CN111472841B - Fully mechanized coal mining face equipment group pose unifying method - Google Patents
Fully mechanized coal mining face equipment group pose unifying method Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
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- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/066—Scraper chain conveyors
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Abstract
The invention discloses a method for unifying the position and the attitude of a fully mechanized coal mining face equipment group, which relates to the technical field of monitoring and controlling the fully mechanized coal mining face equipment in a coal mine, and can acquire unified equipment group position and attitude information so that the fully mechanized coal mining face equipment group can perform motion control in a unified coordinate system. The method comprises the following steps: constructing a unified reference coordinate system; fixedly connecting a first local coordinate system on all hydraulic supports of the working surface; fixedly connecting a second local coordinate system on the body of the coal mining machine; fixedly connecting a third local coordinate system on each section of middle groove of the scraper conveyor; converting the second local coordinate system to the first local coordinate system based on the position relationship between the coal mining machine and the hydraulic support; converting the first local coordinate system to a third local coordinate system based on the connection relationship between the hydraulic support and the middle tank; and converting the third local coordinate system into a unified reference coordinate system based on the size parameters of the scraper conveyor. The invention is suitable for monitoring and controlling the fully mechanized coal mining face equipment group.
Description
Technical Field
The invention relates to the technical field of monitoring and controlling of coal mine fully-mechanized coal mining face equipment, in particular to a method for unifying position and pose of fully-mechanized coal mining face equipment groups.
Background
The underground fully mechanized coal mining face equipment mainly comprises a hydraulic support, a coal mining machine and a scraper conveyor. Currently, each device and a control system thereof operate independently, and the coordinated linkage control is only limited to sequential start and stop, grouped frame moving and other simple functions can be applied; and due to the functions of automatic following and moving frame, coal flow balance control and the like which have higher requirements on the position precision of equipment, the measurement of the space pose information (including position and attitude information) of the fully mechanized coal mining face equipment group is not accurate enough, so that the continuous automatic operation control cannot be realized under most conditions.
At present, a large amount of frequent and dynamic linkage coordination control among all equipment can only be completed in a manual mode, the real-time performance, accuracy and coordination uniformity of equipment movement cannot be guaranteed, the production efficiency is influenced, and equipment damage and safety production accidents caused by misoperation are easy to happen. The fundamental reason is that the measurement data of the mutual pose of the devices are local and isolated, and unified device group pose information (the main expression form is coordinates) cannot be acquired, so that the device group of the fully mechanized mining face cannot perform motion control in a unified coordinate system.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a method for unifying pose information of fully mechanized mining face equipment groups, which can acquire unified pose information of the equipment groups, so that the fully mechanized mining face equipment groups can perform motion control in a unified coordinate system, and thus, the possibility of realizing automatic real-time, accurate and fast coordination control among the fully mechanized mining face equipment groups can be improved.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the embodiment of the invention provides a method for unifying the position and posture of a fully mechanized coal mining face equipment group, which comprises the following steps: forming a reference plane of a unified reference coordinate system by using a roadway bottom plate plane, a vertical central symmetrical plane of the reversed loader in the length direction and a central symmetrical plane of the scraper conveyer; the intersection point of the three planes is a coordinate origin, the length direction of the working surface is taken as the positive direction of an X axis, the propelling direction of the working surface is the positive direction of a Y axis, and the vertical upward direction is the positive direction of a Z axis;
fixedly connecting a first local coordinate system on all hydraulic supports of the working surface;
fixedly connecting a second local coordinate system on the body of the coal mining machine;
fixedly connecting a third local coordinate system on each section of middle groove of the scraper conveyor;
converting the second local coordinate system to the first local coordinate system based on the position relationship between the coal mining machine and the hydraulic support;
converting the first local coordinate system to a third local coordinate system based on the connection relationship between the hydraulic support and the middle tank;
and converting the third local coordinate system into a unified reference coordinate system based on the size parameters of the scraper conveyor.
Preferably, the method further comprises: acquiring real-time position and posture information of a hydraulic support, a coal mining machine and a scraper conveyor;
and respectively converting the real-time position and the attitude information into the unified reference coordinate system to represent.
