CN108957405A - A kind of detection method of coal face scraper conveyor straightness - Google Patents
A kind of detection method of coal face scraper conveyor straightness Download PDFInfo
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- CN108957405A CN108957405A CN201810717604.6A CN201810717604A CN108957405A CN 108957405 A CN108957405 A CN 108957405A CN 201810717604 A CN201810717604 A CN 201810717604A CN 108957405 A CN108957405 A CN 108957405A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
Abstract
The invention discloses a kind of detection methods of coal face scraper conveyor straightness, inertial navigation positioning device carries out real-time monitoring along drag conveyor running track to coalcutter, parses position when coalcutter is run under carrier coordinate system along drag conveyor and attitude angle data；Three dimensional local information of the coalcutter under system coordinate system is obtained using ultrasonic positioning system, to compensate SINS Position accumulated error；It is merged with data of the volume Kalman filtering algorithm to integrated positioning system, obtains position of the coalcutter under combined system, attitude angle information after fusion；Non-central geometric position is established using the geometrical relationship between the coalcutter centre of location and drag conveyor straightness conversion point to map, obtain coalcutter correspond to each point in lower scraping plate conveyer intermediate channel under carrier coordinate system coordinate to get the middle pan of scraper conveyor out form；The accumulated error in drag conveyor operational process can be eliminated, to guarantee the precision to drag conveyor Linearity surveying.
Description
Technical field
The present invention relates to a kind of detection method of drag conveyor, specifically a kind of coal face scraper conveyor straight line
The detection method of degree.
Background technique
Fully-mechanized mining working is made of equipment such as coalcutter, scratch board conveyor and hydraulic supports.In progress of coal mining,
Safety and the high-yield and high-efficiency of coal production are realized it is necessary to guarantee that fully-mechanized mining working realizes " three is straight ", i.e. guarantee coal wall, scraper plate
The linearity of conveyer and hydraulic support.
Therefore can fulcrum when drag conveyor is both coalcutter running track and hydraulic moving stand effectively be protected
The straightness of card drag conveyor is the key that realize " three is straight ".In addition, guaranteeing drag conveyor straightness with higher, have
Conducive to reducing coalcutter running resistance and reducing the generation of the accidents such as card chain, chain rupture even coalcutter disengaging drag conveyor, have
Effect reduces the unplanned probability occurred and the unnecessary casualties of reduction of stopping production.
However, with being incremented by for coalcutter cutting circulation, being scraped during down-hole combined mining working " three machines " work compound
Plate conveyer and hydraulic support are also constantly moving forward, wherein passage drag conveyor and hydraulic support process, that is, pushing and sliding and shifting frame mistake
Inevitably there is accumulated error in journey, so that drag conveyor is bent, affect the normal operation of fully-mechanized mining working,
Reduce the quality of production and efficiency.In such a case it is necessary to could continue to produce after being adjusted.
Most common at present is the method for artificial detection straightness: being drawn along drag conveyor laterally across rope in working face
Line gets beam of laser using laser, using above-mentioned bracing wire or light as reference, passes through artificial cognition drag conveyor
Whether it is bent, is bent if it exists, then hydraulic cylinder is elapsed by manual operation and drag conveyor is straightened.But this method
Efficiency is lower, is unable to satisfy the requirement of fully-mechanized mining working automation.
Publication number: CN106595557A, it is entitled " a kind of detection device and detection method of drag conveyor straightness "
Chinese invention patent, disclose using data acquisition unit acquire drag conveyor every section intermediate channel during being passed
3-axis acceleration, angular speed and magnetic induction intensity；Data processing unit gets in each section intermediate channel three axis in MEMS sensor
Angular speed and acceleration information obtain three shaft angle degree and three-shaft displacement after carrying out time integral, identify the S of drag conveyor
It is curved；Then displacement measurement errors are reduced using calculus of finite differences；Angle measurement error is reduced using AHRS algorithm and the method for average；Pass through song
Line fitting, obtains the curve of drag conveyor.In practical applications, device is more complicated for this method, calculates cumbersome, repeatedly progress
Accumulated error increases after integral calculation, and hydraulic support also will appear inclination, needs to carry out artificial straightening, intelligence degree and
Working efficiency is lower.
