GB2572698B - Shearer Absolute Pose Detection Method - Google Patents

Shearer Absolute Pose Detection Method Download PDF

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Publication number
GB2572698B
GB2572698B GB1905663.9A GB201905663A GB2572698B GB 2572698 B GB2572698 B GB 2572698B GB 201905663 A GB201905663 A GB 201905663A GB 2572698 B GB2572698 B GB 2572698B
Authority
GB
United Kingdom
Prior art keywords
shearer
detection method
pose detection
absolute pose
absolute
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
GB1905663.9A
Other versions
GB201905663D0 (en
GB2572698A (en
Inventor
Liu Songyong
Zhu Zhencai
Jiang Hongxiang
Li Wei
Shen Gang
Tang Wei
Liu Houguang
Yang Jianhua
Zhang Xin
Cheng Cheng
Wu Hongzhuang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
Xuzhou Zhirun Mining Equipment Science and Technology Co Ltd
Original Assignee
China University of Mining and Technology CUMT
Xuzhou Zhirun Mining Equipment Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology CUMT, Xuzhou Zhirun Mining Equipment Science and Technology Co Ltd filed Critical China University of Mining and Technology CUMT
Publication of GB201905663D0 publication Critical patent/GB201905663D0/en
Publication of GB2572698A publication Critical patent/GB2572698A/en
Application granted granted Critical
Publication of GB2572698B publication Critical patent/GB2572698B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/06—Equipment for positioning the whole machine in relation to its sub-structure
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
GB1905663.9A 2017-05-31 2018-07-20 Shearer Absolute Pose Detection Method Expired - Fee Related GB2572698B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710396723.1A CN107238385B (en) 2017-05-31 2017-05-31 A kind of absolute pose detection system of coalcutter and method
PCT/CN2018/096457 WO2018219361A1 (en) 2017-05-31 2018-07-20 Method of sensing absolute position and orientation of coal mining machine

Publications (3)

Publication Number Publication Date
GB201905663D0 GB201905663D0 (en) 2019-06-05
GB2572698A GB2572698A (en) 2019-10-09
GB2572698B true GB2572698B (en) 2020-02-26

Family

ID=59984747

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1905663.9A Expired - Fee Related GB2572698B (en) 2017-05-31 2018-07-20 Shearer Absolute Pose Detection Method

Country Status (5)

Country Link
CN (1) CN107238385B (en)
AU (1) AU2018278618B2 (en)
GB (1) GB2572698B (en)
RU (1) RU2711418C1 (en)
WO (2) WO2018219062A1 (en)

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* Cited by examiner, † Cited by third party
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CN107238385B (en) * 2017-05-31 2019-07-12 中国矿业大学 A kind of absolute pose detection system of coalcutter and method
CN108036784A (en) * 2017-11-10 2018-05-15 云保（佛山）智控科技有限公司 A kind of indoor orientation method, navigation methods and systems
CN108981685B (en) * 2018-08-03 2022-04-01 山西焦煤集团岚县正利煤业有限公司 Positioning device and positioning method for fully mechanized coal mining face coal mining machine
CN109469484B (en) * 2018-11-05 2020-01-31 郑州煤机液压电控有限公司 Automatic coal mining method based on upper computer planning
CN109931958B (en) * 2019-03-27 2020-12-08 中国矿业大学 UWB-based coal mining machine working face end calibration device and method
CN109903383B (en) * 2019-04-11 2020-11-10 中国矿业大学 Method for accurately positioning coal mining machine in three-dimensional model of working face coal seam
CN110045387B (en) * 2019-04-23 2023-05-16 中国矿业大学 Intelligent support shield type hydraulic support posture monitoring system and measurement method thereof
CN113065572B (en) * 2019-12-31 2023-09-08 北京凌宇智控科技有限公司 Multi-sensor fusion data processing method, positioning device and virtual reality equipment
CN111412911A (en) * 2020-04-07 2020-07-14 中国煤炭科工集团太原研究院有限公司 Multi-sensor combined navigation system of coal mine underground continuous coal mining robot
CN111427062B (en) * 2020-04-23 2022-11-29 南京大学 Hydraulic support alignment method based on laser radar
CN112378399B (en) * 2020-07-16 2023-02-28 西安科技大学 Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station
CN111997679B (en) * 2020-09-09 2022-08-30 重庆工程职业技术学院 Fully-mechanized coal mining face end pushing state monitoring device
CN112229394B (en) * 2020-10-14 2024-04-16 中国矿业大学 Colliery underground mobile device location attitude determination system based on infrared motion is caught
CN112814676A (en) * 2020-12-31 2021-05-18 重庆大学 Coal cutting track dynamic correction method based on fully mechanized coal mining face coal seam three-dimensional model construction
CN113323698B (en) * 2021-05-31 2023-11-03 国能神东煤炭集团有限责任公司 Fully mechanized coal mining face propulsion distance calculation method, storage medium and electronic equipment
CN113534227B (en) * 2021-07-26 2022-07-01 中国电子科技集团公司第五十四研究所 Multi-sensor fusion absolute positioning method suitable for complex non-cooperative scene
CN114485614B (en) * 2022-01-05 2023-10-13 中国煤炭科工集团太原研究院有限公司 Navigation positioning system and method of mining equipment based on double total stations
CN114485616B (en) * 2022-01-05 2023-10-17 中国煤炭科工集团太原研究院有限公司 Automatic positioning method and system under mine based on total station
CN115371597B (en) * 2022-09-13 2023-08-04 山东科技大学 Method for checking position accuracy of hydraulic support base of working face

