CA2973038A1 - Combined inertial navigation and laser scanning coal shearer positioning device and method - Google Patents
Combined inertial navigation and laser scanning coal shearer positioning device and method Download PDFInfo
- Publication number
- CA2973038A1 CA2973038A1 CA2973038A CA2973038A CA2973038A1 CA 2973038 A1 CA2973038 A1 CA 2973038A1 CA 2973038 A CA2973038 A CA 2973038A CA 2973038 A CA2973038 A CA 2973038A CA 2973038 A1 CA2973038 A1 CA 2973038A1
- Authority
- CA
- Canada
- Prior art keywords
- coal cutter
- positioning
- laser scanning
- inertial navigation
- microprocessor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003245 coal Substances 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000001133 acceleration Effects 0.000 claims abstract description 29
- 238000013528 artificial neural network Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 11
- 230000004927 fusion Effects 0.000 claims description 10
- 230000005284 excitation Effects 0.000 claims description 6
- 239000013598 vector Substances 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000003062 neural network model Methods 0.000 claims description 3
- 241001040616 Pharyngostrongylus eta Species 0.000 claims 3
- 238000004880 explosion Methods 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 6
- 230000001186 cumulative effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 238000001028 reflection method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A combined inertial navigation and laser scanning coal shearer positioning device and method. The positioning device comprises: a positioning device explosion-resistant housing (2) fixed on a coal shearer (1) apparatus; a laser signal receiving module (3); an inertial navigation positioning device (4); and a laser scanning microprocessor (5) installed in the explosion-resistant device. When the coal shearer (1) operates, the inertial navigation positioning device (4) obtains via a sensor a real-time angular rate and a real-time acceleration, and transfers data to an inertial navigation microprocessor (4-3). In the laser scanning device, a laser scanning base station is arranged at an operation area of the coal shearer (1), and a laser signal thereof is received by a laser signal receiving module (3), and at the same time data is transferred to laser scanning microprocessor (5). The microprocessor (4-3, 5) is connected through a serial port to an upper level device (6), and transfers each acquired positioning data item to a coal shearer positioning control system so as to realize data processing. The invention adopts a combined least-squares/neural network algorithm to determine the position of the coal shearer (1), realizing precise positioning.
Description
Description COMBINED INERTIAL NAVIGATION AND LASER SCANNING COAL SHEARER
POSITIONING DEVICE AND METHOD
Field of the Invention The present invention relates to a coal cutter positioning device and a method thereof, in particular to a coal cutter positioning device integrating inertial navigation with laser scanning and a method thereof Background of the Invention The positioning technology refers to the technology used to make measurement on the target by adopting various measures and in turn to acquire the target position information.
With the continuous improvement of modern technologies, the positioning technology enjoys increasingly higher status in production and life. In many technical fields of positioning, the positioning of different types of equipment under the mine is gradually drawing attention. Due to the frequent occurrence of mine safety accidents and serious disasters, the positioning of mining equipment has become particularly important. This is also a prior condition for automation and safety in production. During the mining of coal resources, the coal cutter is one of the important equipment for underground work.
Therefore, the positioning of the coal cutter is particularly important.
However, due to the special conditions under the mine and the complexity of underground environment, many commonly used positioning means fail to meet the requirements for positioning accuracy, and even fail to determine the position of the coal cutter under the mine. In this context, the progressive development of technologies such as inertial navigation positioning and laser scanning positioning has made it possible to realize the exact positioning of the coal cutter.
The traditional calibration modes for the coal cutter often fail to realize accurate calibration, due to the existence of inherent error. At present, the coal cutter positioning methods commonly used under coal mine environment mainly include gear counting method, infrared shooting method, ultrasonic reflection method, wireless sensing network positioning method and pure inertial navigation method. The coal cutter gear counting positioning method is designed to count the rotation turns of the gear in walking part and position the coal cutter according to the hydraulic support. This method is relatively simple in use and low in cost. However, since the coal cutter performs transverse and longitudinal movement along the working surface in the operating process, while the gear counting method can only determine the walking distance of the coal cutter, leading to inaccurate positioning and major error. For the application of infrared shooting positioning method, an infrared emission device is installed on the machine body of the coal cutter, and an infrared receiving device is fixed on the hydraulic support.
In the operating process of the coal cutter, this method makes analysis on the intensity of the signals received by the receiving device and thus judges the specific position of the coal cutter. As for the disadvantages of this method, it cannot continuously detect the position of the coal cutter, at the same time, the emission and receiving of infrared signals must be realized in the same horizontal plane, otherwise it is very difficult to receive signals effectively. Therefore, in the actual underground mine environment, this method often fails to realize accurate positioning due to numerous interference factors. The wireless sensing network positioning method is designed to determine the position of the coal cutter through WIFI, ZIGBEE, UWB or Bluetooth technology. This positioning method is generally limited by instable positioning system, immature technical research and excessively high costs, and thus cannot be used in underground environment. The pure inertia positioning method is designed to use acceleration meter and gyroscope to obtain the axial acceleration and axial angular speed of the coal cutter, and determine the position of the coal cutter through algorithm. Due to the drift existing in the gyroscope and the acceleration meter, there is continuous increase in cumulative error.
Therefore, it is very difficult for this method to ensure the positioning precision, and it is impossible to realize the absolute positioning of the coal cutter.
To sum up, the existing coal cutter positioning methods, including gear counting method, infrared shooting method, ultrasonic reflection method, wireless sensing network positioning method and pure inertial navigation method, still involve major error in the positioning of the coal cutter under coal mine environment. Generally being limited by the detection mode itself and the influences of underground coal mine detection environment, these methods fail to meet the accuracy requirements in the positioning of the coal cutter.
Content of the Invention Technical problem: in order to overcome the deficiencies in the prior art, the prevent invention provides a coal cutter positioning device integrating inertial navigation with laser scanning and a method thereof The present invention can realize the exact positioning of the coal cutter, and thus solving the problem of continuously increasing cumulative error in the case that the inertial navigation is simply adopted for positioning.
Technical solution: in order to achieve the above-mentioned objects, the present invention adopts the following technical solution: a coal cutter positioning device integrating inertial navigation with laser scanning and a positioning method thereof The coal cutter positioning device comprises a coal cutter, an inertial navigation positioning device, a laser scanning device, a positioning device explosion-proof enclosure and an upper computer; the positioning device explosion-proof enclosure and a laser signal receiving module of the laser scanning device are fixed on the machine body of the coal cutter; the inertial navigation positioning device is installed in the positioning device explosion-proof enclosure.
The inertial navigation positioning device comprises a three-axis gyroscope, a three-axis acceleration meter and an inertial navigation microprocessor; the three-axis gyroscope comprises a three-axis gyroscopic sensor; the three-axis acceleration meter comprises a three-axis acceleration sensor. During the operating process of the coal cutter, the inertial navigation positioning device determines the real-time angular rates in three directions through the three-axis gyroscope, determines the real-time acceleration values in three directions through the three-axis acceleration meter, and samples the data measured by the three-axis gyroscopic sensor and the three-axis acceleration sensor to the inertial navigation microprocessor; the inertial navigation microprocessor is connected with an upper computer through a serial port.
POSITIONING DEVICE AND METHOD
Field of the Invention The present invention relates to a coal cutter positioning device and a method thereof, in particular to a coal cutter positioning device integrating inertial navigation with laser scanning and a method thereof Background of the Invention The positioning technology refers to the technology used to make measurement on the target by adopting various measures and in turn to acquire the target position information.
