CN102183255A - Positioning device and method of coal mining machine in full-mechanized mining face - Google Patents
Positioning device and method of coal mining machine in full-mechanized mining faceDownload PDFInfo
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- CN102183255A CN102183255ACN2011100531721ACN201110053172ACN102183255ACN 102183255 ACN102183255 ACN 102183255ACN 2011100531721 ACN2011100531721 ACN 2011100531721ACN 201110053172 ACN201110053172 ACN 201110053172ACN 102183255 ACN102183255 ACN 102183255A
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Abstract
Translated fromChinese
Description
Technical field
The present invention relates to a kind of coalcutter autonomous positioning device and localization method, particularly a kind of fully-mechanized mining working coalcutter locating device and localization method.
Background technology
Coalcutter is the fully-mechanized mining working coal breakage and the main equipment of coalingging, and in the comprehensive mechanical coal mining process, realize that hydraulic support follows the machine robotization, must realize coalcutter at a high speed, accurate location navigation.When coalcutter real time position and attitude can be confirmed, the support control module could send the control corresponding instruction in time according to the coalcutter positional information that obtains, the immediate support and the pushing and sliding program of control support, and three machines of realizing are worked in coordination with robotization.Therefore, the coalcutter location is the gordian technique of fully mechanized coal face mechanized equipment comprehensive automation.
At present, the colliery mining face under mine is adopting and the method studied mainly contains coalcutter gear counting method, the infrared correlation localization method of coalcutter, radio sensing network coalcutter localization method.
Described coalcutter gear counting localization method is to utilize the principle of gear counting to obtain the revolution of walking gear, sensor for countering adopts the Hall counter, the girth that revolution multiply by walking gear obtains the distance that coalcutter is walked, the middle part that goes out coalcutter according to the frame distance computation of support is positioned at the center (be frame number) of which support of workplace, thereby determine the position of coalcutter at workplace, this method is easier, realizes easily.But anatomize, because the coalcutter direction of travel is along workplace and vertical workplace both direction, and the gear counting method can only be determined displacement and the direction of coalcutter above straight line, can't locate the displacement on the both direction, cause the location out of true, the deficiency that exists the gear counting error to add up simultaneously.
The infrared correlation localization method of described coalcutter is at the coalcutter fuselage infrared launcher to be installed, infrared receiving device is installed on hydraulic support, directional transmissions wide-angle pulse in the coalcutter operational process, when hydraulic support receives signal, power is to received signal analyzed, thereby judges the coalcutter particular location.This method is more feasible, but also has some intrinsic defectives, at first because the frame spacing of hydraulic support is fixing exists, is abutted against the power of collecting mail number merely and judges the coalcutter position, can only be qualitative, can not be quantitative, and there is inherent error.Simultaneously, subsurface environment is abominable, and infrared correlation electronic installation reliability also need improve.
Described wireless sensor network coalcutter localization method, its principle is at the coalcutter fuselage wireless launcher to be installed, radio receiver is installed on hydraulic support, can not the directional transmissions radiofrequency signal in the coalcutter operational process, when hydraulic support receives signal, by determining that deamplification intensity inverse goes out distance.This pattern can quantitatively be carried out the coalcutter position and be determined that still because radiofrequency signal is bigger in the down-hole damped expoential, the foundation of downhole wireless channel model is also imperfect, does not enough analyze for the wireless location model error, so also there is not practice in addition.
In sum, there is inherent error in the localization method of all coalcutter location out of true, can not accurately determine multi-direction position of coalcutter and attitude, can not satisfy the problem of down-hole complex environment requirement.
Summary of the invention
The objective of the invention is to provide a kind of fully-mechanized mining working coalcutter locating device and localization method, solve the localization method location out of true of all coalcutter, there is inherent error, can not accurately determines multi-direction position of coalcutter and attitude, can not satisfy the problem of down-hole complex environment requirement.
The object of the present invention is achieved like this: this coalcutter locating device comprises fuselage, the rubber damping pedestal, the coalcutter locating device, three lasergyro, three fibre optic accelerometers, locating device microprocessing unit and locating device explosion-resistant enclosure, the coalcutter locating device is installed in the fuselage, the coalcutter locating device comprises the rubber damping pedestal, three lasergyro, three fibre optic accelerometers, the locating device microprocessing unit, the locating device explosion-resistant enclosure, above the rubber damping pedestal, be connected with the locating device explosion-resistant enclosure, three lasergyro, three fibre optic accelerometers, the locating device microprocessing unit is installed in the housing of rubber damping pedestal and locating device explosion-resistant enclosure formation.
