CN106437703A - Navigation of mining machines - Google Patents
Navigation of mining machines Download PDFInfo
- Publication number
- CN106437703A CN106437703A CN201610667615.9A CN201610667615A CN106437703A CN 106437703 A CN106437703 A CN 106437703A CN 201610667615 A CN201610667615 A CN 201610667615A CN 106437703 A CN106437703 A CN 106437703A
- Authority
- CN
- China
- Prior art keywords
- mining machinery
- signal
- control signal
- navigation system
- machine
- 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
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- 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
Abstract
Navigation of mining machines. This disclosure relates to a mining machine comprising a machine controller comprising a control output port for a machine control signal that controls movement of the mining machine and an inertial navigation system (INS). The INS comprises a position determination unit determining a position of the mining machine, and an input port for an input signal indicative of the movement of the mining machine, the input port being communicatively coupled to the position determination unit. The control output port of the machine controller is communicatively coupled to the input port for the input signal of the INS to allow the position determination unit to calculate a corrected position of the mining machine based on the machine control signal that controls the movement of the mining machine.
Description
Cross-Reference to Related Applications
This application claims Australian Provisional Patent Application No.2015903107 of August in 2015 submission on the 4th is preferential
Power, the content of this patent application is incorporated herein by reference.
Technical field
It relates to using the mining machinery of inertial navigation system with for determining the mining using inertial navigation system
The method of the position of machine.
Background technology
Fig. 1 a illustrates to follow the underground coal mine 100 of house column type layout.To support ore deposit top in holding post (such as, post 104) (not
Illustrate) while, by taking out coal come digging coal seam 102 from coal seam 102.Continuous miner 106 advances to new post 108 and 112
Between coal seam 102 in.Coal conveyor 112 will transport band system by the coal of continuous miner 106 digging, and then, carry system
By coal towards ground transportation.
In order to the house column type layout in realizing a plan and follow may inclination or tilt coal seam 102 it is important that even
Continuous coal-winning machine 106 is using accurate navigation system so that exact position can be determined while mining.
However, the external navigation system of such as gps signal, by formation absorption, therefore, is not useable for when underground continuously adopting
Coal machine 106.Alternatively, inertial navigation system can be used in underground.But, because they depend on the integration of sensor signal,
So their over times and suffer from drift error so that determined position inaccurate.
Fig. 1 b illustrates the control flow of continuous miner 106.Continuous miner 106 includes alignment system 152, alignment system
152 are used for generating control signal 154 (such as, brake signal) as the output of alignment system 152.Continuous miner 106 also wraps
Include multiple external sensors 156 (such as, speedometer, steering angle and GPS sensor).Sensor 156 generates sensor signal and makees
Input for alignment system 152.Alignment system 152 includes inertial navigation system, and inertial navigation system is defeated alignment system 152
The sensor signal 158 instruction continuous miner 106 entering end when being static, executes zero-velocity curve.Using sensor signal 158
Decrease the inexactness causing because of drift in inertial navigation system as input to generate control signal 154 in outfan.
However, sensor 156 is usually inaccurate.For example, it is often difficult to distinguish slowly speed and stopping based on odometer signal
Only.In addition, extra sensor 156 increased the complexity of machine 106, reliability is made to reduce.
US 8,700,324 discloses the fault of detection navigation elements (such as, inertial navigation system).Controller is from sensing
Device receives machine parameter (such as, speed and course), determine estimated position and by estimated position with carry out auto-navigation
The position of unit is compared.Sensor include steering angle sensor, velocity sensor, pitch sensor, roll sensor and
Yaw detector.Controller can control the manipulation (that is, propulsion, steering and/or braking) of machine.This solution equally runs into
The often inaccurate and extra sensor of sensor increased the problem that machine complexity makes reliability reduce.
" the A practical inertial navigation solution for of Reid, D.C et al.
Continuous miner automation " (12th Coal Operator ' s Conference, University of
Wollongong＆the Australasian Institute of Mining and Metallurgy, 2012,114-119
Page) disclose, using speedometer sensor data, zero-velocity curve is carried out to inertial navigation unit.Equally, speedometer is often inaccurate
And extra sensor increased machine complexity makes reliability reduce.
Will not be by any discussion of the document being included in this manual, action, material, device, article etc.
Be considered as an admission that the part of any or all of formation prior art basis in these contents or with disclosure association area
In common general knowledge because it be present in the application the priority date of each claim before.
In whole this specification, word " inclusion " or modification (such as, "comprising" or " having ") will be understood as implying
The group including described element, entirety or step or element, entirety or step, but do not exclude any other element, overall or
Step or the group of element, entirety or step.
Content of the invention
A kind of mining machinery (100), this mining machinery includes：
Machine controller (102), it includes the control output end mouth (104) for Machine control signal (106), described machine
Device control signal (106) controls the movement of described mining machinery (100)；And
Inertial navigation system (108), it includes：
Position determination unit, it determines the position of described mining machinery (100), and
Input port (110), it is used for representing the input signal of the movement of described mining machinery (100), described input
Mouth and described position determination unit communicative couplings,
Wherein, described control output end mouth (104) of described machine controller (102) and described inertial navigation system
(108) described input port (110) communicative couplings for described input signal, to allow described position determination unit to be based on
The described Machine control signal (106) of movement controlling described mining machinery is calculating after the correction of described mining machinery (100)
Position.
It should be noted that in above mining machinery, Machine control signal is used as the input of inertial navigation system.This and inertia
The other machines that navigation system generates Machine control signal non-input as output forms comparison.More particularly, determining before
Position system be used for such as by generate control mining machinery brake, traction or other subsystems output control signal Lai
Mining machinery is controlled to process.The accuracy of this alignment system may also depend upon the additional sensor providing input to alignment system
Device.
The mining machinery being proposed to increase positioning system by using the controlled state of machine as the input of alignment system
System accuracy and because be no longer necessary to external sensor (such as, speedometer) and the location aided rebroadcast technology based on infrastructure Lai
Reduce complexity, the improvement to existing machine is provided.
Because above inertial navigation system uses Machine control signal, therefore inertial navigation system can be in machine for appointing
The time what reason stops executes correction.Since it is desired that extra stopping reduce, so this is better than for execution zero-velocity curve
Specific purpose and stop the additive method of machine.In addition, total system other using sensor (such as, speedometer) are not
System is complicated, because not needing additional detections zero-speed to be spaced.The precision of proposed system is increased to less than institute's travel distance
1%, be preferably less than its 0.5%, rather than as in the system of prior art often operate more than 1 hour nautical mile.Can be by hard
Part, especially, defines precision by inertial navigation sensors unit.In the example of unit LN270INS, nameplate precision can
Be defined as in the case that correction interval (such as, zero-velocity curve interval) was less than 6 minutes (and travel distance was more than 10km), little
Error in 0.067% the, vertical dimension of institute's travel distance.Error in horizontal range can be that (such as, correction is spaced
Zero-velocity curve is spaced) it is not more than the 0.25% of institute's travel distance less than in the case of 6 minutes (and travel distance is more than 4km).School
Just it is being spaced and referring to calculate the time between the position after correction based on Machine control signal.Using different hardware, system essence
Degree can stand different (worse) constraints, in the case that correction interval was less than 2 minutes, can be the 1% of institute's travel distance.