With the continuous improvement of modern technologies, the positioning technology enjoys increasingly higher status in production and life. In many technical fields of positioning, the positioning of different types of equipment under the mine is gradually drawing attention. Due to the frequent occurrence of mine safety accidents and serious disasters, the positioning of mining equipment has become particularly important. This is also a prior condition for automation and safety in production. During the mining of coal resources, the coal cutter is one of the important equipment for underground work.
Therefore, the positioning of the coal cutter is particularly important.
However, due to the special conditions under the mine and the complexity of underground environment, many commonly used positioning means fail to meet the requirements for positioning accuracy, and even fail to determine the position of the coal cutter under the mine. In this context, the progressive development of technologies such as inertial navigation positioning and laser scanning positioning has made it possible to realize the exact positioning of the coal cutter.
The traditional calibration modes for the coal cutter often fail to realize accurate calibration, due to the existence of inherent error. At present, the coal cutter positioning methods commonly used under coal mine environment mainly include gear counting method, infrared shooting method, ultrasonic reflection method, wireless sensing network positioning method and pure inertial navigation method. The coal cutter gear counting positioning method is designed to count the rotation turns of the gear in walking part and position the coal cutter according to the hydraulic support. This method is relatively simple in use and low in cost. However, since the coal cutter performs transverse and longitudinal movement along the working surface in the operating process, while the gear counting method can only determine the walking distance of the coal cutter, leading to inaccurate positioning and major error. For the application of infrared shooting positioning method, an infrared emission device is installed on the machine body of the coal cutter, and an infrared receiving device is fixed on the hydraulic support.
In the operating process of the coal cutter, this method makes analysis on the intensity of the signals received by the receiving device and thus judges the specific position of the coal cutter. As for the disadvantages of this method, it cannot continuously detect the position of the coal cutter, at the same time, the emission and receiving of infrared signals must be realized in the same horizontal plane, otherwise it is very difficult to receive signals effectively. Therefore, in the actual underground mine environment, this method often fails to realize accurate positioning due to numerous interference factors. The wireless sensing network positioning method is designed to determine the position of the coal cutter through WIFI, ZIGBEE, UWB or Bluetooth technology. This positioning method is generally limited by instable positioning system, immature technical research and excessively high costs, and thus cannot be used in underground environment. The pure inertia positioning method is designed to use acceleration meter and gyroscope to obtain the axial acceleration and axial angular speed of the coal cutter, and determine the position of the coal cutter through algorithm. Due to the drift existing in the gyroscope and the acceleration meter, there is continuous increase in cumulative error.
Therefore, it is very difficult for this method to ensure the positioning precision, and it is impossible to realize the absolute positioning of the coal cutter.
To sum up, the existing coal cutter positioning methods, including gear counting method, infrared shooting method, ultrasonic reflection method, wireless sensing network positioning method and pure inertial navigation method, still involve major error in the positioning of the coal cutter under coal mine environment. Generally being limited by the detection mode itself and the influences of underground coal mine detection environment, these methods fail to meet the accuracy requirements in the positioning of the coal cutter.
Content of the Invention Technical problem: in order to overcome the deficiencies in the prior art, the prevent invention provides a coal cutter positioning device integrating inertial navigation with laser scanning and a method thereof The present invention can realize the exact positioning of the coal cutter, and thus solving the problem of continuously increasing cumulative error in the case that the inertial navigation is simply adopted for positioning.
Technical solution: in order to achieve the above-mentioned objects, the present invention adopts the following technical solution: a coal cutter positioning device integrating inertial navigation with laser scanning and a positioning method thereof The coal cutter positioning device comprises a coal cutter, an inertial navigation positioning device, a laser scanning device, a positioning device explosion-proof enclosure and an upper computer; the positioning device explosion-proof enclosure and a laser signal receiving module of the laser scanning device are fixed on the machine body of the coal cutter; the inertial navigation positioning device is installed in the positioning device explosion-proof enclosure.
The inertial navigation positioning device comprises a three-axis gyroscope, a three-axis acceleration meter and an inertial navigation microprocessor; the three-axis gyroscope comprises a three-axis gyroscopic sensor; the three-axis acceleration meter comprises a three-axis acceleration sensor. During the operating process of the coal cutter, the inertial navigation positioning device determines the real-time angular rates in three directions through the three-axis gyroscope, determines the real-time acceleration values in three directions through the three-axis acceleration meter, and samples the data measured by the three-axis gyroscopic sensor and the three-axis acceleration sensor to the inertial navigation microprocessor; the inertial navigation microprocessor is connected with an upper computer through a serial port.
2 The laser scanning device comprises a laser scanning base station, a laser signal receiving module and a laser scanning microprocessor; the laser scanning base station is arranged in the working area of the coal cutter; the laser scanning microprocessor is installed in the positioning device explosion-proof enclosure; the laser signal receiving module is connected with the laser scanning microprocessor, the laser scanning microprocessor is connected with an upper computer through the serial port and transmits the laser scanning positioning data to the coal cutter positioning control system in the upper computer; the laser emitted by the laser scanning base station is received by the laser signal receiving module on the machine body of the coal cutter, and the received time information is acquired and processed by the laser scanning microprocessor; the upper computer makes judgment of the data information, and adopts the fusion algorithm (the least square method is adopted for determining the weight value of coefficients, and the neural network algorithm is adopted for evaluating the positioning) to finally determine the position of the coal cutter and realize accurate positioning.
A coal cutter positioning method comprises the following steps:
A. A positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation microprocessor, and obtain the coal cutter positioning results measured by inertial navigation through algorithm resolution;
B. The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning microprocessor is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized.
C. The inertial navigation microprocessor and the laser scanning microprocessor are connected with the upper computer through the serial port data communication is established, the coal cutter positioning results obtained through resolution are transmitted to the coal cutter positioning control system of the upper computer respectively, so that the data interaction is realized;
D. In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
E. When the coal cutter is in normal working, the coal cutter positioning system is operating.
The said step B comprises the following steps:
A coal cutter positioning method comprises the following steps:
A. A positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation microprocessor, and obtain the coal cutter positioning results measured by inertial navigation through algorithm resolution;
B. The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning microprocessor is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized.
C. The inertial navigation microprocessor and the laser scanning microprocessor are connected with the upper computer through the serial port data communication is established, the coal cutter positioning results obtained through resolution are transmitted to the coal cutter positioning control system of the upper computer respectively, so that the data interaction is realized;
D. In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
E. When the coal cutter is in normal working, the coal cutter positioning system is operating.
The said step B comprises the following steps:
3 Bl. The laser scanning base stations are arranged according to the present operating environment of the coal cutter. According to the principle that each point can be scanned by more than two base stations during the operating process of the coal cutter, and taking account of the cost of base stations, three base stations are arranged to realize positioning;
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of laser signals; the laser scanning microprocessor in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning microprocessor comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the microprocessor does not perform data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning; the signal threshold is set as 6, when the intensity of received signals is bigger than 6, the microprocessor performs the positioning data resolution and resolves the coal cutter position information through algorithm.
The said step E comprises the following steps:
E1. When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as(xi z1), and the laser scanning system positions the location of the coal cutter as (x2 Y2' z2), according to the present detecting condition, assign weight coefficients a, b, namely, the position coordinates of the coal cutter (x, y, z):
(x, y, z) = a(xi, yi, z1) + 1'(x2, y2, z2) Meanwhile, the coefficients meet: a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of least square method: on the assumption that there is a function:
(x) = (x y, z) = a(x1 Yi z1)+ b(x2, y2, z2) = ax n + an_ixn-1 + ===+ aix + ac, wherein, a0, al, an are coefficient constants, Px s an expanded polynomial, then he assumed array is {(xõ yj = I, 2
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of laser signals; the laser scanning microprocessor in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning microprocessor comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the microprocessor does not perform data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning; the signal threshold is set as 6, when the intensity of received signals is bigger than 6, the microprocessor performs the positioning data resolution and resolves the coal cutter position information through algorithm.
