Method for unifying positions and poses of fully mechanized coalface equipment group

Abstract

The invention discloses a method for unifying positions and poses of a fully mechanized coalface equipment group, and relates to the technical field of monitoring and control of fully mechanized coalface equipment in coal mines. The method can obtain unified equipment group position and pose information, so that the fully mechanized coalface equipment group can perform motion control in a unifiedcoordinate system. The method comprises the steps of constructing a unified reference coordinate system, consolidating first local coordinate systems on all hydraulic supports of a coalface, consolidating a second local coordinate system on a machine body of a shearer, consolidating a third local coordinate system on each section of middle trough of a scraper conveyor, converting the second localcoordinate system into the first local coordinate systems based on the position relation between the shearer and the hydraulic supports, converting the first local coordinate systems into the third local coordinate systems based on the connection relation between the hydraulic supports and the middle troughs, and converting the third local coordinate systems into the unified reference coordinate system based on size parameters of the scraper conveyor. The method for unifying the positions and poses of the fully mechanized coalface equipment group is suitable for the monitoring and control of the fully mechanized coalface equipment group.

Description

technical field [0001] The invention relates to the technical field of equipment monitoring and control in a coal mine fully mechanized mining face, in particular to a method for unifying poses and postures of a fully mechanized mining face equipment group. Background technique [0002] Underground fully mechanized mining face equipment mainly includes hydraulic supports, shearers and scraper conveyors. At present, each equipment and its control system operate independently, and the coordinated linkage control is limited to the application of simple functions such as sequential start and stop, and group shifting; while automatic follow-up shifting, coal flow balance control, etc. require equipment position accuracy Higher functions, due to the inaccurate measurement of the spatial pose information (including position and attitude information) of the equipment group in the fully mechanized mining face, the continuous automatic operation control cannot be realized in most case...

AI Technical Summary

Problems solved by technology

At present, each equipment and its control system operate independently, and the coordinated linkage control is limited to the application of simple functions such as sequential start and stop, and group shifting; while automatic follow-up shifting, coal flow balance control, etc. require equipment position accuracy Higher functions, due to the inaccurate measurement of the spatial pose information (including position and attitude information) of the equipment group in the fully mechanized mining face, it is impossible to achieve continuous automatic operation control in most cases

[0003] At present, a large number of frequent and dynamic linkage control between various equipment can only be completed manually, and the real-time performance, accuracy, and coordination of equipment movement cannot be guaranteed, which not only affects production efficiency, but also easily occurs Misoperation leads to equipment damage and safety production accidents

The root cause is that the pose measurement data between the equipment is local and isolated, and it is still impossible to obtain unified pose information of the equipment group (mainly in the form of coordinates), so that the equipment group of the fully mechanized mining face cannot Motion control in a unified coordinate system

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