Preferably, after the real-time position and orientation information is respectively converted into the representation in the unified reference coordinate system, the method includes: monitoring the pose change of the coal mining machine according to the real-time position and the pose information of the coal mining machine represented in the unified reference coordinate system;
and determining the bending degree of the scraper conveyor and the front and back inclination angles of the middle groove according to the real-time position and posture information of the coal mining machine.
Preferably, the coal mining machine is provided with an odometer and an infrared positioning module;
and determining the position of the coal mining machine along the length direction of the working face through the odometer and the infrared positioning module.
Preferably, after converting the third local coordinate system to a unified reference coordinate system based on the dimensional parameters of the scraper conveyor itself, the method further comprises: establishing an equipment group position monitoring model based on the unified reference coordinate system;
acquiring real-time pose information of a coal mining machine, a hydraulic support and a scraper conveyor in a coal mining process;
and inputting the real-time pose information into the monitoring model to obtain the spatial poses of the coal mining machine, the hydraulic support and the scraper conveyor in the unified reference coordinate system.
Optionally, said attaching the first local coordinate system to all hydraulic mounts of the working face comprises: the cross point of the center of the cross head connected with the scraper conveyor is used as a first local coordinate system origin, a plane parallel to the bottom plate and penetrating through the first local coordinate system origin is used as a bottom plane, the width direction of the support base is used as the X-axis direction, the length direction of the support base is used as the y-axis direction, and the vertical upward direction is the Z-axis positive direction.
Optionally, the consolidating the second local coordinate system on the shearer body comprises: and taking the geometric center of the coal mining machine as the origin of coordinates of a second local coordinate system, taking the length direction of the machine body of the coal mining machine as the X-axis direction, taking the coal mining advancing direction of the working face as the positive direction of the Y axis, and taking the vertical upward direction as the positive direction of the Z axis.
Optionally, the consolidating the third local coordinate system on each pitch of the pan of the scraper conveyor comprises: the middle groove length direction central plane, a plane which is formed by connecting a support and a scraper conveyor with a cross head center intersection point and is parallel to a middle groove bottom plate and a middle groove vertical direction central plane are taken as three reference planes, a three-side intersection point is taken as a third local coordinate system coordinate original point, the working surface moving direction is taken as an X-axis positive direction, the working surface advancing direction is a Y-axis positive direction, and the vertical upward direction is a Z-axis positive direction.
The invention discloses a method for unifying the pose of a fully mechanized mining face equipment group, which is characterized in that a roadway bottom plate plane, a reversed loader length direction vertical central symmetrical plane and a scraper conveyor central symmetrical plane form a reference plane of a unified reference coordinate system; the intersection point of the three planes is a coordinate origin, the length direction of the working surface is taken as the positive direction of an X axis, the propelling direction of the working surface is the positive direction of a Y axis, and the vertical upward direction is the positive direction of a Z axis; fixedly connecting a first local coordinate system on all hydraulic supports of the working surface; fixedly connecting a second local coordinate system on the body of the coal mining machine; fixedly connecting a third local coordinate system on each section of middle groove of the scraper conveyor; converting the second local coordinate system to the first local coordinate system based on the position relationship between the coal mining machine and the hydraulic support; converting the first local coordinate system to a third local coordinate system based on the connection relationship between the hydraulic support and the middle tank; and converting the third local coordinate system into a unified reference coordinate system based on the size parameters of the scraper conveyor. When the position and posture information of the hydraulic support, the scraper conveyor and the coal mining machine is collected, the position and posture information of the hydraulic support, the scraper conveyor and the coal mining machine can be described or represented in a unified coordinate system through the position unifying method, unified equipment group position and posture information is obtained, when the equipment needs to be controlled in motion, the equipment group of the fully mechanized mining face can be controlled in motion in the unified coordinate system based on the unified equipment group position and posture information, real-time, rapid and accurate cooperative control among all the equipment becomes possible, and the possibility of achieving automatic real-time, accurate and rapid cooperative control among the equipment group of the fully mechanized mining face can be improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a plurality of coordinate systems of an embodiment of a fully mechanized coal mining face equipment group of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a fully mechanized coal mining face equipment group pose unifying method according to the present invention;
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are merely exemplary of some, but not all embodiments of the invention, and that numerous specific details are set forth in order to provide a thorough understanding of the invention. In addition, some methods, means, components and applications thereof known to those skilled in the art are not described in detail in order to highlight the gist of the present invention, but the implementation of the present invention is not affected. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to help understand the technical scheme and the technical effect provided by the embodiment of the invention, the current situation of monitoring and controlling the position and posture of the fully mechanized coal mining face equipment is briefly introduced.
At present, the existing detected pose data among all equipment is only local and isolated, the equipment is controlled based on the local and isolated data, automatic real-time, accurate and fast coordinated linkage control among three-machine equipment of a fully mechanized mining face is difficult to realize, and no method for unifying pose information of a working face equipment group exists at present. Only if the unification of the space pose information of the equipment group is fundamentally realized, accurate and reliable control information or support can be provided for the automatic control of the equipment of the whole set of coal mining process.
Referring to fig. 1 and 2, an embodiment of the present invention provides a method for unifying poses of a fully mechanized coal mining face equipment group, which is suitable for monitoring and controlling the fully mechanized coal mining face equipment group. Wherein, fully mechanized mining face equipment group mainly includes: hydraulic supports, coal mining machines and scraper conveyors are commonly called as 'three machines', and the unified pose of an equipment group means that the measured pose coordinates of the 'three machines' can be uniformly described or represented in the same coordinate system; poses include positions and poses, which are typically measured by dip.
The method comprises the following steps:
and step 110, establishing a unified reference coordinate system OXYZ. The method specifically comprises the following steps: forming a reference plane of a unified reference coordinate system by using a roadway bottom plate plane, a vertical central symmetrical plane of the reversed loader in the length direction and a central symmetrical plane of the scraper conveyer; the intersection point of the three planes is a coordinate origin O, the length direction of the working face is taken as the positive direction of an X axis, the propelling direction of the working face is the positive direction of a Y axis, and the vertical upward direction is the positive direction of a Z axis.
Step 120, fixedly connecting a first local coordinate system OiXiyiZi (wherein i is 1, 2, j, n is less than 300) to all hydraulic supports of the fully mechanized mining face; a plurality of hydraulic supports are generally arranged in front of the fully mechanized mining face along the length direction of the fully mechanized mining face, and each hydraulic support is fixedly connected with a first local coordinate system (for the purpose of making the representation of the figure more intuitive and easy to understand, the local coordinate system of the hydraulic support is shown in fig. 2).
The method specifically comprises the following steps: the center intersection point of a hydraulic support and a scraper conveyor connecting crosshead is used as a first local coordinate system origin Oi, a plane parallel to a bottom plate and penetrating through the first local coordinate system origin is used as a bottom plane, namely a working surface bottom plate plane in fig. 1, the width direction of a support base is used as the x-axis direction, the length direction of the support base is used as the y-axis direction, and the vertical upward direction is the positive direction of a Z axis.
And step 130, solidifying a second local coordinate system OsXsYsZs (represented as a local coordinate system of the coal mining machine in the figure 2) on the coal mining machine body.
In which the shearer is located on the scraper conveyor and is movable along the length of the scraper conveyor to cut the coal, the second local coordinate system is shown in fig. 1 for clarity, and therefore is drawn separately from the scraper conveyor and cannot be understood as the installation location of the shearer.
Step 130 specifically includes: and taking the geometric center of the coal mining machine as a coordinate origin Os of a second local coordinate system, taking the length direction of the machine body of the coal mining machine as the X-axis direction, taking the coal mining advancing direction of the working face as the positive direction of the Y axis, and taking the vertical upward direction as the positive direction of the Z axis.
And 140, solidifying a third local coordinate system OcixciyciZci (shown as a coal mining machine local coordinate system in figure 2) on the middle groove of each section of the scraper conveyor.
It will be appreciated that the scraper conveyor has a plurality of sections, and therefore the third local coordinate system is provided in plurality. Step 140 specifically includes: the middle groove length direction central plane, a plane which is formed by connecting a hydraulic support and a scraper conveyor with a cross head center intersection point and is parallel to a middle groove bottom plate and a middle groove vertical direction central plane are taken as three reference planes, a three-side intersection point is taken as a third local coordinate system coordinate original point, the working face moving direction is taken as an X-axis positive direction, the working face advancing direction is a Y-axis positive direction, and the vertical upward direction is a Z-axis positive direction.
And 150, converting the second local coordinate system into the first local coordinate system based on the position relation between the coal mining machine and the hydraulic support.
And 160, converting the first local coordinate system into a third local coordinate system based on the connection relation between the hydraulic support and the middle tank.
And 170, converting the third local coordinate system into a unified reference coordinate system based on the size parameters of the scraper conveyor.
The attitude information of the equipment, mainly the tilt angle, can also be directly converted into a unified coordinate system from a local coordinate system of each equipment for representation.
In this embodiment, the translation matrix and rotation matrix required to transform the local pose coordinate system of the hydraulic mount, shearer, and face conveyor to the unified reference coordinate system through steps 150 to 170 are derived from the position and pose of the local coordinate system relative to the reference coordinate system. Illustratively, the above transformation process is described using a quaternion matrix:
(1) translation transformation
Assuming a first local coordinate system O of the shearersXsYsZsThe space translation amount converted into the unified reference coordinate system through the second local coordinate system of the hydraulic support and the third local coordinate system of the scraper conveyor is (t)x，ty，tz) Then the translation is transformed into:
coordinate system OsXsYsZsThe coordinate value of the origin of (a) is represented by (x) in the unified reference coordinate system OXYZs，ys，zs) Translation to (x ', y ', z '), then the translation matrix is:
(2) rotational transformation
It is still assumed that the first local coordinate system O of the winning machinesXsYsZsThe angles of the three axes X, Y, Z around the reference coordinate system oyxyz are (α, β, γ), and the rotation matrix is:
rotation around the X axis:
rotation around the Y axis:
rotation around the Z axis:
referring to fig. 1, in some implementations, the transformation process of the translation matrix and the rotation matrix required for the transformation based on the above example is from the shearer to the hydraulic support, from the hydraulic support to the scraper conveyor middle trough, and finally the local coordinate system on the middle trough is transformed to the uniform reference coordinate system based on the geometric relationship of the scraper conveyor itself.
The inclination angle of the first local coordinate system OsXsYsZs of the coal mining machine relative to the unified reference coordinate system OXYZ can be obtained by an attitude monitoring system arranged on the coal mining machine, wherein the attitude monitoring system comprises monitoring instruments such as an inclination angle sensor, an inertial navigator and the like. Because the coal cutter is installed on the scraper conveyor, the inclination angle can reflect the bending degree of the scraper conveyor (displacement along the Y axis) and the front and back inclination angles of the middle groove (rotation angle around the X axis, and the height of the cutting bottom plate of the coal cutter).
The displacement of the first local coordinate system OsXsYsZs of the shearer relative to the second local coordinate system OiXiYiZi of the hydraulic support is provided by a position measurement system, which may for example be provided by an odometer and/or an infrared sensor. The inclination angle of a second local coordinate system OiXiyiZi of the hydraulic support relative to a unified reference coordinate system OXYZ is provided by a hydraulic support posture monitoring system consisting of an inclination angle sensor and a visual image sensor; the position of the second local coordinate system OiXiYiZi of the hydraulic support relative to the third local coordinate system ocixiycizci of the scraper conveyor is provided by its connection position to the scraper conveyor. The position of the third local coordinate system OcixciyciZci of the scraper conveyor relative to the unified coordinate system OXYZ is provided by the structural size of the scraper conveyor, and the bending and front-back inclination angles are provided by a coal mining machine attitude monitoring system. Because the front and back connection of the scraper conveyor and the hydraulic support is very tight, the bottom plane of the hydraulic support is consistent with the bottom surface of the middle groove of the scraper conveyor and can be regarded as a coplanar.
The invention discloses a method for unifying the pose of a fully mechanized mining face equipment group, which is characterized in that a roadway bottom plate plane, a reversed loader length direction vertical central symmetrical plane and a scraper conveyor central symmetrical plane form a reference plane of a unified reference coordinate system; the intersection point of the three planes is a coordinate origin, the length direction of the working surface is taken as the positive direction of an X axis, the propelling direction of the working surface is the positive direction of a Y axis, and the vertical upward direction is the positive direction of a Z axis; fixedly connecting a first local coordinate system on all hydraulic supports of the working surface; fixedly connecting a second local coordinate system on the body of the coal mining machine; fixedly connecting a third local coordinate system on each section of middle groove of the scraper conveyor; converting the second local coordinate system to the first local coordinate system based on the position relationship between the coal mining machine and the hydraulic support; converting the first local coordinate system to a third local coordinate system based on the connection relationship between the hydraulic support and the middle tank; and converting the third local coordinate system into a unified reference coordinate system based on the size parameters of the scraper conveyor. When the position and posture information of the hydraulic support, the scraper conveyor and the coal mining machine is collected, the position and posture information of the hydraulic support, the scraper conveyor and the coal mining machine can be described or represented in a unified coordinate system through the position unifying method, unified equipment group position and posture information is obtained, when the equipment needs to be controlled in motion, the equipment group of the fully mechanized mining face can be controlled in motion in the unified coordinate system based on the unified equipment group position and posture information, real-time, rapid and accurate cooperative control among all the equipment becomes possible, and the possibility of achieving automatic real-time, accurate and rapid cooperative control among the equipment group of the fully mechanized mining face can be improved.
Furthermore, the position and the attitude coordinates of the fully mechanized coal mining face equipment group are unified, so that the control system can obtain the space position and attitude state of the whole face equipment group at any time, a space field occupied by the equipment group is changed along with time in the mining process is established, and a foundation is laid for realizing accurate mining of the existing space along the coal seam.
Furthermore, the position and the posture coordinates of the fully mechanized mining face equipment group are unified, so that the realization of unified control on the face equipment becomes possible, and the method is a fundamental change of the current face production control system. Because the collected pose information is unified, the working face equipment group can be regarded as a whole, one equipment is convenient for the control system to concentrate on the position information based on unified representation, the control equipment accurately operates, high-efficiency cooperation is realized, and the real-time performance, the accuracy and the coordination uniformity of the group control of the fully mechanized mining equipment are fundamentally ensured.
It should be noted that the method for unifying the poses of the fully mechanized coal mining face equipment groups provided by the embodiment is combined with specific industrial applications, and can solve the technical problem that real-time, fast and accurate coordinated control is difficult to realize in the working process of the current fully mechanized coal mining face equipment, and has a great value in improving the coal mining efficiency.
It can be understood that the method provided by this embodiment may be constructed as an apparatus pose acquisition model, and the pose information of the corresponding apparatus is acquired and then represented in a unified coordinate system. Specifically, the method further comprises: acquiring real-time position and posture information of a hydraulic support, a coal mining machine and a scraper conveyor; and respectively converting the real-time position and the attitude information into the unified reference coordinate system to represent.
In some embodiments, after converting the real-time position and orientation information to a representation in the unified reference coordinate system, respectively, the method comprises: monitoring the pose change of the coal mining machine according to the real-time position and the pose information of the coal mining machine represented in the unified reference coordinate system;
and determining the bending degree of the scraper conveyor and the front and back inclination angles of the middle groove according to the real-time position and posture information of the coal mining machine.
Because the coal mining machine is arranged on the scraper conveyor, the bending degree of the scraper conveyor and the front and back inclination angles of the middle groove can be determined by collecting pose information of the coal mining machine.
In other embodiments, the coal mining machine is provided with an odometer and an infrared positioning module; and determining the position of the coal mining machine along the length direction of the working face through the odometer and the infrared positioning module.
According to some embodiments of the invention, after converting the third local coordinate system to a uniform reference coordinate system based on dimensional parameters of the scraper conveyor itself, the method further comprises: establishing an equipment group position monitoring model based on the unified reference coordinate system;
acquiring real-time pose information of a coal mining machine, a hydraulic support and a scraper conveyor in a coal mining process;
and inputting the real-time pose information into the monitoring model to obtain the spatial poses of the coal mining machine, the hydraulic support and the scraper conveyor in the unified reference coordinate system. Therefore, the real-time overall position of the fully mechanized mining equipment group can be acquired for a long time with high precision, and accurate and cooperative control is realized.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and elements referred to are not necessarily required in this application. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
As used herein, the terms "upper," "lower," and the like, refer to orientations or positional relationships that are used for convenience in describing the present invention and to simplify description, but do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A fully mechanized coal mining face equipment group pose unifying method is characterized by comprising the following steps:
forming a reference plane of a unified reference coordinate system by using a roadway bottom plate plane, a vertical central symmetrical plane of the reversed loader in the length direction and a central symmetrical plane of the scraper conveyer; the intersection point of the three planes is a coordinate origin, the length direction of the working surface is taken as the positive direction of an X axis, the propelling direction of the working surface is the positive direction of a Y axis, and the vertical upward direction is the positive direction of a Z axis;
fixedly connecting a first local coordinate system on all hydraulic supports of the working surface;
fixedly connecting a second local coordinate system on the body of the coal mining machine;
fixedly connecting a third local coordinate system on each section of middle groove of the scraper conveyor;
converting the second local coordinate system to the first local coordinate system based on the position relationship between the coal mining machine and the hydraulic support;
converting the first local coordinate system to a third local coordinate system based on the connection relationship between the hydraulic support and the middle tank;
converting the third local coordinate system to a unified reference coordinate system based on the size parameters of the scraper conveyor;
after converting the third local coordinate system to a unified reference coordinate system based on the dimensional parameters of the face conveyor itself, the method further comprises: establishing an equipment group position monitoring model based on the unified reference coordinate system;
acquiring real-time pose information of a coal mining machine, a hydraulic support and a scraper conveyor in a coal mining process;
and inputting the real-time pose information into the monitoring model to obtain the spatial poses of the coal mining machine, the hydraulic support and the scraper conveyor in the unified reference coordinate system.
2. The method of claim 1, wherein: the method further comprises the following steps:
acquiring real-time position and posture information of a hydraulic support, a coal mining machine and a scraper conveyor;
and respectively converting the real-time position and the attitude information into the unified reference coordinate system to represent.
3. The method of claim 2, wherein after converting the real-time position and orientation information into representations in the unified reference coordinate system, respectively, the method comprises: monitoring the pose change of the coal mining machine according to the real-time position and the pose information of the coal mining machine represented in the unified reference coordinate system;
and determining the bending degree of the scraper conveyor and the front and back inclination angles of the middle groove according to the real-time position and posture information of the coal mining machine.
4. The method according to claim 2, wherein the shearer is provided with an odometer and an infrared positioning module;
and determining the position of the coal mining machine along the length direction of the working face through the odometer and the infrared positioning module.
5. The method of claim 1, wherein consolidating the first local coordinate system on all hydraulic supports of the work surface comprises: the cross point of the center of the cross head connected with the scraper conveyor is used as a first local coordinate system origin, a plane parallel to the bottom plate and penetrating through the first local coordinate system origin is used as a bottom plane, the width direction of the support base is used as the X-axis direction, the length direction of the support base is used as the y-axis direction, and the vertical upward direction is the Z-axis positive direction.
6. The method of claim 1, wherein consolidating the second local coordinate system on the shearer body comprises: and taking the geometric center of the coal mining machine as the origin of coordinates of a second local coordinate system, taking the length direction of the machine body of the coal mining machine as the X-axis direction, taking the coal mining advancing direction of the working face as the positive direction of the Y axis, and taking the vertical upward direction as the positive direction of the Z axis.
7. The method of claim 1, wherein consolidating the third local coordinate system on each pitch of the pan of the face conveyor comprises: the middle groove length direction central plane, a plane which is formed by connecting a hydraulic support and a scraper conveyor with a cross head center intersection point and is parallel to a middle groove bottom plate and a middle groove vertical direction central plane are taken as three reference planes, a three-side intersection point is taken as a third local coordinate system coordinate original point, the working face moving direction is taken as an X-axis positive direction, the working face advancing direction is a Y-axis positive direction, and the vertical upward direction is a Z-axis positive direction.
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| CN112412535B (en) * | 2020-11-12 | 2021-08-17 | 临沂矿业集团菏泽煤电有限公司 | Dynamic calibration method, device and system for spatial position of mine fully-mechanized coal mining face device |
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