The said step E comprises the following steps:
E1. When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as(xi z1), and the laser scanning system positions the location of the coal cutter as (x2 Y2' z2), according to the present detecting condition, assign weight coefficients a, b, namely, the position coordinates of the coal cutter (x, y, z):
(x, y, z) = a(xi, yi, z1) + 1'(x2, y2, z2) Meanwhile, the coefficients meet: a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of least square method: on the assumption that there is a function:
(x) = (x y, z) = a(x1 Yi z1)+ b(x2, y2, z2) = ax n + an_ixn-1 + ===+ aix + ac, wherein, a0, al, an are coefficient constants, Px s an expanded polynomial, then he assumed array is {(xõ yj = I, 2
4 Select the constants a.0, , so that the variance is minimized, namely, = ¨ PT, (x))2 Wherein, S represents the variance, in order to minimize S and the coefficient constants meet a,' ¨, a,, = 0, then determine the po1ynomia1eõ(.0, and in turn obtain the weight coefficients a, b;
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = Ecti(xp yi 2:1)... bi(Xz y2 Input layer 0 is the desired coal cutter position coordinate, namely:
0 = y z)]
According to the empirical equation L = n C, wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, i represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
P,J represents the input of the jth node of the input layer, j=1,2; w., represents the weight value between the ith node of the hidden layer and the ith node of the input layer; 0, represents the threshold of the ith node of the hidden layer, )(x) represents the excitation function of the hidden layer; w, represents the weight value between the output layer and the thnode of the hidden layer, i=1,2,3; T represents the threshold of the output layer; yo(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for O./c), it is generally determined as sigmoid function having continuous value range within (9, 1), (x) ¨ __________________________________________________________ - = for 92(x), in general adopting purelin function, selecting p(x) = k x, then (1) The forward propagation process of signals The input of the ith node of the hidden layer Asti: net, = wP + + 6,; the output of the ith node of the hidden layer yi: y, = 06vE,P1 + tv,2P7, + ,); the input of the output layer net: net = EL.1w10(wL1P1 + waPz T; the output of the output layer 0: 0 = aci2P2 +19,) r);
(2)The back-propagation process of errors
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = Ecti(xp yi 2:1)... bi(Xz y2 Input layer 0 is the desired coal cutter position coordinate, namely:
0 = y z)]
According to the empirical equation L = n C, wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, i represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
P,J represents the input of the jth node of the input layer, j=1,2; w., represents the weight value between the ith node of the hidden layer and the ith node of the input layer; 0, represents the threshold of the ith node of the hidden layer, )(x) represents the excitation function of the hidden layer; w, represents the weight value between the output layer and the thnode of the hidden layer, i=1,2,3; T represents the threshold of the output layer; yo(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for O./c), it is generally determined as sigmoid function having continuous value range within (9, 1), (x) ¨ __________________________________________________________ - = for 92(x), in general adopting purelin function, selecting p(x) = k x, then (1) The forward propagation process of signals The input of the ith node of the hidden layer Asti: net, = wP + + 6,; the output of the ith node of the hidden layer yi: y, = 06vE,P1 + tv,2P7, + ,); the input of the output layer net: net = EL.1w10(wL1P1 + waPz T; the output of the output layer 0: 0 = aci2P2 +19,) r);
(2)The back-propagation process of errors
5 For each input position information, on the assumption that there is only one group of samples for each time, the error function is defined: E = - 0)2 wherein, T
refers to the expected output value, E represents the magnitude of the error value;
According to the principle of gradient descent of error, the equation of the output layer weight variation Awi:
= -77 1-6,:,= = ?KT - 0) = 4:p (ri et) = y,; the adjustment equation of the E output layer threshold variation r: ¨?r-- = -î--------- = -tp(n'et); the a T a net Or adjustment equation of the hidden layer weight value variation Awl:
az anEr, Att. = -71 ¨ = -Ty --ener, --env = - 0) = v(net) = wi = 0(71- et ,) = P3;
the adjustment equation of the hidden layer threshold variation Mt:
a E a z ârerL
= -17 = -17 = ,7(T¨ 0) cp (net) = w, =
Finally, through network optimization, the coordinate vectors of the coal cutter 0 = y 2)1 are output;
E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution, at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated measurement for many times, after the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system; the coal cutter continues operating and El-E4 is repeated.
The present invention provides the following beneficial effects. Since the above-mentioned solution, the coal cutter positioning device and the method are adopted, such that the inertial navigation positioning and the laser scanning positioning are integrated to realize the positioning of the coal cutter. The problem that the simple use of inertial navigation positioning will lead to constant increasing cumulative error, which results in incorrect coal cutter positioning accuracy, is sloved.
When the positioning mode of laser scanning is adopted, it is feasible to realize accurate positioning and assign the accurate position information to the inertial navigation system to set the pisitioning initial value for each time, and thus remove the cumulative error. Although the laser scanning mode is accurate in positioning, the scanning is easily affected due to adverse underground environment conditions such
refers to the expected output value, E represents the magnitude of the error value;
According to the principle of gradient descent of error, the equation of the output layer weight variation Awi:
= -77 1-6,:,= = ?KT - 0) = 4:p (ri et) = y,; the adjustment equation of the E output layer threshold variation r: ¨?r-- = -î--------- = -tp(n'et); the a T a net Or adjustment equation of the hidden layer weight value variation Awl:
az anEr, Att. = -71 ¨ = -Ty --ener, --env = - 0) = v(net) = wi = 0(71- et ,) = P3;
the adjustment equation of the hidden layer threshold variation Mt:
a E a z ârerL
= -17 = -17 = ,7(T¨ 0) cp (net) = w, =
Finally, through network optimization, the coordinate vectors of the coal cutter 0 = y 2)1 are output;
E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution, at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated measurement for many times, after the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system; the coal cutter continues operating and El-E4 is repeated.
The present invention provides the following beneficial effects. Since the above-mentioned solution, the coal cutter positioning device and the method are adopted, such that the inertial navigation positioning and the laser scanning positioning are integrated to realize the positioning of the coal cutter. The problem that the simple use of inertial navigation positioning will lead to constant increasing cumulative error, which results in incorrect coal cutter positioning accuracy, is sloved.
When the positioning mode of laser scanning is adopted, it is feasible to realize accurate positioning and assign the accurate position information to the inertial navigation system to set the pisitioning initial value for each time, and thus remove the cumulative error. Although the laser scanning mode is accurate in positioning, the scanning is easily affected due to adverse underground environment conditions such
6 as dust, shelter and the like, so that it is impossible to obtain the scanning result. In addition, the laser scanning mode may also generate error due to problems such as time synchronization and time delay. At that point, the inertial navigation system can provide the coal cutter positioning result in case the laser scanning position information involves excessive deviation or the laser scanning mode fails in positioning. The present invention mutually combines two modes and adopts fusion optimization algorithm to make further data processing, obtains the coal cutter position coordinates and realizes the accurate positioning of the coal cutter.
Advantages:
(1) The coal cutter positioning method integrating inertial navigation with laser scanning is adopted. This method utilizes the advantages of both positioning methods, that is, it has the advantages of inertial navigation positioning in high anti-interference capability and laser scanning in accurate positioning; in addition, this method can effectively suppress the defects of the time cumulative error in inertial navigation as well as being susceptible to the interference and the shelter in laser scanning. Therefore, this method can ensure the positioning precision, reduce the positioning error and thus comply with the requirements for coal cutter positioning.
