CN211950491U - Autonomous navigation system of coal mining machine - Google Patents
Autonomous navigation system of coal mining machine Download PDFInfo
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- CN211950491U CN211950491U CN201922206587.2U CN201922206587U CN211950491U CN 211950491 U CN211950491 U CN 211950491U CN 201922206587 U CN201922206587 U CN 201922206587U CN 211950491 U CN211950491 U CN 211950491U
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Abstract
The utility model discloses a coal-winning machine autonomous navigation, this system include the total powerstation, UWB fixed base station crowd, UWB removes the base station crowd, UWB positioning node, north seeker, inclination sensor. The total station is used as a system reference and is installed at the intersection point of the transport ascending mountain and the section transport roadway. And installing the UWB fixed base station group at the position of a reversed loader at the intersection point of the fully mechanized coal mining face and the transportation roadway to serve as the coordinate reference of the coal mining face. The UWB mobile base station group is installed below a hydraulic support top plate and moves with the hydraulic support to be calibrated automatically. The UWB node, the north seeker and the tilt sensor are mounted to the body of the coal mining machine. When the coal mining machine works, the UWB mobile base station group positions the UWB nodes and transmits the UWB nodes to the UWB fixed base station group; the UWB fixed base station group is calibrated by a total station, positioning of the coal mining machine in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder and the tilt sensor are used for absolute measurement of the posture of the coal mining machine body so as to complete autonomous navigation of the coal mining machine in complete coal seam coal mining.
Description
Technical Field
The utility model relates to a combine coal-winning machine of adopting the working face, especially relate to a coal-winning machine autonomous navigation.
Background
A coal mining machine is one of main devices of fully mechanized mining complete equipment. In conventional coal seam mining processes. The advancing route of the coal mining machine is drawn by a measuring department, and coal mining workers control the collecting route of the coal mining machine by controlling the states of the hydraulic support group and the scraper conveyor. At present, the navigation mode of the coal mining machine is mainly manual direct-view remote control. Due to the fact that the mine roadway environment is severe, the navigation method is low in efficiency and limited in accuracy. In addition, the coal face is a mine accident multi-occurrence area, and the working intensity and the working danger of coal mining workers are greatly increased.
With the progress of society, the safety of mine workers is receiving more and more attention. In recent years, certain research is carried out on the navigation problem of the needle mining machine in some colleges and universities and other scientific research institutions.
The patent with the publication number of CN102183255A discloses a positioning device and a positioning method for a fully mechanized coal mining face coal mining machine; the patent with the publication number of CN108180904A discloses a multi-inertial navigation positioning device and method for a coal mining machine; the patent with the publication number of CN108548534A discloses a positioning method of an underground coal mining machine; the patent with the publication number of CN108827220A discloses a method for detecting straightness of a fully mechanized coal mining face based on strapdown inertial navigation; the patent with the publication number of CN109186589A discloses a coal mining machine positioning method based on an array type inertia unit; the patent with the publication number of CN110285810A discloses an autonomous positioning method and device of a coal mining machine based on inertial navigation data.
In the methods, a single set of inertial navigation system or a plurality of sets of inertial navigation systems are adopted to navigate coal mining, but the error of the inertial navigation system increases in a nonlinear manner along with the accumulated error of time, and finally the system fails under the condition of no other calibration, so that the actual industrial requirements cannot be met.
The patent with the publication number of CN106570877B discloses a coal mining machine pose positioning system and a coal mining machine pose positioning method based on registration of a virtual prototype and a real image of a coal mining machine; the patent with the publication number of CN109115172A discloses a method for detecting the pose of a coal mining machine body based on machine vision; the patent with the publication number of CN109736803A discloses an automatic underground coal mining system and method based on infrared positioning; the patent with the publication number of CN109903383A discloses a method for accurately positioning a coal mining machine in a three-dimensional model of a working face coal seam; the patent with the publication number of CN110231626A discloses a positioning monitoring system and a monitoring method for a coal mining machine.
In the methods, the coal mining machine is positioned by adopting a machine vision method, a laser beam method or a laser radar method, but the coal mining working face has severe environment and large dust, and the influence on a vision signal or a laser signal is great, so that the system precision cannot be ensured.