In addition, the external sensor of such as Doppler rate sensor can be added in systems, to improve performance.
Described mining machinery can be continuous miner.
The use of the arrangement that Machine control signal carries out zero-velocity curve is particularly advantageous for continuous miner, because
They frequently stop for carrying out mining process (including roof-bolt supporting).Described mining machinery may also include machine state
One or more sensors, each sensor includes the sensor output for sensor output signal, wherein, one
Or the sensor output signal of each in more sensors and described inertial navigation system for described input signal
Input port is isolated.
One or more sensors of machine state may include speedometer, the sensor output letter of described speedometer
Number can be with the described input signal isolation of described inertial navigation system.
Described Machine control signal may include the brake signal of the brake starting described mining machinery, described brake signal
Lead to for the described input port of described input signal with described brake communicative couplings and with described inertial navigation system
Letter coupling, to allow when described brake signal starts the brake of described mining machinery, described position determination unit is based on institute
State brake signal to calculate the position after the correction of described mining machinery.
Described Machine control signal may include the motor control signal providing order to the motor of described mining machinery, described
Motor control signal is coupled with described its communications and with described inertial navigation system for described in described input signal
Input port communicative couplings, to allow when described motor control signal provides order to the described motor of described mining machinery,
Described position determination unit calculates the position after the correction of described mining machinery based on described motor control signal.
Described motor control signal may include the firing circuit breaker signal of the firing circuit disconnecting described mining machinery
Or Motor control signal, described firing circuit breaker signal or the Motor control signal difference of order are provided to motor
With firing circuit chopper or described motor communicative couplings and with described inertial navigation system for described input signal
Described input port communicative couplings, to allow to disconnect the ignition power of described mining machinery when described firing circuit breaker signal
During road or when described Motor control signal provides order to described motor, described position determination unit is based on described point
Ignition circuit breaker signal or described Motor control signal are calculating the position after the correction of described mining machinery.
Described mining machinery may also include signal bus, and described signal bus is electrically coupled to described control output end mouth and institute
State input port, for described Machine control signal being transferred to the institute being used for described input signal of described inertial navigation system
State input port, to allow described position determination unit based on the described mining machinery of control of transmission on described signal bus
The described Machine control signal of movement is calculating the position after the correction of described mining machinery.
Described inertial navigation system may include motion sensor, and described motion sensor is used in described Machine control signal
Indicate to described inertial navigation system when expecting that described mining machinery is static, described inertial navigation system is arranged to mobile shape
State.
Described inertial navigation system may include motion sensor and logical AND module, to move when the described mining machinery of control
Described Machine control signal and described motion sensor both when to indicate described mining machinery be static, described inertia is led
Boat system is arranged to resting state, and under described resting state, zero-velocity curve is performed.
Described mining machinery may also include radar system, and described radar system is connected to the described of described inertial navigation system
Input port, described radar system is configured to detect the movement of described mining machinery.
Described mining machinery may also include：
Beacon, it is arranged on the static position in ore deposit；And
Beacon detector, it is connected to the described input port of described inertial navigation system, will be related to described beacon
Positional information described inertial navigation system is provided.
Described mining machinery may also include environmental scanning device, and described environmental scanning device is connected to described inertial navigation system
The described input port of system, described environmental scanning device is configured to detect the feature in the environment of described mining machinery and general
The positional information related to described feature provides described inertial navigation system.
Described inertial navigation system may include fibre optic gyroscope.
A kind of method of the position for determining mining machinery, the method includes：
Determine the initial position of described mining machinery；
Based on described initial position and based on the data from one or more inertial sensors, determine described mining
Position after the renewal of machine；And
Determine the position after the correction of described mining machinery,
Wherein it is determined that the Machine control signal based on the movement controlling described mining machinery for the position after described correction.
Determine that the position after described correction may include execution vehicle motion sensor auxiliary.
Described Machine control signal can represent the expected rate of described mining machinery, and it is auxiliary to execute vehicle motion sensor
Help including based on the expected rate of the described mining machinery indicated by described Machine control signal determine described correction after position
Put.
Execution vehicle motion sensor auxiliary may include execution zero-velocity curve.
Execution zero-velocity curve be may include and determined based on described Machine control signal whether described mining machinery is static
And execute described zero-velocity curve determining when described mining machinery is static.
Determine that the described Machine control signal of determination that may include that described mining machinery is static indicates that described mining machinery is
Static and motion sensor indicates that described mining machinery is static.
A kind of software causes described computer execution above method when being mounted on computers.
Drink for continuous miner, method, software, computer-readable medium or the optional feature described by computer system
Feelings are applied similarly to other aspects being also described herein.
Brief description
Fig. 1 a illustrates sub-terrain mines (prior art).
Fig. 1 b illustrates the control flow of the continuous miner of Fig. 1 a.
Will be with reference to following description example：
Fig. 2 a illustrates continuous miner.
Fig. 2 b illustrates the control flow of the continuous miner of Fig. 2 a.
Fig. 3 a to Fig. 3 c illustrates the working cycle of the continuous miner of Fig. 2 a.
Fig. 4 illustrates the internal communication network of the continuous miner in Fig. 2 a.
Fig. 5 is shown in further detail the structure of the INS in Fig. 2 a.
Fig. 6 illustrates the method for determining mining machinery position.
Fig. 7 illustrates the computer system for monitoring and controlling sub-terrain mines.
Fig. 8 illustrates to the error figure line deeper into analysis including along orbit error and the error crossing orbit error.
Specific embodiment
Fig. 2 a illustrates the continuous miner 200 including machine controller 202, and machine controller 202 is included for machine control
The control output end mouth 204 of signal 206 processed.Machine control signal 206 controls the movement of mining machinery 200.In other words, machine
Control signal 206 causes or indicates the action to execute each of which of the actuator of machine.It means that Machine control signal
206 state changes actively causing continuous miner 200.For example, Machine control signal 206 provides order to mining machinery 200.
This order can be simulation (such as, electric wire being used for start the high voltage of brake).Alternatively, this order can be numeral
(such as, the packet in CAN).The implication of control signal 206 is formed with the implication of sensor signal and compares, sensing
Device signal passively detects the state of continuous miner 200, but does not cause continuous miner to have action or make its state change.?
In some examples, Machine control signal 206 represents the state that continuous miner 200 is desired or is intended to, and sensor signal table
That shows continuous miner 200 records state.Continuous miner 200 also includes inertial navigation system (INS) 208, inertial navigation system
System 208 so that include determine mining machinery 200 the position determination unit 209 (such as, processor or microcontroller) of position and
Input port 210 for the input signal of the movement representing mining machinery 200.