(2) The method provided by the present invention is safe and reliable in use and convenient in installation and operation, avoiding the circumstance of error generation in the actual dynamic measurement, having important reference value and practical significance.
Description of the Drawings Figure I is the workflow diagram of the coal cutter positioning system according to the present invention.
Figure 2 is the layout diagram of the coal cutter positioning device integrating inertial navigation with laser scanning according to the present invention.
Figure 3 is the internal schematic diagram of the positioning device explosion-proof enclosure according to the present invention.
Figure 4 is the algorithm flowchart of the present invention.
In the figures: I. Coal cutter; 2. Positioning device explosion-proof enclosure; 3. Laser signal receiving module; 4. Inertial navigation positioning device; 4-1. Three-axis gyroscope; 4-2 Three-axis acceleration meter; 4-3 Inertial navigation microprocessor; 5.
Laser scanning microprocessor; 6. Upper computer.
Detailed Description of the Embodiments The present invention is further described with reference to the attached drawings:
As shown in Figures 2 and 3, the present invention provides a coal cutter positioning device integrating inertial navigation with laser scanning, wherein the coal cutter positioning device comprises a coal cutter 1, an inertial navigation positioning device 4, a laser scanning device, a positioning device explosion-proof enclosure 2 and an upper computer 6; the positioning device explosion-proof enclosure 2 and a laser signal receiving module of the laser scanning device are fixed on the machine body of the coal
Advantages:
(1) The coal cutter positioning method integrating inertial navigation with laser scanning is adopted. This method utilizes the advantages of both positioning methods, that is, it has the advantages of inertial navigation positioning in high anti-interference capability and laser scanning in accurate positioning; in addition, this method can effectively suppress the defects of the time cumulative error in inertial navigation as well as being susceptible to the interference and the shelter in laser scanning. Therefore, this method can ensure the positioning precision, reduce the positioning error and thus comply with the requirements for coal cutter positioning.
(2) The method provided by the present invention is safe and reliable in use and convenient in installation and operation, avoiding the circumstance of error generation in the actual dynamic measurement, having important reference value and practical significance.
Description of the Drawings Figure I is the workflow diagram of the coal cutter positioning system according to the present invention.
Figure 2 is the layout diagram of the coal cutter positioning device integrating inertial navigation with laser scanning according to the present invention.
Figure 3 is the internal schematic diagram of the positioning device explosion-proof enclosure according to the present invention.
Figure 4 is the algorithm flowchart of the present invention.
In the figures: I. Coal cutter; 2. Positioning device explosion-proof enclosure; 3. Laser signal receiving module; 4. Inertial navigation positioning device; 4-1. Three-axis gyroscope; 4-2 Three-axis acceleration meter; 4-3 Inertial navigation microprocessor; 5.
Laser scanning microprocessor; 6. Upper computer.
Detailed Description of the Embodiments The present invention is further described with reference to the attached drawings:
As shown in Figures 2 and 3, the present invention provides a coal cutter positioning device integrating inertial navigation with laser scanning, wherein the coal cutter positioning device comprises a coal cutter 1, an inertial navigation positioning device 4, a laser scanning device, a positioning device explosion-proof enclosure 2 and an upper computer 6; the positioning device explosion-proof enclosure 2 and a laser signal receiving module of the laser scanning device are fixed on the machine body of the coal
7 cutter 1; the inertial navigation positioning device 4 is installed in the positioning device explosion-proof enclosure 2.
The inertial navigation positioning device 4 comprises a three-axis gyroscope 4-1, a three-axis acceleration meter 4-2 and an inertial navigation microprocessor 4-3; the three-axis gyroscope 4-1 comprises a three-axis gyroscopic sensor; the three-axis acceleration meter 4-2 comprises a three-axis acceleration sensor; during the operating process of the coal cutter, the inertial navigation positioning device 4 determines the real-time angular rates in three directions through the three-axis gyroscope 4-1, determines the real-time acceleration values in three directions through the three-axis acceleration meter 4-2, and samples the data measured by the three-axis gyroscopic sensor and the three-axis acceleration sensor to the inertial navigation microprocessor;
the inertial navigation microprocessor is connected with an upper computer through a serial port.
The laser scanning device comprises a laser scanning base station, a laser signal receiving module 3 and a laser scanning microprocessor 5; the laser scanning base station is arranged in the working area of the coal cutter; the laser scanning microprocessor 5 is installed in the positioning device explosion-proof enclosure 2; the laser signal receiving module 3 is connected with the laser scanning microprocessor 5, the laser scanning microprocessor 5 is connected with an upper computer 6 through the serial port and transmits the laser scanning positioning data to the coal cutter positioning control system in the upper computer 6; the laser emitted by the laser scanning base station is received by the laser signal receiving module on the machine body of the coal cutter, and the received time information is acquired and processed by the laser scanning microprocessor 5; the upper computer 6 makes judgment of data information, and adopts the fusion algorithm (the least square method is adopted for determining the weight value of coefficients, and the neural network algorithm is adopted for evaluating the positioning) to finally determine the position of the coal cutter and realize the accurate positioning.
A positioning method of the coal cutter integrating inertial navigation with laser scanning comprises the following steps:
A. A positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation micro-processor unit, and obtain the coal cutter positioning results measured by the inertial navigation through algorithm resolution;
B. The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning micro-processor unit is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized.
C. The inertial navigation microprocessor unit and the laser scanning microprocessor unit are connected with the upper computer through the serial port, the data communication is established, the coal cutter positioning results obtained through
The inertial navigation positioning device 4 comprises a three-axis gyroscope 4-1, a three-axis acceleration meter 4-2 and an inertial navigation microprocessor 4-3; the three-axis gyroscope 4-1 comprises a three-axis gyroscopic sensor; the three-axis acceleration meter 4-2 comprises a three-axis acceleration sensor; during the operating process of the coal cutter, the inertial navigation positioning device 4 determines the real-time angular rates in three directions through the three-axis gyroscope 4-1, determines the real-time acceleration values in three directions through the three-axis acceleration meter 4-2, and samples the data measured by the three-axis gyroscopic sensor and the three-axis acceleration sensor to the inertial navigation microprocessor;
the inertial navigation microprocessor is connected with an upper computer through a serial port.
The laser scanning device comprises a laser scanning base station, a laser signal receiving module 3 and a laser scanning microprocessor 5; the laser scanning base station is arranged in the working area of the coal cutter; the laser scanning microprocessor 5 is installed in the positioning device explosion-proof enclosure 2; the laser signal receiving module 3 is connected with the laser scanning microprocessor 5, the laser scanning microprocessor 5 is connected with an upper computer 6 through the serial port and transmits the laser scanning positioning data to the coal cutter positioning control system in the upper computer 6; the laser emitted by the laser scanning base station is received by the laser signal receiving module on the machine body of the coal cutter, and the received time information is acquired and processed by the laser scanning microprocessor 5; the upper computer 6 makes judgment of data information, and adopts the fusion algorithm (the least square method is adopted for determining the weight value of coefficients, and the neural network algorithm is adopted for evaluating the positioning) to finally determine the position of the coal cutter and realize the accurate positioning.
A positioning method of the coal cutter integrating inertial navigation with laser scanning comprises the following steps:
A. A positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation micro-processor unit, and obtain the coal cutter positioning results measured by the inertial navigation through algorithm resolution;
B. The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning micro-processor unit is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized.
C. The inertial navigation microprocessor unit and the laser scanning microprocessor unit are connected with the upper computer through the serial port, the data communication is established, the coal cutter positioning results obtained through
8 resolution are transmitted to the coal cutter positioning control system of the upper computer respectively, so that the data interaction is realized;
D. In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of the positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
E. When the coal cutter is in normal working, the coal cutter positioning system is operating.
The said step B comprises the following steps:
B l. The laser scanning base stations are arranged according to the present operating environment of the coal cutter, according to the principle that each point can be scanned by more than two base stations during the operating process of the coal cutter, and taking account of the cost of base stations, in general three base stations are arranged to realize positioning.
