CN111457918A - Continuous miner navigation and positioning system based on multi-sensor information fusion - Google Patents

Continuous miner navigation and positioning system based on multi-sensor information fusion Download PDF

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CN111457918A
CN111457918A CN202010369999.2A CN202010369999A CN111457918A CN 111457918 A CN111457918 A CN 111457918A CN 202010369999 A CN202010369999 A CN 202010369999A CN 111457918 A CN111457918 A CN 111457918A
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continuous miner
distance
laser
angle
roadway
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CN111457918B (en
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陈洪月
田立勇
杨辛未
王鑫
杨威
陈洪岩
李元成
李鑫宇
陈奇
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Liaoning Technical University
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    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention discloses a continuous miner navigation and positioning system based on multi-sensor information fusion. The invention provides a continuous coal mining machine navigation and positioning system which mainly takes laser directional navigation guidance of a double-laser transmitter and a single-laser receiver and assists real-time pose calculation, offset measurement, traveling mileage statistics and a feedback regulation mechanism of an ultrasonic sensor, an inclination angle sensor and a photoelectric odometer. The signals output by the multiple sensors in a centralized and integrated manner through information fusion are in communication connection with a main system of the continuous miner, so that intelligent navigation and directional control of the continuous miner are realized, the roadway forming precision is finally realized to be +/-10 cm/50m, and the roadway forming straightness is ensured.

Description

Continuous miner navigation and positioning system based on multi-sensor information fusion
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a continuous miner navigation and positioning system based on multi-sensor information fusion.
Background
The continuous coal mining machine is mainly applied to room and pillar type coal mining, corner coal recovery and rapid tunneling of longwall mining coal mines, and the length of a roller is relatively small in the working process, so that the continuous coal mining machine does not form a roadway at one time. When the width of a tunneling roadway is larger than the length of the roller, the continuous miner needs to move transversely in the roadway so as to cut the full section, the continuous miner deflects to a certain degree during transverse movement, the flatness of section forming is poor when the continuous miner works under the condition, the machine body deviates from a correct course, the roadway forming quality and the coal mining work efficiency are seriously influenced, and the ideal roadway forming effect cannot be achieved.
Disclosure of Invention
The system mainly comprises a continuous miner navigation and positioning system which is mainly based on laser directional guidance of double laser transmitters and a single laser receiver and is assisted by a pose resolving, offset measuring and feedback adjusting mechanism of an ultrasonic sensor and an inclination angle sensor, wherein the laser receiver receives laser emitted by the laser transmitter fixedly arranged in a roadway side wall area, the continuous miner conducts directional cutting work under the guidance of the laser, the ultrasonic ranging sensor, the inclination angle sensor and the photoelectric odometer arranged in the continuous miner detect the offset, the deflection angle α and the pitch angle β of the continuous miner in real time, the driving mileage is counted, the pose of the continuous miner is resolved through a built-in algorithm of the system, and the information fusion output feedback adjusting signal of the multiple sensors conducts intelligent navigation and directional adjustment control on the continuous miner through communication connection with a main system of the continuous miner.
In order to achieve the purpose, the invention adopts the following technical scheme:
a continuous miner navigation and positioning system based on multi-sensor information fusion comprises a laser orientation guiding part of a double-laser transmitter and a single-laser receiver, and a real-time detection part of offset, attitude angle measurement and traveling mileage statistics, wherein the real-time detection part comprises an ultrasonic distance measurement sensor, an inclination sensor and a photoelectric odometer.
The double laser transmitters are two independent laser transmitters which are respectively fixedly arranged at the positions of areas within a certain distance Xmm range from two side walls of the roadway in the roadway.
Further, when the distance from the continuous miner to any side slope is within the area range of Ymm, the laser emitter in the side area emits laser towards the standard direction of the working cutting roadway of the continuous miner, and the continuous miner is directionally navigated.
The single laser receiver is arranged in the box body and fixedly installed at the middle position of the upper side of the rear side rack of the continuous miner together with the box body, and receives laser emitted by the laser emitter, the laser transverse receiving range of the single laser receiver is 200mm, and the laser receiver conducts navigation and directional guidance on the continuous miner within the range of the received laser.