The patent with publication number "CN 108661637A" discloses a "perception control method for positioning the position of a coal mining machine; the method mainly utilizes a rotary encoder to measure the distance of the walking part of the coal mining machine so as to calculate the position coordinates of the coal mining machine, but the method can only measure the local position of the coal mining machine and cannot realize absolute measurement of the coal mining machine relative to a mine reference coordinate system.
The patent with the publication number of CN108981685A discloses a positioning device of a fully mechanized coal mining face coal mining machine; the patent provides a combined coal mining machine positioning scheme combining laser, infrared, ultrasonic and inertial navigation, but only provides a rough text scheme and has no practical significance.
In view of the defects of the invention, in order to realize the complete autonomous navigation of the coal mining machine, mine workers are thoroughly saved from the heavy and dangerous work of the coal face, and after continuous research and design and repeated tests and improvement, the utility model which has practical value is finally created.
Disclosure of Invention
The technical problem is as follows: the utility model discloses a main aim at, to present coal face actual conditions and present coal-winning machine location and all kinds of defects of directional technique. The autonomous navigation system of the coal mining machine is provided, and aims to realize that the coal mining machine can autonomously perform positioning navigation without manual participation in the whole coal mining process.
The technical scheme is as follows: the purpose of the utility model is realized like this: an autonomous navigation system of a coal mining machine is characterized in that: the system comprises: the system comprises a total station 1, a UWB fixed base station group 3, a UWB mobile base station group 4, a UWB positioning node 5, a north seeker 9 and an inclination sensor 10. The total station 1 is used as a system reference and is installed at the intersection point of the transport uphill 13 and the section transport roadway 14. The UWB fixed base station group 3 is installed at a reversed loader 12 at the point of a fully mechanized coal face 17 and a haulage roadway intersection 14 and serves as a coordinate reference of the coal face. The UWB mobile base station group 4 is installed below a top plate of the hydraulic support 6 and moves with the hydraulic support 6 to be calibrated automatically. The UWB node 5, the north seeker 9, and the tilt sensor 10 are mounted to the shearer 7 body. When the coal mining machine 7 works, the UWB mobile base station group 4 positions the UWB nodes 5 and transmits the UWB nodes to the UWB fixed base station group 3; the UWB fixed base station group 3 is calibrated by the total station 1, the positioning of the coal mining machine 7 in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder 9 and the tilt sensor 10 are used for carrying out absolute measurement on the posture of the machine body of the coal mining machine 7, so that the all-autonomous navigation of the coal mining machine 7 in the coal mining of the complete coal seam 16 is completed.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB nodes 5 are fixed on the body of the coal mining machine 7 and are in line-of-sight transmission with the UWB mobile base station group 4, when the coal mining machine 7 moves, the UWB mobile base station group 4 conducts real-time UWB ranging on the UWB nodes 5, a positioning equation set is established according to ranging information, and relative space coordinates of the UWB nodes 5 relative to the UWB mobile base station 4 can be established through calculation. The north seeker 9 and the inclination angle sensor 10 are installed in an industrial control box of a machine body of the coal mining machine 7, when the coal mining machine 7 finishes coal mining on a longitudinal section, a course angle, a pitch angle and a roll angle of the coal mining machine are measured and calibrated, and coordinates and posture information of the coal mining machine 7 are transmitted by an antenna of the UWB node 5.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB mobile base station 4 is matched with the hydraulic supports 6, and one UWB mobile base station 4 is installed at the bottom of the top plate of each hydraulic support 6. When the single hydraulic support 6 moves, the single UWB mobile base station 4 is calibrated by other UWB mobile base stations and updates the spatial position coordinates, and the coordinate autonomous translation of the UWB mobile base station group 4 is realized.
The autonomous navigation system of the coal mining machine is characterized in that: the UWB fixed base station group 3 comprises 4 UWB ranging base stations which are arranged at the position of the transfer conveyor 12 at the intersection point of the section haulage roadway 14 and the coal face 17 in a determined position to serve as the coordinate reference of the coal face. When the hydraulic support 6 moves longitudinally, the UWB fixed base station 3 moves longitudinally along with the reversed loader, and the position coordinates after movement are calibrated by the total station 1.
The autonomous navigation system of the coal mining machine is characterized in that the total station 1 is installed at the intersection of a transport ascending mountain 13 and a section transport roadway 14, and is calibrated by geodetic personnel before coal seam mining to serve as a coordinate reference of the autonomous navigation system of the coal mining machine.
