CN110847905A - Autonomous navigation system and method for coal mining machine - Google Patents
Autonomous navigation system and method for coal mining machine Download PDFInfo
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- 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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
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- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses an autonomous navigation system and method for a coal mining machine. The total station is used as a system reference and is installed at the intersection point of the transport ascending mountain and the section transport roadway. And installing the UWB fixed base station group at the position of a reversed loader at the intersection point of the fully mechanized coal mining face and the transportation roadway to serve as the coordinate reference of the coal mining face. The UWB mobile base station group is installed below a hydraulic support top plate and moves with the hydraulic support to be calibrated automatically. The UWB node, the north seeker and the tilt sensor are mounted to the body of the coal mining machine. When the coal mining machine works, the UWB mobile base station group positions the UWB nodes and transmits the UWB nodes to the UWB fixed base station group; the UWB fixed base station group is calibrated by a total station, positioning of the coal mining machine in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder and the tilt sensor are used for absolute measurement of the posture of the coal mining machine body, so that full autonomous navigation of the coal mining machine in complete coal seam coal mining is completed.
Description
Technical Field
The invention relates to a coal mining machine for a fully mechanized mining face, in particular to an autonomous navigation system and method of the coal mining machine.
Background
A coal mining machine is one of main devices of fully mechanized mining complete equipment. In conventional coal seam mining processes. The advancing route of the coal mining machine is drawn by a measuring department, and coal mining workers control the collecting route of the coal mining machine by controlling the states of the hydraulic support group and the scraper conveyor. At present, the navigation mode of the coal mining machine is mainly manual direct-view remote control. Due to the fact that the mine roadway environment is severe, the navigation method is low in efficiency and limited in accuracy. In addition, the coal face is a mine accident multi-occurrence area, and the working intensity and the working danger of coal mining workers are greatly increased.
With the progress of society, the safety of mine workers is receiving more and more attention. In recent years, certain research is carried out on the navigation problem of the needle mining machine in some colleges and universities and other scientific research institutions.
The patent with the publication number of CN102183255A discloses a positioning device and a positioning method for a fully mechanized coal mining face coal mining machine; the patent with the publication number of CN108180904A discloses a multi-inertial navigation positioning device and method for a coal mining machine; the patent with the publication number of CN108548534A discloses a positioning method of an underground coal mining machine; the patent with the publication number of CN108827220A discloses a method for detecting straightness of a fully mechanized coal mining face based on strapdown inertial navigation; the patent with the publication number of CN109186589A discloses a coal mining machine positioning method based on an array type inertia unit; the patent with the publication number of CN110285810A discloses an autonomous positioning method and device of a coal mining machine based on inertial navigation data.
In the methods, a single set of inertial navigation system or a plurality of sets of inertial navigation systems are adopted to navigate coal mining, but the error of the inertial navigation system increases in a nonlinear manner along with the accumulated error of time, and finally the system fails under the condition of no other calibration, so that the actual industrial requirements cannot be met.
The patent with the publication number of CN106570877B discloses a coal mining machine pose positioning system and a coal mining machine pose positioning method based on registration of a virtual prototype and a real image of a coal mining machine; the patent with the publication number of CN109115172A discloses a method for detecting the pose of a coal mining machine body based on machine vision; the patent with the publication number of CN109736803A discloses an automatic underground coal mining system and method based on infrared positioning; the patent with the publication number of CN109903383A discloses a method for accurately positioning a coal mining machine in a three-dimensional model of a working face coal seam; the patent with the publication number of CN110231626A discloses a positioning monitoring system and a monitoring method for a coal mining machine.
In the methods, the coal mining machine is positioned by adopting a machine vision method, a laser beam method or a laser radar method, but the coal mining working face has severe environment and large dust, and the influence on a vision signal or a laser signal is great, so that the system precision cannot be ensured.
The patent with publication number "CN 108661637A" discloses a "perception control method for positioning the position of a coal mining machine; the method mainly utilizes a rotary encoder to measure the distance of the walking part of the coal mining machine so as to calculate the position coordinates of the coal mining machine, but the method can only measure the local position of the coal mining machine and cannot realize absolute measurement of the coal mining machine relative to a mine reference coordinate system.
The patent with the publication number of CN108981685A discloses a positioning device of a fully mechanized coal mining face coal mining machine; the patent provides a combined coal mining machine positioning scheme combining laser, infrared, ultrasonic and inertial navigation, but only provides a rough text scheme and has no practical significance.
In view of the defects of the invention, in order to realize the complete autonomous navigation of the coal mining machine, mine workers are thoroughly saved from the heavy and dangerous work of the coal mining working face, and the invention with practical value is finally created after continuous research and design, repeated test and improvement.
Disclosure of Invention
The technical problem is as follows: the invention mainly aims to overcome the defects of the actual condition of the current coal face and the positioning and orienting technology of the existing coal mining machine. An autonomous navigation system and method for a coal mining machine are provided. The coal mining machine aims to realize that the coal mining machine can automatically perform positioning and navigation without manual participation in the whole coal mining process.
The technical scheme is as follows: the purpose of the invention is realized as follows: an autonomous navigation system of a coal mining machine is characterized in that: the system comprises: the system comprises a total station, a UWB fixed base station group, a UWB mobile base station group, a UWB positioning node, a north seeker and an inclination sensor. The total station is used as a system reference and is installed at the intersection point of the transport ascending mountain and the section transport roadway. And installing the UWB fixed base station group at the position of a reversed loader at the intersection point of the fully mechanized coal mining face and the transportation roadway to serve as the coordinate reference of the coal mining face. The UWB mobile base station group is installed below a hydraulic support top plate and moves with the hydraulic support to be calibrated automatically. The UWB node, the north seeker and the tilt sensor are mounted to the body of the coal mining machine. When the coal mining machine works, the UWB mobile base station group positions the UWB nodes and transmits the UWB nodes to the UWB fixed base station group; the UWB fixed base station group is calibrated by a total station, positioning of the coal mining machine in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder and the tilt sensor are used for absolute measurement of the posture of the coal mining machine body, so that full autonomous navigation of the coal mining machine in complete coal seam coal mining is completed.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB nodes are fixed on the body of the coal mining machine and are transmitted in a line-of-sight manner with the UWB mobile base station group, when the coal mining machine moves, the UWB mobile base station group carries out real-time UWB ranging on the UWB nodes, a positioning equation set is established according to ranging information, and relative space coordinates of the UWB nodes relative to the UWB mobile base stations can be established through calculation. The north seeker and the inclination angle sensor are installed in an industrial control box of a coal mining machine body, when the coal mining machine finishes coal mining on a longitudinal section, the course angle, the pitch angle and the roll angle of the coal mining machine are measured and calibrated, and the coordinate and the posture information of the coal mining machine are transmitted by an antenna of a UWB node.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB mobile base station is matched with the hydraulic supports, and one UWB mobile base station is installed at the bottom of the top plate of each hydraulic support. When a single hydraulic support moves, the single UWB mobile base station is calibrated by other UWB mobile base stations and updates the spatial position coordinates, and the coordinate autonomous translation of the UWB mobile base station group is realized.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB fixed base station group comprises 4 UWB ranging base stations, and the UWB ranging base stations are installed to a transfer conveyor at the intersection point of the section transportation roadway and the coal face at the determined positions to serve as the coordinate reference of the coal face. When the hydraulic support moves longitudinally, the UWB fixed base station moves longitudinally along with the reversed loader, and the position coordinates after movement are calibrated by the total station.
The autonomous navigation system of the coal mining machine is characterized in that the total station is installed at the intersection of a transport ascending mountain and a section transport roadway, and is calibrated by a geodetic worker before coal seam mining to serve as a coordinate reference of the autonomous navigation system of the coal mining machine.
