CN107238385B - A kind of absolute pose detection system of coalcutter and method - Google Patents
A kind of absolute pose detection system of coalcutter and method Download PDFInfo
- Publication number
- CN107238385B CN107238385B CN201710396723.1A CN201710396723A CN107238385B CN 107238385 B CN107238385 B CN 107238385B CN 201710396723 A CN201710396723 A CN 201710396723A CN 107238385 B CN107238385 B CN 107238385B
- Authority
- CN
- China
- Prior art keywords
- laser
- coalcutter
- embedded controller
- pose
- emitting device
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 18
- 238000005065 mining Methods 0.000 claims abstract description 13
- 230000004927 fusion Effects 0.000 claims abstract description 8
- 230000013011 mating Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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 OR ROCK 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 OR ROCK 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Automation & Control Theory (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Guiding Agricultural Machines (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of absolute position and posture detection methods of coalcutter, in stope, detect to the absolute pose of the coalcutter in the mating Mining Equipment of three machines being mainly made of coalcutter, scrapper conveyor and hydraulic support；This method carries out the detection of dead reckoning pose by inertial navigation module, the detection of laser pose is carried out by laser beam emitting device, laser receiver and intelligent total station, then asynchronous fusion is carried out to two kinds of pose testing results by optimal estimation algorithm, obtains the absolute pose of accurate coalcutter.The present invention carries out asynchronous fusion to two kinds of navigation informations using optimal estimations algorithms such as Kalman filterings, obtains the absolute pose parameter of more accurate coalcutter, precision height, good reliability, to realize that the automation of coalcutter, intelligent operation provide condition.
Description
Technical field
The present invention relates to a kind of coalcutter position and posture detection method more particularly to a kind of stope drum shearer are exhausted
To position and posture detection method, belong to automated mining equipment technology field.
Background technique
China is exploitation and the consumption big country of coal mine, and coalcutter is the main equipment of coal mining.Traditional actual mining
Face is mainly with manual operation, not only large labor intensity, low efficiency, but also working environment is very poor, degree of danger is high, therefore develops
Automation, intelligentized Mining Equipment are trends of the times.For the stope Mining Equipment of automation, solution is first had to
Problem is the positioning and orientation problem of Mining Equipment, however, environmental complexity makes much logical due to the specific condition under mine
Frequently with positioning means the requirement of positioning accuracy is not achieved under mine, or even can not realize and position in underground.It mines at present
Machine localization method mainly has gear counting method, infrared emission method, inertial navigation etc., but many localization methods can only be realized relatively
Positioning cannot achieve the absolute pose detection of coalcutter in the coordinate system of mine, or can be realized the absolute pose detection of coalcutter, but
It is that precision is lower, cannot be totally built for unmanned stope and enough conditions are provided.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of absolute pose inspection of coalcutter
Survey method, can accurately detect six-freedom degree pose parameter of the coalcutter in the absolute coordinate system of mine, this method real-time is good,
High reliablity can build for unmanned stope and provide condition.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of absolute position and posture detection method of coalcutter, in stope, to mainly by coalcutter, scrapper conveyor and hydraulic
The absolute pose for the coalcutter in the mating Mining Equipment of three machines that bracket is constituted is detected；This method passes through inertial navigation module
The detection of dead reckoning pose is carried out, the inspection of laser pose is carried out by laser beam emitting device, laser receiver and intelligent total station
It surveys, asynchronous fusion is then carried out to two kinds of pose testing results by optimal estimations algorithms such as Kalman filterings, obtain accurate
The absolute pose of coalcutter.
Specifically, the laser beam emitting device include car body, stepper motor, walking mechanism, crank and rocker mechanism, steering engine,
Laser emitter and embedded controller I, stepper motor are flame-proof type stepper motor, and laser emitter is intrinsic safety flame-proof type covering of the fan
Laser emitter；Stepper motor, walking mechanism and crank and rocker mechanism installation on the car body, drive crank to shake by stepper motor
Linkage movement, steering engine and laser emitter are mounted on the top of rocking bar, drive laser emitter within the scope of ± 45 ° by steering engine
Revolving scanning；Embedded controller I after flame proof is handled it is fixed on the car body, embedded controller I is to stepper motor and steering engine
The covering of the fan that control instruction is provided, and resolves three-dimensional coordinate of the laser emitter in laser beam emitting device coordinate system and its is emitted
The normal vector of laser.
