, and assume only one group of sample every time, define error function：
Wherein, T refers to expected output valve, and E is error amount size；
Principle, output layer weights changes delta w are declined according to error gradientiFormula：Output layer changes of threshold Δ τ adjusts formula：Hidden layer weights changes delta wijAdjust formula：Hidden layer threshold value changes delta θiAdjustment is public
Formula：
Eventually pass through the network optimization, output coal-winning machine coordinate vector O=[(x, y, z)]；
E4. the coal-winning machine positioning result after algorithm process is inputted to inertial navigation microprocessor, as next time by serial ports
Inertial navigation microprocessing unit carries out the initial value of position resolving, meanwhile, provide positioning result in coal-winning machine location model；
E5. stop working state is in when coal-winning machine is run to tip position, coal-winning machine, now inertial navigation system stops work
Make, multiplicating measurement carried out by laser scanning, reject and coal winning machine position is obtained using minimum circumscribed circle algorithm after wrong data,
And this position result is assigned to coal winning machine position initial value in inertial navigation system；Coal-winning machine works on, and repeats E1~E4.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510870392.1A CN105352504B (en) | 2015-12-01 | 2015-12-01 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CA2973038A CA2973038C (en) | 2015-12-01 | 2016-02-26 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
| PCT/CN2016/074617 WO2017092180A1 (en) | 2015-12-01 | 2016-02-26 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510870392.1A CN105352504B (en) | 2015-12-01 | 2015-12-01 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105352504A CN105352504A (en) | 2016-02-24 |
| CN105352504B true CN105352504B (en) | 2018-03-06 |
Family
ID=55328514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510870392.1A Expired - Fee Related CN105352504B (en) | 2015-12-01 | 2015-12-01 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105352504B (en) |
| CA (1) | CA2973038C (en) |
| WO (1) | WO2017092180A1 (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CN107014379B (en) * | 2017-05-25 | 2019-09-20 | 中国矿业大学 | A kind of development machine absolute space apparatus for detecting position and posture and method |
| CN107238385B (en) * | 2017-05-31 | 2019-07-12 | 中国矿业大学 | A kind of absolute pose detection system of coalcutter and method |
| CN107270901B (en) * | 2017-08-17 | 2020-02-14 | 中国矿业大学 | Coal mining machine inertial positioning precision improving method fusing coal mining process and coal mining machine motion model |
| CN107490784A (en) * | 2017-09-01 | 2017-12-19 | 青岛海信电器股份有限公司 | A kind of indoor orientation method and device based on laser positioning |
| CN108180904B (en) * | 2017-12-19 | 2021-01-08 | 中国矿业大学 | Multi-inertial navigation positioning device and method for coal mining machine |
| CN108181636B (en) * | 2018-01-12 | 2020-02-18 | 中国矿业大学 | Environment modeling and map building device and method for petrochemical plant inspection robot |
| CN108468542A (en) * | 2018-01-26 | 2018-08-31 | 安徽理工大学 | A kind of fully mechanized coal face dedusting system device and dust removal method |
| CN108548534A (en) * | 2018-03-01 | 2018-09-18 | 王宇腾 | Silo shearer localization method |
| CN108388253A (en) * | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN108868772B (en) * | 2018-04-17 | 2021-11-05 | 伊金霍洛旗德隆矿业有限公司 | Rapid collimation control method for continuous miner |
| CN108798664B (en) * | 2018-05-08 | 2020-10-16 | 中国煤炭科工集团太原研究院有限公司 | Continuous coal mining machine for open-pit mine end slope mining |
| CN108957405A (en) * | 2018-07-03 | 2018-12-07 | 中国矿业大学 | A kind of detection method of coal face scraper conveyor straightness |
| CN109490901A (en) * | 2018-11-21 | 2019-03-19 | 苏州瑞耀三维科技有限公司 | UAV system laser scanning system and its measurement method for coal handling capacity |
| CN109767477B (en) * | 2019-01-14 | 2022-12-20 | 冀中能源峰峰集团有限公司 | Accurate positioning system and method |
| CN109764876B (en) * | 2019-02-21 | 2021-01-08 | 北京大学 | Multi-mode fusion positioning method of unmanned platform |
| CN109903383B (en) * | 2019-04-11 | 2020-11-10 | 中国矿业大学 | Method for accurately positioning coal mining machine in three-dimensional model of working face coal seam |
| CN110044357B (en) * | 2019-04-22 | 2023-02-24 | 长春工程学院 | Indoor high-precision three-dimensional wireless positioning method |
| CN110231626B (en) * | 2019-06-10 | 2023-04-18 | 中国矿业大学 | Positioning monitoring system and monitoring method for coal mining machine |
| CN110553644B (en) * | 2019-09-20 | 2023-07-21 | 鞍钢集团矿业有限公司 | Accurate positioning system and method for mining electric shovel |
| CN110782642A (en) * | 2019-09-30 | 2020-02-11 | 山西平阳广日机电有限公司 | Wireless data transmission and positioning system of coal mining machine |
| CN111997679B (en) * | 2020-09-09 | 2022-08-30 | 重庆工程职业技术学院 | Fully-mechanized coal mining face end pushing state monitoring device |
| CN113155128B (en) * | 2021-03-31 | 2022-09-06 | 西安电子科技大学 | Indoor pedestrian positioning method based on cooperative game UWB and inertial navigation |
| CN113094247B (en) * | 2021-04-22 | 2023-08-15 | 西安科技大学 | Real-time prediction method for running state of coal mining machine based on Storm |