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US20080109141A1 (en) * 2006-11-08 2008-05-08 Caterpillar Trimble Control Technologies Llc. Systems and methods for augmenting an inertial navigation system
CN102131986A (en) * 2008-08-22 2011-07-20 卡特彼勒天宝控制技术有限责任公司 Three dimensional scanning arrangement including dynamic updating
CN104295297A (en) * 2014-09-16 2015-01-21 三一重型装备有限公司 System and method for positioning cutting head of tunneling machine and tunneling machine
CN105737825A (en) * 2016-02-19 2016-07-06 北京航天控制仪器研究所 Position measuring system for heading machine cutting head
CN107238385A (en) * 2017-05-31 2017-10-10 中国矿业大学 A kind of absolute position and posture detection method of coal-winning machine

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CN104296733B (en) * 2014-09-15 2017-01-25 三一重型装备有限公司 Laser positioning device of heading machine and heading machine
CN104748679A (en) * 2015-03-19 2015-07-01 中国矿业大学(北京) Space point three dimension coordinate measuring method based on rotation sector laser angle measurement
CN104729501A (en) * 2015-03-19 2015-06-24 中国矿业大学(北京) Rotating-sector-laser-based position and pose measurement method of cantilever excavator
CN104729538B (en) * 2015-04-03 2017-05-10 中国矿业大学 Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine
CN105352504B (en) * 2015-12-01 2018-03-06 中国矿业大学 The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning
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Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080109141A1 (en) * 2006-11-08 2008-05-08 Caterpillar Trimble Control Technologies Llc. Systems and methods for augmenting an inertial navigation system
CN101201631A (en) * 2006-11-08 2008-06-18 卡特彼勒群伯控制技术有限公司 Systems and methods for augmenting an inertial navigation system
CN102131986A (en) * 2008-08-22 2011-07-20 卡特彼勒天宝控制技术有限责任公司 Three dimensional scanning arrangement including dynamic updating
CN104295297A (en) * 2014-09-16 2015-01-21 三一重型装备有限公司 System and method for positioning cutting head of tunneling machine and tunneling machine
CN105737825A (en) * 2016-02-19 2016-07-06 北京航天控制仪器研究所 Position measuring system for heading machine cutting head
CN107238385A (en) * 2017-05-31 2017-10-10 中国矿业大学 A kind of absolute position and posture detection method of coal-winning machine

Also Published As

Publication number Publication date
RU2711418C1 (en) 2020-01-17
CN107238385A (en) 2017-10-10
WO2018219062A1 (en) 2018-12-06
GB201905663D0 (en) 2019-06-05
GB2572698A (en) 2019-10-09
WO2018219361A1 (en) 2018-12-06
AU2018278618A1 (en) 2019-05-16
CN107238385B (en) 2019-07-12
AU2018278618B2 (en) 2020-07-23

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PCNP Patent ceased through non-payment of renewal fee

Effective date: 20220720