Specifically, the laser receiver includes three laser pickoffs and embedded controller II, three laser are connect
It receives device not to be fixed on coalcutter collinearly, and three laser pickoffs can receive the covering of the fan that laser emitter is emitted
Laser, embedded controller II are fixed on coalcutter after flame proof is handled, embedded controller II while and laser pickoff
It is communicated to connect with embedded controller I, in conjunction with the reception signal of each laser pickoff, laser emitter in laser beam emitting device
The normal vector of three-dimensional coordinate and its fan laser emitted in coordinate system, calculates each laser pickoff in Laser emission
Coordinate in device coordinate system, and then calculate six-freedom degree pose parameter of the coalcutter in laser beam emitting device coordinate system.
Specifically, the intelligence total station and laser beam emitting device are arranged in same tunnel, embedded controller III is passed through
It is fixed on intelligent total station after flame proof processing, embedded controller III is logical with intelligent total station and embedded controller I simultaneously
Letter connection, the rational position setting positioning prism on laser beam emitting device (4), detects laser beam emitting device by intelligent total station
Pose parameter in the absolute coordinate system of mine, in conjunction with pose parameter and laser of the coalcutter in laser beam emitting device coordinate system
Pose parameter of the emitter in the absolute coordinate system of mine obtains pose parameter of the coalcutter in the absolute coordinate system of mine,
Using the result as laser pose testing result.
Specifically, the inertial navigation module is fixed on coalcutter after flame proof is handled, embedded controller II is simultaneously
It is communicated to connect with inertial navigation module, is resolved, obtained by navigation information of the embedded controller II to inertial navigation module
Six-freedom degree pose parameter of the coalcutter in the absolute coordinate system of mine is obtained, which is detected as inertial navigation pose and is tied
Fruit.
Specifically, the communication mode between the embedded controller I, embedded controller II and embedded controller III
For super broad band radio communication, embedded controller I is synchronous with II clock of embedded controller.
Specifically, be that axially, the pushing and sliding direction of hydraulic support is radial direction with the direction of motion of the coalcutter on scrapper conveyor, it should
Method specifically comprises the following steps:
(a) after system boot initialization, mobile laser beam emitting device makes it be directed at exploiting field, and fixed, guarantees Laser emission
The fan laser that device is emitted can scan coalcutter, while the inertial navigation module real-time working on coalcutter, by being embedded in
Formula controller II resolves pose parameter of the coalcutter in the absolute coordinate system of mine；
(b) after laser beam emitting device stop motion, signal is sent from embedded controller I to embedded controller III, so
Embedded controller III controls intelligent total station work afterwards, and the laser beam emitting device that intelligent total station is got is exhausted in mine
Embedded controller I is sent to the pose parameter in coordinate system；
(c) embedded controller I controls stepper motor and steering engine work, so that laser emitter is at least three different positions
The revolution fan laser for launching different angle is set, and normal vector of the fan laser in laser beam emitting device coordinate system is real-time
It can solve, coordinate of the laser emitter in laser beam emitting device coordinate system can solve in real time；Three laser pickoffs receive every time
Laser signal, corresponding laser pickoff ID number and receiving time are sent to embedded control by embedded controller II
Device I processed, embedded controller I combine the reception signal of each laser pickoff, laser emitter in laser beam emitting device coordinate
Position of the normal vector, laser beam emitting device of three-dimensional coordinate and its fan laser emitted in system in the absolute coordinate system of mine
Appearance parameter calculates pose parameter of the coalcutter in the absolute coordinate system of mine, as laser pose testing result；
(d) embedded controller II carries out data according to inertial navigation pose testing result and laser pose testing result
Processing and asynchronous fusion, obtain the absolute pose of accurate coalcutter, send man-machine interface for the absolute pose and carry out remotely
Monitoring, is sent to Mining Equipment controller and carries out automatically controlling to coalcutter；
(e) circulation step (c)~(d), until coalcutter completes primary axial cutting；
(f) coalcutter radial feed on scrapper conveyor sends signal from embedded controller II to embedded controller I,
It controls laser beam emitting device and moves forward average pushing and sliding distance, and is fixed；
(g) the real-time pose detection in the continuous recovery process of coalcutter can be realized in circulation step (b)~(f).