The coal mining machine autonomous navigation method of the coal mining machine autonomous navigation system is characterized in that: before coal mining work begins, a total station 1 is installed to the intersection point of a transport ascending 13 and a section transport roadway 14, and coordinates of the total station 1 are calibrated in advance by geodetic personnel and used as a coordinate reference of an autonomous navigation system of a coal mining machine; mounting a total station target prism 2 and a UWB fixed base station 3 on a reversed loader 12 at the intersection of a section transportation roadway 14 and a coal face 17, wherein the target prism 2 and the UWB fixed base station 3 have a determined position relation; when the system works, the total station 1 determines the three-dimensional coordinate of the target prism 2 relative to the coordinate reference of the total station 1 by measuring the distance and the angle of the target prism 2, and further obtains the determined position coordinate of the UWB fixed base station 3; the UWB mobile base station group 4 is respectively installed at the bottom of the top plate of the hydraulic support 6 group, each UWB mobile base station 4 measures distance by the UWB fixed base station group 3, a positioning observation equation set is established according to a plurality of groups of distance measurement information, the position coordinate of the UWB mobile base station 4 relative to the fixed base station group 3 can be obtained by solving, when the hydraulic support 6 moves longitudinally in sequence, the single UWB mobile base station 4 measures distance by the nearby unmoved base stations and calculates the position coordinate, and therefore the coordinate of the UWB base station group can be autonomously and continuously translated; the UWB positioning node 5 is installed on the body of the coal mining machine 7, when the coal mining machine works, the UWB mobile base station group 4 carries out real-time distance measurement and calculation on the UWB positioning node 5, so that a real-time position coordinate of the position of the coal mining machine 7 relative to the UWB mobile base station group 4 is obtained, and a position coordinate of the coal mining machine 7 relative to a reference coordinate system of the total station 1 is obtained through a coordinate system transformation matrix; the north seeker 9 and the tilt sensor 10 are mounted on the body of the coal mining machine 7, when the coal mining machine 7 finishes one longitudinal coal mining cut, the north seeker 9 and the tilt sensor 10 are started to measure and calibrate the attitude angle of the coal mining machine 7, and measurement information is transmitted to a system terminal at a coordinate system of the total station 1 through an UWB positioning node 5 antenna, so that the full-autonomous navigation of the coal mining machine 7 is realized.
The utility model discloses coal-winning machine autonomous navigation system contrasts with prior art, has obvious having a bit and beneficial effect. Borrow by above-mentioned technical scheme, the utility model discloses can reach considerable technological progressive nature and practicality to have the wide use value in the industry, it has following several at least:
(1) the utility model discloses utilize ultra wide band radio module, north seeker 9, inclination sensor 10, total powerstation 1 to replace traditional artifical range estimation coal mining mode, solved inaccurate, the hydraulic support off tracking scheduling problem of traditional coal-winning machine cut, improved tunnel fashioned quality and efficiency. The positioning and navigation of the coal mining machine in coal seam mining are fully independent, and labor force is thoroughly liberated from heavy and dangerous coal face environment. And the system can monitor the pose and the posture of the coal mining machine in real time and fit the moving route of the coal mining machine 7 and the position coordinate change of the hydraulic support group 6.
(2) The utility model discloses coal-winning machine autonomous navigation system utilizes the UWB radio module of interior rubidium atomic clock, adopts the two-way time of flight range finding method of signal, has improved system location precision greatly, and in detection range, fuselage location node error is steerable within 2 cm. The posture of the body of the coal mining machine is calibrated by using the high-precision gyro north finder and the tilt angle sensor, so that the measurement precision of the posture of the system can reach more than 0.1 degree.
(3) The utility model discloses coal-winning machine autonomous navigation system through the combination measurement of equipment such as total powerstation 1, the fixed base station crowd of UWB 3, UWB mobile base station crowd 4, can realize the absolute position measurement of coal-winning machine 7 in the coal seam coordinate system. Along with the coal mining work, the hydraulic support 6 group sequentially moves longitudinally, and when a single hydraulic support moves, the matched UWB module is positioned by other UWB base stations nearby, so that the position coordinates are updated, and the autonomous calibration of a coal mining face coordinate system is realized.
To sum up, the utility model discloses special construction's coal-winning machine autonomous navigation, aim at provide a full new coal-winning machine three-dimensional coordinate is autonomic continuous location and fuselage position appearance parameter continuous detection system and method, can realize the complete autonomy in the coal-winning machine working process, thoroughly liberates coal mining staff from the hazardous environment of coal face. The system has high economic value and good social value. The autonomous navigation principle and the structural design of the coal mining machine have no public publication or are practical and really innovative, the autonomous navigation principle and the structural design of the coal mining machine have great breakthrough in the technical field of autonomous navigation of the coal mining machine, produce good and practical effects, and are a novel, improved and practical new design.
The technical innovation of the autonomous navigation system of the coal mining machine with the structure has many available parts for technicians in the same industry nowadays, and has technical progress.
The basic concept of the present invention is as described above. However, other operable embodiments of the present invention may be modified within the technical field of the present invention as long as they have the most basic knowledge. The present invention is directed to a method for producing a light emitting device, and a light emitting device using the method.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed with the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment without departing from the scope of the present invention, but all the modifications, equivalent changes and modifications of the above embodiments by the technical spirit of the present invention still fall within the scope of the present invention.
Drawings
In the figure:
FIG. 1 is a system structure diagram of the present invention
FIG. 2 is a system layout diagram of the present invention
FIG. 3 is a schematic diagram of the system of the present invention
FIG. 4 is a schematic diagram of a total station coordinate measurement
In the figure:
1: and (3) total station 2: target prism
3: UWB fixed base station 4: UWB mobile base station
5: UWB positioning node 6: hydraulic support
7: the coal mining machine 8: scraper conveyor
9: north seeker 10: tilt angle sensor
11: rear viewpoint 12: reversed loader
13: transporting to the mountain 14: section transportation roadway
15: the gob 16: coal seam
17: fully mechanized coal mining face
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be given to the specific embodiments, structures, features and effects of the autonomous navigation system of coal mining machine according to the present invention with reference to the accompanying drawings and preferred embodiments.
The foregoing and other features, aspects and utilities of the present invention will be apparent from the following more particular description of preferred embodiments of the invention when read in conjunction with the accompanying drawings. While the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
The utility model discloses coal-winning machine autonomous navigation of preferred embodiment, as shown in fig. 1, fig. 2, by total powerstation 1, target prism 2, UWB fixed base station crowd 3, UWB mobile base station crowd 4, UWB location node 5, north seeker 9, inclination sensor 10 constitute. The UWB positioning node 5, the north seeker 9 and the inclination angle sensor 10 are installed on the body of the coal mining machine 7, the UWB positioning node 5 and the mobile base station group 4 carry out bidirectional UWB communication and positioning, and when the coal mining machine finishes one transverse coal mining, the north seeker 9 and the inclination angle sensor 10 are started to carry out measurement and calibration on a coal mining attitude angle;
the UWB mobile base station group 4 is arranged on the hydraulic support group 6, wherein the UWB mobile base station 4 is arranged at the bottom of the top plate of each hydraulic support 6, when the single hydraulic support 6 carries the UWB mobile base station 4 to move longitudinally, the UWB mobile base station 4 which is not moved nearby is used for positioning and real-time communication, the position coordinate after moving is updated, and the UWB mobile base station 4 is positioned and real-time communicated by the UWB fixed base station group 3;
the UWB fixed base station group 3 and the target prism 2 are installed to a body of a transfer conveyor 12 at an intersection of a section transportation roadway 14 and a coal face 17 in a determined position and serve as a reference coordinate system of the coal face, when the coal face is longitudinally pushed, the UWB fixed base station group and the target prism move together with the transfer conveyor 12 longitudinally, the position of the transfer conveyor 12 after moving is calibrated and measured by a total station 1, the total station 1 is installed at the intersection of a transportation upper mountain 13 and the section transportation roadway 14 and serves as the reference coordinate system of the whole system, the total station 1 and the UWB fixed base station group 3 are in real-time communication in a wireless mode, and position coordinates and attitude information of a coal mining machine 7 are finally transmitted to an industrial personal computer of the reference coordinate system of the total station 1 through a coordinate transformation matrix in a wireless mode.
Fig. 3 is the system schematic diagram of the present invention, as shown in the figure, UWB positioning node 5 is positioned by UWB mobile base station 4 through CT algorithm based on TOA model, after hydraulic support 6 moves, UWB mobile base station group 4 is in turn autonomously calibrated, and position coordinates are updated to UWB fixed base station group 3 in real time, position of target prism 2 measured by total station 1 of UWB fixed base station group 3 is calibrated, position coordinates of UWB positioning node 5 are transmitted to industrial personal computer at total station 1 in UWB wireless mode according to coordinate transformation matrix, thereby obtaining coal mining machine 7 space coordinates; the inclination angle sensor 10 detects an included angle between a gravity axis and a sensitive axis by collecting a vibration signal of a machine body of the coal mining machine 7 to realize detection of a roll angle and a pitch angle of the coal mining machine 7, and the pitch angle and the roll angle are output to an industrial personal computer at a reference coordinate system of the total station 1 in a UWB wireless mode; the north seeker 9 deduces a heading angle of the coal mining machine 7 by collecting the vibration of the body of the coal mining machine 7 and detecting the change of the angular speed of the gyroscope, and transmits the heading angle to an industrial personal computer at the total station 1 in a UWB wireless mode, so that real-time and absolute positioning navigation and attitude measurement of the coal mining machine 7 in the coal seam are realized.
Since the section transportation roadway 14 has narrow space and long distance and is not convenient to be positioned by using a UWB module, the total station 1 is adopted to perform space positioning on a UWB fixed base station group 3, and the three-dimensional coordinate measuring principle of the total station 1 is shown in figure 4. According to the service life of the section transportation roadway 14, the geodetic personnel carries out coordinate calibration on the set site every half year to one year, and the set site coordinate C (x) is obtainedC,yC,zC) As absolute coordinates of the station, a space coordinate system is established based on the coordinates, and absolute coordinates B (x) of the rear viewpoint B are inputB,yB,zB)。
The distance from the total station C to the target point A is known as SACThe vertical angle of the AC to be edge determined is alpha1And the distance between the total station C and the target point A is as follows:
DAC＝SAC×cosα1
the azimuth angle of edge AB is known as alphaBCAnd the horizontal angle between the undetermined direction and the known direction is alphaABElevation of total station C is HCThen, the three-dimensional coordinates of the target point a are:
according to the performance of the total station, the target point (x) can be quickly measuredA,yA,zA) Can derive the coordinates between the total station coordinate system and the UWB fixed base station group coordinate system
The principle of the CT algorithm based on the TOA model is as follows: and establishing a TOA positioning model according to the ultra-wideband signal flight time parameter between the positioning node 5 of the coal mining machine body and the positioning base station group. By measuring the space linear distance from the positioning node of the coal mining machine body to each base station and utilizing the geometrical characteristic that under the condition of no measurement error, a target is positioned on a spherical surface which takes each positioning base station as a core and takes the measurement distance as a radius, the intersection point of the intersection of the 4 spherical position surfaces is the space position coordinate of the positioning node of the coal mining machine body.
An algorithm combining a Caffery algorithm and a Taylor series method is established according to the TOA positioning model, an initial point coordinate is determined by the Caffery algorithm, and then an error is eliminated by iteration through the Taylor series expansion method, so that the coordinate position of the coal mining machine in the space can be accurately determined.
Assuming that the positioning node of the body of the coal mining machine is M points and the coordinate is (x)M,yM,zM) The 4 base stations installed on the hydraulic support are respectively 1,2,3 and 4, and the coordinate is (x)i,yi,zi) (i is 1,2,3, 4), the spatial distance between the base station i and the positioning node M is diM。
The TOA positioning observation equation between the base station 1,2,3,4 and the positioning node M is:
the Caffery positioning algorithm of the ultra-wideband pose detection system facing the coal mining machine is as follows, and the (x) equation is obtained by subtracting the (n + 1) equation from the (n) equation in the formula (1)M,yM,xM) A system of linear equations:
(x) calculated in the formula (2)M,yM,xM) As an initial estimate for M points, it is summed with the estimate (x)M0,yM0,zM0) The error of (a) is set as:x、y、zthen, there is (3):
the formula (1) is in (x)M,yM,zM) The points are expanded by Taylor series, and the terms of two times and more are ignored, and the arrangement can obtain:
performing repeated iterative calculation on the formula (4) when the calculation result is zerox|+|y|+|zStopping iteration when | is less than a set threshold, and obtaining a final estimated value (x) of a positioning node M of the coal mining machine bodyM1,yM1,zM1) Comprises the following steps:
the position coordinates of the UBW mobile base station group relative to the UWB fixed base station group can be calculated by applying CT algorithm with the same principle,
and finally settling the space coordinate positions of the positioning nodes of the body of the coal mining machine in a coordinate system established by the UWB fixed base station group.
The technical innovation of the autonomous positioning and orienting system of the heading machine with the structure has many available parts for technicians in the same industry nowadays, and the technical innovation is really realized.
The basic concept of the present invention is as described above. However, other operable embodiments of the present invention may be modified within the technical field of the present invention as long as they have the most basic knowledge. The present invention is directed to a method for producing a light emitting device, and a light emitting device using the method.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed with the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment without departing from the scope of the present invention, but all the modifications, equivalent changes and modifications of the above embodiments by the technical spirit of the present invention still fall within the scope of the present invention.
Claims (5)
1. An autonomous navigation system of a coal mining machine is characterized in that: the system comprises: the system comprises a total station (1), a UWB fixed base station group, a UWB mobile base station group, a UWB positioning node (5), a north seeker (9) and an inclination sensor (10); the total station (1) is used as a system reference and is arranged at the intersection point of a transport upper mountain (13) and a section transport roadway (14); installing a UWB fixed base station group on a reversed loader (12) at the intersection of a fully mechanized mining working face (17) and a transportation roadway (14) to serve as a coordinate reference of the fully mechanized mining working face (17); the UWB mobile base station group is arranged below a top plate of the hydraulic support (6) and moves with the hydraulic support (6) to be calibrated automatically; the UWB positioning node (5), the north seeker (9) and the inclination angle sensor (10) are mounted on the body of the coal mining machine (7); when the coal mining machine (7) works, the UWB mobile base station group positions the UWB positioning node (5) and transmits the UWB positioning node to the UWB fixed base station group; the UWB fixed base station group is calibrated by the total station (1), the positioning of the coal mining machine (7) in a reference coordinate system is completed through a coordinate transformation matrix, and the north finder (9) and the tilt sensor (10) are used for carrying out absolute measurement on the posture of the machine body of the coal mining machine (7), so that the full autonomous navigation of the coal mining machine (7) in the coal mining of a complete coal seam (16) is completed.
2. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB positioning node (5) is fixed on the body of the coal mining machine (7) and is transmitted in a line-of-sight manner with the UWB mobile base station group, when the coal mining machine (7) moves, the UWB mobile base station group carries out real-time UWB ranging on the UWB positioning node (5), a positioning equation set is established according to ranging information, and the relative spatial coordinate of the UWB positioning node (5) relative to the UWB mobile base station (4) can be established through calculation; the north seeker (9) and the inclination angle sensor (10) are installed in an industrial control box of a machine body of the coal mining machine (7), when the coal mining machine (7) finishes coal mining on a longitudinal section, the heading angle, the pitch angle and the roll angle of the coal mining machine (7) are measured and calibrated, and the coordinate and attitude information of the coal mining machine (7) are transmitted by an antenna of the UWB positioning node (5).
3. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB mobile base stations (4) are arranged in a matching way with the hydraulic supports (6), and one UWB mobile base station (4) is arranged at the bottom of the top plate of each hydraulic support (6); when the single hydraulic support (6) moves, the single UWB mobile base station (4) is calibrated by other UWB mobile base stations and updates the spatial position coordinates, and the coordinate autonomous translation of the UWB mobile base station group is realized.
4. The autonomous navigation system of a coal mining machine according to claim 1, characterized in that: the UWB fixed base station group comprises 4 UWB ranging base stations, and the determined positions of the UWB ranging base stations are arranged on a reversed loader (12) at the intersection of a section transportation roadway (14) and a fully mechanized mining working surface (17) to serve as the coordinate reference of the fully mechanized mining working surface (17); when the hydraulic support (6) moves longitudinally, the UWB fixed base station (3) moves longitudinally along with the reversed loader (12), and the position coordinates after movement are calibrated by the total station (1).
5. The autonomous navigation system of the coal mining machine as claimed in claim 1, characterized in that the total station (1) is installed at the intersection of the transport upper mountain (13) and the section transport roadway (14), and is calibrated by geodetic personnel before mining of the coal seam to serve as a coordinate reference of the autonomous navigation system of the coal mining machine.
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