Publication number: CN102102512A, in entitled " fully-mechanized mining working curved detection and method for aligning and its system "
State's patent of invention, disclose combined using inertia sensitive element with angular transducer, signal processing circuit, to coalcutter along scraper plate
Conveyer running track and posture real-time detection, parse working face detection data, very heavy by electrohydraulic control system control passage
Pushing tow slips, and drag conveyor is made to reach straight line requirement.Data can also be will test and be transmitted to coal mining machine control system, control is turned up very heavy
Top adjusts roller and cuts bottom height；Cutting coal wall aligns bending to coalcutter again.The inertia sensitive element that this method utilizes
Do not have there is also accumulated error and in the device to eliminate the device of cumulative errors, the pose accuracy of the coalcutter detected simultaneously
It is not high, therefore will increase the straightness error of drag conveyor.
Publication number: CN104058215A, entitled " the drag conveyor dynamic based on coalcutter absolute movement track is straightened
The Chinese invention patent of method " is disclosed and is supervised in real time to coalcutter along drag conveyor running track using positioning device
It surveys, parses coalcutter dynamic position data under the space coordinates of setting, fit its absolute movement geometric locus and mesh
Mark refers to motion profile, then the target trajectory of next knife is obtained by microcontroller, calculates the pushing distance of each hydraulic support；
Electrohydraulic control system controls each bracket pushing and sliding, and drag conveyor is made to reach straight line requirement.This method is straightened to drag conveyor
During, on the basis of the motion profile of coalcutter, after multiple cuttings circulation, tire out since the motion profile of coalcutter exists
Product error is deposited between hydraulic support and drag conveyor in addition so calculated pushing distance error is caused to further increase
In pin ear gap, so that hydraulic support overall alignment is prone to bending, the straightness of drag conveyor is influenced.
Therefore, the precision of existing drag conveyor Linearity surveying method is relatively low at present, and accumulated error is larger and equal
It can not eliminate well, to be unable to satisfy the requirement of Practical Project.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of coal face scraper conveyor straightness
Detection method can effectively eliminate the accumulated error in drag conveyor operational process, to guarantee to drag conveyor straight line
Spend the precision of detection.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of coal face scraper conveyor straight line
The detection method of degree, comprising the following specific steps
A, using the multiple ultrasonic wave position receiver devices being mounted on hydraulic support and coalcutter side piston shoes are mounted on
The ultrasonic wave localizing emission device of surface positions silo shearer, specifically: the ultrasonic wave position receiver device
Position under coordinate system is known, ultrasonic wave localizing emission device transmitting ultrasonic wave, the reception of ultrasonic wave position receiver device
Ultrasonic signal, then the position coordinates according to ultrasonic wave position receiver device under coordinate system carry out processing calculating, obtain excess of export
Position coordinates of the acoustic location reception device under ultrasonic wave location coordinate position coordinate in ultrasonic wave to obtain coalcutter
Position coordinates under system；
B, inertial navigation positioning device is mounted on coalcutter identical with ultrasonic wave localizing emission setting position, and strapdown is used
It leads positioning device and real-time monitoring is carried out along drag conveyor running track to coalcutter, by the three-axis gyroscope of Strapdown Inertial Navigation System
Angular speed, the acceleration information that coalcutter is measured with three axis accelerometer parse coalcutter in carrier by signal processing circuit
Position, attitude angle data when being run under coordinate system along drag conveyor；
C, inertial navigation is positioned using inertial navigation/ultrasonic wave integrated positioning system synchronous data fusion mode