The number of the ultrasonic ranging sensors is eight, the ultrasonic ranging sensors are respectively arranged on two sides of the continuous miner, four ultrasonic ranging sensors are arranged on each side of the continuous miner, and the ultrasonic ranging sensors are arranged on the side end of the continuous miner in a rectangular mode.
Furthermore, each ultrasonic ranging sensor measures the distance from the position point where the sensor is located to the roadway side wall, and detects the offset of the continuous miner in real time.
Furthermore, the data measured by the ranging sensors of the ultrasonic sensors are used for calculating the roll and deflection attitude angles of the continuous miner by using an algorithm built in the system, and the solving process of the calculating algorithm is as follows:
(1) establishing a coordinate system, taking the central axis direction of a standard roadway as the X-axis direction of the coordinate system, the transverse direction of the roadway as the Y-axis direction of the coordinate system, the vertical direction of the roadway as the Z-axis direction of the coordinate system, the Y-axis and the Z-axis of the coordinate system form a YOZ plane, the X-axis and the Y-axis of the coordinate system form an XOY plane, setting variable data which can be measured by sensors, and taking the distances measured by each numbered ultrasonic ranging sensor to the side wall of the roadway as d respectivelyi(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8The distance is a space vector, the measurement accuracy of the data is +/-9 mm, the distance between the sensors in the vertical direction is H, the transverse distance of the sensors is B, and the pitch angle and the deflection angle measured by the tilt angle sensor are respectively angle β and angle gamma;
(2) the deflection angle gamma is obtained, and the projection distance d of each distance on the YOZ plane is obtained by using each distance measured by the ultrasonic distance measuring sensori ’Using the actual measured distance di(i = 1-8) multiplied by the angle between the space distance vector and the YOZ planeφThe included angle phi between the space vector distance and the YOZ plane is obtained according to the relation between the distance between the front sensor and the rear sensor on the same horizontal plane and the side of the triangle formed by the difference between the space vector distances of the front sensor and the rear sensor to obtain each projection distance, the relation between the projection distance and other related distances is established, and the deflection angle of the continuous miner is adjustedγAnd calculating, wherein the solving and resolving process is as follows:
Figure 274469DEST_PATH_IMAGE001
the included angle phi between the space distance vector and the YOZ surface is as follows:
Figure 318648DEST_PATH_IMAGE002
Figure 123793DEST_PATH_IMAGE003
Figure 770675DEST_PATH_IMAGE004
Figure 344876DEST_PATH_IMAGE005
taking i =2, 4, 6, 8 in the above formulas, and finally obtaining the deflection attitude angle of the continuous miner as follows:
Figure 559957DEST_PATH_IMAGE005
in an actual situation, four times of corresponding solution can be carried out on the deflection angle of the complete machine in the attitude angle of the continuous miner through data measured by an ultrasonic ranging sensor, in a theoretical situation, four times of solution results are completely the same, and the average value calculated by four times is taken as a system output value of the attitude deflection angle of the complete machine of the continuous miner in consideration of the error reason;
(3) the roll angle α is obtained by first determining the projection distance d of each distance on the XOY plane using each distance measured by the ultrasonic distance measuring sensori ＇＇Using the actual measured distance di(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8Multiplying the included angle theta between the space vector and the XOY surface, calculating the roll angle α of the continuous miner according to the obtained projection distances according to the relationship between the distance between the upper and lower adjacent sensors and the difference between the space vector distances of the two sensors by the included angle theta between the space vector distance and the XOY surface, and solving and resolving the following steps:
Figure 196606DEST_PATH_IMAGE006
the included angle theta between the space distance vector and the XOY surface is as follows:
Figure 788124DEST_PATH_IMAGE007
Figure 216831DEST_PATH_IMAGE008
Figure 868393DEST_PATH_IMAGE009
Figure 648130DEST_PATH_IMAGE010
taking i =2, 3, 6, 7 in the above formulas, and finally obtaining the roll attitude angle of the continuous miner as follows:
Figure 636814DEST_PATH_IMAGE010
in an actual situation, four times of corresponding solution can be carried out on the roll angle of the complete machine in the attitude angle of the continuous miner through data measured by the ultrasonic ranging sensor, in a theoretical situation, four times of solution results are completely the same, and in consideration of error reasons, an average value calculated by four times is taken as a system output value of the roll attitude angle of the complete machine of the continuous miner.