The utility model has the advantages that the absolute position and posture detection method of coalcutter provided by the invention, compared with prior art, using based on victory
The Combinated navigation method that connection inertial navigation is positioned with laser scanning detects the absolute pose parameter of coalcutter six degree of freedom, strapdown
Inertial navigation is simple with solution, real-time is good, does not need the advantage of external reference, but since its calculation method determines that strapdown is used
Leading pose detection, there are cumulative errors；Laser scanning localization method needs external reference, real-time bad, but its precision is high, no
There are cumulative errors, and positioned internal mode is merged with external positioning method, the advantage of two kinds of positioning methods has been played, has fitted
For the adverse circumstances of stope, the modules of system use super broad band radio communication, and reliability is higher.Generally originally
Invention has the advantages such as detection accuracy is high, real-time is good, high reliablity, cost is relatively low.
Detailed description of the invention
Fig. 1 is the absolute position and posture detection method working face schematic diagram of coalcutter of the present invention；
Fig. 2 is laser beam emitting device schematic diagram of the invention；
Fig. 3 is system block diagram of the invention；
In figure: 1, coalcutter, 2, scrapper conveyor, 3, hydraulic support, 4, laser beam emitting device, 4-1, walking mechanism, 4-2, song
Handle rocker device, 4-3, steering engine, 4-4, laser emitter, 4-5, stepper motor, 5, intelligent total station, 6, coal mine.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
It is as depicted in figs. 1 and 2 a kind of absolute position and posture detection method of coalcutter, in stope, to mainly by adopting
The absolute pose for the coalcutter 1 in the mating Mining Equipment of three machines that coal machine 1, scrapper conveyor 2 and hydraulic support 3 are constituted is detected；
This method carries out the detection of dead reckoning pose by inertial navigation module, passes through laser beam emitting device 4, laser receiver and intelligence
Energy total station 5 carries out the detection of laser pose, then carries out asynchronous fusions to two kinds of pose testing results by optimal estimation algorithm,
Obtain the absolute pose of accurate coalcutter 1.
The laser beam emitting device 4 includes car body, stepper motor 4-5, walking mechanism 4-1, crank and rocker mechanism 4-2, rudder
Machine 4-3, laser emitter 4-4 and embedded controller I, stepper motor are flame-proof type stepper motor, and laser emitter 4-4 is this
Pacify flame-proof type fan laser transmitter；Stepper motor 4-5, walking mechanism 4-1 and crank and rocker mechanism 4-2 are installed on the car body,
Crank and rocker mechanism 4-2 movement is driven by stepper motor 4-5, steering engine 4-3 and laser emitter 4-4 are mounted on the top of rocking bar
End drives laser emitter 4-4 revolving scanning within the scope of ± 45 ° by steering engine 4-3；Embedded controller I is after flame proof is handled
It fixes on the car body, embedded controller I provides control instruction to stepper motor 4-5 and steering engine 4-3, and resolves laser emitter
The normal vector of three-dimensional coordinate and its fan laser that is emitted of the 4-4 in laser beam emitting device coordinate system.
The laser receiver includes three laser pickoffs and embedded controller II, and three laser pickoffs are not total
It is fixed on to line on coalcutter 1, and three laser pickoffs can receive the covering of the fan that laser emitter 4-4 is emitted and swash
Light, embedded controller II are fixed on coalcutter 1 after flame proof is handled, embedded controller II simultaneously with laser pickoff and
Embedded controller I communicates to connect, and fills in conjunction with the reception signal of each laser pickoff, laser emitter 4-4 in Laser emission
The normal vector for setting the three-dimensional coordinate in coordinate system and its fan laser emitted calculates each laser pickoff and sends out in laser
Coordinate in injection device coordinate system, and then calculate six-freedom degree pose ginseng of the coalcutter 1 in laser beam emitting device coordinate system
Number.
The intelligence total station 5 is arranged in same tunnel with laser beam emitting device 4, embedded controller III through flame proof at
Be fixed on after reason on intelligent total station 5, embedded controller III simultaneously with I communication link of intelligent total station 5 and embedded controller
It connects, the rational position setting positioning prism on laser beam emitting device 4 detects laser beam emitting device 4 in mine by intelligent total station 5
Pose parameter in the absolute coordinate system of mountain, in conjunction with pose parameter and laser hair of the coalcutter 1 in laser beam emitting device coordinate system
Pose parameter of the injection device 4 in the absolute coordinate system of mine obtains pose parameter of the coalcutter 1 in the absolute coordinate system of mine,
Using the result as laser pose testing result.
The inertial navigation module is fixed on coalcutter 1 after flame proof is handled, embedded controller II while and strapdown
The communication connection of inertial navigation module, is resolved by navigation information of the embedded controller II to inertial navigation module, is mined
Six-freedom degree pose parameter of the machine 1 in the absolute coordinate system of mine, using the result as inertial navigation pose testing result.
Communication mode between the embedded controller I, embedded controller II and embedded controller III is ultra-wide
Band wireless communication, embedded controller I are synchronous with II clock of embedded controller.
It is that axially, the pushing and sliding direction of hydraulic support 3 is radial, this method with the direction of motion of the coalcutter 1 on scrapper conveyor 2
Specifically comprise the following steps:
(a) after system boot initialization, mobile laser beam emitting device 4 makes it be directed at exploiting field, and fixed, guarantees laser hair
The fan laser that emitter 4-4 is emitted can scan coalcutter 1, while the inertial navigation module real-time working on coalcutter 1,
Pose parameter of the coalcutter 1 in the absolute coordinate system of mine is resolved by embedded controller II；
(b) after 4 stop motion of laser beam emitting device, signal is sent from embedded controller I to embedded controller III, so
Embedded controller III controls intelligent total station 5 and works afterwards, and the laser beam emitting device 4 that intelligent total station 5 is got is in mine
Pose parameter in the absolute coordinate system of mountain is sent to embedded controller I；
(c) embedded controller I controls stepper motor 4-5 and steering engine 4-3 work, so that laser emitter 4-4 at least exists
Three different locations launch the revolution fan laser of different angle, and fan laser is in laser beam emitting device coordinate system
Normal vector can solve in real time, coordinate of the laser emitter 4-4 in laser beam emitting device coordinate system can solve in real time；Three laser pick-ofves
The each laser signal received of device, by embedded controller II by corresponding laser pickoff ID number and receiving time
It is sent to embedded controller I, embedded controller I combines reception signal, the laser emitter 4-4 of each laser pickoff to exist
The normal vector of three-dimensional coordinate and its fan laser emitted in laser beam emitting device coordinate system, laser beam emitting device 4 are in mine
Pose parameter in the absolute coordinate system of mountain calculates pose parameter of the coalcutter 1 in the absolute coordinate system of mine, as laser position
Appearance testing result；
(d) embedded controller II carries out at data according to inertial navigation pose testing result laser pose testing result
Reason and asynchronous fusion, obtain the absolute pose of accurate coalcutter 1, send man-machine interface for the absolute pose and remotely supervised
Control, is sent to Mining Equipment controller and carries out automatically controlling to coalcutter 1；
(e) circulation step (c)~(d), until coalcutter 1 completes primary axial cutting；
(f) radial feed on scrapper conveyor 2 of coalcutter 1 sends from embedded controller II to embedded controller I and believes
Number, control laser beam emitting device 4 moves forward average pushing and sliding distance, and fixed；
(g) the real-time pose detection in the continuous recovery process of coalcutter 1 can be realized in circulation step (b)~(f).
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of absolute pose detection system of coalcutter, in stope, to mainly by coalcutter (1), scrapper conveyor (2) and
The absolute pose for the coalcutter (1) in the mating Mining Equipment of three machines that hydraulic support (3) is constituted is detected；It is characterized by:
The detection of dead reckoning pose is carried out by inertial navigation module, it is complete by laser beam emitting device (4), laser receiver and intelligence
Stand instrument (5) carry out the detection of laser pose；By intelligent total station (5) detection laser beam emitting device (4) in mine absolute coordinate system
In pose parameter, exist in conjunction with pose parameter of the coalcutter (1) in laser beam emitting device coordinate system and laser beam emitting device (4)
Pose parameter in the absolute coordinate system of mine obtains pose parameter of the coalcutter (1) in the absolute coordinate system of mine, by the result
As laser pose testing result；, resolved, obtained by navigation information of the embedded controller II to inertial navigation module
Pose parameter of the coalcutter (1) in the absolute coordinate system of mine, using the result as inertial navigation pose testing result；Then lead to
It crosses optimal estimation algorithm and asynchronous fusion is carried out to two kinds of pose testing results, obtain the absolute pose of accurate coalcutter (1)；
The laser beam emitting device (4) includes car body, stepper motor (4-5), walking mechanism (4-1), crank and rocker mechanism (4-
2), steering engine (4-3), laser emitter (4-4) and embedded controller I, stepper motor are flame-proof type stepper motor, Laser emission
Device (4-4) is intrinsic safety flame-proof type fan laser transmitter；Stepper motor (4-5), walking mechanism (4-1) and crank and rocker mechanism
(4-2) is installed on the car body, by stepper motor (4-5) driving crank and rocker mechanism (4-2) movement, steering engine (4-3) and laser
Transmitter (4-4) is mounted on the top of rocking bar, drives laser emitter (4-4) to turn round within the scope of ± 45 ° by steering engine (4-3) and sweeps
It retouches；Embedded controller I after flame proof is handled it is fixed on the car body, embedded controller I is to stepper motor (4-5) and steering engine
(4-3) provides control instruction, and resolves three-dimensional coordinate and its institute of the laser emitter (4-4) in laser beam emitting device coordinate system
The normal vector of the fan laser of transmitting；
The laser receiver includes three laser pickoffs and embedded controller II, and three laser pickoffs are not collinearly
It is fixed on coalcutter (1), and three laser pickoffs can receive the covering of the fan that laser emitter (4-4) is emitted and swash
Light, embedded controller II are fixed on coalcutter (1) after flame proof is handled, embedded controller II while and laser pickoff
It communicates to connect with embedded controller I, is sent out in conjunction with the reception signal of each laser pickoff, laser emitter (4-4) in laser
The normal vector of three-dimensional coordinate and its fan laser emitted in injection device coordinate system calculates each laser pickoff and is swashing
Coordinate in light emitting devices coordinate system, and then calculate pose parameter of the coalcutter (1) in laser beam emitting device coordinate system.
2. the absolute pose detection system of coalcutter according to claim 1, it is characterised in that: the intelligence total station (5)
It is arranged in same tunnel with laser beam emitting device (4), embedded controller III is fixed on intelligent total station after flame proof is handled
(5) on, embedded controller III is communicated to connect with intelligent total station (5) and embedded controller I simultaneously, in laser beam emitting device
(4) rational position setting positioning prism on.
3. the absolute pose detection system of coalcutter according to claim 1, it is characterised in that: the inertial navigation module warp
It is fixed on coalcutter (1) after flame proof processing, embedded controller II is communicated to connect with inertial navigation module simultaneously.
4. the absolute pose detection system of coalcutter according to claim 2, it is characterised in that: the embedded controller I,
Communication mode between embedded controller II and embedded controller III is super broad band radio communication, I He of embedded controller
II clock of embedded controller is synchronous.
5. a kind of method based on the absolute pose detection system of any coalcutter described in Claims 1 to 4, it is characterised in that:
It is that axially, the pushing and sliding direction of hydraulic support (3) is radial, this method tool with the direction of motion of the coalcutter (1) on scrapper conveyor (2)
Body includes the following steps:
(a) after system boot initialization, mobile laser beam emitting device (4) make it be directed at exploiting field, and fixed, guarantee Laser emission
The fan laser that device (4-4) is emitted can scan coalcutter (1), while the inertial navigation module on coalcutter (1) is real-time
Work resolves the pose parameter of coalcutter (1) in the absolute coordinate system of mine by embedded controller II；
(b) after laser beam emitting device (4) stop motion, signal is sent from embedded controller I to embedded controller III, then
Embedded controller III controls intelligent total station (5) work, and the laser beam emitting device (4) that intelligent total station (5) is got
Pose parameter in the absolute coordinate system of mine is sent to embedded controller I；
(c) embedded controller I controls stepper motor (4-5) and steering engine (4-3) work, so that laser emitter (4-4) is at least
Launch the revolution fan laser of different angle in three different locations, and fan laser is in laser beam emitting device coordinate system
Normal vector can solve in real time, coordinate of the laser emitter (4-4) in laser beam emitting device coordinate system can solve in real time；Three laser
The laser signal that receiver receives every time, when by embedded controller II by corresponding laser pickoff ID number and reception
Between be sent to embedded controller I, embedded controller I combines reception signal, the laser emitter (4- of each laser pickoff
4) normal vector of the three-dimensional coordinate in laser beam emitting device coordinate system and its fan laser emitted, laser beam emitting device
(4) pose parameter in the absolute coordinate system of mine calculates pose parameter of the coalcutter (1) in the absolute coordinate system of mine,
As laser pose testing result；
(d) embedded controller II carries out data processing according to inertial navigation pose testing result and laser pose testing result
And asynchronous fusion, the absolute pose of accurate coalcutter (1) is obtained, man-machine interface is sent by the absolute pose and is remotely supervised
Control, is sent to Mining Equipment controller and carries out automatically controlling to coalcutter (1)；
(e) circulation step (c)~(d), until coalcutter (1) completes primary axial cutting；
(f) coalcutter (1) radial feed on scrapper conveyor (2) sends from embedded controller II to embedded controller I and believes
Number, control laser beam emitting device (4) moves forward average pushing and sliding distance, and fixed；
(g) the real-time pose detection in the continuous recovery process of coalcutter (1) can be realized in circulation step (b)~(f).
Priority Applications (6)
| 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/CN2018/083775 WO2018219062A1 (en) | 2017-05-31 | 2018-04-19 | Method for detecting absolute pose of mining machine |
| RU2019113922A RU2711418C1 (en) | 2017-05-31 | 2018-07-20 | Method for determining absolute position of coal mining machine |
| AU2018278618A AU2018278618B2 (en) | 2017-05-31 | 2018-07-20 | Shearer absolute pose detection method |
| GB1905663.9A GB2572698B (en) | 2017-05-31 | 2018-07-20 | Shearer Absolute Pose Detection Method |
| PCT/CN2018/096457 WO2018219361A1 (en) | 2017-05-31 | 2018-07-20 | Method of sensing absolute position and orientation of coal mining machine |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107238385A CN107238385A (en) | 2017-10-10 |
| CN107238385B true CN107238385B (en) | 2019-07-12 |
Family
ID=59984747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710396723.1A Active CN107238385B (en) | 2017-05-31 | 2017-05-31 | A kind of absolute pose detection system of coalcutter and 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) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114662259A (en) * | 2020-12-07 | 2022-06-24 | 北斗天地股份有限公司 | Coal mining machine three-dimensional positioning method and system based on high-precision inertial navigation |
| 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 |
| 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 |
| 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 |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining 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 |
| CN105352504A (en) * | 2015-12-01 | 2016-02-24 | 中国矿业大学 | Inertial navigation-laser scanning integrated coal mining machine positioning device and method |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6035951A (en) * | 1997-04-16 | 2000-03-14 | Digital Control Incorporated | System for tracking and/or guiding an underground boring tool |
| SE9704397L (en) * | 1997-11-28 | 1998-11-16 | Spectra Precision Ab | Apparatus and method for determining the position of a working part |