The position data of device and ultrasonic positioner is merged, and the coalcutter obtained by ultrasonic positioner is three-dimensional
The coal winning machine position that location information resolves inertial navigation positioning device compensates, with SINS error equationAs state equation, measuring value is chosen inertial navigation positioning device and is resolved
Position and ultrasonic positioner resolve the difference of position, i.e. Z=pSINS-pUPS.According to combined system state-space equation and observation
Equation carries out accurate filtering with data of the volume Kalman filtering algorithm to integrated positioning system, utilizes two kinds of positioning of fusion
Position (x of the coalcutter that mode obtains under combined systemt,yt,zt)；
D, the coalcutter precise position information obtained according to inertial navigation/ultrasonic wave integrated positioning system and inertial navigation system
The coalcutter attitude angle information that system calculates, establishes coalcutter-drag conveyor straightness transformation model, for the machine of coalcutter
Body positioning scenarios are established non-central using the geometrical relationship between the coalcutter centre of location and drag conveyor straightness conversion point
Geometric position mapping, obtains position coordinates P of each point under carrier coordinate system in the middle pan of scraper conveyort(xt,yt,zt)；
E, according to each point in the middle pan of scraper conveyor under carrier coordinate system position coordinates and be based on coalcutter attitude angle
Each corresponding points attitude angle information in the middle pan of scraper conveyor of acquisition is fitted drawing finally to get drag conveyor is arrived
The form of intermediate channel, to realize the Linearity surveying of drag conveyor.
Further, after the ultrasonic wave localizing emission device transmitting ultrasonic wave, multiple ultrasonic wave position receiver device difference
Determine the transmission time of received ultrasonic wave, then analysis processing carries out the position refinement resolving under multiple error, obtains coalcutter
Three-dimensional location coordinates information under ultrasonic positioning system coordinate system.
Further, the coalcutter centre of location is O point, and drag conveyor straightness conversion point is O' point, if O point position
Coordinate are as follows: Po(xo,yo,zo)。
Compared with prior art, the side that the present invention is combined using inertial navigation positioning device and ultrasonic positioning system
Formula, the location information measured by ultrasonic positioning system carry out accumulation mistake to the location information that inertial navigation positioning device obtains
The compensation of difference, has the advantages that
1, it is realized using volume Kalman filtering mode to inertial navigation/ultrasonic wave integrated positioning system data fusion,
The position accumulated error for compensating for inertial navigation, improves coalcutter positioning accuracy；
2, it is sat using the position that coalcutter-drag conveyor geometric transformation relationship obtains each point in the middle pan of scraper conveyor
Then mark is fitted drawing, realize the detection to fully-mechanized mining working surface conveyer straightness, is not necessarily to manual intervention, automatically
Change degree is high.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
Fig. 2 is inertial navigation in the present invention/ultrasonic wave integrated positioning system arrangement schematic diagram；
Fig. 3 is perspective view of the fully-mechanized mining working on X/Y plane in the present invention；
Fig. 4 is that the geometrical relationship in the present invention between the coalcutter centre of location and drag conveyor straightness conversion point is illustrated
Figure；
Fig. 5 is the middle pan of scraper conveyor form schematic diagram that O', M' are merged in the present invention.
In figure: 1, coalcutter；2, drag conveyor；3, hydraulic support；4, to exploiting colliery；5, goaf；6, carrier is sat
Mark system；7, inertial navigation positioning device；8, ultrasonic wave localizing emission device；9, ultrasonic wave position receiver device；10, coalcutter is fixed
Position machine side；11, walking piston shoes；12, drag conveyor center line.
Specific embodiment
The invention will be further described below.