The ultrasonic ranging sensor measures the offset of the continuous miner in each direction.
The photoelectric odometer is arranged on the crawler traveling systems on the two sides of the continuous miner, the counting of the traveling mileage can be directly realized in the working process of the continuous miner, and the traveling mileage is recorded as the mileage S and is recorded in the system of the continuous miner.
The inclination angle sensor is arranged in a box body provided with the laser receiver, is a two-axis sensor, and can realize real-time auxiliary measurement of the β pitching angle and the gamma deflection angle of the continuous miner.
The system method and principle of the invention are as follows:
the invention provides a navigation and orientation system of a continuous miner based on multi-sensor information fusion, which is implemented by the steps that the continuous miner advances forwards when cutting is performed, when the continuous miner approaches the range of Ymm on any side of a roadway, a laser transmitter fixedly installed in the area near the side wall of the roadway emits laser, a laser receiver installed at the middle position above a rear side rack of the continuous miner receives the laser emitted by the laser transmitter, the laser receiver has a laser receiving range of 200mm, after the laser receiver receives a signal of the laser, an instruction is given to a control system of the continuous miner, so that the continuous miner can realize navigation and orientation of the continuous miner under the guidance of the laser, when the continuous miner deviates from the range of Ymm on the two side walls of the roadway, the laser transmitter and the laser receiver stop working, an ultrasonic ranging sensor, an inclination angle sensor and a photoelectric odometer are all in a working state in the whole working process of the continuous miner, the offset of the continuous miner is measured in real time, the offset, the pose of the continuous miner can be measured in real time, the functions of real-time transmission of the ultrasonic ranging sensor is arranged at the position of the continuous miner, the position of the continuous miner is calculated and the position of a gamma sensor, the photoelectric odometer, the sensors of the sensors are calculated, the sensors of the track of the continuous miner, the track of the continuous miner is calculated and the sensors, the sensors are calculated and the sensors, the sensors are used for calculating the track of the sensors for calculating the track of the track.
The invention has the following advantages:
(1) when the distance between the two side walls Ymm of the roadway is within the range, the roadway forming process of the continuous miner can be accurately navigated and oriented, the device has the functions of real-time measurement and transmission of the offset of the device, the detection precision is +/-9 mm, the resolution is 3mm, the device has the functions of real-time detection and transmission of the attitude angle of the device, the detection precision of each attitude angle is +/-0.3 degrees, the detection error of the system does not need manual correction and calibration, and the device has higher roadway forming precision, and the forming precision is +/-10 cm/50 m;
(2) when the distance deviates from the range of Ymm on two sides of a roadway, a laser transmitter and a laser receiver stop working, an ultrasonic ranging sensor, an inclination angle sensor and a photoelectric odometer are all in working states in the whole working process of a continuous miner, the offset of the continuous miner is measured in real time, an attitude angle is calculated, the driving mileage is counted, the detection precision of the offset is +/-10 cm, the resolution is 3cm, the detection precision of a roll angle and a pitch angle is +/-0.3 degrees, and the detection precision of a deflection angle is +/-2.5 degrees;
(3) the running mileage of the continuous miner can be counted. The method can be adjusted and installed correspondingly according to actual conditions, and has strong implementation and operability.
Drawings
FIG. 1 is a schematic diagram of the overall arrangement of a continuous miner navigation and determination system based on multi-sensor information fusion according to the present invention;
FIG. 2 is a schematic diagram of the lateral movement working state of a continuous miner navigation and positioning system based on multi-sensor information fusion according to the present invention;
FIG. 3 is a schematic diagram of a continuous miner guidance and positioning system based on multi-sensor information fusion deviating from the range of a left and right roadway wall Ymm;
FIG. 4 is a schematic diagram of a continuous miner guidance and positioning system based on multi-sensor information fusion of the present invention positioned within the range of a left roadway highwall Ymm;
fig. 5 is a schematic diagram of a continuous miner navigation and positioning system based on multi-sensor information fusion in the range of a right sidewall Ymm of a roadway.