| US6052181A (en) * | 1998-07-01 | 2000-04-18 | Trimble Navigation Limited | Multiple simultaneous laser-reference control system for construction equipment |
| US9002565B2 (en) * | 2003-03-20 | 2015-04-07 | Agjunction Llc | GNSS and optical guidance and machine control |
| US8345926B2 (en) * | 2008-08-22 | 2013-01-01 | Caterpillar Trimble Control Technologies Llc | Three dimensional scanning arrangement including dynamic updating |
| US20110213529A1 (en) * | 2010-02-26 | 2011-09-01 | Caterpillar Inc. | System and method for determing a position on an implement relative to a reference position on a machine |
| CN102570287B (en) * | 2010-12-17 | 2013-10-02 | 中国矿业大学(北京) | Fan-shaped laser beam emission device |
| CN103410512B (en) * | 2013-08-15 | 2015-08-05 | 中国矿业大学 | Merge coal-winning machine absolute positioning apparatus and the method for geological environment information |
| 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 |
| CN105737825B (en) * | 2016-02-19 | 2018-06-01 | 北京航天控制仪器研究所 | A kind of cutting head of roadheader position measuring system |
| CN107014379B (en) * | 2017-05-25 | 2019-09-20 | 中国矿业大学 | A kind of development machine absolute space apparatus for detecting position and posture and method |
| 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 |
-
2017
- 2017-05-31 CN CN201710396723.1A patent/CN107238385B/en active Active
-
2018
- 2018-04-19 WO PCT/CN2018/083775 patent/WO2018219062A1/en active Application Filing
- 2018-07-20 AU AU2018278618A patent/AU2018278618B2/en not_active Ceased
- 2018-07-20 RU RU2019113922A patent/RU2711418C1/en active
- 2018-07-20 GB GB1905663.9A patent/GB2572698B/en not_active Expired - Fee Related
- 2018-07-20 WO PCT/CN2018/096457 patent/WO2018219361A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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 |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN105352504A (en) * | 2015-12-01 | 2016-02-24 | 中国矿业大学 | Inertial navigation-laser scanning integrated coal mining machine positioning device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107238385A (en) | 2017-10-10 |
| AU2018278618B2 (en) | 2020-07-23 |
| GB2572698B (en) | 2020-02-26 |
| GB201905663D0 (en) | 2019-06-05 |
| GB2572698A (en) | 2019-10-09 |
| AU2018278618A1 (en) | 2019-05-16 |
| RU2711418C1 (en) | 2020-01-17 |
| WO2018219361A1 (en) | 2018-12-06 |
| WO2018219062A1 (en) | 2018-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107238385B (en) | A kind of absolute pose detection system of coalcutter and method | |
| CN105119338B (en) | Mobile robot charge control system and method | |
| CN107269276B (en) | A kind of driving positioning system and method for bend construction | |
| CA2936683C (en) | Mine vehicle and method of initiating mine work task | |
| CN107905846B (en) | Fully mechanized coal mining face pushing progress detection system and method | |
| CN105518377A (en) | Gas leakage processing method and apparatus, and air vehicle | |
| CN104536008B (en) | Drill jumbo blast hole laser ranging and positioning method | |
| CN102878976A (en) | Heading machine position and posture detecting system and heading machine | |
| CN112780275A (en) | Heading machine working system and method | |
| CN104793637A (en) | Real-time tracking system and method of mobile equipment | |
| CN111140231A (en) | Coal seam roof and floor path virtual planning method oriented to space-time kinematics of fully-mechanized mining equipment | |
| CN115256414A (en) | Mining drilling robot and coupling operation method of mining drilling robot and geological and roadway models | |
| CN104729538A (en) | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine | |
| CN112068543A (en) | Coal mine drilling anchor robot drilling accurate positioning method based on visual calibration | |
| CN108337038B (en) | Underground multi-aircraft collaborative rescue method and system based on mesh network | |
| CN101915103A (en) | Safe pointing and safe distance real-time monitoring system | |
| Stentz et al. | Position measurement for automated mining machinery | |
| CN204479086U (en) | Based on the calibrating installation of the coalcutter positioning and orientation system of laser scanning | |
| CN211008643U (en) | Working system of heading machine | |
| WO2020130921A1 (en) | Method and device for determining the position of a mining and/or construction machine | |
| CN110058587A (en) | The method that coal mine fully-mechanized mining face based on SLAM technology is maked an inspection tour unmanned vehicle and independently maked an inspection tour | |
| CN114753845A (en) | Automatic coal mining system device and method for fully mechanized coal mining face | |
| CN108196576A (en) | A kind of quadrotor flying robot's target lock-on tracking system based on machine vision | |
| CN114993300A (en) | Transparent mine full-space tracking monitoring and intelligent early warning system | |
| CN103123391B (en) | Wireless navigation and positioning system and method for heading machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |