CA2973038A1 - Dispositif et procede de positionnement de haveuse integrale par balayage laser et navigation inertielle combines - Google Patents

Dispositif et procede de positionnement de haveuse integrale par balayage laser et navigation inertielle combines Download PDF

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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
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CA
Canada
Prior art keywords
coal cutter
positioning
laser scanning
inertial navigation
microprocessor
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CA2973038A
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English (en)
Other versions
CA2973038C (fr
Inventor
Wanli Liu
Yiming Liu
Boyuan ZHANG
Binhai YANG
Xue ZUO
Yutan LI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Publication of CA2973038A1 publication Critical patent/CA2973038A1/fr
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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)
CA2973038A 2015-12-01 2016-02-26 Dispositif et procede de positionnement de haveuse integrale par balayage laser et navigation inertielle combines Active CA2973038C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201510870392.1A CN105352504B (zh) 2015-12-01 2015-12-01 一种惯性导航与激光扫描融合的采煤机定位装置及方法
CN201510870392.1 2015-12-01
PCT/CN2016/074617 WO2017092180A1 (fr) 2015-12-01 2016-02-26 Dispositif et procédé de positionnement de haveuse intégrale par balayage laser et navigation inertielle combinés

Publications (2)

Publication Number Publication Date
CA2973038A1 true CA2973038A1 (fr) 2017-06-08
CA2973038C CA2973038C (fr) 2020-08-18

Family

ID=55328514

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2973038A Active CA2973038C (fr) 2015-12-01 2016-02-26 Dispositif et procede de positionnement de haveuse integrale par balayage laser et navigation inertielle combines

Country Status (3)

Country Link
CN (1) CN105352504B (fr)
CA (1) CA2973038C (fr)
WO (1) WO2017092180A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107270901A (zh) * 2017-08-17 2017-10-20 中国矿业大学 融合采煤工艺与采煤机运动模型的采煤机惯性定位精度提升方法
CN109764876A (zh) * 2019-02-21 2019-05-17 北京大学 无人平台的多模态融合定位方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105352504B (zh) * 2015-12-01 2018-03-06 中国矿业大学 一种惯性导航与激光扫描融合的采煤机定位装置及方法
CN107014379B (zh) * 2017-05-25 2019-09-20 中国矿业大学 一种掘进机绝对空间位姿检测装置与方法
CN107238385B (zh) * 2017-05-31 2019-07-12 中国矿业大学 一种采煤机绝对位姿检测系统及方法
CN107490784A (zh) * 2017-09-01 2017-12-19 青岛海信电器股份有限公司 一种基于激光定位的室内定位方法及装置
CN108180904B (zh) * 2017-12-19 2021-01-08 中国矿业大学 一种采煤机多惯导定位装置及方法
CN108181636B (zh) * 2018-01-12 2020-02-18 中国矿业大学 石化工厂巡检机器人环境建模与地图构建装置和方法
CN108468542A (zh) * 2018-01-26 2018-08-31 安徽理工大学 一种综采面除尘系统装置及除尘方法
CN108548534A (zh) * 2018-03-01 2018-09-18 王宇腾 井下采煤机定位方法
CN108868772B (zh) * 2018-04-17 2021-11-05 伊金霍洛旗德隆矿业有限公司 一种连采机快速准直控制方法
CN108388253A (zh) * 2018-04-17 2018-08-10 伊金霍洛旗瑞隆机械工程有限公司 一种连采机快速准直控制系统
CN108798664B (zh) * 2018-05-08 2020-10-16 中国煤炭科工集团太原研究院有限公司 一种露天矿端帮开采连续采煤机
CN108957405A (zh) * 2018-07-03 2018-12-07 中国矿业大学 一种采煤工作面刮板输送机直线度的检测方法
CN109490901A (zh) * 2018-11-21 2019-03-19 苏州瑞耀三维科技有限公司 用于煤炭吞吐量的无人机载激光扫描系统及其测量方法
CN109767477B (zh) * 2019-01-14 2022-12-20 冀中能源峰峰集团有限公司 一种精确定位系统及方法
CN109903383B (zh) * 2019-04-11 2020-11-10 中国矿业大学 一种采煤机在工作面煤层三维模型中精确定位方法
CN110044357B (zh) * 2019-04-22 2023-02-24 长春工程学院 一种室内高精度三维无线定位方法
CN110231626B (zh) * 2019-06-10 2023-04-18 中国矿业大学 一种采煤机定位监测系统及其监测方法
CN110553644B (zh) * 2019-09-20 2023-07-21 鞍钢集团矿业有限公司 一种矿用电铲精准定位系统和方法
CN110782642A (zh) * 2019-09-30 2020-02-11 山西平阳广日机电有限公司 一种采煤机无线数据传输及定位系统
CN111997679B (zh) * 2020-09-09 2022-08-30 重庆工程职业技术学院 一种综采工作面端头推移状态监测装置
CN113155128B (zh) * 2021-03-31 2022-09-06 西安电子科技大学 基于合作型博弈的uwb和惯性导航的室内行人定位方法
CN113094247B (zh) * 2021-04-22 2023-08-15 西安科技大学 一种基于Storm的采煤机运行状态实时预测方法
CN113093255B (zh) * 2021-05-07 2024-05-07 深圳市前海智车科技有限公司 一种多信号真融合定位计算方法、装置、设备及存储介质
CN114089696A (zh) * 2021-09-26 2022-02-25 华能广东海门港务有限责任公司 智能化配煤系统与方法

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* Cited by examiner, † Cited by third party
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 (zh) * 2009-10-30 2013-04-03 吴立新 基于激光扫描和序列编码图形的地下空间高精度定位方法
CN102183255A (zh) * 2011-03-07 2011-09-14 中国矿业大学 综采工作面采煤机定位装置及定位方法
CN104612682B (zh) * 2014-12-09 2017-11-24 中国矿业大学 一种基于uwb采煤机绝对位置精确校准方法及装置
CN204479086U (zh) * 2015-04-03 2015-07-15 中国矿业大学 基于激光扫描的采煤机定位定姿系统的校准装置
CN104729538B (zh) * 2015-04-03 2017-05-10 中国矿业大学 基于激光扫描的采煤机定位定姿系统的校准方法及装置
CN104964688B (zh) * 2015-05-28 2017-12-26 中国矿业大学 基于捷联惯性导航的采煤机防爆定位装置及其校准方法
CN105352504B (zh) * 2015-12-01 2018-03-06 中国矿业大学 一种惯性导航与激光扫描融合的采煤机定位装置及方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107270901A (zh) * 2017-08-17 2017-10-20 中国矿业大学 融合采煤工艺与采煤机运动模型的采煤机惯性定位精度提升方法
CN107270901B (zh) * 2017-08-17 2020-02-14 中国矿业大学 融合采煤工艺与采煤机运动模型的采煤机惯性定位精度提升方法
CN109764876A (zh) * 2019-02-21 2019-05-17 北京大学 无人平台的多模态融合定位方法

Also Published As

Publication number Publication date
CN105352504A (zh) 2016-02-24
CA2973038C (fr) 2020-08-18
WO2017092180A1 (fr) 2017-06-08
CN105352504B (zh) 2018-03-06

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Effective date: 20170705