| CN113093255B (en) * | 2021-05-07 | 2024-05-07 | 深圳市前海智车科技有限公司 | Multi-signal true fusion positioning calculation method, device, equipment and storage medium |
| CN114089696A (en) * | 2021-09-26 | 2022-02-25 | 华能广东海门港务有限责任公司 | Intelligent coal blending system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6608913B1 (en) * | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
| CN102183255A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Positioning device and method of coal mining machine in full-mechanized mining face |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN104964688A (en) * | 2015-05-28 | 2015-10-07 | 中国矿业大学 | Coal mining machine explosion-prevention positioning apparatus based on strapdown inertial navigation, and calibration method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102053249B (en) * | 2009-10-30 | 2013-04-03 | 吴立新 | Underground space high-precision positioning method based on laser scanning and sequence encoded graphics |
| CN104612682B (en) * | 2014-12-09 | 2017-11-24 | 中国矿业大学 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
| CN204479086U (en) * | 2015-04-03 | 2015-07-15 | 中国矿业大学 | Based on the calibrating installation of the coalcutter positioning and orientation system of laser scanning |
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
-
2015
- 2015-12-01 CN CN201510870392.1A patent/CN105352504B/en not_active Expired - Fee Related
-
2016
- 2016-02-26 CA CA2973038A patent/CA2973038C/en active Active
- 2016-02-26 WO PCT/CN2016/074617 patent/WO2017092180A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6608913B1 (en) * | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
| CN102183255A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Positioning device and method of coal mining machine in full-mechanized mining face |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN104964688A (en) * | 2015-05-28 | 2015-10-07 | 中国矿业大学 | Coal mining machine explosion-prevention positioning apparatus based on strapdown inertial navigation, and calibration method thereof |
Non-Patent Citations (2)
| Title |
|---|
| "NAVIGATION AND CONTROL OF CONTINUOUS MINING SYSTEMS FOR COAL MINING";WILLIAM H;《0-7803-3544-919 19916 IEEE》;19961231;正文第2473-2479页 * |
| "基于地理信息系统(GIS)的采煤机定位定姿技术研究";葛世荣;《煤炭学报》;20151130;第40卷(第11期);正文第2503-2507页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2973038C (en) | 2020-08-18 |
| CA2973038A1 (en) | 2017-06-08 |
| CN105352504A (en) | 2016-02-24 |
| WO2017092180A1 (en) | 2017-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105352504B (en) | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning | |
| CN104049641B (en) | A kind of automatic landing method, device and aircraft | |
| CN105004340B (en) | With reference to inertial navigation technology and the position error modification method of fingerprint location technology | |
| CN107014375B (en) | Indoor positioning system and method with ultra-low deployment | |
| CN106091972B (en) | A kind of building change detecting method projecting dot density based on moving window | |
| CN106406320A (en) | Robot path planning method and robot planning route | |
| CN110208842A (en) | Vehicle high-precision locating method under a kind of car networking environment | |
| CN110533065A (en) | Based on the shield attitude prediction technique from coding characteristic and deep learning regression model | |
| CN107677275B (en) | A kind of heterogeneous aircraft paths planning method in mixing spatial domain and device | |
| CN103984355B (en) | Routing inspection flying robot and overhead power line distance prediction and maintaining method | |
| CN104848867A (en) | Pilotless automobile combination navigation method based on vision screening | |
| CN107990895A (en) | A kind of building floor gap pedestrian track tracking and system based on wearable IMU | |
| CN113593284B (en) | Method and device for planning path of vehicle in mine roadway and electronic equipment | |
| CN102628249A (en) | Full-automatic inertial sensing pavement evenness detection system and detection method | |
| CN109443350A (en) | Bluetooth/photoelectricity/INS combined navigation device neural network based and method | |
| CN103278132B (en) | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot | |
| CN205426176U (en) | Coal -winning machine positioner that inertial navigation and laser scanning fuse | |
| CN107525497A (en) | Automatic measurement guidance system and method for slurry balance shield machine | |
| CN109737968B (en) | Indoor fusion positioning method based on two-dimensional LiDAR and smart phone | |
| CN110160557A (en) | A kind of development machine inertial navigation system two-dimensional position precision calibration method and system | |
| CN113848226B (en) | Intelligent autonomous tracing system and tracing method for space mobile pollutants | |
| CN109934910A (en) | A kind of autonomous Selection Strategy of sensing point based on three dimensional environmental model | |
| CN113137967A (en) | Robot positioning method and device, robot and readable storage medium | |
| CN113029148A (en) | Inertial navigation indoor positioning method based on course angle accurate correction | |
| CN104330803B (en) | Double-station infrared passive ranging method for maneuverable aircrafts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180306 Termination date: 20191201 |