Herein to " position " any quote can refer to include x, y and z coordinate (that is, longitude, dimension and highly or
Coordinate with respect to the coordinate system in colliery 100) three-dimensional position.This position may also include the posture containing three anglecs of rotation.
That is, the position of continuous miner 200 may include six values for six-freedom degree.
Mining machinery 200 also includes：Propulsion system 212 (such as, crawler haulage, crawler belt or driven pulley)；And braking system
System 214, it is mechanically coupled to propulsion system 212, with when brakes 214 is started by suitable Machine control signal 206,
Forbid that mining machinery 200 moves with respect to ground.
Mining machinery 200 also includes rotating cutting drum 216, and rotation cutting drum 216 is equipped with and is supported by fence 218
Pick.Loading shovel 220 is caught the coal being cut by cutting drum 216 and is transported on conveyer belt 222 by coal, in Fig. 1 a
Mover receives coal from conveyer belt 222.
The input port 210 of INS 208 and the control of position determination unit 209 communicative couplings and machine controller 202
Output port 204 and input port 210 communicative couplings of the input signal for inertial navigation system 208, to allow position true
Order unit 209 corrects the position of mining machinery 200 based on Machine control signal 206.Communicative couplings cover permission by coupling
The various different couplings of transmission communication (such as, numeral and analog data and other signals).The example of communicative couplings includes gold
Belong to (such as, copper), electric wire, the electric current of fiber optic cables connects, such as decoupled but optical coupled using photo-coupler electric current.This
Including bus system, bus system includes CAN or I2C, or such as using WiFi, 3G, LTE or includes radio frequency and infrared communication
Other wireless communication technologys carry out wireless coupling and coupled by audio wave.
Although some examples herein are related to continuous miner, described system and method can be applicable to other Mars Miners
Device (such as, mover and forklift) and other mechanical (such as, tunnel boring machine or agricultural machines).
Machine controller 202 can be from the receptor of the Machine control signal of remote controllers.For example, operator
Continuous miner 200 can be controlled from safe distance observation continuous miner 200 and using hand-held remote control.Machine control
Device 202 processed receives from remote controllers and orders and be translated into Machine control signal.
In other examples, machine controller 202 is automatic controller, inputs in response to sensor and follows sub-terrain mines
100 desired cloth local generation Machine control signal.
Fig. 2 b illustrates the control flow of continuous miner 200.Alignment system 209 be based on determined by position, determine positioning
The control signal 224 of the outfan of system 209.In input, alignment system 209 receives from machine controller 202 and controls machine
200 control signal (such as, brake signal).
As being understood that when being compared the controlling stream of the prior art in the controlling stream in Fig. 2 b and Fig. 1 b, in Fig. 2 a
Control signal 206 be in the input of alignment system 209, and the control signal 154 in Fig. 1 b is only in alignment system 152
Outfan.As the replacement of the control signal 206 of the input in Fig. 2 a, the input of alignment system 152 in Figure 1b is deposited
In sensor signal 158.
Fig. 3 a to Fig. 3 c illustrates the working cycle of continuous miner 200.In fig. 3 a, continuous miner is towards coal seam 102
Advance in existing room.When continuous miner 200 is by the end in arrival room, machine controller 202 such as passes through to cut rotation
The motor cutting cylinder 216 is energized to starting cutting drum 216.While cutting drum 216 rotates, continuous miner such as arrow
It is advanced further indicated in 302, enters coal seam 102, reach the position shown in Fig. 3 b.
In this stage, machine controller 202 disables propulsion system 212 and starts brakes 214, makes continuously to mine
Machine 200 halts.More particularly, machine controller 202 generates disabling propulsion system 212 and starts brakes 214
Machine control signal 206.The actuator (such as, hydraulic jack) of machine controller 202 subsequent start-up fence 218, with such as arrow
Reduce fence 218 indicated in 312.Reduce with cutting drum 216, cutting drum 216 vertically extracts coal from coal seam 102,
Until cutting drum reaches the ground in room, thus reaching the position shown in Fig. 3 c.In this stage, machine controller 202 can
Start the actuator of fence 218, to raise cutting drum 216 as indicated in arrow 322.Then, machine controller 202 disables
Brakes 214 and start propulsion system 212, so that continuous miner 200 advances as shown in fig. 3a.
There is the continuous miner 200 static time during each cycle that Fig. 3 a to Fig. 3 c is shown in continuous miner 200
Section is the time period shown in Fig. 3 b.This time period can be used for being determined by correcting INS208 using zero-velocity curve routine
Position.In other examples, continuous miner 200 also can stop that is to say, that machine controller because of roof-bolt supporting
202 startup brakes 214, the machine (not shown) of roof-bolt supporting simultaneously drives crab-bolt to enter ore deposit top, to prevent ore deposit top from collapsing
To on continuous miner 200.When roof-bolt supporting machine completes, machine controller 202 disables brakes 214 and continues
The continuous mining cycle.When during roof-bolt supporting, continuous miner 200 is static, by observing Machine control signal 206
This time period detecting can also be used for zero-velocity curve.
Continuous miner 200 can have for measuring machine state (such as, the motor of driving propulsion system 212 or measurement
The startup of the speedometer of the speed of propulsion system 212 or rotation) sensor.Each in these sensors is included for sensing
The sensor output of device output signal.However, such as, by signal routing is electrically insulated from each other or by ignoring bus system
On packet and logically isolated data message (as described further below), by one or more sensors
The input port 210 of the sensor output signal of each and inertial navigation system 208 isolate.As a result, INS 208 does not need base
To detect the time period of movement in sensor signal (such as, odometer signal).
Alternatively, INS 208 is received Machine control signal 206 from machine controller 202 and can be believed based on apparatus control
Numbers 206 starting zero-velocity curve.For example, machine controller 202 passes through to arrange brake actuating mark on Machine control signal 206
To start brakes 214.INS 208 receives brake actuating mark and as response, INS 208 can start zero-velocity curve.
In another example, INS 208 monitors Motor Control data and if Motor Control on Machine control signal 206
Data instruction drives the disabled then startup zero-velocity curve of the motor of propulsion system 212.In another example, apparatus control is believed
Numbers 206 may include the firing circuit breaker signal being connected with internal combustion engine and if circuit-breaker signal designation can not point
Fire, then INS 208 startup zero-velocity curve.
In one example, using Machine control signal 206, INS 208 indicates that continuous miner 200 is likely to be static
's.For example, if starting brakes 214 to stop continuous miner 200, INS 208 allows zero-velocity curve, but if not having
Have and meet further condition, then can not start it.For example, INS 208 includes motion sensor and only in motion sensor
It is not detected by moving and starting during brakes 214, starting zero-velocity curve.In other words, by disabling brakes 214,
Forbid carrying out zero-velocity curve, but by starting brakes 214, for example, according to motion sensor output it is allowed to applying or should
Use zero-velocity curve.