The system comprises 1-8 ultrasonic ranging sensors, 9 and 10 laser emitting sensors, 11 laser receiving sensors, 12 inclination sensors, 13 and 14 photoelectric odometers, 15 continuous miner, 16 roadway right side slope, 17 roadway left side slope, 18 right side laser and 19 left side laser.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 5 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived from the embodiments of the present invention by a person skilled in the art without any creative effort, should be included in the protection scope of the present invention.
The continuous miner navigation and positioning system based on multi-sensor information fusion of the present invention is mainly applicable to navigation and positioning of a continuous miner for roadway cutting operation, but not limited to navigation and positioning of a continuous miner, and is described in detail with reference to fig. 1 to 5.
As shown in fig. 1 to 5, ultrasonic ranging sensors (1-8) are respectively arranged at two sides of a continuous miner (15) close to left and right side walls (16, 17) of a roadway, a laser emission sensor (9) and a laser emission sensor (10) are respectively arranged at Xmm positions away from the left and right side walls (16, 17) of the roadway, a laser receiving sensor (11) and an inclination angle sensor (12) are respectively arranged at the middle position above a rear side rack of the continuous miner (15), photoelectric mileometers (13, 14) are respectively arranged on left and right side crawler traveling systems of the continuous miner (15), and lasers emitted by the laser emission sensors (9, 10) are respectively left and right side lasers (18, 19).
When the continuous miner (15) performs cutting operation, corresponding transverse movement can be performed on the transverse width of a roadway, the continuous miner is correspondingly pushed forwards in the longitudinal direction of the roadway, in the whole working process, when the side walls (16 and 17) on the left side and the right side of the roadway are close to each other (in the range of Ymm), laser emitting sensors (9 and 10) positioned on the side start to emit laser (18 and 19), navigation and directional guidance are performed on the cutting operation of the continuous miner (15), and in the whole width range of the roadway, ultrasonic ranging sensors (1-8), an inclination angle sensor (12) and photoelectric odometers (13 and 14) are all in working states.
When the continuous miner (15) deviates from the left and right lateral walls (16, 17) of the roadway (Ymm range) to work, the laser emitted by the laser emitting sensors (9, 10) cannot be projected onto the laser receiving sensor (11) of the continuous miner, at the moment, the laser navigation system stops working, 8 ultrasonic sensors (1-8) arranged on two sides of the continuous miner are used for detecting the distance between the continuous miner (15) and the left and right lateral walls (16, 17) of the roadway (the working accuracy of the ultrasonic sensors is verified underground), the pose of the information collected by the 8 ultrasonic sensors (1-8) is resolved through a system algorithm, the machine body pose information of the continuous miner (15) can be obtained, and the resolving algorithm solving process is as follows:
(1) establishing a coordinate system, taking the central axis direction of a standard roadway as the X-axis direction of the coordinate system, taking the transverse direction of the roadway as the Y-axis direction of the coordinate system, taking the vertical direction of the roadway as the Z-axis direction of the coordinate system, forming a YOZ plane by the Y-axis and the Z-axis of the coordinate system, and forming an XOY plane by the X-axis and the Y-axis of the coordinate system. Setting variable data which can be measured by the sensors, and taking the distances from the ultrasonic ranging sensors (1-8) with the numbers to the side wall of the roadway as di(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8The distance is a space vector, the measurement accuracy of the data is +/-9 mm, the distance between the sensors in the vertical direction is H, the transverse distance of the sensors is B, and the pitch angle and the deflection angle measured by the tilt angle sensor are respectively angle β and angle gamma;
(2) the deflection angle gamma is obtained, and the projection distance d of each distance on the YOZ plane is obtained by using each distance measured by the ultrasonic ranging sensors (1-8)i ’Using the actual measured distance di(i = 1-8) multiplied by the angle between the space distance vector and the YOZ planeφThe included angle phi between the space vector distance and the YOZ plane is obtained according to the relation between the sides of a triangle formed by the difference between the distance between the front and the rear sensors and the space vector distance between the front and the rear sensors on the same horizontal planeObtaining each projection distance, establishing the relation between the projection distance and other related distances, and determining the deflection angle of the continuous minerγAnd calculating, wherein the solving and resolving process is as follows:
Figure 920028DEST_PATH_IMAGE001
the included angle phi between the space distance vector and the YOZ surface is as follows:
Figure 742491DEST_PATH_IMAGE002
Figure 353732DEST_PATH_IMAGE003
Figure 21473DEST_PATH_IMAGE004
Figure 424773DEST_PATH_IMAGE005
i in the above formulas is i =2, 4, 6, 8, and finally the deflection attitude angle of the continuous miner (15) is obtained as:
Figure 683716DEST_PATH_IMAGE005
under the actual condition, the deflection angle of the whole machine in the attitude angle of the continuous miner (15) can be solved for four times correspondingly through data measured by the ultrasonic ranging sensors (1-8), under the ideal state, the four solving results are completely the same, and the average value calculated for four times is taken as the system output value of the attitude deflection angle of the whole machine of the continuous miner (15) in consideration of the error reason;
(3) the roll angle α is obtained by first determining the projection distance d of each distance on the XOY plane using the distances measured by the ultrasonic distance measuring sensors (1-8)i ＇＇Using the actual measured distance di(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8Multiplying the included angle theta between the space vector and the XOY surface, calculating the roll angle α of the continuous miner (15) according to the obtained projection distances by the included angle theta between the space vector distance and the XOY surface according to the relationship between the distance between the upper and lower adjacent sensors and the difference between the space vector distances of the two sensors, and calculating the following steps:
Figure 31521DEST_PATH_IMAGE006
the included angle theta between the space distance vector and the XOY surface is as follows:
Figure 502953DEST_PATH_IMAGE007
Figure 760759DEST_PATH_IMAGE008
Figure 531882DEST_PATH_IMAGE009
Figure 242349DEST_PATH_IMAGE010
taking i =2, 3, 6 and 7 as i in the above formulas, and finally obtaining the roll attitude angle of the continuous miner (15) as follows:
Figure 517472DEST_PATH_IMAGE010
in an actual situation, four times of corresponding solutions can be carried out on the roll angle of the complete machine in the attitude angle of the continuous miner (15) through data measured by the ultrasonic ranging sensors (1-8), ideally, the four times of solution results should be completely the same, and in consideration of error reasons, the average value calculated by the four times is taken as the system output value of the roll attitude angle of the complete machine of the continuous miner (15).
When the continuous miner (15) is at the left side wall (17) (within the range of the left side wall Ymm), the laser (19) emitted by the laser emission sensor (9) can be received by the laser receiving sensor (11) on the continuous miner (15), and then the continuous miner (15) can conduct navigation work under the guidance of the laser emission sensor (9), and the positioning accuracy of the continuous miner (15) at the left side wall (17) of the roadway is +/-5 cm.
When the continuous miner (15) works near the right side wall (16) of the roadway (within the range from the right side wall Ymm), the laser (18) emitted by the laser emission sensor (10) can be received by the laser receiving sensor (11) on the continuous miner (15), as shown in fig. 5, the continuous miner conducts navigation and directional cutting work under the guidance of the laser emission sensor (10), and the positioning accuracy of the continuous miner (15) on the right side wall (16) of the roadway is +/-5 cm.
The laser emission sensors (9) and the laser emission sensors (10) are fixed in installation positions, and the positioning accuracy of the continuous miner (15) on the left side wall and the right side wall (16 and 17) of the tunneling roadway is guaranteed to be +/-5 CM respectively, so that the section forming accuracy of the whole roadway can be guaranteed to be +/-10 CM under the guidance of the double laser emission sensors (9 and 10).
The above description is illustrative of the present invention and is not to be construed as limiting the present invention, and any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a continuous miner navigation and positioning system based on multisensor information fusion which characterized in that: the continuous miner navigation and positioning system is mainly based on laser directional guidance of a double-laser transmitter and a single-laser receiver, is assisted by pose calculation, offset measurement, travel mileage statistics and a feedback regulation mechanism of an ultrasonic sensor, an inclination sensor and a photoelectric odometer, and is characterized in that signals output by information fusion and concentration of multiple sensors are communicated with a miner main machine control system to perform intelligent navigation and positioning control on a continuous miner.
2. The dual laser transmitter, single laser receiver, as recited in claim 1, wherein: the double laser transmitters are two laser transmitters fixedly arranged at a certain distance Xmm from the left side wall and the right side wall of the roadway respectively, the single laser receiver is a laser signal receiver which is arranged in the box body and is arranged at the middle position on the rear side rack of the continuous miner together with the box body, the transverse laser receiving range of the laser receiver is 200mm (corresponding adjustment can be carried out according to the use requirement), when the distance X between the positions where the two laser transmitters are fixed in the roadway can be tightly attached to the side wall of the roadway through the front side roller of the continuous miner, the middle position of the laser receiver, which can receive laser, irradiated by the laser of the laser transmitters is determined.
3. The dual laser transmitter and single laser receiver as claimed in claim 2, wherein: when the side edge of the continuous coal mining machine is within the range of Ymm from the side wall of any side of the roadway (the Y value is determined by the width of the roadway and the width of the continuous coal mining machine), a laser emission sensor positioned in the side wall area emits laser, a laser receiver positioned at the center position on a rear side rack of the continuous coal mining machine receives a laser signal emitted by a laser emitter, the continuous coal mining machine conducts navigation and directional cutting work along the direction of the laser signal, the forming precision of the section of the single-side roadway can reach +/-5 cm/50m, and when the side edge distance of the continuous coal mining machine deviates from Ymm from the side wall of any side of the roadway, a laser orientation system consisting of the laser emitter and the laser receiver stops working.
4. The mechanism of calculating, measuring offset, counting driving distance and feedback regulation of the pose of the ultrasonic ranging sensors, the inclination angle sensors and the photoelectric odometer according to claim 1 is characterized in that 8 ultrasonic ranging sensors are respectively arranged on two sides of the continuous miner, 4 sensors are arranged in a rectangle on each side, an ultrasonic ranging sensor is respectively arranged on the upper end and the lower end of the front end of each side, an ultrasonic ranging sensor is respectively arranged on the upper end and the lower end of the rear end of each side, the distance and the offset between the sensor position on the side edge of the continuous miner and the side wall of the roadway are detected in real time, the inclination angle sensors are one in total and are arranged in a box body provided with a laser receiver, the pitch angle β and the deflection angle gamma of the continuous miner are measured, the photoelectric odometers are respectively arranged on crawler traveling systems on two sides of the continuous miner, the driving distance of the continuous miner is counted, each measured data is calculated and analyzed through a calculation algorithm in the system, the roll angle α and the deflection angle gamma attitude angle of the continuous miner are obtained, the attitude and the detection accuracy of the roll angle of the detection range of the roadway Ymm, the resolution of the detection accuracy of the detection range of the roll angle is +/-3 mm, the detection accuracy of the roll angle is +/-3.3.3, and the detection accuracy of the detection of the range of the +/-3.3 cm, the detection of.
5. The ultrasonic ranging sensor, the inclination sensor and the photoelectric odometer according to claim 4, wherein: the specific solving and resolving method of the system internal resolving algorithm comprises the following steps:
(1) establishing a coordinate system, taking the central axis direction of a standard roadway as the X-axis direction of the coordinate system, the transverse direction of the roadway as the Y-axis direction of the coordinate system, the vertical direction of the roadway as the Z-axis direction of the coordinate system, the Y-axis and the Z-axis of the coordinate system form a YOZ plane, the X-axis and the Y-axis of the coordinate system form an XOY plane, setting variable data which can be measured by sensors, and taking the distances measured by each numbered ultrasonic ranging sensor to the side wall of the roadway as d respectivelyi(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8The distance is a space vector, the distance between the sensors in the Y-axis direction is H, the distance in the X-axis direction of the sensors is B, and the pitch angle and the deflection angle measured by the tilt angle sensor are an angle β and an angle gamma respectively;
(2) the deflection angle gamma is obtained, and the projection distance d of each distance on the YOZ plane is obtained by using each distance measured by the ultrasonic distance measuring sensori ＇Using the actual measured distance di(i = 1-8) is multiplied by an included angle phi between the space vector and the YOZ surface, the included angle phi between the space vector distance and the YOZ surface is obtained according to the relation between the sides of a triangle formed by the difference between the distance between two front sensors and the distance between the space vectors of the front sensors and the space vectors of the rear sensors on the same horizontal plane, each projection distance is obtained, the relation between the projection distance and other related distances is established, and the deflection angle of the continuous coal mining machine is subjected toγAnd calculating, wherein the solving and resolving process is as follows:
Figure 215355DEST_PATH_IMAGE001
the included angle phi between the space distance vector and the YOZ surface is as follows:
Figure 630986DEST_PATH_IMAGE002
Figure 974242DEST_PATH_IMAGE003
Figure 616576DEST_PATH_IMAGE004
Figure 220733DEST_PATH_IMAGE005
taking i =2, 4, 6, 8 in the above formulas, and finally obtaining the deflection attitude angle of the continuous miner as follows:
Figure 188689DEST_PATH_IMAGE005
in an actual situation, four times of corresponding solution can be carried out on the deflection angle of the complete machine in the attitude angle of the continuous miner through data measured by the ultrasonic ranging sensor, in an ideal state, four times of solution results are completely the same, and the average value calculated by four times is taken as a system output value of the attitude deflection angle of the complete machine of the continuous miner in consideration of the error reason;
(3) the roll angle α is obtained by first determining the projection distance d of each distance on the XOY plane using each distance measured by the ultrasonic distance measuring sensori ＇＇Using the actual measured distance di(i=1~8)d1、d2、d3、d4、d5、d6、d7、d8Multiplying the included angle theta between the space vector and the XOY surface, calculating the roll angle α of the continuous miner according to the obtained projection distances according to the relationship between the distance between the upper and lower adjacent sensors and the difference between the space vector distances of the two sensors by the included angle theta between the space vector distance and the XOY surface, and solving and resolving the following steps:
Figure 753662DEST_PATH_IMAGE006
the included angle theta between the space distance vector and the XOY surface is as follows:
Figure 809474DEST_PATH_IMAGE007
Figure 674662DEST_PATH_IMAGE008
Figure 547940DEST_PATH_IMAGE009
Figure 724844DEST_PATH_IMAGE010
taking i =2, 3, 6, 7 in the above formulas, and finally obtaining the roll attitude angle of the continuous miner as follows:
Figure 708980DEST_PATH_IMAGE010
in an actual situation, four times of corresponding solution can be carried out on the roll angle of the complete machine in the attitude angle of the continuous miner through data measured by an ultrasonic ranging sensor, in an ideal state, four times of solution results are completely the same, and the average value calculated by four times is taken as the system output value of the roll attitude angle of the complete machine of the continuous miner in consideration of the error reason;
the ultrasonic ranging sensor measures the offset of the continuous miner;
the photoelectric odometer is used for counting and recording the travel mileage of the coal mining machine in the working process of the continuous coal mining machine and recording the travel mileage as mileage S;
the tilt angle sensor carries out corresponding auxiliary measurement on a pitch angle β and a deflection angle gamma of the continuous miner.
6. The pose solution algorithm for the ultrasonic ranging sensor and the tilt sensor system according to claim 5, wherein: the data calculated by the pose calculation algorithm is updated in real time along with the change of the working state of the continuous miner, the data is in communication connection with a control system of a continuous miner host, intelligent navigation and directional control are carried out on the continuous miner, the offset and the attitude angle of the continuous miner are detected in real time, and an adjusting instruction is made to guide the continuous miner to cut directionally.
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