The coal mining machine autonomous navigation method of the coal mining machine autonomous navigation system is characterized in that:
before coal mining work begins, a total station is installed at an intersection of a transport ascending mountain and a section transport roadway, and coordinates of the total station are calibrated in advance by geodetic personnel and used as a coordinate reference of an autonomous navigation system of a coal mining machine; mounting a total station target prism and a UWB fixed base station on a reversed loader at the intersection of a section transportation roadway and a coal face, wherein the target prism and the UWB fixed base station have a determined position relation; when the system works, the total station determines the three-dimensional coordinate of the target prism relative to the coordinate reference of the total station by measuring the distance and the angle of the target prism, so as to obtain the determined position coordinate of the UWB fixed base station; the UWB mobile base station group is respectively installed at the bottom of the top plate of the hydraulic support group, each UWB mobile base station carries out ranging through the UWB fixed base station group, a positioning observation equation set is established according to multiple groups of ranging information, the position coordinates of the UWB mobile base stations relative to the fixed base station group can be obtained through solving, when the hydraulic support moves longitudinally in sequence, the UWB mobile base stations of a single UWB mobile base station range and the position coordinates are solved through nearby unmoved base stations, and therefore the coordinate of the UWB base station group can be autonomously and continuously translated; the UWB positioning node is installed on the body of the coal mining machine, when the coal mining machine works, the UWB mobile base station group carries out real-time distance measurement and calculation on the UWB positioning node, so that a real-time position coordinate of the position of the coal mining machine relative to the UWB mobile base station group is obtained, and a position coordinate of the coal mining machine relative to a total station reference coordinate system is obtained through a coordinate system transformation matrix; the north seeker and the inclination angle sensor are installed on the body of the coal mining machine, when the coal mining machine completes one longitudinal coal mining cut, the north seeker and the inclination angle sensor are started to measure and calibrate the attitude angle of the coal mining machine, and the measurement information is transmitted to a system terminal at a coordinate system of the total station through a UWB positioning node antenna, so that the all-autonomous navigation of the coal mining machine is realized.
Compared with the prior art, the autonomous navigation system and method for the coal mining machine have obvious advantages and beneficial effects. By means of the technical scheme, the invention can achieve considerable technical progress and practicability, has wide industrial utilization value and at least has the following points:
(1) the invention replaces the traditional manual visual coal mining mode with the ultra-wideband radio module, the north finder, the inclination angle sensor and the total station, solves the problems of inaccurate cutting, deviation of a hydraulic support and the like of the traditional coal mining machine, and improves the quality and the efficiency of tunnel forming. The positioning and navigation of the coal mining machine in coal seam mining are fully independent, and labor force is thoroughly liberated from heavy and dangerous coal face environment. The system can monitor the pose and the posture of the coal mining machine in real time and fit the moving route of the coal mining machine and the position coordinate change of the hydraulic support group.
(2) According to the autonomous navigation system and method for the coal mining machine, a UWB radio module with a rubidium atomic clock attached inside is utilized, a signal bidirectional flight time distance measurement method is adopted, the system positioning precision is greatly improved, and the error of a machine body positioning node can be controlled within 2cm within a detection range. The posture of the body of the coal mining machine is calibrated by using the high-precision gyro north finder and the tilt angle sensor, so that the measurement precision of the posture of the system can reach more than 0.1 degree.
(3) According to the autonomous navigation system and method for the coal mining machine, the absolute position of the coal mining machine in a coal seam coordinate system can be measured through the combined measurement of the total station, the UWB fixed base station group, the UWB mobile base station group and other equipment. Along with the coal mining work, the hydraulic support group sequentially moves longitudinally, and when a single hydraulic support moves, the matched UWB module is positioned by other UWB base stations nearby, so that the position coordinates are updated, and the autonomous calibration of a coal mining working face coordinate system is realized.
In summary, the invention provides an autonomous navigation system of a coal mining machine with a special structure, and aims to provide a novel autonomous continuous positioning system and method of three-dimensional coordinates and continuous detection of pose parameters of a machine body of the coal mining machine, so that complete autonomy of the coal mining machine in the working process can be realized, and coal mining workers are thoroughly liberated from the dangerous environment of a coal mining working face. The system has high economic value and good social value. The autonomous navigation principle and the structural design of the coal mining machine have no public publication or are practical and really innovative, the autonomous navigation principle and the structural design of the coal mining machine have great breakthrough in the technical field of autonomous navigation of the coal mining machine, produce good and practical effects, and are a novel, improved and practical new design.
The technical innovation of the autonomous navigation system and method of the coal mining machine with the structure has many advantages for technicians in the same industry nowadays, and indeed has technical progress.
The basic idea of the invention is described above. However, other operable embodiments of the present invention may be modified within the technical field of the present invention as long as they have the most basic knowledge. In the present invention, a patent is claimed for the essential technical solution, and the protection scope of the patent should include all the changes with the technical characteristics.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Drawings
In the figure:
FIG. 1 is a block diagram of the system of the present invention
FIG. 2 is a system layout of the present invention
FIG. 3 is a schematic diagram of the system of the present invention
FIG. 4 is a schematic diagram of a total station coordinate measurement
In the figure:
1: and (3) total station 2: target prism
3: UWB fixed base station 4: UWB mobile base station
5: UWB positioning node 6: hydraulic support
7: the coal mining machine 8: scraper conveyor
9: north seeker 10: tilt angle sensor
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be given to the embodiments, structures, features and effects of the autonomous navigation system and method for coal mining machine according to the present invention with reference to the accompanying drawings and preferred embodiments.
The foregoing and other technical and scientific aspects, features and advantages of the present invention will be apparent from the following detailed description of preferred embodiments, which is to be read in connection with the accompanying drawings. While the present invention has been described in connection with the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and specific embodiments thereof.
As shown in fig. 1 and 2, the autonomous navigation system and method for a coal mining machine according to the preferred embodiment of the present invention includes a total station 1, a target prism 2, a UWB fixed base station group 3, a UWB mobile base station group 4, a UWB positioning node 5, a north finder 9, and an inclination sensor 10. The UWB positioning node 5, the north seeker 9 and the inclination angle sensor 10 are installed on the body of the coal mining machine, the UWB positioning node 5 and the mobile base station group 4 carry out bidirectional UWB communication and positioning, and when the coal mining machine finishes one transverse coal mining, the north seeker 9 and the inclination angle sensor 10 are started to carry out measurement and calibration on a coal mining attitude angle;
the UWB mobile base station group 4 is arranged on the hydraulic support group 6, wherein the UWB mobile base station 4 is arranged at the bottom of the top plate of each hydraulic support 6, when the single hydraulic support 6 carries the UWB mobile base station 4 to move longitudinally, the UWB mobile base station 4 which is not moved nearby is used for positioning and real-time communication, the position coordinate after moving is updated, and the UWB mobile base station 4 is positioned and real-time communicated by the UWB fixed base station group 3;
the UWB fixed base station group 3 and the target prism 2 are installed to a transfer machine body at the intersection of a section transportation roadway and a coal face in a determined position and serve as a reference coordinate system of the coal face, when the coal face is longitudinally advanced, the UWB fixed base station group and the target prism are longitudinally moved along with the transfer machine, the position of the transfer machine after movement is calibrated and measured by the total station 1, the total station 1 is installed to the intersection of a transportation upper mountain and the section transportation roadway and serves as the reference coordinate system of the whole system, the total station 1 and the UWB fixed base station group 3 are wirelessly communicated in real time, and the position coordinate and attitude information of the coal mining machine 7 is finally transmitted to an industrial personal computer of the total station 1 in the reference coordinate system through a coordinate transformation matrix in a wireless mode.
Fig. 3 is a schematic diagram of the system of the present invention, as shown in the figure, the UWB positioning node 5 is positioned by the UWB mobile base station 4 through a CT algorithm based on a TOA model, when the hydraulic support 6 moves, the UWB mobile base station group 4 sequentially and autonomously calibrates and updates the position coordinates to the UWB fixed base station group 3 in real time, the position of the target prism 2 measured by the total station 1 of the UWB fixed base station group 3 is calibrated, and the position coordinates of the UWB positioning node 5 are transmitted to an industrial personal computer at the total station 1 in a UWB wireless manner according to a coordinate transformation matrix, so as to obtain the spatial coordinates of the coal mining machine; the tilt angle sensor 10 detects an included angle between a gravity axis and a sensitive axis by collecting vibration signals of a body of the coal mining machine to realize detection of a roll angle and a pitch angle of the coal mining machine, and outputs the pitch angle and the roll angle to an industrial personal computer at a reference coordinate system of a total station in a UWB wireless mode; the north seeker 9 deduces a heading angle of the coal mining machine by collecting vibration of a machine body of the coal mining machine and detecting angular speed change of the gyroscope, and transmits the heading angle to an industrial personal computer at a total station in a UWB wireless mode, so that real-time and absolute positioning navigation and attitude measurement of the coal mining machine in a coal seam are realized.
Because the section transportation roadway is narrow in space and long in distance and is not convenient to position by using a UWB module, a total station is adopted to position a UWB fixed base station group in space, and the three-dimensional coordinate measuring principle of the total station is shown in figure 4. According to the service life of the section transportation roadway, the coordinates of the set site are calibrated every half year to one year by geodetic personnel, and the set site coordinates C (x) are obtainedC,yC,zC) As absolute coordinates of the station, a space coordinate system is established based on the coordinates, and absolute coordinates B (x) of the rear viewpoint B are inputB,yB,zB)。
The distance from the total station C to the target point A is known as SACThe vertical angle of the AC to be edge determined is alpha1And the distance between the total station C and the target point A is as follows:
DAC＝SAC×cosα1
the azimuth angle of edge AB is known as alphaBCAnd the horizontal angle between the undetermined direction and the known direction is alphaABElevation of total station C is HCThen, the three-dimensional coordinates of the target point a are:
according to the performance of the total station, the target point (x) can be quickly measuredA,yA,zA) Can derive the coordinates between the total station coordinate system and the UWB fixed base station group coordinate system
The principle of the CT algorithm based on the TOA model is as follows: and establishing a TOA positioning model according to the ultra-wideband signal flight time parameters between the positioning nodes of the body of the coal mining machine and the positioning base station group. By measuring the space linear distance from the positioning node of the coal mining machine body to each base station and utilizing the geometrical characteristic that under the condition of no measurement error, a target is positioned on a spherical surface which takes each positioning base station as a core and takes the measurement distance as a radius, the intersection point of the intersection of the 4 spherical position surfaces is the space position coordinate of the positioning node of the coal mining machine body.
An algorithm combining a Caffery algorithm and a Taylor series method is established according to the TOA positioning model, an initial point coordinate is determined by the Caffery algorithm, and then an error is eliminated by iteration through the Taylor series expansion method, so that the coordinate position of the coal mining machine in the space can be accurately determined.
Assuming that the positioning node of the body of the coal mining machine is M points and the coordinate is (x)M,yM,zM) The 4 base stations installed on the hydraulic support are respectively 1,2,3 and 4, and the coordinate is (x)i,yi,zi) (i is 1,2,3,4), the spatial distance between the base station i and the positioning node M is diM。
The TOA positioning observation equation between the base station 1,2,3,4 and the positioning node M is:
the Caffery positioning algorithm of the ultra-wideband pose detection system facing the coal mining machine is as follows, and the (x) equation is obtained by subtracting the (n + 1) equation from the (n) equation in the formula (1)M,yM,xM) A system of linear equations:
(x) calculated in the formula (2)M,yM,xM) As an initial estimate for M points, it is summed with the estimate (x)M0,yM0,zM0) Is set to be deltax、δy、δzThen, there is (3):
the formula (1) is in (x)M,yM,zM) The points are expanded by Taylor series, and the terms of two times and more are ignored, and the arrangement can obtain:
repeatedly and iteratively calculating the equation (4) when the absolute value is deltax|+|δy|+|δzStopping iteration when | is less than a set threshold, and obtaining a final estimated value (x) of a positioning node M of the coal mining machine bodyM1,yM1,zM1) Comprises the following steps:
the position coordinates of the UBW mobile base station group relative to the UWB fixed base station group can be calculated by applying CT algorithm with the same principle,
and finally settling the space coordinate positions of the positioning nodes of the body of the coal mining machine in a coordinate system established by the UWB fixed base station group.
The technical innovation of the autonomous positioning and orienting system and method of the heading machine constructed by the structure has many advantages and technical progress for technical personnel in the same industry at present.
The basic idea of the invention is described above. However, other operable embodiments of the present invention may be modified within the technical field of the present invention as long as they have the most basic knowledge. In the present invention, a patent is claimed for the essential technical solution, and the protection scope of the patent should include all the changes with the technical characteristics.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An autonomous navigation system of a coal mining machine is characterized in that: the system comprises: the system comprises a total station, a UWB fixed base station group, a UWB mobile base station group, a UWB positioning node, a north seeker and an inclination sensor. The total station is used as a system reference and is installed at the intersection point of the transport ascending mountain and the section transport roadway. And installing the UWB fixed base station group at the position of a reversed loader at the intersection point of the fully mechanized coal mining face and the transportation roadway to serve as the coordinate reference of the coal mining face. The UWB mobile base station group is installed below a hydraulic support top plate and moves with the hydraulic support to be calibrated automatically. The UWB node, the north seeker and the tilt sensor are mounted to the body of the coal mining machine. When the coal mining machine works, the UWB mobile base station group positions the UWB nodes and transmits the UWB nodes to the UWB fixed base station group; the UWB fixed base station group is calibrated by a total station, positioning of the coal mining machine in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder and the tilt sensor are used for absolute measurement of the posture of the coal mining machine body, so that full autonomous navigation of the coal mining machine in complete coal seam coal mining is completed.
2. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB nodes are fixed on the body of the coal mining machine and are transmitted in a line-of-sight manner with the UWB mobile base station group, when the coal mining machine moves, the UWB mobile base station group carries out real-time UWB ranging on the UWB nodes, a positioning equation set is established according to ranging information, and relative space coordinates of the UWB nodes relative to the UWB mobile base stations can be established through calculation. The north seeker and the inclination angle sensor are installed in an industrial control box of a coal mining machine body, when the coal mining machine finishes coal mining on a longitudinal section, the course angle, the pitch angle and the roll angle of the coal mining machine are measured and calibrated, and the coordinate and the posture information of the coal mining machine are transmitted by an antenna of a UWB node.
3. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB mobile base station is matched with the hydraulic supports, and one UWB mobile base station is installed at the bottom of the top plate of each hydraulic support. When a single hydraulic support moves, the single UWB mobile base station is calibrated by other UWB mobile base stations and updates the spatial position coordinates, and the coordinate autonomous translation of the UWB mobile base station group is realized.
4. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB fixed base station group comprises 4 UWB ranging base stations, and the UWB ranging base stations are installed to a transfer conveyor at the intersection point of the section transportation roadway and the coal face at the determined positions to serve as the coordinate reference of the coal face. When the hydraulic support moves longitudinally, the UWB fixed base station moves longitudinally along with the reversed loader, and the position coordinates after movement are calibrated by the total station.
5. The autonomous navigation system of the coal mining machine as claimed in claim 1, wherein the total station is installed at the intersection of the transport ascending mountain and the section transport roadway, and is calibrated by geodetic personnel before coal mining to serve as a coordinate reference of the autonomous navigation system of the coal mining machine.
6. An autonomous navigation method of a coal mining machine using the autonomous navigation system of a coal mining machine according to claim 1, characterized in that:
before coal mining work begins, a total station is installed at an intersection of a transport ascending mountain and a section transport roadway, and coordinates of the total station are calibrated in advance by geodetic personnel and used as a coordinate reference of an autonomous navigation system of a coal mining machine; mounting a total station target prism and a UWB fixed base station on a reversed loader at the intersection of a section transportation roadway and a coal face, wherein the target prism and the UWB fixed base station have a determined position relation; when the system works, the total station determines the three-dimensional coordinate of the target prism relative to the coordinate reference of the total station by measuring the distance and the angle of the target prism, so as to obtain the determined position coordinate of the UWB fixed base station; the UWB mobile base station group is respectively installed at the bottom of the top plate of the hydraulic support group, each UWB mobile base station carries out ranging through the UWB fixed base station group, a positioning observation equation set is established according to multiple groups of ranging information, the position coordinates of the UWB mobile base stations relative to the fixed base station group can be obtained through solving, when the hydraulic support moves longitudinally in sequence, the UWB mobile base stations of a single UWB mobile base station range and the position coordinates are solved through nearby unmoved base stations, and therefore the coordinate of the UWB base station group can be autonomously and continuously translated; the UWB positioning node is installed on the body of the coal mining machine, when the coal mining machine works, the UWB mobile base station group carries out real-time distance measurement and calculation on the UWB positioning node, so that a real-time position coordinate of the position of the coal mining machine relative to the UWB mobile base station group is obtained, and a position coordinate of the coal mining machine relative to a total station reference coordinate system is obtained through a coordinate system transformation matrix; the north seeker and the inclination angle sensor are installed on the body of the coal mining machine, when the coal mining machine completes one longitudinal coal mining cut, the north seeker and the inclination angle sensor are started to measure and calibrate the attitude angle of the coal mining machine, and the measurement information is transmitted to a system terminal at a coordinate system of the total station through a UWB positioning node antenna, so that the all-autonomous navigation of the coal mining machine is realized.
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| CN111396047A (en) * | 2020-03-26 | 2020-07-10 | 山东蓝光软件有限公司 | Measuring and positioning system and method for coal face equipment group |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
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