CN113093253A - Accurate positioning system and method for mining electric shovel - Google Patents
Accurate positioning system and method for mining electric shovel Download PDFInfo
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- CN113093253A CN113093253A CN202110366304.XA CN202110366304A CN113093253A CN 113093253 A CN113093253 A CN 113093253A CN 202110366304 A CN202110366304 A CN 202110366304A CN 113093253 A CN113093253 A CN 113093253A
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- 238000005065 mining Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 17
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000003321 amplification Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
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- 238000004519 manufacturing process Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 description 1
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 description 1
- 235000009120 camo Nutrition 0.000 description 1
- 235000005607 chanvre indien Nutrition 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011487 hemp Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a mining electric shovel accurate positioning system and method in the field of mining electric shovel positioning, and the system comprises a vehicle-mounted communication unit, an electric shovel positioning unit, a signal processing unit and a user control terminal, wherein the output end of the vehicle-mounted communication unit is electrically connected with the electric shovel positioning unit, the input end of the vehicle-mounted communication unit is electrically connected with the signal processing unit, and the input end of the signal processing unit is electrically connected with the user control terminal; the vehicle-mounted communication unit comprises a CCD stereo camera, a ranging module, a three-dimensional digital compass, a first control module, a first GPS positioning module, a network transmission module, a first power module, a first Bluetooth module and a work indication module. According to the method and the device, the distance value between the vehicle and the electric shovel is calculated, and the position value between the vehicle and the electric shovel positioned by the satellite is calculated, so that the error value of the satellite positioning can be calculated, the positioning accuracy of the mining electric shovel is improved, and the method and the device are beneficial to use of people.
Description
Technical Field
The invention relates to the field of positioning of mining electric shovels, in particular to a system and a method for accurately positioning a mining electric shovel.
Background
The electric shovel is one of main mining devices of ten-million-tonnage open-pit mines, has high productivity, high operating rate and low operating cost, is a machine type generally recognized in the mining industry at present, consists of a walking device, a slewing device, a working device, a lubricating system and an air supply system, is a main part of the electric shovel, directly bears the acting force of the excavated ore, so that the electric shovel is greatly abraded, is also one of main parts of the electric shovel in the excavating process, is used for connecting and supporting the electric shovel and transmitting the pushing action to the electric shovel, and finishes the action of excavating soil under the combined action of the pushing action and the lifting force.
At ordinary times, the electric shovel rotates left and right to load a production automobile, materials need to be excavated forwards and backwards, the positioning points are like messy hemp, the actual operation direction and the operation track can not be effectively recorded within about 12 hours of operation time of each shift, therefore, a single GPS can not meet the actual accurate positioning and operation track measurement and examination requirements of production, and meanwhile, due to vibration and interference of the electric shovel, some detection systems can not operate on the electric shovel, so that the accurate positioning of the electric shovel is realized. Accordingly, those skilled in the art will provide a precise positioning system and method for a mining electric shovel to solve the problems set forth in the background above.
Disclosure of Invention
The invention aims to provide a mining electric shovel accurate positioning system and method to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the accurate positioning system for the mining electric shovel comprises a vehicle-mounted communication unit, an electric shovel positioning unit, a signal processing unit and a user control terminal, wherein the output end of the vehicle-mounted communication unit is electrically connected with the electric shovel positioning unit, the input end of the vehicle-mounted communication unit is electrically connected with the signal processing unit, and the input end of the signal processing unit is electrically connected with the user control terminal;
the vehicle-mounted communication unit comprises a CCD stereo camera, a distance measurement module, a three-dimensional digital compass, a first control module, a first GPS positioning module, a network transmission module, a first power supply module, a first Bluetooth module and a work indication module, wherein the output end of the first control module is respectively and electrically connected with the CCD stereo camera, the distance measurement module, the three-dimensional digital compass, the first GPS positioning module, the work indication module and the first Bluetooth module, and the input end of the control module is respectively and electrically connected with the first power supply module and the network transmission module;
the electric shovel positioning unit comprises a second GPS positioning module, a wireless communication module, an inertial navigation positioning module, a second control module, a second power supply module and a second Bluetooth module, wherein the output end of the second control module is respectively and electrically connected with the second GPS positioning module and the inertial navigation positioning module, and the input end of the second control module is respectively and electrically connected with the wireless communication module, the power supply module and the second Bluetooth module;
the signal processing unit comprises a signal receiving module, a signal processing module and a signal analysis module, wherein the output end of the signal receiving module is respectively and electrically connected with the signal processing module and the signal analysis module;
the user control terminal comprises a display module, a storage module, an electric quantity monitoring module, a processor and a voice input module, wherein the output end of the processor is electrically connected with the display module, the storage module and the electric quantity monitoring module respectively, and the input end of the processor is electrically connected with the voice input module.
As a further scheme of the invention: the signal processing module comprises a signal noise reduction module, a signal amplification module and a signal filtering module.
As a still further scheme of the invention: the distance measurement module adopts a laser distance measurement sensor or an infrared distance measurement sensor.
As a still further scheme of the invention: and the first GPS positioning module and the second GPS positioning module both adopt Beidou GPS positioning modules.
As a still further scheme of the invention: the network transmission module adopts vehicle-mounted wi-fi, and the first power supply module and the second power supply module both adopt rechargeable power supplies.
As a still further scheme of the invention: the inertial navigation positioning module is used for accurately positioning the position of the electric shovel, the work indicating module is used for monitoring the working state of the vehicle-mounted unit, and the first Bluetooth module is used for being connected with the second Bluetooth module.
As a still further scheme of the invention: the display module is a display, the storage module is an SD memory card, and the voice input module is a microphone.
A mining electric shovel accurate positioning method comprises the following steps: s1: initializing a first GPS positioning module, a second GPS positioning module and an inertial navigation positioning module, calibrating an accelerometer, a gyroscope, a magnetic field and a height set to 0 under a standing condition of the inertial navigation positioning module, ensuring error analysis of measurement accuracy of the inertial navigation module and preventing the inertial navigation positioning module from drifting too much; s2: the position of the electric shovel positioning unit is measured through a CCD stereo camera and a distance measuring module on the vehicle-mounted communication unit, a first Bluetooth module on the vehicle-mounted communication unit is connected with a second Bluetooth module on the electric shovel positioning unit, and information on the electric shovel positioning unit is transmitted to the vehicle-mounted communication unit through a wireless communication module; s3: the first GPS positioning module, the second GPS positioning module and the inertial navigation positioning module calculate the position information of the vehicle and the electric shovel through satellites; s4: after receiving the signal of the electric shovel positioning unit, the vehicle-mounted communication unit transmits the information of the vehicle-mounted communication unit and the information of the electric shovel positioning unit to the signal processing unit through the network transmission module, the signal processing unit transmits the signal to the user control terminal, and the user control terminal receives and controls the signal; s5: and finally, calculating a satellite positioning deviation value of the electric shovel through a numerical value between the electric shovel and the vehicle, which is measured by the CCD stereo camera and the distance measurement module, so as to obtain the accurate position of the electric shovel, and further accurately positioning the electric shovel.
Compared with the prior art, the invention has the beneficial effects that:
according to the mining electric shovel positioning method and device, the distance value between the vehicle and the electric shovel is calculated through the CCD stereo camera and the ranging module, the position value between the vehicle and the electric shovel positioned by the satellite is calculated through the first GPS positioning module and the second GPS positioning module, and then the error value of the satellite positioning can be calculated, so that the positioning accuracy of the mining electric shovel is improved, and the mining electric shovel positioning method and device are beneficial to use of people.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a vehicle communication unit system of the present invention;
FIG. 3 is a schematic diagram of an electric shovel positioning unit system of the present invention;
FIG. 4 is a schematic diagram of a signal processing unit system according to the present invention;
fig. 5 is a schematic diagram of a user control terminal system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 5, in the embodiment of the invention, a precise positioning system for a mining electric shovel comprises a vehicle-mounted communication unit, an electric shovel positioning unit, a signal processing unit and a user control terminal, wherein an output end of the vehicle-mounted communication unit is electrically connected with the electric shovel positioning unit, an input end of the vehicle-mounted communication unit is electrically connected with the signal processing unit, and an input end of the signal processing unit is electrically connected with the user control terminal;
the vehicle-mounted communication unit comprises a CCD stereo camera, a ranging module, a three-dimensional digital compass, a first control module, a first GPS positioning module, a network transmission module, a first power supply module, a first Bluetooth module and a work indication module, wherein the output end of the control module is respectively electrically connected with the CCD stereo camera, the ranging module, the three-dimensional digital compass, the first GPS positioning module, the work indication module and the first Bluetooth module, the input end of the first control module is respectively electrically connected with the first power supply module and the network transmission module, the ranging module adopts a laser ranging sensor or an infrared ranging sensor, the vehicle position can be directionally positioned through the three-dimensional digital compass, the vehicle-mounted communication unit can be controlled through the first control module, signals of the vehicle-mounted communication unit can be transmitted through the network transmission module, and the first power supply module, the Bluetooth module can supply power to the vehicle-mounted communication unit, can provide Bluetooth support for the vehicle-mounted communication unit through the first Bluetooth module, and can display the working state of the vehicle-mounted communication unit through the working indication module;
the electric shovel positioning unit comprises a second GPS positioning module, a wireless communication module, an inertial navigation positioning module, a second control module, a second power supply module and a second Bluetooth module, wherein the output end of the second control module is respectively and electrically connected with the second GPS positioning module and the inertial navigation positioning module, the input end of the second control module is respectively and electrically connected with the wireless communication module, the power supply module and the second Bluetooth module, a network transmission module adopts vehicle-mounted wi-fi, the first power supply module and the second power supply module both adopt rechargeable power supplies, the inertial navigation positioning module is used for more accurately positioning the position of the electric shovel, the first GPS positioning module and the second GPS positioning module both adopt Beidou GPS positioning modules, a work indication module is used for monitoring the working state of the vehicle-mounted unit, the first Bluetooth module is used for connecting with the second Bluetooth module and is used for being wirelessly connected with the vehicle-mounted communication module through the wireless communication module, the power shovel positioning unit is used for controlling the power shovel positioning unit through the second control module, supplying power to the power shovel positioning unit through the second power supply module, and connecting the power shovel positioning unit with the vehicle-mounted communication unit through the second Bluetooth module;
the signal processing unit comprises a signal receiving module, a signal processing module and a signal analysis module, the output end of the signal receiving module is respectively electrically connected with the signal processing module and the signal analysis module, the signal processing module comprises a signal noise reduction module, a signal amplification module and a signal filtering module, the signal processing module is used for receiving signals of the vehicle-mounted communication unit and the electric shovel positioning unit, the signal processing module can be used for carrying out noise reduction, amplification and filtering processing on the received signals, and the signal analysis module can be used for analyzing the received signals;
the user control terminal comprises a display module, a storage module, an electric quantity monitoring module, a processor and a voice input module, wherein the output end of the processor is respectively connected with the display module, the storage module is electrically connected with the electric quantity monitoring module, the input end of the processor is electrically connected with the voice input module, the display module is a display, the storage module is an SD memory card, the voice input module is a microphone, the display module can display received information, the storage module can store the received information, the electric quantity monitoring module can monitor the electric quantities of the first power module and the second power module in real time, the processor is used for controlling the vehicle-mounted communication unit and the electric shovel positioning unit and receiving control signals, and the voice input module is used for the processor to receive voice instructions.
A mining electric shovel accurate positioning method comprises the following steps: s1: initializing a first GPS positioning module, a second GPS positioning module and an inertial navigation positioning module, calibrating an accelerometer, a gyroscope, a magnetic field and a height set to 0 under a standing condition of the inertial navigation positioning module, ensuring error analysis of measurement accuracy of the inertial navigation module and preventing the inertial navigation positioning module from drifting too much; s2: the position of the electric shovel positioning unit is measured through a CCD stereo camera and a distance measuring module on the vehicle-mounted communication unit, a first Bluetooth module on the vehicle-mounted communication unit is connected with a second Bluetooth module on the electric shovel positioning unit, and information on the electric shovel positioning unit is transmitted to the vehicle-mounted communication unit through a wireless communication module; s3: the first GPS positioning module, the second GPS positioning module and the inertial navigation positioning module calculate the position information of the vehicle and the electric shovel through satellites; s4: after receiving the signal of the electric shovel positioning unit, the vehicle-mounted communication unit transmits the information of the vehicle-mounted communication unit and the information of the electric shovel positioning unit to the signal processing unit through the network transmission module, the signal processing unit transmits the signal to the user control terminal, and the user control terminal receives and controls the signal; s5: and finally, calculating a satellite positioning deviation value of the electric shovel through a numerical value between the electric shovel and the vehicle, which is measured by the CCD stereo camera and the distance measurement module, so as to obtain the accurate position of the electric shovel, and further accurately positioning the electric shovel.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides an accurate positioning system of mining electric shovel, includes on-vehicle communication unit, electric shovel positioning unit, signal processing unit and user control terminal, its characterized in that: the output end of the vehicle-mounted communication unit is electrically connected with the electric shovel positioning unit, the input end of the vehicle-mounted communication unit is electrically connected with the signal processing unit, and the input end of the signal processing unit is electrically connected with the user control terminal;
the vehicle-mounted communication unit comprises a CCD stereo camera, a distance measurement module, a three-dimensional digital compass, a first control module, a first GPS positioning module, a network transmission module, a first power supply module, a first Bluetooth module and a work indication module, wherein the output end of the first control module is respectively and electrically connected with the CCD stereo camera, the distance measurement module, the three-dimensional digital compass, the first GPS positioning module, the work indication module and the first Bluetooth module, and the input end of the control module is respectively and electrically connected with the first power supply module and the network transmission module;
the electric shovel positioning unit comprises a second GPS positioning module, a wireless communication module, an inertial navigation positioning module, a second control module, a second power supply module and a second Bluetooth module, wherein the output end of the second control module is respectively and electrically connected with the second GPS positioning module and the inertial navigation positioning module, and the input end of the second control module is respectively and electrically connected with the wireless communication module, the power supply module and the second Bluetooth module;
the signal processing unit comprises a signal receiving module, a signal processing module and a signal analysis module, wherein the output end of the signal receiving module is respectively and electrically connected with the signal processing module and the signal analysis module;
the user control terminal comprises a display module, a storage module, an electric quantity monitoring module, a processor and a voice input module, wherein the output end of the processor is electrically connected with the display module, the storage module and the electric quantity monitoring module respectively, and the input end of the processor is electrically connected with the voice input module.
2. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: the signal processing module comprises a signal noise reduction module, a signal amplification module and a signal filtering module.
3. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: the distance measurement module adopts a laser distance measurement sensor or an infrared distance measurement sensor.
4. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: and the first GPS positioning module and the second GPS positioning module both adopt Beidou GPS positioning modules.
5. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: the network transmission module adopts vehicle-mounted wi-fi, and the first power supply module and the second power supply module both adopt rechargeable power supplies.
6. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: the inertial navigation positioning module is used for accurately positioning the position of the electric shovel, the work indicating module is used for monitoring the working state of the vehicle-mounted unit, and the first Bluetooth module is used for being connected with the second Bluetooth module.
7. The accurate positioning system of the mining electric shovel according to claim 1, characterized in that: the display module is a display, the storage module is an SD memory card, and the voice input module is a microphone.
8. The accurate positioning method of the mining electric shovel is characterized by comprising the following steps: the method comprises the following steps:
s1: initializing a first GPS positioning module, a second GPS positioning module and an inertial navigation positioning module, calibrating an accelerometer, a gyroscope, a magnetic field and a height set to 0 under a standing condition of the inertial navigation positioning module, ensuring error analysis of measurement accuracy of the inertial navigation module and preventing the inertial navigation positioning module from drifting too much;
s2: the position of the electric shovel positioning unit is measured through a CCD stereo camera and a distance measuring module on the vehicle-mounted communication unit, a first Bluetooth module on the vehicle-mounted communication unit is connected with a second Bluetooth module on the electric shovel positioning unit, and information on the electric shovel positioning unit is transmitted to the vehicle-mounted communication unit through a wireless communication module;
s3: the first GPS positioning module, the second GPS positioning module and the inertial navigation positioning module calculate the position information of the vehicle and the electric shovel through satellites;
s4: after receiving the signal of the electric shovel positioning unit, the vehicle-mounted communication unit transmits the information of the vehicle-mounted communication unit and the information of the electric shovel positioning unit to the signal processing unit through the network transmission module, the signal processing unit transmits the signal to the user control terminal, and the user control terminal receives and controls the signal;
s5: and finally, calculating a satellite positioning deviation value of the electric shovel through a numerical value between the electric shovel and the vehicle, which is measured by the CCD stereo camera and the distance measurement module, so as to obtain the accurate position of the electric shovel, and further accurately positioning the electric shovel.
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| CN202110366304.XA CN113093253A (en) | 2021-04-06 | 2021-04-06 | Accurate positioning system and method for mining electric shovel |
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| CN202110366304.XA CN113093253A (en) | 2021-04-06 | 2021-04-06 | Accurate positioning system and method for mining electric shovel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| CN202511785U (en) * | 2012-03-17 | 2012-10-31 | 鞍钢集团矿业公司 | Device for tracking and measuring rotation angles of shovel arms of electric shovels in open pit mine |
| CN104018545A (en) * | 2014-05-28 | 2014-09-03 | 鞍钢集团矿业公司 | Electric shovel tooth detection alarming system and method based on laser scanning sensor |
| CN110553644A (en) * | 2019-09-20 | 2019-12-10 | 鞍钢集团矿业有限公司 | Accurate positioning system and method for mining electric shovel |
-
2021
- 2021-04-06 CN CN202110366304.XA patent/CN113093253A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007064853A (en) * | 2005-08-31 | 2007-03-15 | Hitachi Ltd | Controller, system and program for positioning mobile object by using complex positioning |
| CN202511785U (en) * | 2012-03-17 | 2012-10-31 | 鞍钢集团矿业公司 | Device for tracking and measuring rotation angles of shovel arms of electric shovels in open pit mine |
| CN104018545A (en) * | 2014-05-28 | 2014-09-03 | 鞍钢集团矿业公司 | Electric shovel tooth detection alarming system and method based on laser scanning sensor |
| CN110553644A (en) * | 2019-09-20 | 2019-12-10 | 鞍钢集团矿业有限公司 | Accurate positioning system and method for mining electric shovel |
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