In one example, INS 208 is the device of the Northrop Grumman of model LN-270.INS 208 can wrap
Include fibre optic gyroscope (FOG) and MEMS accelerometer, to provide along three normal axis to main body frame angular speed and acceleration
Measurement.FOG can adopt Sagnac effect.That is, optical signalling is coupled to the two ends of optical fibre ring coil.Work as optical fiber cable
During circle rotation, while ring rotates, optical signalling moves ahead and keeps constant by the light velocity that ring is followed.This leads to two signals
Interference figure changed according to rotary speed.
Motion sensor can be MEMS (MEMS) accelerometer that may include the overarm with mass.It is sealed in
Residual gas in device may result in damping.Under the influence of outside acceleration, mass deflects, and leaves its middle position.With mould
Intend or digital form measures this deflection.For example, measure the electric capacity between one group of fixed beam and one group of beam being attached to mass.
Another example carrys out detection spring deformation using integrated piezoresistor in spring, and then detects deflection.
The amount that processor provides to FOG and accelerometer is integrated, to generate main body in coordinate system of interest
The solution of position, speed and posture.Processor passes through using zero-velocity curve (such as, by application as Paul D.Groves
" Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems "
(second edition) (Artech House, on April 1st, 2013), especially, in the chapters and sections 15.3 " Zero Updates " of page 638
The Kalman filter of description) correcting result.
In one example, processor can correct navigational solution with kalman filtering theory according to below equation repeatedly：
(priori) state estimation of prediction：
(priori) estimate variance of prediction：
Measurement residual error：
New breath (or remaining) covariance
Optimal Kalman gain
(posterior) state estimation after renewal
(posterior) estimate covariance P after renewalk|k=(I-KkHk)Pk|k-1.
Processor iteration carries out above calculating, repeatedly to update the navigational solution of continuous miner 200.In one example,
Based on provide Kalman filter library facility (such as, the Python storehouse pykalman in control system workbox, scipy,
Filterpy or Matlabkalman class) determining the value of above matrix.
Fig. 4 illustrates to realize the example of Machine control signal 206 with the form of signal bus 402 (such as, CAN).Letter
Number bus 402 is electrically coupled to control output end mouth 204 and input port 210, with distribution of machine control signal.Certainly, if will
Brakes 214 to be controlled, then signal bus 402 be also electrically coupled to brakes 214.Advantage using bus system is,
The input port 210 of INS 208 can easily connect to signal bus 402, without the Department of Electronics to continuous miner 200
The existing construction of system carries out any modification.Because INS 208 does not need to send data by CAN 402, therefore in INS
Bus sniffer is realized to detect that (such as, binary identification Fu He for " Brake_1 " represents system to unique identifier in 208
The binary data value that dynamic system 214 is activated) it is enough.
Fig. 5 illustrates in greater detail the structure of INS 208.As described above, INS 208 includes input port 210, input port
210 signal bus 402 that may be connected to distribution of machine control signal (such as, including the CAN signal of address data position).
INS 208 also includes processor 502, and processor 502 corresponds to position determination unit 209 and is connected to program storage 504
(such as, flash ROM) data memorizer 506 (such as, flash R/W memorizer).Processor 502 is (all from internal sensor 508
As, fibre optic gyroscope and acceleration transducer) receive sensing data and calculated based on current location and sensing data
Location updating.
Input port 210 is connected to bus sniffer 510, when (such as, the tentation data representing Machine control signal is grouped
The packet of breaking log-on data) when reaching bus, bus sniffer 510 generates binary one in its outfan.Bus sniffer
510 is the input with (AND) door 514 together with motion sensor 512.In this illustration, without motion is detected, then
Motion sensor 512 generates binary zero, and binary zero is inverted, and reaches afterwards with door 514 so that binary one indicates
According to the signal from bus sniffer 510, zero-velocity curve can be carried out.If only two inputs are all " 1 ", that is,
Say, if only bus sniffer 510 detects open circuit startup packet and motion sensor 512 is not detected by moving, with
The output of door 514 is only " 1 ".It is connected to processor 502 with door 514 so that triggering to INS with the binary one of gate output terminal
The zero-velocity curve of position.
Replacement as motion sensor 512 or auxiliary, can install on continuous miner and also serve as input port 210
The three-dimensional Doppler radar of input.Radar points to surrounding from excavator.By sending radar signal and measuring its echo,
Radar system is provided parallel to the rate information on the axle of motion.More particularly, radar system can measure the distance with the wall of post
Or with the distance positioned at the fault line treated in rock excavation in front of coal-winning machine.Processor 502 can be by this signal and control
Signal is compared, to improve the accuracy of process.For example, if control signal is " on ", Doppler radar is not detected by
Motion, then this may indicate that driving sliding and navigation system remains stationary pattern.Although it means that Machine control signal is former
This can disable zero-velocity curve " on ", but starts zero-velocity curve.On the contrary, if Doppler radar instruction has motion, but control letter
Number it is " off ", then this may indicate that unpowered motion, and should allow navigation system tracing positional.Although it means that machine
Control signal is originally to indicate startup zero-velocity curve " stopping ", but disabling zero-velocity curve.
In another example, INS system 208 is come using the beacon detector of the input being connected to input port 210
Follow the tracks of interim beacon.Beacon be installed in static position in ore deposit it means that, they are not mobile with continuous miner 200.
Beacon can be installed in the part (such as, ceiling or wall) in the tunnel built or other temporary structures, and (such as, ceiling props up
Bearing member).System 208 is such as by sending peculiar identifier come independently identification beacon.These beacons can using visual, IR or
Any other EM transmits.Detector on continuous miner 200 is connected to input port 210 and can detect and identify letter
Mark, together with preferably relative to the distance of beacon and angle.Advance with continuous miner 200, extra beacon can be placed on
Correct position, thus transmitting aided location, and old beacon is removed.Using beacon, can remove the many mistakes in navigation, especially
It is after long period moves ahead (such as, the cut (driving) of two zoness of different), and wherein, processor 502 can pass through
The mark of the beacon that this position stays and position before moving away, automatically itself will recalibrate into new position.
In another example, the 3D ground from the region being formed by rotary laser scanner or the like for the processor 502
In figure identifies position.So, processor 502 can be utilized the feature (such as, turning) that detects and determines together with being derived from
Matching characteristic in the list of feature detecting before that the real-world locations of navigation system are identified together, identifies machine
Where it is with respect to mining region before.Using this system, any error of navigation can be eliminated, especially long-time
After Duan Qianhang (such as, the cut (driving) of two zoness of different), wherein, processor 502 can be by before moving away
The mark of the feature detecting before, at the location and position, automatically itself will recalibrate into new position.
In the case that continuous miner 200 includes speedometer, odometer signal can be sent by CAN 402.At this
In individual example, bus is visited olfactory organ 510 and is considered by ignoring the packet from speedometer, by odometer signal and INS 208
Input port 210 isolate.This can be realized by ignoring the packet of all bands " odometer_1 " identifier.
