AU2018278618B2 - Shearer absolute pose detection method - Google Patents
Shearer absolute pose detection method Download PDFInfo
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- AU2018278618B2 AU2018278618B2 AU2018278618A AU2018278618A AU2018278618B2 AU 2018278618 B2 AU2018278618 B2 AU 2018278618B2 AU 2018278618 A AU2018278618 A AU 2018278618A AU 2018278618 A AU2018278618 A AU 2018278618A AU 2018278618 B2 AU2018278618 B2 AU 2018278618B2
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- emission device
- pose
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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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
- G01C21/10—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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- 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
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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
- G01C21/10—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
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- 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
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
[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.
[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. Therefore, 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.
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 wheel mechanism, a crank and rocker mechanism, a servo, a laser emitter, and an embedded controller I, the stepping motor is an explosive-proof stepping motor, the laser emitter is an intrinsically safe and explosive-proof fanned laser emitter, the stepping motor, the wheel 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 explosive-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 fanned 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 fanned laser emitted by the laser emitter, the embedded controller II is fixed on the shearer after explosive-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 fanned 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 explosive-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 explosive-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 fanned 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 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 rotating fanned lasers of different angles at at least three different positions, where a normal vector of the fanned 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 fanned 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 calculation, 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.
[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, wheel 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.
[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 wheel 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 an explosive-proof stepping motor, the laser emitter 4-4 is an intrinsically safe and explosive-proof fanned laser emitter, the stepping motor 4-5, the wheel 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 explosive-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 fanned 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 fanned laser emitted by the laser emitter 4-4, the embedded controller II is fixed on the shearer 1 after explosive-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 fanned 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 explosive-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 explosive-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 fanned 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 rotating fanned lasers of different angles at at least three different positions, where a normal vector of the fanned 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 fanned 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 one round of 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.
[0040] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.
[0041] It will be understood that the term "comprise" and any of its derivatives (eg comprises, comprising) as used in this specification is to be taken to be inclusive of features to which it refers, and is not meant to exclude the presence of any additional features unless otherwise stated or implied.
Claims (6)
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; a navigation position calculation pose detection is performed through a strapdown inertial navigation module, a 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 results of the navigation position calculation pose detection and the laser pose detection through an optimal estimation algorithm, to obtain an absolute pose of the shearer (1);
wherein the laser emission device (4) comprises a vehicle body, a stepping motor (4-5), a wheel 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 an explosive-proof stepping motor, the laser emitter (4-4) is an intrinsically safe and explosive-proof fanned laser emitter; the stepping motor (4-5), the wheel 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 450, the embedded controller I, after explosive-proof processing, is fixed on the vehicle body, 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 fanned laser emitted by the laser emitter (4-4).
2. The shearer absolute pose detection method according to claim 1, 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 fanned laser emitted by the laser emitter (4-4), the embedded controller II, after explosive-proof processing, is fixed on the shearer (1), 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 fanned 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.
3. The shearer absolute pose detection method according to claim 2, wherein the intelligentized total station (5) and the laser emission device (4) are disposed in a same roadway, an embedded controller III, after explosive-proof processing, is fixed on the intelligentized total station (5), 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 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.
4. The shearer absolute pose detection method according to claim 2, wherein the strapdown inertial navigation module, after explosive-proof processing, is fixed on the shearer (1), 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.
5. The shearer absolute pose detection method according to claim 2, wherein 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.
6. The shearer absolute pose detection method according to claim 2, 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 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 fanned 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 rotating fanned lasers of different angles at at least three different positions, wherein a normal vector of the fanned 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 fanned 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 of the shearer (1) in the mine absolute coordinate system 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 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 one round of 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 |
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| AU2018278618A1 AU2018278618A1 (en) | 2019-05-16 |
| AU2018278618B2 true AU2018278618B2 (en) | 2020-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| AU2018278618A Ceased AU2018278618B2 (en) | 2017-05-31 | 2018-07-20 | Shearer absolute pose detection method |
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| Country | Link |
|---|---|
| CN (1) | CN107238385B (en) |
| AU (1) | AU2018278618B2 (en) |
| GB (1) | GB2572698B (en) |
| RU (1) | RU2711418C1 (en) |
| WO (2) | WO2018219062A1 (en) |
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| 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 |
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| CN105352504A (en) * | 2015-12-01 | 2016-02-24 | 中国矿业大学 | Inertial navigation-laser scanning integrated coal mining machine positioning device and method |
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| AU2018278618A1 (en) | 2019-05-16 |
| GB2572698A (en) | 2019-10-09 |
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