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of the laser signals; the laser scanning micro-processor unit in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning micro-processor unit comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the micro-processor unit does not perform data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning;
the signal threshold is set as 5, when the intensity of received signals is bigger than 5, the micro-processor unit performs positioning data resolution and resolves the coal cutter position information through algorithm.
Figure 1 is the workflow diagram of the coal cutter positioning system. The work flow of the coal cutter positioning system is described as El ¨ E5:
El . When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as(xi Yi , z1), and the laser scanning system positions the location of the coal cutter as (x2 , y2 , z2), according to the present detecting condition, assign weight coefficients a, h, namely, the position coordinates of the coal cutter
D. In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of the positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
E. When the coal cutter is in normal working, the coal cutter positioning system is operating.
The said step B comprises the following steps:
B l. The laser scanning base stations are arranged according to the present operating environment of the coal cutter, according to the principle that each point can be scanned by more than two base stations during the operating process of the coal cutter, and taking account of the cost of base stations, in general three base stations are arranged to realize positioning.
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of the laser signals; the laser scanning micro-processor unit in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning micro-processor unit comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the micro-processor unit does not perform data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning;
the signal threshold is set as 5, when the intensity of received signals is bigger than 5, the micro-processor unit performs positioning data resolution and resolves the coal cutter position information through algorithm.
Figure 1 is the workflow diagram of the coal cutter positioning system. The work flow of the coal cutter positioning system is described as El ¨ E5:
El . When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as(xi Yi , z1), and the laser scanning system positions the location of the coal cutter as (x2 , y2 , z2), according to the present detecting condition, assign weight coefficients a, h, namely, the position coordinates of the coal cutter
9 (x y, z):
(x, y, z) = a(x1 Yi z1) + b(x2, y2, z2) meanwhile, the coefficients meet a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of least square method: on the assumption that there is a function:
(x) = (x, y, z) = a(x1 Yi zi) + bi(x2, y2, z2) = ax n + an_1xn-1 + === + a1x + a() wherein, ac,, al, a, are coefficient constants, P,(x) s an expanded polynomial, then the assumed array is ((x,, y,) = 1, 2¨, m}
Select the constants a,),a, ¨, a,, so that the variance is minimized, namely, = 7_1(yi - Pn(x))2 Wherein S represents the variance; in order to minimize S and the coefficient constants meet 20, a, ¨, aõ, = 0, then determine the polynomial Pjx), and in turn obtain the weight coefficients a, b;
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = [ax. y. z1), *2, y2, z2)]
Input layer 0 is the desired coal cutter position coordinate, namely:
0 = [(x. y, According to the empirical equation L = v7TE + C9 wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, L represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
Pi represents the input of the jth node of the input layer, j=1,2; w.
represents the weight value between the ith node of the hidden layer and the jth node of the input layer; 0, represents the threshold of the thnode of the hidden layer, OU) represents the excitation function of the hidden layer; wr, represents the weight value between the output layer and the thnode of the hidden layer, i=1,2,3; T represents the = CA 02973038 2017-07-05 threshold of the output layer; q(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for 0,:x), it is generally determined as s igmoid function having continuous value range within (0, 1):
0(x) ¨ ________ for tp(x), in generaladopting pure/in function, selecting (p(x) =kx, then (1) The forward propagation process of signals The input of the ith node of the hidden layer net: net, = wii + vv,2132 + t9,;
the output of the ith node of the hidden layer yi: yi = 0(vvi1P- + wiz P2 + 6 ti);
the input of the output layer net: net = wi wP + wup., +go+ r; the output of the output layer 0: 0 = a(iVi/Pi WizP2 8,) + 0;
(2) The back-propagation process of errors For each input position information, on the assumption that there is only one group of samples for each time, the error function is defined:
E = ¨ 0)2, wherein, T refers to the expected output value, E
represents the magnitude of the error value;
According to the principle of the gradient descent of error, the equation of the output layer weight variation Avvi:
LW; = ?KT¨ o) = (rte. 0 = the adjustment equation of the output layer threshold variation Ar:
OE E &net 117: = ¨7/ ¨ q = ¨ ¨iftr,ft ¨or = î(T ¨ - 42(net); the adjustment equation of the hidden layer weight value variation Avvii:
E E oinerL
= ¨71 =(T ¨ 0) v(net) = wi = 0(nett) = 13;; the adjustment equation of the hidden layer threshold variation AO:
Ag, = 6 . =
5"61: -atn:tt = 17(T -- 0) (no. t) - - 0 (ri et t);
Finally, through network optimization, output the coordinate vectors of the coal cutter 0 y E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution; at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated measurement for many times. After the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system. The coal cutter continues operating and El¨ E4 is repeated.
(x, y, z) = a(x1 Yi z1) + b(x2, y2, z2) meanwhile, the coefficients meet a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of least square method: on the assumption that there is a function:
(x) = (x, y, z) = a(x1 Yi zi) + bi(x2, y2, z2) = ax n + an_1xn-1 + === + a1x + a() wherein, ac,, al, a, are coefficient constants, P,(x) s an expanded polynomial, then the assumed array is ((x,, y,) = 1, 2¨, m}
Select the constants a,),a, ¨, a,, so that the variance is minimized, namely, = 7_1(yi - Pn(x))2 Wherein S represents the variance; in order to minimize S and the coefficient constants meet 20, a, ¨, aõ, = 0, then determine the polynomial Pjx), and in turn obtain the weight coefficients a, b;
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = [ax. y. z1), *2, y2, z2)]
Input layer 0 is the desired coal cutter position coordinate, namely:
0 = [(x. y, According to the empirical equation L = v7TE + C9 wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, L represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
Pi represents the input of the jth node of the input layer, j=1,2; w.
represents the weight value between the ith node of the hidden layer and the jth node of the input layer; 0, represents the threshold of the thnode of the hidden layer, OU) represents the excitation function of the hidden layer; wr, represents the weight value between the output layer and the thnode of the hidden layer, i=1,2,3; T represents the = CA 02973038 2017-07-05 threshold of the output layer; q(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for 0,:x), it is generally determined as s igmoid function having continuous value range within (0, 1):
0(x) ¨ ________ for tp(x), in generaladopting pure/in function, selecting (p(x) =kx, then (1) The forward propagation process of signals The input of the ith node of the hidden layer net: net, = wii + vv,2132 + t9,;
the output of the ith node of the hidden layer yi: yi = 0(vvi1P- + wiz P2 + 6 ti);
the input of the output layer net: net = wi wP + wup., +go+ r; the output of the output layer 0: 0 = a(iVi/Pi WizP2 8,) + 0;
(2) The back-propagation process of errors For each input position information, on the assumption that there is only one group of samples for each time, the error function is defined:
E = ¨ 0)2, wherein, T refers to the expected output value, E
represents the magnitude of the error value;
According to the principle of the gradient descent of error, the equation of the output layer weight variation Avvi:
LW; = ?KT¨ o) = (rte. 0 = the adjustment equation of the output layer threshold variation Ar:
OE E &net 117: = ¨7/ ¨ q = ¨ ¨iftr,ft ¨or = î(T ¨ - 42(net); the adjustment equation of the hidden layer weight value variation Avvii:
E E oinerL
= ¨71 =(T ¨ 0) v(net) = wi = 0(nett) = 13;; the adjustment equation of the hidden layer threshold variation AO:
Ag, = 6 . =
5"61: -atn:tt = 17(T -- 0) (no. t) - - 0 (ri et t);
Finally, through network optimization, output the coordinate vectors of the coal cutter 0 y E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution; at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated measurement for many times. After the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system. The coal cutter continues operating and El¨ E4 is repeated.
Claims (6)
1 A coal cutter positioning device integrating inertial navigation with laser scanning, characterized in that, the coal cutter positioning device comprises a coal cutter, an inertial navigation positioning device, a laser scanning device, a positioning device explosion-proof enclosure and an upper computer; the positioning device explosion-proof enclosure and a laser signal receiving module of the laser scanning device are fixed on the machine body of the coal cutter; the inertial navigation positioning device is installed in the positioning device explosion-proof enclosure.
2 The coal cutter positioning device integrating inertial navigation with laser scanning according to claim 1, characterized in that, the inertial navigation positioning device comprises a three-axis gyroscope, a three-axis acceleration meter and an inertial navigation microprocessor; the three-axis gyroscope comprises a three-axis gyroscopic sensor; the three-axis acceleration meter comprises a three-axis acceleration sensor. during the operating process of the coal cutter, the inertial navigation positioning device determines the real-time angular rates in three directions through the three-axis gyroscope, determines the real-time acceleration values in three directions through the three-axis acceleration meter, and samples the data measured by the three-axis gyroscopic sensor and the three-axis acceleration sensor to the inertial navigation microprocessor; the inertial navigation microprocessor is connected with an upper computer through a serial port.
3 The coal cutter positioning device integrating inertial navigation with laser scanning according to claim 1, characterized in that, the laser scanning device comprises a laser scanning base station, a laser signal receiving module and a laser scanning microprocessor; the laser scanning base station is arranged in the working area of the coal cutter; the laser scanning microprocessor is installed in the positioning device explosion-proof enclosure; the laser signal receiving module is connected with the laser scanning microprocessor, the laser scanning microprocessor is connected with an upper computer through the serial port and transmits the laser scanning positioning data to the coal cutter positioning control system in the upper computer;
the laser emitted by the laser scanning base station is received by the laser signal receiving module on the machine body of the coal cutter, and the received time information is acquired and processed by the laser scanning microprocessor;
the upper computer makes judgment of the data information, and adopts the fusion algorithm (the least square method is adopted for determining the weight value of coefficients, and the neural network algorithm is adopted for evaluating the positioning) to finally determine the position of the coal cutter and realize accurate positioning.
the laser emitted by the laser scanning base station is received by the laser signal receiving module on the machine body of the coal cutter, and the received time information is acquired and processed by the laser scanning microprocessor;
the upper computer makes judgment of the data information, and adopts the fusion algorithm (the least square method is adopted for determining the weight value of coefficients, and the neural network algorithm is adopted for evaluating the positioning) to finally determine the position of the coal cutter and realize accurate positioning.
4 A positioning method of the coal cutter positioning device integrating inertial navigation with laser scanning according to claim 1, characterized in that, the positioning method of the coal cutter comprises the following steps:
(A). A
positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation microprocessor, and obtain the coal cutter positioning results measured by inertial navigation through the algorithm resolution;
(B). The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning microprocessor is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized;
(C). The inertial navigation microprocessor and the laser scanning microprocessor are connected with the upper computer through the serial port, data communication is established, the coal cutter positioning results obtained through resolution are transmitted to the coal cutter positioning control system of the upper computer respectively, so that the data interaction is realized;
(D). In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of the positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
(E). When the coal cutter is in normal working, the coal cutter positioning system is operating.
(A). A
positioning device explosion-proof enclosure is installed and fixed on the machine body of the coal cutter, so that the whole inertial navigation positioning device is installed in the explosion-proof enclosure; the positioning device is designed to respectively determine the real-time angular rates and real-time acceleration values in three directions through the three-axis gyroscope and the three-axis acceleration meter, send the measured values to the inertial navigation microprocessor, and obtain the coal cutter positioning results measured by inertial navigation through the algorithm resolution;
(B). The laser scanning base station is arranged in the working area of the coal cutter, the laser signal receiving module is installed on the machine body of the coal cutter, and the laser scanning microprocessor is fixed in the explosion-proof enclosure, so that the coal cutter positioning by laser scanning is realized;
(C). The inertial navigation microprocessor and the laser scanning microprocessor are connected with the upper computer through the serial port, data communication is established, the coal cutter positioning results obtained through resolution are transmitted to the coal cutter positioning control system of the upper computer respectively, so that the data interaction is realized;
(D). In the coal cutter positioning control system of the upper computer, a coal cutter positioning model is established according to the actual working area and the arrangement of devices; the model comprises a laser scanning system and an inertial navigation system to realize the classification of the positioning data, a three-dimensional location co-ordinate for accurate measurement of the laser scanning base station is input to the laser scanning system and a co-ordinate for accurate measurement of the initial position of the coal cutter is input to the inertial navigation system;
(E). When the coal cutter is in normal working, the coal cutter positioning system is operating.
The positioning method of the coal cutter integrating inertial navigation with laser scanning according to claim 4, characterized in that, the step B comprises the following steps:
B 1 . The laser scanning base stations are arranged according to the present operating environment of the coal cutter. According to the principle that each point can be scanned by more than two base stations during the operating process of the coal cutter, and taking account of the cost of base stations, three base stations are arranged to realize positioning;
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of laser signals; the laser scanning microprocessor in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning microprocessor comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the microprocessor does not perform the data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning; the signal threshold is set as 6, when the intensity of received signals is bigger than 6, the microprocessor performs the positioning data resolution and resolves the coal cutter position information through algorithm.
B 1 . The laser scanning base stations are arranged according to the present operating environment of the coal cutter. According to the principle that each point can be scanned by more than two base stations during the operating process of the coal cutter, and taking account of the cost of base stations, three base stations are arranged to realize positioning;
B2. Three laser signal receiving modules are installed on the machine body of the coal cutter to realize the receiving of laser signals; the laser scanning microprocessor in the explosion-proof enclosure is connected with the laser signal receiving module through the serial port, so that the reading of data is realized;
B3. The laser scanning microprocessor comprises a signal threshold setting part, since the laser signals are susceptible to dust and shelter, the microprocessor does not perform the data resolution when the intensify of laser signals is relatively low and is unable to meet the requirements for signals required by positioning; the signal threshold is set as 6, when the intensity of received signals is bigger than 6, the microprocessor performs the positioning data resolution and resolves the coal cutter position information through algorithm.
6. The positioning method of the coal cutter integrating inertial navigation with laser scanning according to claim 4, characterized in that, the step E comprises the following steps:
E1 . When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as (x1 ,y1 . z1), and the laser scanning system positions the location of the coal cutter as (x2 . y2 . z2), according to the present detecting condition, assign weight coefficients a, 1), namely, the position coordinates of the coal cutter (x , y, z):
(x , y, z) = .alpha.(x1, y1, z1) + b(x2, y2 , z2) meanwhile, the coefficients meet a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of the least square method: on the assumption that there is a function:
wherein, .alpha.0, .alpha.1, ... .alpha. .eta. are coefficient constants, and P .eta.(x) s an expanded polynomial; than he assumed array is {(x i, y i)¦i. 1, 2..., m.};
Select the constants .alpha.0, .alpha.1, ..., .alpha. .eta., so that the variance is minimized, namely, S = .SIGMA., ¨ P .eta. (x i)) 2 Wherein S represents the variance; in order to minimize S and the coefficient constants meet .alpha.0, .alpha.1 , ..., , .alpha. .eta. , = 0 , then determine the polynomial P .eta.(x), and in turn obtain the weight coefficients .alpha., b;
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = [.alpha.(x1, y1, z1), b(x2, y2, z2)]
Input layer O is the desired the coal cutter position coordinate, namely:
Q = [(x, y, z)]
According to the empirical equation L = .sqroot.m+n+c, wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, L represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
P j represents the input of the j th node of the input layer, j=1,2; w ij represents the weight value between the i th node of the hidden layer and the j th node of the input layer; .theta.i represents the threshold of the i th node of the hidden layer, .theta.(x) represents the excitation function of the hidden layer;
w, represents the weight value between the output layer and the i th node of the hidden layer, i=1,2,3; T represents the threshold of the output layer;
.theta.(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for .theta.(x), it is generally determined as sigmoid function __ having continuous value range within (0, 1); for .theta.(x), in general adopting purelin function, selecting .phi.(x) = kx, then (1)The forward propagation process of signals The input of the ith node of the hidden layer net1: net1 = + w t1 P1 + w t2P2 + i;.theta.f9,;
the output of the ith node of the hidden layer y i: y i = .theta.(w i1P1 + w i2P2 + .theta. i);
the input of the output layer net: ;
the output of the output layer O: ;
(2) The back-propagation process of errors For each input position information, on the assumption that there is only one group of samples for each time, the error function is defined:
, wherein, T refers to the expected output value, E represents the magnitude of the error value;
according to the principle of gradient descent of error, the equation of the output layer weight variation .DELTA.w i :
.eta.(T ¨ O) .cndot..phi.(net). y i; the adjustment equation of the output layer threshold variation .DELTA..tau.:
.cndot.
.phi.(net); the adjustment equation of the hidden layer weight value variation .DELTA.w ij:
adjustment equation of the hidden layer threshold variation Finally, through the network optimization, the coordinate vectors of the coal cutter O = [(x, y, z)] are output;
E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution; at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated the measurement for many times, after the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system; the coal cutter continues operating and E1~
E4 is repeated.
E1 . When the coal cutter is in normal working, both the inertial navigation system and the laser scanning system operate normally, since the signal threshold judgment is made in the laser scanning microprocessor, when the signal intensity meets the requirement for laser scanning, the coal cutter positioning data provided by both systems is sent to the fusion algorithm for optimizing; when the signal intensity fails to meet the requirement for laser scanning, only the inertial navigation positioning data is adopted as the coal cutter position information;
E2. On the assumption that the inertial navigation system positions the location of the coal cutter as (x1 ,y1 . z1), and the laser scanning system positions the location of the coal cutter as (x2 . y2 . z2), according to the present detecting condition, assign weight coefficients a, 1), namely, the position coordinates of the coal cutter (x , y, z):
(x , y, z) = .alpha.(x1, y1, z1) + b(x2, y2 , z2) meanwhile, the coefficients meet a + b = 1;
E3. The assignment of weight coefficients is determined by the least square method, and artificial neural network algorithm is adopted to evaluate the assigned coefficients and positions to finally realize the positioning of the coal cutter;
The principle of the least square method: on the assumption that there is a function:
wherein, .alpha.0, .alpha.1, ... .alpha. .eta. are coefficient constants, and P .eta.(x) s an expanded polynomial; than he assumed array is {(x i, y i)¦i. 1, 2..., m.};
Select the constants .alpha.0, .alpha.1, ..., .alpha. .eta., so that the variance is minimized, namely, S = .SIGMA., ¨ P .eta. (x i)) 2 Wherein S represents the variance; in order to minimize S and the coefficient constants meet .alpha.0, .alpha.1 , ..., , .alpha. .eta. , = 0 , then determine the polynomial P .eta.(x), and in turn obtain the weight coefficients .alpha., b;
Artificial neural network algorithm: according to the actual requirements for positioning of the coal cutter, the coal cutter fusion positioning system neural network model is established, in which the input layer is two positioning coordinates assigned with weight values, namely, the input layer vectors P as follows:
P = [.alpha.(x1, y1, z1), b(x2, y2, z2)]
Input layer O is the desired the coal cutter position coordinate, namely:
Q = [(x, y, z)]
According to the empirical equation L = .sqroot.m+n+c, wherein, m represents the number of nodes of the input layer, n represents the number of nodes of the output layer, and c represents a constant within 1-10, L represents the number of nodes of the hidden layer; the number of nodes of the hidden layer is selected as 3, the model is established according to the requirements of the neural network algorithm;
P j represents the input of the j th node of the input layer, j=1,2; w ij represents the weight value between the i th node of the hidden layer and the j th node of the input layer; .theta.i represents the threshold of the i th node of the hidden layer, .theta.(x) represents the excitation function of the hidden layer;
w, represents the weight value between the output layer and the i th node of the hidden layer, i=1,2,3; T represents the threshold of the output layer;
.theta.(x) represents the excitation function of the output layer; 0 represents the output of the output layer; for .theta.(x), it is generally determined as sigmoid function __ having continuous value range within (0, 1); for .theta.(x), in general adopting purelin function, selecting .phi.(x) = kx, then (1)The forward propagation process of signals The input of the ith node of the hidden layer net1: net1 = + w t1 P1 + w t2P2 + i;.theta.f9,;
the output of the ith node of the hidden layer y i: y i = .theta.(w i1P1 + w i2P2 + .theta. i);
the input of the output layer net: ;
the output of the output layer O: ;
(2) The back-propagation process of errors For each input position information, on the assumption that there is only one group of samples for each time, the error function is defined:
, wherein, T refers to the expected output value, E represents the magnitude of the error value;
according to the principle of gradient descent of error, the equation of the output layer weight variation .DELTA.w i :
.eta.(T ¨ O) .cndot..phi.(net). y i; the adjustment equation of the output layer threshold variation .DELTA..tau.:
.cndot.
.phi.(net); the adjustment equation of the hidden layer weight value variation .DELTA.w ij:
adjustment equation of the hidden layer threshold variation Finally, through the network optimization, the coordinate vectors of the coal cutter O = [(x, y, z)] are output;
E4. After the algorithm processing, the coal cutter positioning result is input to the inertial navigation microprocessor through the serial port, and the coal cutter positioning result will be adopted by the inertial navigation microprocessor unit as the initial value for the next position resolution; at the same time, the positioning results are provided in the coal cutter positioning model;
E5. When the coal cutter is operated to the terminal position, it is in the out-of-operation status, then the inertial navigation system stops operating, and the laser scanning performs repeated the measurement for many times, after the fault data is eliminated, the minimum circumscribed circle algorithm is adopted to obtain the position of the coal cutter, and this position result is assigned as the initial value of the coal cutter position in the inertial navigation system; the coal cutter continues operating and E1~
E4 is repeated.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510870392.1A CN105352504B (en) | 2015-12-01 | 2015-12-01 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CN201510870392.1 | 2015-12-01 | ||
| PCT/CN2016/074617 WO2017092180A1 (en) | 2015-12-01 | 2016-02-26 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2973038A1 true CA2973038A1 (en) | 2017-06-08 |
| CA2973038C CA2973038C (en) | 2020-08-18 |
Family
ID=55328514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2973038A Active CA2973038C (en) | 2015-12-01 | 2016-02-26 | Combined inertial navigation and laser scanning coal shearer positioning device and method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105352504B (en) |
| CA (1) | CA2973038C (en) |
| WO (1) | WO2017092180A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270901A (en) * | 2017-08-17 | 2017-10-20 | 中国矿业大学 | Merge the coal-winning machine accuracy of inertial position method for improving of coal winning technology and coal-winning machine motion model |
| CN109764876A (en) * | 2019-02-21 | 2019-05-17 | 北京大学 | The multi-modal fusion localization method of unmanned platform |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CN107014379B (en) * | 2017-05-25 | 2019-09-20 | 中国矿业大学 | A kind of development machine absolute space apparatus for detecting position and posture and method |
| CN107238385B (en) * | 2017-05-31 | 2019-07-12 | 中国矿业大学 | A kind of absolute pose detection system of coalcutter and method |
| CN107490784A (en) * | 2017-09-01 | 2017-12-19 | 青岛海信电器股份有限公司 | A kind of indoor orientation method and device based on laser positioning |
| CN108180904B (en) * | 2017-12-19 | 2021-01-08 | 中国矿业大学 | Multi-inertial navigation positioning device and method for coal mining machine |
| CN108181636B (en) * | 2018-01-12 | 2020-02-18 | 中国矿业大学 | Environment modeling and map building device and method for petrochemical plant inspection robot |
| CN108468542A (en) * | 2018-01-26 | 2018-08-31 | 安徽理工大学 | A kind of fully mechanized coal face dedusting system device and dust removal method |
| CN108548534A (en) * | 2018-03-01 | 2018-09-18 | 王宇腾 | Silo shearer localization method |
| CN108868772B (en) * | 2018-04-17 | 2021-11-05 | 伊金霍洛旗德隆矿业有限公司 | Rapid collimation control method for continuous miner |
| CN108388253A (en) * | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN108798664B (en) * | 2018-05-08 | 2020-10-16 | 中国煤炭科工集团太原研究院有限公司 | Continuous coal mining machine for open-pit mine end slope mining |
| CN108957405A (en) * | 2018-07-03 | 2018-12-07 | 中国矿业大学 | A kind of detection method of coal face scraper conveyor straightness |
| CN109490901A (en) * | 2018-11-21 | 2019-03-19 | 苏州瑞耀三维科技有限公司 | UAV system laser scanning system and its measurement method for coal handling capacity |
| CN109767477B (en) * | 2019-01-14 | 2022-12-20 | 冀中能源峰峰集团有限公司 | Accurate positioning system and method |
| CN109903383B (en) * | 2019-04-11 | 2020-11-10 | 中国矿业大学 | Method for accurately positioning coal mining machine in three-dimensional model of working face coal seam |
| CN110044357B (en) * | 2019-04-22 | 2023-02-24 | 长春工程学院 | Indoor high-precision three-dimensional wireless positioning method |
| CN110231626B (en) * | 2019-06-10 | 2023-04-18 | 中国矿业大学 | Positioning monitoring system and monitoring method for coal mining machine |
| CN110553644B (en) * | 2019-09-20 | 2023-07-21 | 鞍钢集团矿业有限公司 | Accurate positioning system and method for mining electric shovel |
| CN110782642A (en) * | 2019-09-30 | 2020-02-11 | 山西平阳广日机电有限公司 | Wireless data transmission and positioning system of coal mining machine |
| CN111997679B (en) * | 2020-09-09 | 2022-08-30 | 重庆工程职业技术学院 | Fully-mechanized coal mining face end pushing state monitoring device |
| CN113155128B (en) * | 2021-03-31 | 2022-09-06 | 西安电子科技大学 | Indoor pedestrian positioning method based on cooperative game UWB and inertial navigation |
| CN113094247B (en) * | 2021-04-22 | 2023-08-15 | 西安科技大学 | Real-time prediction method for running state of coal mining machine based on Storm |
| CN113093255B (en) * | 2021-05-07 | 2024-05-07 | 深圳市前海智车科技有限公司 | Multi-signal true fusion positioning calculation method, device, equipment and storage medium |
| CN114089696A (en) * | 2021-09-26 | 2022-02-25 | 华能广东海门港务有限责任公司 | Intelligent coal blending system and method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6608913B1 (en) * | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
| CN102053249B (en) * | 2009-10-30 | 2013-04-03 | 吴立新 | Underground space high-precision positioning method based on laser scanning and sequence encoded graphics |
| CN102183255A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Positioning device and method of coal mining machine in full-mechanized mining face |
| CN104612682B (en) * | 2014-12-09 | 2017-11-24 | 中国矿业大学 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
| CN204479086U (en) * | 2015-04-03 | 2015-07-15 | 中国矿业大学 | Based on the calibrating installation of the coalcutter positioning and orientation system of laser scanning |
| 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 |
| CN104964688B (en) * | 2015-05-28 | 2017-12-26 | 中国矿业大学 | The explosion-proof positioner of coal-winning machine and its calibration method based on strap-down inertial |
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
-
2015
- 2015-12-01 CN CN201510870392.1A patent/CN105352504B/en not_active Expired - Fee Related
-
2016
- 2016-02-26 WO PCT/CN2016/074617 patent/WO2017092180A1/en active Application Filing
- 2016-02-26 CA CA2973038A patent/CA2973038C/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270901A (en) * | 2017-08-17 | 2017-10-20 | 中国矿业大学 | Merge the coal-winning machine accuracy of inertial position method for improving of coal winning technology and coal-winning machine motion model |
| CN107270901B (en) * | 2017-08-17 | 2020-02-14 | 中国矿业大学 | Coal mining machine inertial positioning precision improving method fusing coal mining process and coal mining machine motion model |
| CN109764876A (en) * | 2019-02-21 | 2019-05-17 | 北京大学 | The multi-modal fusion localization method of unmanned platform |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017092180A1 (en) | 2017-06-08 |
| CN105352504B (en) | 2018-03-06 |
| CA2973038C (en) | 2020-08-18 |
| CN105352504A (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2973038A1 (en) | Combined inertial navigation and laser scanning coal shearer positioning device and method | |
| US11253991B1 (en) | Optimization of observer robot locations | |
| CN101898317B (en) | Virtual numerical control machine on-line detection system and method | |
| CN103433810B (en) | Complicated curve surface normal vector on-machine detection device and method | |
| CN103940335A (en) | Device for measuring repeated positioning accuracy of industrial robot | |
| CN103630071A (en) | Methods and systems for inspecting a workpiece | |
| JP5658372B2 (en) | Monitoring device, monitoring system, and monitoring method | |
| US8965641B2 (en) | Positioning system using radio frequency signals | |
| CN203259123U (en) | Large-scale revolution workpiece inner wall size measurement apparatus and system thereof | |
| CN109236298A (en) | A kind of coal-mine integrated-mining equipment collision detection and method for early warning based on VR | |
| CN105737825B (en) | A kind of cutting head of roadheader position measuring system | |
| CN103119469A (en) | Luecking christoph [de]; risse rainer [de]; ronnenberg udo [de]; stender axel [de] | |
| CN102183255A (en) | Positioning device and method of coal mining machine in full-mechanized mining face | |
| US10739870B2 (en) | Stylus for coordinate measuring | |
| CN106382946A (en) | Parameter calibration method and parameter calibration device | |
| CN113593284A (en) | Method and device for planning path of vehicle in mine roadway and electronic equipment | |
| CN107891423B (en) | Intelligent exploration robot based on multi-sensor fusion detection and detection method thereof | |
| Csaba et al. | Differences between Kinect and structured lighting sensor in robot navigation | |
| CN107702692A (en) | A kind of unmanned unit mapping method based on AGV matrixes | |
| CN103600353A (en) | Material edge detecting method of tooling | |
| CN101315589A (en) | Electronic device and its position detection apparatus and method | |
| CN110977612A (en) | CNC (computer numerical control) machining online measurement error correction method and system | |
| Demetriou | A Survey of Sensors for Localization of Unmanned Ground Vehicles (UGVs). | |
| US10310080B2 (en) | Three dimensional manufacturing positioning system | |
| US10990104B2 (en) | Systems and methods including motorized apparatus for calibrating sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20170705 |