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Inertial navigation-laser scanning integrated coal mining machine positioning device and method

A laser scanning device and laser scanning technology are applied in navigation, measurement devices, surveying and navigation, etc., and can solve the problems of increasing cumulative errors

Inactive Publication Date: 2016-02-24
CHINA UNIV OF MINING & TECH
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Problems solved by technology

[0005] Technical problem: The purpose of this invention is to overcome the deficiencies in the prior art, provide a coal mining machine positioning device and method that integrates inertial navigation and laser scanning, and solve the problem of increasing cumulative errors in simple inertial navigation positioning. problems, to achieve precise positioning of the shearer

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Embodiment Construction

[0057] Below in conjunction with accompanying drawing, the present invention will be further described:

[0058] Depend on figure 2 , image 3 It can be seen that a coal mining machine positioning device integrated with inertial navigation and laser scanning, the coal mining machine positioning device includes: coal mining machine 1, inertial navigation positioning device 4, laser scanning device, positioning device explosion-proof casing 2 and host computer 6; The explosion-proof casing 2 of the positioning device and the laser signal receiving module of the laser scanning device are fixed on the body of the shearer 1; the inertial navigation positioning device 4 is installed in the explosion-proof casing 2 of the positioning device;

[0059] Described inertial navigation positioning device 4 comprises triaxial gyroscope 4-1, triaxial accelerometer 4-2, inertial navigation microprocessor 4-3; Triaxial gyroscope 4-1 comprises triaxial gyro sensor, triaxial acceleration The ...

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Abstract

The invention discloses an inertial navigation-laser scanning integrated coal mining machine positioning device and method, and belongs to coal mining machine positioning devices and methods. The positioning device adopts the structure that a positioning device explosion-proof housing and a laser signal receiving module are fixed on the main body of a coal mining machine; an inertial navigation positioning device and a laser scanning microprocessor are mounted in an explosion-proof device; when the coal mining machine works, the inertial navigation positioning device acquires the real-time angular rate and the real-time through a sensor, and transmitting the data to the laser scanning microprocessor; in a laser scanning device, a laser scanning base station is arranged in the working area of the coal mining machine, a laser signal of the laser scanning base station is received by the laser signal receiving module, and meanwhile the data are transmitted to the laser scanning microprocessor; the laser scanning microprocessor is connected with an upper computer through a serial port. Respectively acquired positioning data are transmitted to a coal mining machine positioning control system for data processing, and the position of the coal mining machine is confirmed according to an algorithm integrating the least square method and the neural network algorithm, so as to realize precise positioning; the positioning device and method have the advantages of being precise in positioning, safe and reliable.

Description

technical field [0001] The invention relates to a positioning device and method for a coal shearer, in particular to a positioning device and method for a coal shearer integrated with inertial navigation and laser scanning. Background technique [0002] Positioning technology refers to the technology of measuring the target by some means, and then obtaining the target position information. With the continuous advancement of modern technology, the position of positioning is getting higher and higher in production and life. In many positioning fields, the positioning of various equipment in mines is slowly entering people's field of vision. Due to the frequent occurrence of underground safety accidents and serious disasters in recent years, the positioning of underground equipment is particularly important, which is also a prerequisite for automatic and safe production. In the mining process of coal resources, the shearer is one of the important equipment for underground ope...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165G01C21/166E21C35/08G01C21/18
Inventor 刘万里刘一鸣张博渊杨滨海左雪李雨潭
Owner CHINA UNIV OF MINING & TECH
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