Suitable procedure code that also can such as by being stored on program storage 504, by bus sniffer 510 and with door
514 are integrated in processor 502.In one example, processor 502 is microcontroller, and microcontroller includes can direct-coupling
To bus 402 multiple A/D converters and can by software function using conversion after digital signal detect open circuit startup
Packet.
Fig. 6 illustrates the method 600 of the position for determining continuous miner 200, and the method is deposited with form of program code
Storage executes on non-transient program storage 504 and by processor 502.The method first starts to determine 602 continuous miners 200
Initial position.Initial position can be initialized location (such as, the known absolute position of continuous miner 200) or method
Defined location in iteration before 600.
Then, processor 502 such as executes dead reckoning by quadraturing to sensing data based on posture and speed,
Based on initial position and based on the data from one or more inertial sensors 508, determine the excavator after 604 renewals
Position.Then, processor 502 execution zero-velocity curve, to determine the position after the correction of 606 excavators.Determined by correct after
Position be based in bus 402 control continuous miner 200 movement Machine control signal 206.
Fig. 6 will be understood as the blueprint for Navigator and can progressively realize, and such as, uses such as C++ or Java
Programming language express each step in Fig. 6 by function or class.Then, compile the source code of gained and as meter
Calculation machine executable instruction is stored on program storage 504.
Although above example refers to zero-velocity curve, method and system described herein can be equally applicable to hold
Row vehicle motion sensor assists, and Machine control signal 206 is more typically used as input.For example, machine controller 202
Such as write bus packet by arranging " 2 " for speed with address " motor_1 " data " 0010 ", generate and represent that driving pushes away
Enter the control signal 206 of the absolute velocity of the motor of system 312.Processor 502 receives this packet and such as logical
Cross and the correcting variable of Kalman filter is arranged to " 2 ", speed setting is included the correction of position after renewal.
In the example of zero-velocity curve, processor 502 can such as pass through to determine that Machine control signal 206 indicates continuous coal mining
Machine 200 be static and motion sensor 508 instruction continuous miner 200 be static, based on Machine control signal 206
Determine whether continuous miner 200 is static.Then, processor 502 execution when determining that continuous miner 200 is static
Zero-velocity curve.
Following description provides the more detailed information with regard to INS system 208, INS system 208 includes being connected to program storage
Device 504, data storage 506, the processor 502 of COM1 210.Processor is also referred to as position determination unit.Program
Memorizer 504 is the non-transitory computer-readable medium of such as hard-drive, solid-state disk or CD-ROM.Software (that is, storage
Executable instruction on program storage 504) cause processor 502 to execute the method in Fig. 6 that is to say, that processor 502
Determine initial position, based on from the position after the renewal of the sensing data of sensor 508 with based on the machine in bus 402
Position after the correction of control signal 206.Term " determining position " refers to calculate locative value.For relational language,
It is suitable for.
Then, processor 502 can by determined by any position be stored on data storage 506, such as, be stored in
On RAM or processor depositor.Processor 502 also can (such as, Wifi fits by COM1 210 or single COM1
Orchestration) will determined by position be sent to server (such as, ore control system).
Processor 502 can be from data storage 506 and from COM1 210 receiving data (such as, data CAN
402).
In one example, processor 502 real-time reception and handling machine control signal 206.It means that whenever from
When bus 402 receives the packet related to Machine control signal 206, processor 502 determines position, and in bus
Before 402 provide next Machine control signal packet, complete this calculating.
Although COM1 210 is shown as different entities, it is to be understood that any kind of FPDP can be used
(such as, network connection, memory interface, the pin of the chip package of processor 502 or such as IP socket or be stored in journey
The parameter of the function executing on sequence memorizer 504 and by processor 502) carry out receiving data.These parameters can be stored in number
According on memorizer 506 and can according to value or by quoting be manipulated that is to say, that being grasped as the pointer in source code
Vertical.
Processor 502 can be by all these interfaces come receiving data, including to volatile memory (such as cache
Or RAM) or nonvolatile memory (such as, disc drives, hard drive, storage server or cloud storage) memory access
Ask.
It is appreciated that the data that processor 502 determines or calculate subsequent reception can lead over any receiving step.For example, locate
Reason device 502 determines machine control data and machine control data is stored in data storage 506 (such as, RAM or processor
Depositor) in.Then, processor 502 such as passes through to provide read signal together with storage address to data storage 506 number of request
According to.Data storage 506 provides on physics bit line using data as voltage signal and processor 502 is by memory interface
Receive machine control data.
Fig. 7 illustrates (such as, to put down including iPad, Android for the computer system monitoring and controlling sub-terrain mines 100
The tablet PC of plate etc.).Computer system 700 includes the processor executing the software being arranged on program storage.Calculate
Machine system 700 receives the position after the correction of continuous miner and generates the figure of sub-terrain mines 100 and represent 702.Figure represents
702 include the icon 704 representing continuous miner 200.After the position of icon 704 is the correction based on continuous miner 200
Position and its according to correction after position represent that 702 are configured with respect to ore deposit.In other words, computer system 700 receives
Represent the data value of position after correction and these data values are transformed into position on the screen represent computer system 700
Pixel value.
Figure represents 702 mining plans 706 also including being shown in broken lines.Because icon 704 is carried out with respect to ore deposit plan
It is accurately positioned, therefore operator can easily control continuous miner 200, to realize the plan indicated by mining plan 706
Layout.For example, computer system 700 can show forwarding button 708 and stop button 708.When operator start forwarding button
When 708, computer system 700 generates the control signal for continuous miner 200 so that continuous miner 200 is in mining meter
Draw side determined by 706 and carry out Automatic Cycle upwards and through each stage in Fig. 3 a to Fig. 3 c, advance to coal seam 120.
When continuous miner 200 is reached home, operator press stop button 708, so that continuous miner 200 is stopped.
In order to realize the correct vertical arrangement of ore deposit 100, computer system 700 has stored the vertical dimension in coal seam 120 simultaneously
And generate the signal for controlling fence 218 movement.For example, if coal seam 120 is inclined upwardly, adjust the movement of fence 218
The limit is so that be adjusted up the minimum and maximum height of cutting drum 216.Position due to continuous miner 200 is able to school
Just and therefore more accurate than other existing systems, therefore for mining plan 706, the position of icon 704 is more accurate.Knot
Really, can more accurately following mining plan 706, thus leading to more effectively and safely carry out mining processes, ultimately causing income
Increase.
It is appreciated that in the whole disclosure, unless stated otherwise, otherwise node, edge, figure, solution, variable, withdraw meter
Draw etc. and to refer to the data structure that physical store is processed on data storage 506 or by processor 502.In addition, for brief
Reason, when quoting particular variables title (such as, " position " or " signal ") it is understood that referring to exist as physical storage of data
The value of the variable in INS system 208.
Experiment
Slide and turn to the mobile test platform that remotely control vehicle is adapted to provide for properly reality scaling.Slide and turn to according to fortune
Driving wheel is wide, slipping and vibration characteristics come to gather CM dynamic in major part.This vehicle is also equipped with high accuracy RTK GPS, RTK
GPS provides the remote location reference of absolute ground.RTK GPS is per second to be updated 20 times and has the absolute position being better than 2cm RMS
Precision.Be used this high accuracy absolute location information as all confirmatory experiments during vehicle baseline reference.This vehicle also makes
With customize control module, setting control module allow vehicle under closed loop control self-navigation to task scheduling.In order to as far as possible
Guarantee the CM analog of reality, electromotor is rigidly connected to chassis, to provide real vibration source to platform.The setting of vehicle
Meter means, it is possible to provide natural (that is, unsurfaced) of more current conditions and coarse area and loose gravel or coal table
Navigation experiment is carried out on face to assess navigation and velocity sensor.
Carry out test and the checking of CM navigation system in the colliery stopping adopting.It is used for coal reserve and there is residual coal before
The region of suitable uniform outer surface layer in, dispose all checking activities.Create experiment in this place, to combine customed opening
The full navigation performance to assess inertial navigation system for the speed auxiliary signal of the doppler radar sensor sent out.Experiment by
It is designed to imitate CM to cut, by cutting through, the action that double tunnels drive.This pattern in practice it appears that seeming ladder, wherein,
The long straight tunnel driving carefully associates the mining plan for longwell panel.
For this experiment, vehicle is arranged on the starting point designing and allows INS to complete full gyroscope-compass pair
Accurate.Then, using the list of easting, northern row voyage and desired the max speed, the input of chart datum mark is controlled system
In system.Before starting test, using these chart datum marks as target physical ground labelling on the ground.Vehicle is only using inertia
Navigational solution senses as position, spontaneously executes task.The distance advanced is 900 meters and needs 1 hour to complete.?
Each corner automatically carries out zero-velocity curve (ZUPT), in addition carries out zero-velocity curve with 20 meters of intervals on each traveling leg forward.
The RTK GSP data of record ground truth.Carrying out two complete, independent tests on the same day, in the case of not vibrating
Carry out a test, carry out another test in the case of vibration source being provided with airborne maker.Also by navigation data together with
The video of Airborne Camera supply is banished together in real time.This can be used for checking the height in the region of covering in Google Earth
Resolution photo, thus provide effectively visually supply outside the venue.In virtual mining center (Virtual Mining Centre)
Remotely show this information in real time.By the RTK GPS output of the output of navigation system and record is compared to estimate
Obtain the full navigation performance of the inertial navigation system of auxiliary.It can be appreciated that between the identical property height of data set and two traces
Difference almost cannot distinguish between out.
Fig. 8 illustrates to the Error Graph deeper into analysis including along orbit error 801 and the error crossing orbit error 802
Line.X-axis represents along orbital distance and y-axis Representative errors.In this case, it is assumed that GPS location error inconspicuous so that institute
There is error all owing to inertial navigation system.
It should be appreciated by those skilled in the art, in the case of the scope limiting in without departing from claims, can be right
Specific embodiment carries out many deformation and/or changes.
It should be understood that the technology of the disclosure can be realized using various technology.For example, can be by being placed in suitable calculating
Series of computation machine executable instruction on machine computer-readable recording medium is realizing method described herein.Suitable computer-readable is situated between
Matter may include volatibility (for example, RAM) and/or non-volatile (for example, ROM, disk) memorizer, carrier wave and transmission medium.Example
The carrier wave of property can take the form of electricity, electromagnetic or optical signal, by digit data stream along LAN or the addressable net of the public
Network (such as, the Internet) transmits.
It should also be understood that unless clearly in addition concrete as discussed below state it is understood that throughout the specification, profit
Term with " estimation " or " process " or " calculating " or " computing ", " optimization " or " determination " or " display " or " maximization " etc.
Refer to action and the process of computer system or similar computing electronics, this action and processing for processing and by computer
The data that physics (electronics) measures of being expressed as in the RS of system is transformed into and is similarly expressed as computer
Other data of physical quantity in system storage or depositor or other this information Stores, transmission or display device.
Present embodiment therefore will be considered to be all illustrative and nonrestrictive in all respects.
Claims (23)
1. a kind of mining machinery, this mining machinery includes：
Machine controller, it includes the control output end mouth for Machine control signal, and described Machine control signal controls described
The movement of mining machinery；And
Inertial navigation system, it includes：
Determine the position determination unit of the position of described mining machinery, and
For representing the input port of the input signal of the movement of described mining machinery, described input port is determined with described position
Unit communication couples,
Wherein, the described control output end mouth of described machine controller and described inertial navigation system are for described input signal
Described input port communicative couplings, with allow described position determination unit based on control described mining machinery movement described in
Machine control signal is calculating the position after the correction of described mining machinery.
2. mining machinery according to claim 1, wherein, described mining machinery is continuous miner.
3. mining machinery according to claim 1 and 2, described mining machinery also includes the one or more of machine state
Sensor, each sensor includes the sensor output for sensor output signal, wherein, one or more sensings
The sensor output signal of each in device and the described input port for described input signal of described inertial navigation system
Isolation.
4. mining machinery according to claim 3, wherein, in one or more sensors of machine state include
The described input signal isolation of journey meter, the sensor output signal of described speedometer and described inertial navigation system.
5. according to the mining machinery described in any one of claim before, wherein, described Machine control signal includes starting
The brake signal of the brake of described mining machinery, described brake signal and described brake communicative couplings and with described inertia
The described input port communicative couplings for described input signal of navigation system, to allow when described in described brake signal startup
During the described brake of mining machinery, described position determination unit calculates the school of described mining machinery based on described brake signal
Position after just.
6., according to the mining machinery described in any one of claim before, wherein, described Machine control signal is included to institute
State mining machinery motor provide order motor control signal, described motor control signal couple with described its communications and
With described inertial navigation system for the described input port communicative couplings of described input signal, described motor control is worked as with permission
Signal processed is provided to the described motor of described mining machinery when ordering, and described position determination unit is based on described motor control signal
To calculate the position after the correction of described mining machinery.
7. mining machinery according to claim 6, wherein, described motor control signal includes disconnecting described mining machinery
The firing circuit breaker signal of firing circuit or the Motor control signal providing order to motor, described firing circuit breaks
Road device signal or Motor control signal are used to firing circuit chopper or described motor communicative couplings and with described respectively
Property navigation system the described input port communicative couplings for described input signal, with allow work as described firing circuit chopper
Signal disconnects during the firing circuit of described mining machinery or when described Motor control signal provides order to described motor
When, described position determination unit is based on described firing circuit breaker signal or described Motor control signal and adopts described in calculating
Position after the correction of ore deposit machine.
8., according to the mining machinery described in any one of claim before, described mining machinery also includes signal bus, institute
State signal bus and be electrically coupled to described control output end mouth and described input port, for being transferred to described Machine control signal
The described input port for described input signal of described inertial navigation system, to allow described position determination unit to be based on
The described Machine control signal of the movement of the described mining machinery of control of transmission on described signal bus is calculating described Mars Miner
Position after the correction of device.
9. according to the mining machinery described in any one of claim before, wherein, described inertial navigation system includes moving
Sensor, described motion sensor is used for indicating to described inertial navigation system in described Machine control signal expects described mining
When machine is static, described inertial navigation system is arranged to mobile status.
10. according to the mining machinery described in any one of claim before, wherein, described inertial navigation system includes moving
Sensor and logical AND module, described motion sensor and logical AND module are used for adopting with described in control when described motion sensor
Both described Machine control signal of ore deposit machine movement all indicate described mining machinery when being static, by described inertial navigation system
System is arranged to resting state, and under described resting state, zero-velocity curve is performed.
11. according to the mining machinery described in any one of claim before, and wherein, described inertial navigation system includes optical fiber
Gyroscope.
12. also include radar system, institute according to the mining machinery described in any one of claim before, described mining machinery
State the described input port that radar system is connected to described inertial navigation system, described radar system is configured to adopt described in detection
The movement of ore deposit machine.
13. also include according to the mining machinery described in any one of claim before, described mining machinery：
Beacon, it is arranged on the static position in ore deposit；And
Beacon detector, it is connected to the described input port of described inertial navigation system, by the position related to described beacon
Confidence breath provides and arrives described inertial navigation system.
14. according to the mining machinery described in any one of claim before, and described mining machinery also includes environmental scanning dress
Put, described environmental scanning device is connected to the described input port of described inertial navigation system, and described environmental scanning device is by structure
Cause to detect the feature in the environment of described mining machinery and the positional information related to described feature is provided described used
Property navigation system.
A kind of 15. methods of the position for determining mining machinery, the method includes：
Determine the initial position of described mining machinery；
Based on described initial position and based on the data from one or more inertial sensors, determine described mining machinery
Renewal after position；And
Determine the position after the correction of described mining machinery,
Wherein it is determined that the Machine control signal based on the movement controlling described mining machinery for the position after described correction.
16. methods according to claim 15, wherein it is determined that the position after described correction includes executing vehicle motion-sensing
Device assists.
17. methods according to claim 16, wherein, described Machine control signal represents the expectation speed of described mining machinery
Rate, and execute the institute that vehicle motion sensor auxiliary includes based on the described mining machinery indicated by described Machine control signal
State expected rate to determine the position after described correction.
18. methods according to claim 16 or 17, wherein, execution vehicle motion sensor auxiliary includes execution zero-speed and repaiies
Just.
19. methods according to claim 18, wherein, execution zero-velocity curve is included based on described Machine control signal Lai really
Whether fixed described mining machinery is static and executes described zero-velocity curve determining when described mining machinery is static.
20. methods according to claim 19, wherein it is determined that the inclusion that described mining machinery is static determines described machine
Control signal indicates that described mining machinery is static and motion sensor indicates that described mining machinery is static.
21. methods according to any one of claim 15 to 20, wherein, for the travel distance more than 4km with less
In the correction interval of 2 minutes, the error of the position after described correction was less than 1%.
22. methods according to any one of claim 15 to 21, wherein, for the travel distance more than 4km with less
In the correction interval of 6 minutes, the error of the position after described correction was less than 0.25%.
A kind of 23. softwares, this software when mounted on computers when, cause described computer execution according to claim 15 to
Method described in any one of 22.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2015903107A AU2015903107A0 (en) | 2015-08-04 | Navigation of mining machines | |
| AU2015903107 | 2015-08-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106437703A true CN106437703A (en) | 2017-02-22 |
| CN106437703B CN106437703B (en) | 2019-09-06 |
Family
ID=57486000
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620884498.7U Withdrawn - After Issue CN205918424U (en) | 2015-08-04 | 2016-08-04 | Mining machine |
| CN201610667615.9A Active CN106437703B (en) | 2015-08-04 | 2016-08-04 | Mining machinery and the method for determining its position, computer readable storage medium |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620884498.7U Withdrawn - After Issue CN205918424U (en) | 2015-08-04 | 2016-08-04 | Mining machine |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN205918424U (en) |
| AU (2) | AU2016101951A4 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108868772A (en) * | 2018-04-17 | 2018-11-23 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control method |
| CN110552699A (en) * | 2018-06-01 | 2019-12-10 | 久益环球地下采矿有限责任公司 | Method and system for controlling the heading of a mining machine |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
| CN112240205A (en) * | 2019-07-18 | 2021-01-19 | 联邦科学和工业研究组织 | Machine guidance integration |
| CN112344928A (en) * | 2020-11-14 | 2021-02-09 | 上海伯镭智能科技有限公司 | Navigation system for mine car |
| CN113685180A (en) * | 2021-08-18 | 2021-11-23 | 太原向明智控科技有限公司 | Coal mining machine mining and cutting curve correction measurement method |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2016101951A4 (en) * | 2015-08-04 | 2016-12-15 | Commonwealth Scientific And Industrial Research Organisation | Navigation of mining machines |
| CN106707351B (en) * | 2017-01-11 | 2019-01-11 | 吉林大学 | A kind of TBM construction tunnel forward probe magnetic resonance device system |
| CN108590656B (en) * | 2018-04-02 | 2019-10-01 | 西安科技大学 | A kind of disaster-ridden member coupling hard-to-recovery reserve decoupling recovery method |
| CN108643914B (en) * | 2018-04-17 | 2021-10-22 | 伊金霍洛旗德隆矿业有限公司 | Intelligent continuous miner system for open pit coal mine |
| CN110645978A (en) * | 2018-06-26 | 2020-01-03 | 北京自动化控制设备研究所 | High-precision positioning method of optical fiber inertial navigation for excavator |
| CN112727550B (en) * | 2019-10-29 | 2023-01-03 | 北京天玛智控科技股份有限公司 | Fully mechanized coal mining face working condition identification system and method based on sound pickup |
| CN111551973B (en) * | 2020-04-16 | 2022-04-05 | 北京踏歌智行科技有限公司 | Fault detection and correction method for unmanned inertial navigation system of strip mine |
| CN117722739A (en) * | 2024-02-18 | 2024-03-19 | 北京君腾达制冷技术有限公司 | Dual-refrigeration cold and hot air blower set |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201631A (en) * | 2006-11-08 | 2008-06-18 | 卡特彼勒群伯控制技术有限公司 | Systems and methods for augmenting an inertial navigation system |
| CN102439261A (en) * | 2009-06-23 | 2012-05-02 | 布西鲁斯欧洲有限公司 | Method for determining the position or situation of installation components in mineral mining installations and mining installation |
| CN202209953U (en) * | 2011-08-11 | 2012-05-02 | 东北林业大学 | Geomagnetic auxiliary inertia guidance system for underwater carrier |
| CN102686830A (en) * | 2009-10-30 | 2012-09-19 | 辛维特有限公司 | Azimuth initialization and calibration of wellbore surveying gyroscopic and inertial instruments by means of an external navigation system |
| CN102967313A (en) * | 2012-11-13 | 2013-03-13 | 李涛 | Data processing method for strapdown inertial navigation system of tracked vehicle |
| WO2013142916A1 (en) * | 2012-03-29 | 2013-10-03 | Commonwealth Scientific And Industrial Research Organisation | A system for determining a velocity and a navigation system |
| US20140214238A1 (en) * | 2013-01-28 | 2014-07-31 | Caterpillar Inc. | Worksite data management system |
| CN205918424U (en) * | 2015-08-04 | 2017-02-01 | 联邦科学和工业研究组织 | Mining machine |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459990B1 (en) * | 1999-09-23 | 2002-10-01 | American Gnc Corporation | Self-contained positioning method and system thereof for water and land vehicles |
| US6315062B1 (en) * | 1999-09-24 | 2001-11-13 | Vermeer Manufacturing Company | Horizontal directional drilling machine employing inertial navigation control system and method |
| US6292751B1 (en) * | 2000-02-08 | 2001-09-18 | Bae Systems | Positioning refinement algorithm |
| CN1961134B (en) * | 2004-04-01 | 2013-09-11 | Icg阿德卡尔系统公司 | Mining apparatus with precision navigation system |
| US8306726B2 (en) * | 2009-04-28 | 2012-11-06 | Caterpillar Inc. | Position monitoring system for a mobile machine |
| US8428790B2 (en) * | 2009-12-22 | 2013-04-23 | Caterpillar Inc. | Systems and methods for machine control in designated areas |
| US8700324B2 (en) * | 2010-08-25 | 2014-04-15 | Caterpillar Inc. | Machine navigation system having integrity checking |
-
2016
- 2016-02-08 AU AU2016101951A patent/AU2016101951A4/en not_active Ceased
- 2016-08-03 AU AU2016210668A patent/AU2016210668B2/en active Active
- 2016-08-04 CN CN201620884498.7U patent/CN205918424U/en not_active Withdrawn - After Issue
- 2016-08-04 CN CN201610667615.9A patent/CN106437703B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201631A (en) * | 2006-11-08 | 2008-06-18 | 卡特彼勒群伯控制技术有限公司 | Systems and methods for augmenting an inertial navigation system |
| CN102439261A (en) * | 2009-06-23 | 2012-05-02 | 布西鲁斯欧洲有限公司 | Method for determining the position or situation of installation components in mineral mining installations and mining installation |
| CN102686830A (en) * | 2009-10-30 | 2012-09-19 | 辛维特有限公司 | Azimuth initialization and calibration of wellbore surveying gyroscopic and inertial instruments by means of an external navigation system |
| CN202209953U (en) * | 2011-08-11 | 2012-05-02 | 东北林业大学 | Geomagnetic auxiliary inertia guidance system for underwater carrier |
| WO2013142916A1 (en) * | 2012-03-29 | 2013-10-03 | Commonwealth Scientific And Industrial Research Organisation | A system for determining a velocity and a navigation system |
| CN102967313A (en) * | 2012-11-13 | 2013-03-13 | 李涛 | Data processing method for strapdown inertial navigation system of tracked vehicle |
| US20140214238A1 (en) * | 2013-01-28 | 2014-07-31 | Caterpillar Inc. | Worksite data management system |
| CN205918424U (en) * | 2015-08-04 | 2017-02-01 | 联邦科学和工业研究组织 | Mining machine |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108868772A (en) * | 2018-04-17 | 2018-11-23 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control method |
| CN110552699A (en) * | 2018-06-01 | 2019-12-10 | 久益环球地下采矿有限责任公司 | Method and system for controlling the heading of a mining machine |
| CN110552699B (en) * | 2018-06-01 | 2022-06-21 | 久益环球地下采矿有限责任公司 | Method and system for controlling the heading of a mining machine |
| CN112240205A (en) * | 2019-07-18 | 2021-01-19 | 联邦科学和工业研究组织 | Machine guidance integration |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
| CN112344928A (en) * | 2020-11-14 | 2021-02-09 | 上海伯镭智能科技有限公司 | Navigation system for mine car |
| CN113685180A (en) * | 2021-08-18 | 2021-11-23 | 太原向明智控科技有限公司 | Coal mining machine mining and cutting curve correction measurement method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106437703B (en) | 2019-09-06 |
| AU2016210668A1 (en) | 2017-02-23 |
| AU2016101951A4 (en) | 2016-12-15 |
| AU2016210668B2 (en) | 2021-08-05 |
| CN205918424U (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205918424U (en) | Mining machine | |
| CN110160542B (en) | Method and device for positioning lane line, storage medium and electronic device | |
| Scheding et al. | An experiment in autonomous navigation of an underground mining vehicle | |
| JP3049053B1 (en) | Automated guide and measurement device and method for measuring and navigating a movable platform | |
| CN109891049B (en) | Systems, media, and methods for incremental trajectory estimation of a tool | |
| US20120173185A1 (en) | Systems and methods for evaluating range sensor calibration data | |
| US20180154901A1 (en) | Method and system for localizing a vehicle | |
| US20140236477A1 (en) | Positioning system utilizing enhanced perception-based localization | |
| CN103776463B (en) | Manless working face coal-winning machine automatic Memory coal cutting freedom positioning device method of testing | |
| CN111402387B (en) | Removing short-time points from a point cloud for navigating a high-definition map of an autonomous vehicle | |
| US11725946B2 (en) | Operating modes of magnetic navigation devices | |
| WO2018154579A1 (en) | Method of navigating an unmanned vehicle and system thereof | |
| US20230349698A1 (en) | Correlating Overlapping Magnetic Measurement Data from Multiple Magnetic Navigation Devices and Updating a Geomagnetic Map with that Data | |
| Reid et al. | A practical inertial navigation solution for continuous miner automation | |
| Dunn et al. | High accuracy inertial navigation for underground mining machinery | |
| JP7211605B2 (en) | Route planning considering topography | |
| US20180240346A1 (en) | Exploration system | |
| Dunn et al. | Control of automated mining machinery using aided inertial navigation | |
| CN111121771B (en) | Positioning method and device based on inertial navigation device and encoder | |
| US9810799B2 (en) | Method for automatically assigning wireless seismic acquisition units to topographic positions | |
| Belyaev | Extended investigation into continuous laser scanning of underground mine workings by means of Landis inertial navigation system | |
| Axmet o’g’li | IN GEOLOGICAL AND GEOTECHNICAL PROCESSES IN THE MINE USE OF TECHNOLOGICAL SCANNING EQUIPMENT IN THE UNDERGROUND MINING METHOD | |
| Strange et al. | Development of a real-time georeferenced subsurface radar system for mining applications | |
| JP2023141981A (en) | Traffic facility visibility determination device and traffic facility visibility determination program | |
| KR20230130526A (en) | Underground exploration system and method based on autonomous driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |