Method and device for determining attitude and position of coal mining machine

Abstract

The acquisition of spatial position and operation attitude information of a coal mining machine on a working face is one of key technologies for realizing intelligent mining. Along with the advancement of an unmanned process of a fully mechanized coal mining face, the requirement on attitude and position determining accuracy is higher and higher, so that it is an important problem urgently needingto be solved at present to develop an attitude and position determining method and an attitude and position determining device which are simple in structure and reliable in attitude and position determination and improve the attitude and position determining accuracy. According to the method and device for determining the attitude and position of the coal mining machine, the device comprises a plurality of pin toothed rails, a plurality of sensor units, a ground signal receiver, a data acquisition and processing system and two guide sliding shoes, wherein each sensor unit comprises a left sensor unit, a right sensor unit and two side sensor units; and each sensor device is composed of a wireless pressure sensor and a sensor quick-change device. According to the invention, the undergroundposition and body attitude of the coal mining machine can be accurately positioned, the testing method is simple in principle, and the mechanical device is simple and reliable in structure, low in cost and convenient to maintain or replace.

Description

technical field [0001] The patent of the present invention relates to the field of coal mining machinery, in particular to a method and device for determining and positioning a coal mining machine. Background technique [0002] The acquisition of the spatial position and operating attitude information of the coal shearer in the working face is one of the key technologies to realize intelligent mining. The environment of the fully mechanized mining face is harsh, and the force of the shearer is complicated, which leads to the interference of multiple sources during the operation of the shearer, and it is difficult to accurately obtain its motion position and attitude in real time. Aiming at this technical problem, domestic scholars have carried out many in-depth studies. Current positioning methods include infrared detection method, ultrasonic detection method, gear counting method, strapdown inertial navigation positioning, etc. The disadvantage of the infrared detection m...

AI Technical Summary

Problems solved by technology

The disadvantage of the infrared detection method is that it cannot continuously monitor the position of the shearer, and it is difficult to receive the infrared signal when the hydraulic house is not at the same level; the defect of the ultrasonic detection method is that the signal is attenuated when the length of the working face is large Too large; the disadvantage of the gear counting method is that it can only achieve linear positioning, and there is a cumulative error; the strapdown inertial navigation positioning has a certain positioning error because the initial installation error of the inertial navigation system cannot be eliminated, and it has not been effectively applied at present.

Images