The coalcutter localization method is:
1, in the coalcutter operational process, three fibre optic accelerometers detect and obtain the acceleration of coalcutter along three directions of carrier coordinate system; Three lasergyro detect and obtain the angular speed that coalcutter produces along three axles of carrier coordinate system;
2, three fibre optic accelerometers will record coalcutter and deliver to the relay backfeed loop along the acceleration signal data of three directions of carrier coordinate system, and the pulse width modulated force feedback of binary loop is adopted in the force feedback loop; Three lasergyro obtain coalcutter with detection and deliver to balanced loop again along the angular speed that three axles of carrier coordinate system produce, and the trimming moment again of balanced loop is controlled the position of sensitive element output shaft again, measures the angle rate signal data of carrier; The balanced loop is a pulse width modulation circuit again;
3, will send into the locating device microprocessing unit through acceleration signal data behind the digital quantizer and angular velocity signal data, the locating device microprocessing unit is respectively to coalcutter position and attitude algorithm; Coalcutter three direction acceleration travel direction cosine matrixs are resolved; Coalcutter three direction axis angular rates are carried out more new Algorithm of coalcutter attitude reference, the coordinate transform of travel direction cosine again, the coalcutter that obtains attitude angle respectively through output interface is angular speed and along the coalcutter linear acceleration of geographic coordinate system vertically, determine the coalcutter attitude by the angular speed of attitude angle, by the acceleration along geographic coordinate system is carried out integral operation, determine the displacement and the speed of coalcutter.
4, export the angular speed vertically and the coalcutter linear acceleration of coalcutter by the output port of locating device microprocessing unit.
Beneficial effect owing to adopted such scheme, comprises three optical fiber acceleration transducers (5), three lasergyro (4), and data processing unit (6) in the coalcutter locating device (3).Adopt novel three lasergyro (4) that three deflection speed of coalcutter are detected, adopt novel three fibre optic accelerometers (5) that three direction linear accelerations of coalcutter are detected.
The inertia that utilizes coalcutter self to exist in traveling process is detected the motion of calculating that coalcutter carries out.Coalcutter existing linear acceleration and angular speed in operational process can decompose in the geographic coordinate system, adopt locating device microprocessing unit DSP(6) sampling three fibre optic accelerometers (5) and three lasergyro (4) data, three fibre optic accelerometers (5) data travel direction cosine matrix is resolved, coalcutter three laser gyros (4) data are carried out more new Algorithm of coalcutter attitude reference, the coordinate transform of direction of passage cosine, calculate and to obtain attitude angle respectively and along the acceleration of geographic coordinate system, wherein can determine the coalcutter attitude by attitude angle, by the acceleration along geographic coordinate system is carried out integral operation, can determine the displacement and the speed of coalcutter.Owing to be to time integral, so there is cumulative errors, the present invention designs self-checking device, whenever finishes a cut circulation time when coalcutter, at end portion locating device is carried out calibrating coordinates.In order to overcome the coalcutter vibration interference, between coalcutter fuselage and locating device, add rubber damping pedestal (2) simultaneously, to improve system accuracy.Solve the localization method location out of true of coalcutter, had inherent error, can not accurately determine multi-direction position of coalcutter and attitude, can not satisfy the problem of down-hole complex environment requirement, reached purpose of the present invention.
Advantage: carry out the coalcutter location by inertia device, do not need oracle fully, to outside emittance, do not belong to autonomous positioning, reliability is higher.Because locating device comprises three lasergyro of three fibre optic accelerometers and the XYZ axle of XYZ direction, can accurately locate position in the coalcutter three dimensions and attitude, when coalcutter is operated in the differing tilt angles coal seam and during along the operation of workplace direction or direction of propulsion, can both shows good bearing accuracy.This invention can be used for the research of three machine Collaborative Control hydraulic support stochastic automations, accurately locatees by coalcutter, and hydraulic support in time with machine, realizes that three machine robotizations are supporting.Compact conformation of the present invention, method is simple, and is safe and reliable, installation and easy and simple to handle.
Description of drawings
Fig. 1 is a coalcutter autonomous positioning experimental provision structural drawing of the present invention.
Fig. 2 is that coalcutter autonomous positioning device of the present invention is formed structural drawing.
Fig. 3 is a coalcutter freedom positioning system theory diagram of the present invention.
Fig. 4 is that coalcutter autonomous positioning of the present invention is resolved the software programming process flow diagram.
Among the figure: 1, fuselage; 2, rubber damping pedestal; 3, coalcutter locating device; 4, three lasergyro; 5, three fibre optic accelerometers; 6, locating device microprocessing unit; 7, locating device explosion-resistant enclosure.