As shown, the present invention comprising the following specific steps
A, using the multiple ultrasonic wave position receiver devices being mounted on hydraulic support and coalcutter side piston shoes are mounted on
The ultrasonic wave localizing emission device of surface positions silo shearer, specifically: the ultrasonic wave position receiver device
Position under coordinate system is known, ultrasonic wave localizing emission device transmitting ultrasonic wave, the reception of ultrasonic wave position receiver device
Ultrasonic signal carries out processing calculating, specifically: after the ultrasonic wave localizing emission device transmitting ultrasonic wave, multiple ultrasonic waves are fixed
Position reception device determines the transmission time of received ultrasonic wave respectively, then according to ultrasonic wave position receiver device under coordinate system
Position coordinates carry out multiple error under position refinement resolve, obtain three-dimensional of the coalcutter under ultrasonic positioning system coordinate system
Location coordinate information；
B, inertial navigation positioning device is mounted on coalcutter identical with ultrasonic wave localizing emission setting position, and strapdown is used
It leads positioning device and real-time monitoring is carried out along drag conveyor running track to coalcutter, by the three-axis gyroscope of Strapdown Inertial Navigation System
Angular velocity omega, the acceleration information a that coalcutter is measured with three axis accelerometer, parse coalcutter by signal processing circuit and are carrying
Position, attitude angle data when being run under body coordinate system along drag conveyor；
C, using inertial navigation/ultrasonic wave integrated positioning system synchronous data fusion mode by inertial navigation positioning device
It is merged with the position data of ultrasonic positioner, the coalcutter three dimensional local information obtained by ultrasonic positioner
Accumulated error compensation, SINS error equation are carried out to the coal winning machine position that inertial navigation positioning device resolves
As state equation, measuring value chooses inertial navigation positioning device and resolves position and ultrasonic positioner solution
Calculate the difference of position, i.e. Z=pSINS-pUPS；Specifically:
According to combined system state-space equation and observational equation, filtering is calculated with volume Kalman filtering algorithm and is increased
Benefit, the state and state covariance matrix for updating integrated positioning system carry out accurate filtering to the data of integrated positioning system, melt
It closes two kinds of positioning methods and obtains location information (x of the coalcutter under combined systemt,yt,zt)；
D, the coalcutter precise position information obtained according to inertial navigation/ultrasonic wave integrated positioning system and inertial navigation system
The coalcutter attitude angle information that system calculates, is established coalcutter-drag conveyor straightness transformation model, is positioned using coalcutter
Geometrical relationship between center O point and drag conveyor straightness conversion point O' is established non-central geometric position and is mapped, and acquisition is adopted
Coal machine corresponds to position coordinates P of each point under carrier coordinate system in lower scraping plate conveyer intermediate channelt(xt,yt,zt)；Assuming that O point
Set coordinate are as follows: Po(xo,yo,zo)；
E, due to drag conveyor respectively save intermediate channel be sequentially connected by dumbbell pin and under the constraint of dumbbell pin relatively partially
Gyration is no more than 2 °, so using the coalcutter attitude angle calculated as the actual arrangement of each point in the middle pan of scraper conveyor
Attitude angle；It can be obtained each in the middle pan of scraper conveyor by accurate characterization according to the course angle on coalcutter fuselage piston shoes
Point practical attitude angle information (θt,γt)；Assuming that O point attitude angle information are as follows: (θ,γ)；
Since coalcutter span is big, drag conveyor straightness is difficult to realize merely with the location information of coalcutter side
Accurate detection.As seen from Figure 4, the projection of O point and M point is always on drag conveyor center line.Therefore pass through coalcutter
Running track O point calculates the M point position of the coalcutter other side, and calculates its subpoint O' and M' on drag conveyor
Running track, can reflect drag conveyor center line morphology.According to the spatial relationship of coalcutter, drag conveyor, it is assumed that O
It is L that point, which arrives the distance between M point,OM, then coordinate representation of the M point in navigational coordinate system are as follows:
Assuming that coal mining machine positioning device mounting plane and the middle pan of scraper conveyor plane distance are LG；It is thrown according to vertical
O point upright projection to O' is obtained the position coordinates of subpoint by shadow relationship are as follows:
Similarly, M point upright projection is obtained its position coordinates to M' are as follows:
The track of drag conveyor center line finally can be obtained according to the information of O', M' two o'clock.
However, the coalcutter in working face is during its reciprocal coal cutting, since it is across a few section intermediate channels, so O',
Can completely does not reflect the intermediate channel track of drag conveyor to M', and two o'clock is not comprising being located at several sections under coalcutter fuselage
The form of intermediate channel, therefore in practical applications, it needs to merge the track of two o'clock；Fig. 5 shows the scraper plate of O', M' fusion
Conveyer intermediate channel form.From bringing into operation from coalcutter to operation to Y-direction maximum value, each position coordinates of O' point are merged
At intermediate channel track be lO', the intermediate channel track that each position coordinates of M' point are fused into is lM'；Assuming that O' point is in the Y direction
Coordinate maximum value be ymax.In the run trace of M' point, y is taken outM'> ymaxEach sampling point position information, fitting obtains
O'M' section in Fig. 5, by the trajectory line l of O'O'With the trajectory line l of M'M'In one section of O'M' fusion, can be obtained and completely scrape
The center line l of plate conveyerOM: lOM=lO'+O'M'.The fitting for finally carrying out fusion track is drawn to get into drag conveyor
The form of portion's slot, to realize the Linearity surveying of drag conveyor.
Claims (3)
1. a kind of detection method of coal face scraper conveyor straightness, which is characterized in that comprising the following specific steps
A, using the multiple ultrasonic wave position receiver devices being mounted on hydraulic support and be mounted on coalcutter side piston shoes just on
The ultrasonic wave localizing emission device of side positions silo shearer, specifically: ultrasonic wave localizing emission device transmitting ultrasound
Wave, ultrasonic wave position receiver device received ultrasonic signal, the then position according to ultrasonic wave position receiver device under coordinate system
It sets coordinate and carries out processing calculating, obtain position coordinates of the ultrasonic wave position receiver device under ultrasonic wave location coordinate, thus
Obtain position coordinates of the coalcutter under ultrasonic wave location coordinate；
B, inertial navigation positioning device is mounted on coalcutter identical with ultrasonic wave localizing emission setting position, and inertial navigation is fixed
Position device carries out real-time monitoring along drag conveyor running track to coalcutter, by the three-axis gyroscope of Strapdown Inertial Navigation System and three
Axis accelerometer measures the angular speed of coalcutter, acceleration information, parses coalcutter in carrier coordinate by signal processing circuit
Position, attitude angle data when being run under system along drag conveyor；
C, using inertial navigation/ultrasonic wave integrated positioning system synchronous data fusion mode by inertial navigation positioning device and ultrasound
The position data of wave positioning device is merged, and the coalcutter three dimensional local information obtained by ultrasonic positioner is used to strapdown
The coal winning machine position for leading positioning device resolving compensates, with SINS error equation
As state equation, measuring value chooses the difference that inertial navigation positioning device resolves position and ultrasonic positioner resolves position,
That is Z=pSINS-pUPS.According to combined system state-space equation and observational equation, with volume Kalman filtering algorithm to combination
The data of positioning system carry out accurate filtering, position of the coalcutter obtained using two kinds of positioning methods of fusion under combined system
(xt,yt,zt)；
D, the coalcutter precise position information and Strapdown Inertial Navigation System solution obtained according to inertial navigation/ultrasonic wave integrated positioning system
The coalcutter attitude angle information of calculating establishes coalcutter-drag conveyor straightness transformation model, fixed for the body of coalcutter
Position situation establishes non-central geometry using the geometrical relationship between the coalcutter centre of location and drag conveyor straightness conversion point
Position mapping, obtains position coordinates P of each point under carrier coordinate system in the middle pan of scraper conveyort(xt,yt,zt)；
E, according to each point in the middle pan of scraper conveyor under carrier coordinate system position coordinates and based on coalcutter attitude angle obtain
The middle pan of scraper conveyor on each corresponding points attitude angle information, be fitted drawing finally to get in the middle part of drag conveyor
The form of slot, to realize the Linearity surveying of drag conveyor.
2. a kind of detection method of coal face scraper conveyor straightness according to claim 1, which is characterized in that
After the ultrasonic wave localizing emission device transmitting ultrasonic wave, multiple ultrasonic wave position receiver devices determine received ultrasonic wave respectively
Transmission time, then analysis processing carry out multiple error under position refinement resolve, obtain coalcutter in ultrasonic positioning system
Three-dimensional location coordinates information under coordinate system.
3. a kind of detection method of coal face scraper conveyor straightness according to claim 1, which is characterized in that
The coalcutter centre of location is O point, and drag conveyor straightness conversion point is O' point, if O point position coordinates are as follows: Po(xo,yo,
zo)。
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231626A (en) * | 2019-06-10 | 2019-09-13 | 中国矿业大学 | A kind of coalcutter positioning monitoring system and its monitoring method |
| CN110595462A (en) * | 2019-05-23 | 2019-12-20 | 北斗天地股份有限公司山东分公司 | Straight line fitting method |
| CN111472841A (en) * | 2020-03-05 | 2020-07-31 | 天地科技股份有限公司 | Fully mechanized coal mining face equipment group pose unifying method |
| CN111674838A (en) * | 2020-05-20 | 2020-09-18 | 山东科技大学 | Automatic straightening device and method for scraper conveyor body based on spatial position information capture |
| CN111811427A (en) * | 2020-06-30 | 2020-10-23 | 中国矿业大学 | Method for monitoring straightness of scraper conveyor |
| CN111812589A (en) * | 2020-07-24 | 2020-10-23 | 江苏科技大学 | Accurate positioning system and method for coal mining machine based on acoustic array |
| CN111896916A (en) * | 2020-07-24 | 2020-11-06 | 江苏科技大学 | System and method for measuring relative position of coal mining machine and hydraulic support |
| CN111927518A (en) * | 2020-09-10 | 2020-11-13 | 西安科技大学 | Automatic straightening method for fully mechanized coal mining face hydraulic support based on combination of inertial navigation and odometer |
| CN112431635A (en) * | 2021-01-28 | 2021-03-02 | 北京龙软科技股份有限公司 | Automatic alignment method, device and system for fully mechanized coal mining face based on geodetic coordinate sequence |
| AU2019369210B2 (en) * | 2019-03-14 | 2021-06-24 | China University Of Mining And Technology | Interference protection device and method for hydraulic support and cutting part of shearer |
| CN113029046A (en) * | 2021-03-11 | 2021-06-25 | 精英数智科技股份有限公司 | Method and device for detecting straightness of scraper conveyor based on video identification |
| CN113236363A (en) * | 2021-04-23 | 2021-08-10 | 陕西陕煤黄陵矿业有限公司 | Mining equipment navigation positioning method, system, equipment and readable storage medium |
| CN113420403A (en) * | 2021-03-24 | 2021-09-21 | 太原理工大学 | Movement planning method for pushing mechanism of hydraulic support and scraper conveyor |
| CN113685177A (en) * | 2021-07-09 | 2021-11-23 | 中煤科工开采研究院有限公司 | Coal mining machine position measuring system and method |
| CN113958320A (en) * | 2021-10-22 | 2022-01-21 | 中煤张家口煤矿机械有限责任公司 | Full-intelligent cruise system and method for coal mine fully-mechanized coal mining complete equipment |
| CN114352278A (en) * | 2022-01-07 | 2022-04-15 | 郑州煤机液压电控有限公司 | Evaluation method of fully mechanized coal mining face straightening system |
| CN114419852A (en) * | 2021-12-27 | 2022-04-29 | 天地科技股份有限公司 | Offset judgment and grading early warning method and device for scraper conveyor |
| CN115204325A (en) * | 2022-09-16 | 2022-10-18 | 太原向明智控科技有限公司 | Fully mechanized coal mining face continuous straightening method based on inertial navigation system |
| CN116398209A (en) * | 2023-03-30 | 2023-07-07 | 凡尔智能科技集团有限公司 | Coal machine support alignment method based on laser radar and IMU |
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Application publication date: 20181207 |