AU2018278618A1 - Shearer absolute pose detection method - Google Patents
Shearer absolute pose detection method Download PDFInfo
- Publication number
- AU2018278618A1 AU2018278618A1 AU2018278618A AU2018278618A AU2018278618A1 AU 2018278618 A1 AU2018278618 A1 AU 2018278618A1 AU 2018278618 A AU2018278618 A AU 2018278618A AU 2018278618 A AU2018278618 A AU 2018278618A AU 2018278618 A1 AU2018278618 A1 AU 2018278618A1
- Authority
- AU
- Australia
- Prior art keywords
- laser
- shearer
- embedded controller
- emission device
- pose
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims description 47
- 238000005065 mining Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000001914 filtration Methods 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000005855 radiation 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
-
- 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
- E21C35/06—Equipment for positioning the whole machine in relation to its sub-structure
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- 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
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Automation & Control Theory (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Guiding Agricultural Machines (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A method of sensing the absolute position and orientation of a coal mining machine (1). In a three-part mining-equipment set primarily composed of a coal mining machine (1), a scraper conveyor (2), and hydraulic supports (3), the absolute position and orientation of the coal mining machine (1) is sensed during work face stoping. In the method, a strapdown inertial navigation module is used for dead-reckoning sensing of the position and orientation of the machine; a laser transmission device (4), a laser reception device, and an intelligent total station (5) are used for laser sensing of the position and orientation of the machine; then, an optimal estimation algorithm is used for asynchronous fusion of the results from said two types of sensing in order to obtain the precise absolute position and orientation of the coal mining machine (1). In the present method, optimal estimation algorithms such as Kalman filtering are used for asynchronous fusion of two types of navigation information in order to obtain more precise absolute position and orientation parameters for a coal mining machine (1). The invention is highly precise, reliable, and provides the conditions for achieving the automated and intelligent operation of the coal mining machine (1).
Description
SHEARER ABSOLUTE POSE DETECTION METHOD
FIELD OF THE INVENTION [0001] The present invention relates to a shearer pose detection method, and in particular, to an absolute pose detection method of a drum shearer for stope, and belongs to the field of automatic mining equipment technologies.
DESCRIPTION OF RELATED ART [0002] China is a big country in terms of coal mining and consumption, and a shearer is main equipment of coal mining. A regular stope is mainly operated manual, leading to not only high labor intensity and low efficiency, but also an extremely poor working environment and an extremely high degree of danger. Therefor, it is an irresistible trend to develop automatic and intelligent mining equipment. For automatic stope mining equipment, a problem to be resolved first is a positioning and pose determining problem of the mining equipment. However, because of special conditions under a mine, environment complexity thereof makes many positioning means usually used not achieve a requirement on positioning accuracy under the mine and even makes positioning impossible under the mine. A current shearer positioning method is mainly a gear counting method, an infrared radiation method, inertial navigation, and the like. However, only relative positioning can be implemented in many positioning methods, and shearer absolute pose detection in a mine coordinate system cannot be implemented, or shearer absolute pose detection can be implemented. However, accuracy is relatively low and cannot provide sufficient conditions for constructing an unmanned stope in general.
SUMMARY OF THE INVENTION
Technical Problem [0003] To overcome disadvantages in the prior art, the present invention provides a shearer absolute pose detection method, to accurately detect a six-degree of freedom pose parameter of a shearer in a mine absolute coordinate system. The method has good real-time and high reliability and can provide conditions for constructing an unmanned stope.
Technical Solution [0004] To achieve the foregoing objective, technical solutions used in the present invention are:
[0005] A shearer absolute pose detection method is provided, during stoping an absolute pose of a shearer in three-machine integrated mining equipment consisting essentially of the shearer, a scraper, and a hydraulic support is detected; in the method, dead-reckoning pose detection is performed through a strapdown inertial navigation module, laser pose detection is performed through a laser emission device, a laser receiving device, and an intelligentized total station, and then asynchronous fusion is performed on two pose detection results through an optimal estimation algorithm such as Kalman filter, to obtain an accurate absolute pose of the shearer.
[0006] Specifically, the laser emission device includes a vehicle body, a stepping motor, a walking mechanism, a crank and rocker mechanism, a servo, a laser emitter, and an embedded controller I, the stepping motor is a flame-proof stepping motor, the laser emitter is an intrinsically safe and flame-proof fan laser emitter, the stepping motor, the walking mechanism and the crank and rocker mechanism are mounted on the vehicle body, the crank and rocker mechanism is driven through the stepping motor to move, the servo and the laser emitter are mounted at the top of a rocker, the servo drives the laser emitter to rotate and scan within a range of ±45°, the embedded controller I is fixed on the vehicle body after flame-proof processing, and the embedded controller I provides a control instruction to the stepping motor and the servo and solves three-dimensional coordinates of the laser emitter in a laser emission device coordinate system and a normal vector of a fan laser emitted by the laser emitter.
[0007] Specifically, the laser receiving device includes three laser receivers and an embedded controller II, the three laser receivers are non-collinearly fixed on the shearer, all the three laser receivers can receive the fan laser emitted by the laser emitter, the embedded controller II is fixed on the shearer after flame-proof processing, the embedded controller II is in communication connection with both the laser receivers and the embedded controller I, and with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter in the laser emission device coordinate system, and the normal vector of the fan laser emitted by the laser emitter, coordinates of each laser receiver in the laser emission device coordinate system are calculated, so that a six-degree of freedom pose parameter of the shearer in the laser emission device coordinate system is calculated.
[0008] Specifically, the intelligentized total station and the laser emission device are disposed in a same roadway, an embedded controller III is fixed on the intelligentized total station after flame-proof processing, the embedded controller III is in communication connection with both the intelligentized total station and the embedded controller I, a positioning prism is disposed at a proper position on the laser emission device, a pose parameter of the laser emission device in a mine absolute coordinate system is detected through the intelligentized total station, with reference to the pose parameter of the shearer in the laser emission device coordinate system and the pose parameter of the laser emission device in the mine absolute coordinate system, a pose parameter of the shearer in the mine absolute coordinate system is obtained, and the result is used as a laser pose detection result.
[0009] Specifically, the strapdown inertial navigation module is fixed on the shearer after flame-proof processing, the embedded controller II is in communication connection with the strapdown inertial navigation module, navigation information of the strapdown inertial navigation module is calculated through the embedded controller II, to obtain a six-degree of freedom pose parameter of the shearer in a mine absolute coordinate system, and the result is used as a strapdown inertial navigation pose detection result.
[0010] Specifically, a communication mode among the embedded controller I, the embedded controller II, and an embedded controller III is ultra wideband wireless communication, and clock synchronization is performed on the embedded controller I and the embedded controller II.
[0011] Specifically, using a movement direction of the shearer on the scraper as an axial direction, and a push-slide direction of the hydraulic support as a radial direction, the method specifically includes the following steps:
[0012] (a) after a system starts up and is initialized, moving the laser emission device to make the laser emission device aligned with a mining region and fix the laser emission device, to ensure that the fan laser emitted by the laser emitter can scan the shearer; making the strapdown inertial navigation module on the shearer work in real time, and solving, by the embedded controller II, a pose parameter of the shearer in a mine absolute coordinate system;
[0013] (b) after the laser emission device stops work, sending, by the embedded controller I, a signal to an embedded controller III, then controlling, by the embedded controller III, the intelligentized total station to work, and sending the pose parameter, obtained by the 3 intelligentized total station, of the laser emission device in the mine absolute coordinate system to the embedded controller I;
[0014] (c) controlling, by the embedded controller I, the stepping motor and the servo to work, so that the laser emitter emits rotation fan lasers of different angles at at least three different positions, where a normal vector of the fan laser in the laser emission device coordinate system is solvable in real time, and coordinates of the laser emitter in the laser emission device coordinate system are solvable in real time; when the three laser receivers receive a laser signal each time, sending, by the embedded controller II, a corresponding laser receiver ID number and receiving time to the embedded controller I, and solving, by the embedded controller I with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter in the laser emission device coordinate system, the normal vector of the fan laser emitted by the laser emitter, the pose parameter of the laser emission device in the mine absolute coordinate system, a pose parameter of the shearer in the mine absolute coordinate system and using the pose parameter as a laser pose detection result;
[0015] (d) performing, by the embedded controller II, data processing and asynchronous fusion according to a strapdown inertial navigation pose detection result and the laser pose detection result, to obtain the accurate absolute pose of the shearer, sending the absolute pose to a human-machine interface for remote monitoring, and sending the absolute pose to a mining equipment controller to automatically control the shearer;
[0016] (e) repeating steps (c) to (d) until the shearer completes once axial cutting;
[0017] (f) performing, by the shearer, radial feeding on the scraper, sending, by the embedded controller II, a signal to the embedded controller I, controlling the laser emission device to move forward for an average push-slide distance, and fixing the laser emission device; and [0018] (g) repeating steps (b) to (f), to implement real-time pose detection in a continuous mining process of the shearer.
Advantageous Effect [0019] The shearer absolute pose detection method provided in the present invention, compared with the prior art, the six-degree of freedom absolute pose parameter of the shearer is detected by means of a navigation method based on a combination of strapdown inertial navigation and laser scanning positioning. Strapdown inertial navigation has advantages of simple caculation, good real-time, and needing on external reference. However, a solving method thereof decides that strapdown inertial navigation pose detection has an accumulative error, and a laser scanning positioning method requires external reference and has bad real-time but has high accuracy and does not have an accumulative error. Fusion of the internal positioning mode and the external positioning mode take advantage of the two positioning modes and is applicable to severe environment of the stope. Each modules of the system use ultra wideband wireless communication, and have relatively high reliability. In general, the prevent invention has advantages of high detection accuracy, good real-time, high reliability, and low costs.
BRIEF DESCRIPTION OF THE DRAWINGS [0020] Fig. 1 is a schematic diagram of a working face of a shearer absolute pose detection method according to the present invention;
[0021] Fig. 2 is a schematic diagram of a laser emission device according to the present invention; and [0022] Fig. 3 is a block diagram of a system according to the present invention.
[0023] In the figures, 1, shearer, 2, scraper, 3, hydraulic support, 4, laser emission device, 4-1, walking mechanism, 4-2, crank and rocker mechanism, 4-3, servo, 4-4, laser emitter, 4-5, stepping motor, 5, intelligentized total station, 6, coal mine.
DETAILED DESCRIPTION OF THE INVENTION [0024] The present invention is further described below with reference to the accompanying drawings.
[0025] A shearer absolute pose detection method is shown in Fig. 1 and Fig. 2. On a stope, an absolute pose of a shearer 1 in three-machine integrated mining equipment consisting essentially of the shearer 1, a scraper 2, and a hydraulic support 3 is detected. In the method, dead-reckoning pose detection is performed through a strapdown inertial navigation module, laser pose detection is performed through a laser emission device 4, a laser receiving device, and an intelligentized total station 5, and then asynchronous fusion is performed on two pose detection results through an optimal estimation algorithm, to obtain an accurate absolute pose of the shearer 1.
[0026] The laser emission device 4 includes a vehicle body, a stepping motor 4-5, a walking mechanism 4-1, a crank and rocker mechanism 4-2, a servo 4-3, a laser emitter 4-4, and an embedded controller I, the stepping motor is a flame-proof stepping motor, the laser emitter 4-4 is an intrinsically safe and flame-proof fan laser emitter, the stepping motor 4-5, the walking mechanism 4-1 and the crank and rocker mechanism 4-2 are mounted on the vehicle body, the crank and rocker mechanism 4-2 is driven through the stepping motor 4-5 to move, the servo 4-3 and the laser emitter 4-4 are mounted at the top of a rocker, the servo 4-3 drives the laser emitter 4-4 to rotate and scan within a range of ±45°, the embedded controller I is fixed on the vehicle body after flame-proof processing, and the embedded controller I provides a control instruction to the stepping motor 4-5 and the servo 4-3 and solves three-dimensional coordinates of the laser emitter 4-4 in a laser emission device coordinate system and a normal vector of a fan laser emitted by the laser emitter 4-4.
[0027] The laser receiving device includes three laser receivers and an embedded controller II, the three laser receivers are non-collinearly fixed on the shearer 1, all the three laser receivers can receive the fan laser emitted by the laser emitter 4-4, the embedded controller II is fixed on the shearer 1 after flame-proof processing, the embedded controller II is in communication connection with both the laser receivers and the embedded controller I, and with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter 4-4 in the laser emission device coordinate system, and the normal vector of the fan laser emitted by the laser emitter 4-4, coordinates of each laser receiver in the laser emission device coordinate system are calculated, so that a six-degree of freedom pose parameter of the shearer 1 in the laser emission device coordinate system is calculated.
[0028] The intelligentized total station 5 and the laser emission device 4 are disposed in a same roadway, an embedded controller III is fixed on the intelligentized total station 5 after flame-proof processing, the embedded controller III is in communication connection with both the intelligentized total station 5 and the embedded controller I, a positioning prism is disposed at a proper position on the laser emission device 4, a pose parameter of the laser emission device 4 in a mine absolute coordinate system is detected through the intelligentized total station 5, with reference to the pose parameter of the shearer 1 in the laser emission device coordinate system and the pose parameter of the laser emission device 4 in the mine absolute coordinate system, a pose parameter of the shearer 1 in the mine absolute coordinate system is obtained, and the result is used as a laser pose detection result.
[0029] Specifically, the strapdown inertial navigation module is fixed on the shearer 1 after flame-proof processing, the embedded controller II is in communication connection with the strapdown inertial navigation module, navigation information of the strapdown inertial navigation module is calculated through the embedded controller II, to obtain a six-degree of freedom pose parameter of the shearer 1 in a mine absolute coordinate system, and the result is used as a strapdown inertial navigation pose detection result.
[0030] A communication mode among the embedded controller I, the embedded controller II, and an embedded controller III is ultra wideband wireless communication, and clock synchronization is performed on the embedded controller I and the embedded controller II.
[0031] Using a movement direction of the shearer 1 on the scraper 2 as an axial direction, and a push-slide direction of the hydraulic support 3 as a radial direction, the method specifically includes the following steps:
[0032] (a) after a system starts up and is initialized, moving the laser emission device 4 to make the laser emission device 4 aligned with a mining region and fix the laser emission device 4, to ensure that the fan laser emitted by the laser emitter 4-4 can scan the shearer 1; making the strapdown inertial navigation module on the shearer 1 work in real time, and solving, by the embedded controller II, a pose parameter of the shearer 1 in a mine absolute coordinate system;
[0033] (b) after the laser emission device 4 stops work, sending, by the embedded controller I, a signal to an embedded controller III, then controlling, by the embedded controller III, the intelligentized total station 5 to work, and sending the pose parameter, obtained by the intelligentized total station 5, of the laser emission device 4 in the mine absolute coordinate system to the embedded controller I;
[0034] (c) controlling, by the embedded controller I, the stepping motor 4-5 and the servo 4-3 to work, so that the laser emitter 4-4 emits rotation fan lasers of different angles at at least three different positions, where a normal vector of the fan laser in the laser emission device coordinate system is solvable in real time, and coordinates of the laser emitter 4-4 in the laser emission device coordinate system are solvable in real time; when the three laser receivers receive a laser signal each time, sending, by the embedded controller II, a corresponding laser receiver ID number and receiving time to the embedded controller I, and solving, by the embedded controller I with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter 4-4 in the laser emission device coordinate system, the normal vector of the fan laser emitted by the laser emitter 4-4, the pose parameter of the laser emission device 4 in the mine absolute coordinate system, a pose parameter of the shearer 1 in the mine absolute coordinate system and using the pose parameter as a laser pose detection result;
[0035] (d) performing, by the embedded controller II, data processing and asynchronous fusion according to a strapdown inertial navigation pose detection result and the laser pose detection result, to obtain the accurate absolute pose of the shearer 1, sending the absolute pose to a human-machine interface for remote monitoring, and sending the absolute pose to a mining equipment controller to automatically control the shearer 1;
[0036] (e) repeating steps (c) to (d) until the shearer 1 completes once axial cutting;
[0037] (f) performing, by the shearer 1, radial feeding on the scraper 2, sending, by the embedded controller II, a signal to the embedded controller I, controlling the laser emission device 4 to move forward for an average push-slide distance, and fixing the laser emission device 4; and [0038] (g) repeating steps (b) to (f), to implement real-time pose detection in a continuous mining process of the shearer 1.
[0039] The foregoing descriptions are merely preferred implementations of the present invention. It should be noted that a person skilled in the art can also make several improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered to fall within the protection scope of the present invention.
Claims (7)
- What is claimed is:1. A shearer absolute pose detection method, wherein during stoping, an absolute pose of a shearer (1) in three-machine integrated mining equipment consisting essentially of the shearer (1), a scraper (2), and a hydraulic support (3) is detected; navigation position calculation pose detection is performed through a strapdown inertial navigation module, laser pose detection is performed through a laser emission device (4), a laser receiving device, and an intelligentized total station (5), and then asynchronous fusion is performed on two pose detection results through an optimal estimation algorithm, to obtain an accurate absolute pose of the shearer (1).
- 2. The shearer absolute pose detection method according to claim 1, wherein the laser emission device (4) comprises a vehicle body, a stepping motor (4-5), a walking mechanism (4-1), a crank and rocker mechanism (4-2), a servo (4-3), a laser emitter (4-4), and an embedded controller I, the stepping motor is a flame-proof stepping motor, the laser emitter (4-4) is an intrinsically safe and flame-proof fan laser emitter; the stepping motor (4-5), the walking mechanism (4-1) and the crank and rocker mechanism (4-2) are mounted on the vehicle body, the crank and rocker mechanism (4-2) is driven through the stepping motor (4-5) to move, the servo (4-3) and the laser emitter (4-4) are mounted at the top of a rocker, the servo (4-3) drives the laser emitter (4-4) to rotate and scan within a range of ±45°, the embedded controller I is fixed on the vehicle body after flame-proof processing, and the embedded controller I provides a control instruction to the stepping motor (4-5) and the servo (4-3) and solves three-dimensional coordinates of the laser emitter (4-4) in a laser emission device coordinate system and a normal vector of a fan laser emitted by the laser emitter (4-4).
- 3. The shearer absolute pose detection method according to claim 2, wherein the laser receiving device comprises three laser receivers and an embedded controller II, the three laser receivers are non-collinearly fixed on the shearer (1), all the three laser receivers can receive the fan laser emitted by the laser emitter (4-4), the embedded controller II is fixed on the shearer (1) after flame-proof processing, the embedded controller II is in communication connection with both the laser receivers and the embedded controller I, and with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter (4-4) in the laser emission device coordinate system, and the normal vector of the fan laser emitted by the laser emitter (4-4), coordinates of each laser receiver in the laser emission device coordinate system are calculated, so that a pose parameter of the shearer (1) in the laser emission device coordinate system is calculated.
- 4. The shearer absolute pose detection method according to claim 3, wherein the intelligentized total station (5) and the laser emission device (4) are disposed in a same roadway, an embedded controller III is fixed on the intelligentized total station (5) after flame-proof processing, the embedded controller III is in communication connection with both the intelligentized total station (5) and the embedded controller I, a positioning prism is disposed at a proper position on the laser emission device (4), a pose parameter of the laser emission device (4) in a mine absolute coordinate system is detected through the intelligentized total station (5), with reference to the pose parameter of the shearer (1) in the laser emission device coordinate system and the pose parameter of the laser emission device (4) in the mine absolute coordinate system, a pose parameter of the shearer (1) in the mine absolute coordinate system is obtained, and the result is used as a laser pose detection result.
- 5. The shearer absolute pose detection method according to claim 3, wherein the strapdown inertial navigation module is fixed on the shearer (1) after flame-proof processing, the embedded controller II is in communication connection with the strapdown inertial navigation module, navigation information of the strapdown inertial navigation module is calculated through the embedded controller II, to obtain a pose parameter of the shearer (1) in a mine absolute coordinate system, and the result is used as a strapdown inertial navigation pose detection result.
- 6. The shearer absolute pose detection method according to claim 3, wherein a communication mode among the embedded controller I, the embedded controller II, and anembedded controller III is ultra wideband wireless communication, and clock synchronization is performed on the embedded controller I and the embedded controller II.
- 7. The shearer absolute pose detection method according to claim 3, wherein using a movement direction of the shearer (1) on the scraper (2) as an axial direction, and a push-slide direction of the hydraulic support (3) as a radial direction, the method specifically comprises the following steps:(a) after a system starts up and is initialized, moving the laser emission device (4) to make the laser emission device (4) aligned with a mining region and fix the laser emission device (4), to ensure that the fan laser emitted by the laser emitter (4-4) can scan the shearer (1); making the strapdown inertial navigation module on the shearer (1) work in real time, and solving, by the embedded controller II, a pose parameter of the shearer (1) in a mine absolute coordinate system;(b) after the laser emission device (4) stops movement, sending, by the embedded controller I, a signal to an embedded controller III, then controlling, by the embedded controller III, the intelligentized total station (5) to work, and sending the pose parameter, obtained by the intelligentized total station (5), of the laser emission device (4) in the mine absolute coordinate system to the embedded controller I;(c) controlling, by the embedded controller I, the stepping motor (4-5) and the servo (4-3) to work, so that the laser emitter (4-4) emits rotation fan lasers of different angles at at least three different positions, wherein a normal vector of the fan laser in the laser emission device coordinate system is solvable in real time, and coordinates of the laser emitter (4-4) in the laser emission device coordinate system are solvable in real time; when the three laser receivers receive a laser signal each time, sending, by the embedded controller II, a corresponding laser receiver ID number and receiving time to the embedded controller I, and solving, by the embedded controller I with reference to a received signal of each laser receiver, the three-dimensional coordinates of the laser emitter (4-4) in the laser emission device coordinate system, the normal vector of the fan laser emitted by the laser emitter (4-4), the pose parameter of the laser emission device (4) in the mine absolute coordinate system, a pose parameter of the shearer (1) in the mine absolute coordinate system and using the pose parameter as a laser pose detection result;(d) performing, by the embedded controller II, data processing and asynchronous fusion according to the strapdown inertial navigation pose detection result and the laser pose detection result, to obtain the accurate absolute pose of the shearer (1), sending the absolute pose to a human-machine interface for remote monitoring, and sending the absolute pose to a mining equipment controller to automatically control the shearer (1);(e) repeating steps (c) to (d) until the shearer (1) completes once axial cutting;(f) performing, by the shearer (1), radial feeding on the scraper (2), sending, by the embedded controller II, a signal to the embedded controller I, controlling the laser emission device (4) to move forward for an average push-slide distance, and fixing the laser emission device (4); and (g) repeating steps (b) to (f), to implement real-time pose detection in a continuous mining process of the shearer (1).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710396723.1A CN107238385B (en) | 2017-05-31 | 2017-05-31 | A kind of absolute pose detection system of coalcutter and method |
| CN201710396723.1 | 2017-05-31 | ||
| PCT/CN2018/096457 WO2018219361A1 (en) | 2017-05-31 | 2018-07-20 | Method of sensing absolute position and orientation of coal mining machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2018278618A1 true AU2018278618A1 (en) | 2019-05-16 |
| AU2018278618B2 AU2018278618B2 (en) | 2020-07-23 |
Family
ID=59984747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2018278618A Ceased AU2018278618B2 (en) | 2017-05-31 | 2018-07-20 | Shearer absolute pose detection method |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN107238385B (en) |
| AU (1) | AU2018278618B2 (en) |
| GB (1) | GB2572698B (en) |
| RU (1) | RU2711418C1 (en) |
| WO (2) | WO2018219062A1 (en) |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108036784A (en) * | 2017-11-10 | 2018-05-15 | 云保（佛山）智控科技有限公司 | A kind of indoor orientation method, navigation methods and systems |
| CN108981685B (en) * | 2018-08-03 | 2022-04-01 | 山西焦煤集团岚县正利煤业有限公司 | Positioning device and positioning method for fully mechanized coal mining face coal mining machine |
| CN109469484B (en) * | 2018-11-05 | 2020-01-31 | 郑州煤机液压电控有限公司 | Automatic coal mining method based on upper computer planning |
| CN109931958B (en) * | 2019-03-27 | 2020-12-08 | 中国矿业大学 | UWB-based coal mining machine working face end calibration device and method |
| 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 |
| CN110045387B (en) * | 2019-04-23 | 2023-05-16 | 中国矿业大学 | Intelligent support shield type hydraulic support posture monitoring system and measurement method thereof |
| CN110540031B (en) * | 2019-09-10 | 2024-06-21 | 山西中科智能控制技术研究院有限公司 | Posture detection device for middle groove of scraper conveyor |
| CN113065572B (en) * | 2019-12-31 | 2023-09-08 | 北京凌宇智控科技有限公司 | Multi-sensor fusion data processing method, positioning device and virtual reality equipment |
| 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 |
| CN111427062B (en) * | 2020-04-23 | 2022-11-29 | 南京大学 | Hydraulic support alignment method based on laser radar |
| CN112378399B (en) * | 2020-07-16 | 2023-02-28 | 西安科技大学 | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station |
| 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 |
| CN112229394B (en) * | 2020-10-14 | 2024-04-16 | 中国矿业大学 | Colliery underground mobile device location attitude determination system based on infrared motion is caught |
| CN114662259B (en) * | 2020-12-07 | 2024-06-18 | 北斗天地股份有限公司 | Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation |
| CN112814676A (en) * | 2020-12-31 | 2021-05-18 | 重庆大学 | Coal cutting track dynamic correction method based on fully mechanized coal mining face coal seam three-dimensional model construction |
| CN113323698B (en) * | 2021-05-31 | 2023-11-03 | 国能神东煤炭集团有限责任公司 | Fully mechanized coal mining face propulsion distance calculation method, storage medium and electronic equipment |
| CN113534227B (en) * | 2021-07-26 | 2022-07-01 | 中国电子科技集团公司第五十四研究所 | Multi-sensor fusion absolute positioning method suitable for complex non-cooperative scene |
| CN114485614B (en) * | 2022-01-05 | 2023-10-13 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning system and method of mining equipment based on double total stations |
| CN114485616B (en) * | 2022-01-05 | 2023-10-17 | 中国煤炭科工集团太原研究院有限公司 | Automatic positioning method and system under mine based on total station |
| CN115371597B (en) * | 2022-09-13 | 2023-08-04 | 山东科技大学 | Method for checking position accuracy of hydraulic support base of working face |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6035951A (en) * | 1997-04-16 | 2000-03-14 | Digital Control Incorporated | System for tracking and/or guiding an underground boring tool |
| SE508951C2 (en) * | 1997-11-28 | 1998-11-16 | Spectra Precision Ab | Apparatus and method for determining the position of a working part |
| US6052181A (en) * | 1998-07-01 | 2000-04-18 | Trimble Navigation Limited | Multiple simultaneous laser-reference control system for construction equipment |
| US9002565B2 (en) * | 2003-03-20 | 2015-04-07 | Agjunction Llc | GNSS and optical guidance and machine control |
| US9746329B2 (en) * | 2006-11-08 | 2017-08-29 | Caterpillar Trimble Control Technologies Llc | Systems and methods for augmenting an inertial navigation system |
| US8345926B2 (en) * | 2008-08-22 | 2013-01-01 | Caterpillar Trimble Control Technologies Llc | Three dimensional scanning arrangement including dynamic updating |
| US20110213529A1 (en) * | 2010-02-26 | 2011-09-01 | Caterpillar Inc. | System and method for determing a position on an implement relative to a reference position on a machine |
| CN102570287B (en) * | 2010-12-17 | 2013-10-02 | 中国矿业大学(北京) | Fan-shaped laser beam emission device |
| CN103410512B (en) * | 2013-08-15 | 2015-08-05 | 中国矿业大学 | Merge coal-winning machine absolute positioning apparatus and the method for geological environment information |
| CN104296733B (en) * | 2014-09-15 | 2017-01-25 | 三一重型装备有限公司 | Laser positioning device of heading machine and heading machine |
| CN104295297B (en) * | 2014-09-16 | 2016-08-24 | 三一重型装备有限公司 | A kind of tunneling machine cutting head positioning system and method and development machine |
| CN104748679A (en) * | 2015-03-19 | 2015-07-01 | 中国矿业大学(北京) | Space point three dimension coordinate measuring method based on rotation sector laser angle measurement |
| CN104729501A (en) * | 2015-03-19 | 2015-06-24 | 中国矿业大学(北京) | Rotating-sector-laser-based position and pose measurement method of cantilever excavator |
| CN104729538B (en) * | 2015-04-03 | 2017-05-10 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| 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 |
| CN105737825B (en) * | 2016-02-19 | 2018-06-01 | 北京航天控制仪器研究所 | A kind of cutting head of roadheader position measuring system |
| 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 |
-
2017
- 2017-05-31 CN CN201710396723.1A patent/CN107238385B/en active Active
-
2018
- 2018-04-19 WO PCT/CN2018/083775 patent/WO2018219062A1/en active Application Filing
- 2018-07-20 RU RU2019113922A patent/RU2711418C1/en active
- 2018-07-20 WO PCT/CN2018/096457 patent/WO2018219361A1/en active Application Filing
- 2018-07-20 GB GB1905663.9A patent/GB2572698B/en not_active Expired - Fee Related
- 2018-07-20 AU AU2018278618A patent/AU2018278618B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| AU2018278618B2 (en) | 2020-07-23 |
| GB2572698B (en) | 2020-02-26 |
| RU2711418C1 (en) | 2020-01-17 |
| GB2572698A (en) | 2019-10-09 |
| CN107238385A (en) | 2017-10-10 |
| WO2018219062A1 (en) | 2018-12-06 |
| GB201905663D0 (en) | 2019-06-05 |
| CN107238385B (en) | 2019-07-12 |
| WO2018219361A1 (en) | 2018-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2018278618B2 (en) | Shearer absolute pose detection method | |
| WO2018214988A1 (en) | Boring machine absolute spatial position detection apparatus and method | |
| EP3691417A1 (en) | Automatic stage lighting tracking system and control method therefor | |
| KR101917937B1 (en) | Mine vehicle and method of initiating mine work task | |
| CN111693050B (en) | Indoor medium and large robot navigation method based on building information model | |
| US20160312432A1 (en) | Computer Vision Assisted Work Tool Recognition and Installation | |
| CN105700522B (en) | A kind of robot charging method and its charging system | |
| CN105607635A (en) | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle | |
| CN104536008B (en) | Drill jumbo blast hole laser ranging and positioning method | |
| SE1451662A1 (en) | Improved navigation for a robotic work tool | |
| CN103760517B (en) | Underground scanning satellite high-precision method for tracking and positioning and device | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| RU2756634C2 (en) | Methods and systems for controlling the direction of sinking of a mining machine | |
| CN104729538A (en) | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine | |
| CN112878981B (en) | Control system and control method of drill jumbo | |
| CN113982690B (en) | Control method, device, system and tunneling, anchoring and protecting integrated machine based on anchoring operation | |
| CN104793637A (en) | Real-time tracking system and method of mobile equipment | |
| JP2014203146A (en) | Method and device for guiding robot | |
| CN112780275A (en) | Heading machine working system and method | |
| CN203414818U (en) | Video navigation target | |
| AU2019405686A1 (en) | Method and device for determining the position of a mining and/or construction machine | |
| Stentz et al. | Position measurement for automated mining machinery | |
| CN204479086U (en) | Based on the calibrating installation of the coalcutter positioning and orientation system of laser scanning | |
| CN106325268A (en) | Mobile control device and mobile control method | |
| CN110133681B (en) | Recharge guiding system based on laser radar and recharge guiding method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DA3 | Amendments made section 104 |
Free format text: THE NATURE OF THE AMENDMENT IS: AMEND THE INVENTION TITLE TO READ SHEARER ABSOLUTE POSE DETECTION METHOD |
|
| FGA | Letters patent sealed or granted (standard patent) | ||
| MK14 | Patent ceased section 143(a) (annual fees not paid) or expired |