Embodiment
Embodiment 1: this coalcutter locating device comprises fuselage 1, rubber damping pedestal 2, coalcutter locating device 3, three lasergyro 4, three fibre optic accelerometers 5, locating device microprocessing unit 6 and locating device explosion-resistant enclosure 7, coalcutter locating device 3 is installed in the fuselage 1, coalcutter locating device 3 comprises rubber damping pedestal 2, three lasergyro 4, three fibre optic accelerometers 5, locating device microprocessing unit 6, locating device explosion-resistant enclosure 7, above rubber damping pedestal 2, be connected with 7, three lasergyro 4 of locating device explosion-resistant enclosure, three fibre optic accelerometers 5, locating device microprocessing unit 6 is installed in the housing of rubber damping pedestal 2 and locating device explosion-resistant enclosure 7 formations.
The coalcutter localization method is:
1, in the coalcutter operational process, three fibre optic accelerometers 5 detect and obtain the acceleration of coalcutter along three directions of carrier coordinate system; Three lasergyro 4 detect and obtain the angular speed that coalcutter produces along three axles of carrier coordinate system;
2, three fibre optic accelerometers will record coalcutter and deliver to the relay backfeed loop along the acceleration signal data of three directions of carrier coordinate system, and the pulse width modulated force feedback of binary loop is adopted in the force feedback loop; Three lasergyro obtain coalcutter with detection and deliver to balanced loop again along the angular speed that three axles of carrier coordinate system produce, and the trimming moment again of balanced loop is controlled the position of sensitive element output shaft again, measures the angle rate signal data of carrier; The balanced loop is a pulse width modulation circuit again;
3, will send into the locating device microprocessing unit through acceleration signal data behind the digital quantizer and angular velocity signal data, the locating device microprocessing unit is resolving coalcutter position and attitude respectively; Coalcutter three direction acceleration travel direction cosine matrixs are resolved; Coalcutter three direction axis angular rates are carried out more new Algorithm of coalcutter attitude reference, the coordinate transform of travel direction cosine again, the coalcutter that obtains attitude angle respectively through output interface is angular speed and along the coalcutter linear acceleration of geographic coordinate system vertically, determine the coalcutter attitude by the angular speed of attitude angle, by the acceleration along geographic coordinate system is carried out integral operation, determine the displacement and the speed of coalcutter.
4, export the angular speed vertically and the coalcutter linear acceleration of coalcutter by the output port of locating device microprocessing unit.
In Fig. 1 and Fig. 2, the fuselage 1 that coalcutter autonomous positioning device mainly is made up of rigid frame, connect firmly the antivibration pedestal 2 on fuselage 1, connect coalcutter locating device 3 on the antivibration pedestal 2, be provided with three lasergyro 4 in the coalcutter locating device 3, three fibre optic accelerometers 5, locating device microprocessing unit unit 6 and locating device explosion-resistant enclosures 7 constitute.The rigid unitary that fuselage 1 is made up of connecting frame, coalcutter locating device 3 directly connects firmly on coalcutter fuselage 1, in order to reduce the interference of coalcutter random vibration, adds rubber shock absorber 2 between coalcutter fuselage 1 and coalcutter locating device 3.Not only be provided with acceleration sensitive device 5 and angular speed sensor 4 in the coalcutter locating device 3, force feedback circuit, the balanced loop again of gyroscope correspondence, accelerometer output digital quantizer, the gyroscope output digital quantizer of accelerometer correspondence also is installed.
In Fig. 2 and Fig. 3, coalcutter autonomic positioning method step of the present invention is as follows:
1, in the coalcutter operational process, utilizes three fibre optic accelerometers 5 to detect and obtain the acceleration of coalcutter, utilize three lasergyro 4 to detect and obtain the angular speed that coalcutter produces along three axles of carrier coordinate system along three directions of carrier coordinate system;
2, three fibre optic accelerometers, 5 back relay backfeed loops, the linearity to guarantee that acceleration is become reconciled in respect of high precision adopts the pulse width modulated force feedback of binary loop here, it has, and independence is strong, precision is high, safe and reliable, do not need characteristics such as A/D converter.Connect balanced loop again after three lasergyro 4, use again trimming moment continuously to control the position of sensitive element output shaft, thereby measure the angular speed of carrier.Here strobe pulse is transferred wide balanced loop again, and it has good stability, anti-interference is good, output resolution ratio height, characteristics such as dynamic property is good;
3, after acceleration and angular velocity data digitizing enter the locating device microprocessing unit, carry out resolving of coalcutter position and attitude, coalcutter three direction acceleration travel direction cosine matrixs are resolved, coalcutter three direction axis angular rates are carried out more new Algorithm of coalcutter attitude reference, the coordinate transform of direction of passage cosine, calculate and to obtain attitude angle respectively and along the acceleration of geographic coordinate system, wherein can determine the coalcutter attitude by attitude angle, by the acceleration along geographic coordinate system is carried out integral operation, can determine the displacement and the speed of coalcutter.
4, export the angular speed vertically and the coalcutter linear acceleration of coalcutter by the output port of locating device microprocessing unit.
In Fig. 4, at first position the initialization of device microprocessing unit DSP, after initialization finishes gyroscope and accelerometer are sampled, by initial calibration or external calibration information acquisition coalcutter initial position and speed, write extraction of coalcutter speed and angular speed then and resolve program, next finish the real-time correction and the normalization program of coalcutter attitude matrix, carry out the acceleration coordinate transform processing afterwards, make coalcutter speed be able to real-time correction, can obtain the coalcutter positional information through integration, resolving by local acceleration g at last, coding obtains speed and the displacement to the earth of coalcutter that accelerometer records, and the coalcutter attitude angle.
Claims (2)
1. fully-mechanized mining working coalcutter locating device and localization method, it is characterized in that: the coalcutter localization method is:
(1), in the coalcutter operational process, three fibre optic accelerometers detect and obtain the acceleration of coalcutter along three directions of carrier coordinate system; Three lasergyro detect and obtain the angular speed that coalcutter produces along three axles of carrier coordinate system;
(2), three fibre optic accelerometers will record coalcutter and deliver to the relay backfeed loop along the acceleration signal data of three directions of carrier coordinate system, the pulse width modulated force feedback of employing binary loop, force feedback loop; Three lasergyro obtain coalcutter with detection and deliver to balanced loop again along the angular speed that three axles of carrier coordinate system produce, and the trimming moment again of balanced loop is controlled the position of sensitive element output shaft again, measures the angle rate signal data of carrier; The balanced loop is a pulse width modulation circuit again;
(3), will send into the locating device microprocessing unit through acceleration signal data behind the digital quantizer and angular velocity signal data, the locating device microprocessing unit is resolving coalcutter position and attitude respectively; Coalcutter three direction acceleration travel direction cosine matrixs are resolved; Coalcutter three direction axis angular rates are carried out more new Algorithm of coalcutter attitude reference, the coordinate transform of travel direction cosine again, the coalcutter that obtains attitude angle respectively through output interface is angular speed and along the coalcutter linear acceleration of geographic coordinate system vertically, determine the coalcutter attitude by the angular speed of attitude angle, by the acceleration along geographic coordinate system is carried out integral operation, determine the displacement and the speed of coalcutter;
(4), export the angular speed vertically and the coalcutter linear acceleration of coalcutter by the output port of locating device microprocessing unit.
2. equipment of realizing fully-mechanized mining working coalcutter locating device and localization method, it is characterized in that: this coalcutter locating device comprises fuselage, the rubber damping pedestal, the coalcutter locating device, three lasergyro, three fibre optic accelerometers, locating device microprocessing unit and locating device explosion-resistant enclosure, the coalcutter locating device is installed in the fuselage, the coalcutter locating device comprises the rubber damping pedestal, three lasergyro, three fibre optic accelerometers, the locating device microprocessing unit, the locating device explosion-resistant enclosure, above the rubber damping pedestal, be connected with the locating device explosion-resistant enclosure, three lasergyro, three fibre optic accelerometers, the locating device microprocessing unit is installed in the housing of rubber damping pedestal and locating device explosion-resistant enclosure formation.
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Cited By (16)
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|---|---|---|---|---|
| CN103410512A (en)* | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN103527235A (en)* | 2013-10-28 | 2014-01-22 | 天地科技股份有限公司 | Group self-organization cooperative control method of underground mining hydraulic support system |
| CN103742140A (en)* | 2013-12-26 | 2014-04-23 | 中国矿业大学 | Precisely positioned coal mining machine and positioning method thereof |
| CN103776463A (en)* | 2013-12-31 | 2014-05-07 | 中国矿业大学 | Test method for automatic memorization and coal cutting self-positioning device of manless working face coal mining machine |
| CN103776418A (en)* | 2014-01-17 | 2014-05-07 | 中国矿业大学 | Posture positioning method of coal cutter in memory cutting process |
| CN103775080A (en)* | 2013-12-31 | 2014-05-07 | 中国矿业大学 | Construction method of attitude angle regulating model of manless working face coalcutter for thin seam |
| CN103822657A (en)* | 2014-03-18 | 2014-05-28 | 中国矿业大学 | Dynamic monitoring instrument for advance distance of fully mechanized mining face of underground coal mine |
| CN104964688A (en)* | 2015-05-28 | 2015-10-07 | 中国矿业大学 | Coal mining machine explosion-prevention positioning apparatus based on strapdown inertial navigation, and calibration method thereof |
| 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 |
| WO2016091020A1 (en)* | 2014-12-09 | 2016-06-16 | 中国矿业大学 | Uwb-based precise calibration method and apparatus for absolute position of coal cutter |
| CN106595557A (en)* | 2016-10-31 | 2017-04-26 | 中国矿业大学 | Detection device for straightness of scraper conveyer and detection method |
| CN107905846A (en)* | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
| CN108388253A (en)* | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN108548534A (en)* | 2018-03-01 | 2018-09-18 | 王宇腾 | Silo shearer localization method |
| CN109903383A (en)* | 2019-04-11 | 2019-06-18 | 中国矿业大学 | Precise positioning method of shearer in three-dimensional model of coal seam in working face |
| CN112097767A (en)* | 2020-10-15 | 2020-12-18 | 杭州知路科技有限公司 | Pre-integration auxiliary assembly for inertial navigation and data processing method |
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| 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 |
| CN103410512A (en)* | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN103527235A (en)* | 2013-10-28 | 2014-01-22 | 天地科技股份有限公司 | Group self-organization cooperative control method of underground mining hydraulic support system |
| CN103527235B (en)* | 2013-10-28 | 2015-09-30 | 天地科技股份有限公司 | Group's self-organizing cooperative control method of underground mining hydraulic prop system |
| CN103742140A (en)* | 2013-12-26 | 2014-04-23 | 中国矿业大学 | Precisely positioned coal mining machine and positioning method thereof |
| CN103742140B (en)* | 2013-12-26 | 2016-02-10 | 中国矿业大学 | A kind of pinpoint coal-winning machine and localization method thereof |
| CN103776463A (en)* | 2013-12-31 | 2014-05-07 | 中国矿业大学 | Test method for automatic memorization and coal cutting self-positioning device of manless working face coal mining machine |
| CN103775080A (en)* | 2013-12-31 | 2014-05-07 | 中国矿业大学 | Construction method of attitude angle regulating model of manless working face coalcutter for thin seam |
| CN103776463B (en)* | 2013-12-31 | 2016-08-24 | 中国矿业大学 | Manless working face coal-winning machine automatic Memory coal cutting freedom positioning device method of testing |
| CN103776418B (en)* | 2014-01-17 | 2015-04-29 | 中国矿业大学 | Posture positioning method of coal cutter in memory cutting process |
| CN103776418A (en)* | 2014-01-17 | 2014-05-07 | 中国矿业大学 | Posture positioning method of coal cutter in memory cutting process |
| CN103822657A (en)* | 2014-03-18 | 2014-05-28 | 中国矿业大学 | Dynamic monitoring instrument for advance distance of fully mechanized mining face of underground coal mine |
| WO2016091020A1 (en)* | 2014-12-09 | 2016-06-16 | 中国矿业大学 | Uwb-based precise calibration method and apparatus for absolute position of coal cutter |
| CN104964688A (en)* | 2015-05-28 | 2015-10-07 | 中国矿业大学 | Coal mining machine explosion-prevention positioning apparatus based on strapdown inertial navigation, and calibration method thereof |
| CN104964688B (en)* | 2015-05-28 | 2017-12-26 | 中国矿业大学 | The explosion-proof positioner of coal-winning machine and its calibration method based on strap-down inertial |
| 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 |
| 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 |
| CN106595557A (en)* | 2016-10-31 | 2017-04-26 | 中国矿业大学 | Detection device for straightness of scraper conveyer and detection method |
| CN106595557B (en)* | 2016-10-31 | 2019-03-19 | 中国矿业大学 | A kind of detection device and detection method of drag conveyor straightness |
| CN107905846A (en)* | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
| CN108548534A (en)* | 2018-03-01 | 2018-09-18 | 王宇腾 | Silo shearer localization method |
| CN108388253A (en)* | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN109903383A (en)* | 2019-04-11 | 2019-06-18 | 中国矿业大学 | Precise positioning method of shearer in three-dimensional model of coal seam in working face |
| 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 |
| CN112097767A (en)* | 2020-10-15 | 2020-12-18 | 杭州知路科技有限公司 | Pre-integration auxiliary assembly for inertial navigation and data processing method |
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