CN111457918A - A continuous mining machine navigation and positioning system based on multi-sensor information fusion - Google Patents

Abstract

The invention discloses a continuous mining machine navigation and positioning system based on multi-sensor information fusion. The cutting operation of the continuous shearer is not a one-time roadway, and it is necessary to adjust the lateral movement to ensure that the cutting section meets the width requirements of the roadway. In view of the problem of poor straightness of the cutting section caused by the lateral movement, the present invention proposes The laser directional navigation guidance is mainly based on dual laser transmitters and single laser receivers, and the real-time pose calculation, offset measurement, mileage statistics and feedback adjustment mechanism of ultrasonic sensors, inclination sensors and photoelectric odometers are used. Auxiliary continuous miner navigation and positioning system. The centralized output signal of multi-sensor information fusion can realize the intelligent navigation and directional control of the continuous mining machine through the establishment of communication connection with the main system of the continuous mining machine. Finally, the accuracy of the roadway can be realized to be ±10cm/50m, which can ensure the completeness of the roadway. Straightness.

Description

A continuous mining machine navigation and positioning system based on multi-sensor information fusion

technical field

The invention relates to the technical field of navigation and positioning, in particular to a continuous mining machine navigation and positioning system based on multi-sensor information fusion.

Background technique

Continuous shearers are mainly used in room-and-pillar coal mining, recovery of edge coal, and rapid excavation of long-wall mining. The length of the drum is relatively small during its operation, so the continuous shearer does not form an alley at one time. When the width of the roadway is larger than the length of the drum, the continuous shearer needs to move laterally in the roadway, so as to realize the cutting of the full section. When the continuous shearer moves laterally, there will be a certain degree of deflection. Working under this condition will lead to poor straightness of the section forming, and the fuselage will deviate from the correct heading, which will seriously affect the quality of the roadway and the efficiency of coal mining work, and the ideal roadway effect will not be achieved.

SUMMARY OF THE INVENTION

In view of the above technical problems, the purpose of the present invention is to provide a continuous mining machine navigation and positioning system based on multi-sensor information fusion. It mainly includes the proposal of laser directional guidance based on dual laser transmitters and single laser receivers, supplemented by ultrasonic sensors and inclination sensors for pose calculation, offset measurement and feedback adjustment mechanism. and positioning system. The laser receiver receives the laser emitted by the laser transmitter fixedly installed in the sidewall area of the roadway, and the continuous shearer performs directional cutting work under the guidance of the laser. The ultrasonic ranging sensor, inclination sensor and photoelectric odometer placed in the continuous shearer detect the offset, deflection angle α and pitch angle β of the continuous shearer in real time, and make statistics on the mileage. The pose of the continuous shearer is calculated by the built-in algorithm of the system. The multi-sensor information fusion outputs the feedback adjustment signal to carry out intelligent navigation and directional adjustment control of the continuous shearer by establishing a communication connection with the main system of the continuous shearer.

To achieve the above object, the present invention adopts the following technical solutions:

A continuous mining machine navigation and positioning system based on multi-sensor information fusion, including a laser orientation guidance part of a dual laser transmitter and a single laser receiver, and an offset composed of an ultrasonic ranging sensor, an inclination sensor, and a photoelectric odometer. , Attitude angle measurement, real-time detection part of mileage statistics.

The dual laser transmitters are two independent laser transmitters, which are respectively fixed and placed in the roadway at a certain distance Xmm from both sides of the roadway.

Further, when the distance between the continuous shearer and the sidewall on any side is within the area of Ymm, the laser transmitter in the side area emits laser light towards the standard direction of the continuous shearer working and cutting the roadway, and the continuous mining machine for directional navigation.

The single laser receiver is installed in the box and fixedly installed in the middle position on the upper side of the rear side frame of the continuous miner to receive the laser light emitted by the laser transmitter. The horizontal laser receiving range of the single laser receiver is 200mm. , the laser receiver navigates and orients the continuous miner within the range of the received laser.

There are eight ultrasonic ranging sensors, which are respectively arranged on both sides of the continuous mining machine, four on each side, and are arranged in a rectangular form on the side end of the continuous mining machine.

Further, each ultrasonic ranging sensor measures the distance from the location of the sensor to the sidewall of the roadway, and detects the offset of the continuous miner in real time.

Further, the data measured by each ultrasonic sensor ranging sensor is used to calculate the roll and yaw attitude angles of the continuous miner using the built-in algorithm of the system. The solution process of the solution algorithm is as follows:

(1) Establish a coordinate system, take the direction of the central axis of the standard roadway as the X-axis direction of the coordinate system, the lateral direction of the roadway is the Y-axis direction of the coordinate system, the vertical direction of the roadway is the Z-axis direction of the coordinate system, and the Y-axis direction of the coordinate system The axis and Z axis form the YOZ plane, the X axis and the Y axis of the coordinate system form the XOY plane, and each variable data that can be measured by the sensor is set. for d_i(i=1~8) d₁, d₂, d₃, d₄, d₅, d₆, d₇, d₈, the distance is a space vector, the measurement accuracy of these data is ±9mm, the distance between the sensors in the vertical direction is H, the lateral distance of the sensor is B, the pitch angle and yaw angle measured by the tilt sensor are the angle β, angle γ;

(2) To find the deflection angle γ, first use the distances measured by the ultrasonic ranging sensor to find the projection distance d _i ^' of each distance on the YOZ plane, and multiply the actual measured distance d _i (i=1~8) by Taking the angle φ between the space distance vector and the YOZ surface, the angle φ between the space vector distance and the YOZ surface is based on the difference between the distance between the front and rear sensors at the same level and the difference between the front and rear sensor space vector distance. The relationship between the two is obtained, each projection distance is obtained, the relationship between the projection distance and other relevant distances is established, and the deflection angle γ of the continuous shearer is calculated. The solution process is as follows:

The angle φ between the space distance vector and the YOZ surface is:

i in the above formulas takes i=2, 4, 6, 8, and finally the deflection attitude angle of the continuous shearer is obtained as:

In practice, the data measured by the ultrasonic ranging sensor can be used to calculate the deflection angle of the continuous shearer four times. In theory, the results of the four times should be exactly the same, considering the error Because of the reason, we take the average value of four calculations as the system output value of the attitude deflection angle of the continuous shearer;

(3) To find the roll angle α, first use each distance measured by the ultrasonic ranging sensor to find the projection distance d of each distance on the XOY plane_i ^＇＇, using the actual measured distance d_i(i=1~8) d₁, d₂, d₃, d₄, d₅, d₆, d₇, d₈, multiplied by the angle θ between the space distance vector and the XOY surface, the angle θ between the space vector distance and the XOY surface is based on the relationship between the distance between the adjacent upper and lower sensors and the difference between the space vector distances of the two sensors Obtained, the obtained projection distances are used to calculate the roll angle α of the continuous shearer, and the solution process is as follows:

The angle θ between the space distance vector and the XOY plane is:

i in the above formulas takes i=2, 3, 6, 7, and finally the roll attitude angle of the continuous shearer is obtained as:

In practice, the data measured by the ultrasonic ranging sensor can be used to solve the roll angle of the whole machine in the attitude angle of the continuous shearer four times. The reason for the error, we take the average value of four calculations as the system output value of the roll attitude angle of the continuous shearer.

The ultrasonic ranging sensor measures the offset of the continuous shearer in all directions.

The photoelectric odometer is installed on the crawler walking system on both sides of the continuous shearer, and the mileage statistics can be directly realized during the working process of the continuous shearer. in the system.

The inclination sensor is arranged in the box where the laser receiver is installed, and the inclination sensor is a two-axis sensor, which can realize the real-time auxiliary measurement of the pitch angle β and the deflection angle γ of the continuous shearer.

The system method and principle of the present invention are as follows:

The invention provides a continuous mining machine navigation and orientation system based on multi-sensor information fusion. The realization method and principle of the system are as follows: when the continuous mining machine is cutting, it moves forward, and when the continuous mining machine approaches the roadway When it is within the range of Ymm on either side of the side rail, the laser transmitter fixedly installed in the area near the side rail of the roadway emits laser light. At this time, the laser receiver installed in the middle position above the rear side frame of the continuous shearer receives the laser emission from the The laser receiver has a laser receiving range of 200mm. After the laser receiver receives the signal of the laser, a command is given to the control system of the continuous shearer, so that the continuous shearer can realize the Navigation and orientation of continuous miner. When it deviates from the range of Ymm on both sides of the roadway, both the laser transmitter and the laser receiver stop working. The ultrasonic ranging sensor, inclination sensor, and photoelectric odometer are all in working condition during the whole working process of the continuous miner. The offset of the continuous shearer can be measured in real time, and the offset and the posture of the whole machine can be measured and transmitted in real time. The ultrasonic ranging sensors arranged on both sides of the continuous shearer can detect the vector distance from the location of the sensor to the roadway in real time. Carry out the calculation, and calculate the roll angle α and deflection angle γ of the shearer. The inclination sensor assists in the measurement of the pitch angle β and the deflection angle γ of the continuous shearer, and the photoelectric odometers arranged on both sides of the crawler walking system count the mileage of the continuous shearer. Finally, the information from multiple sensors The fusion output feedback signal establishes a communication connection with the main system of the continuous shearer, and performs corresponding adjustment and navigation directional control of the continuous shearer.

The present invention has the following advantages:

(1) When the distance between the two sides of the roadway is within the range of Ymm, it can accurately navigate and orient the roadway forming process of the continuous shearer, and has the function of real-time measurement and transmission of equipment offset, the detection accuracy is ±9mm, and the resolution is 3mm. , has the function of real-time detection and transmission of equipment attitude angle, the detection accuracy of each attitude angle is ±0.3°, the system detection error does not need manual correction and calibration, and has high lane forming accuracy, forming accuracy ±10cm/50m ;

(2) When it deviates from the range of Ymm on both sides of the roadway, both the laser transmitter and the laser receiver stop working, and the ultrasonic ranging sensor, inclination sensor and photoelectric odometer are in working condition during the whole working process of the continuous miner. , Real-time measurement of the offset of the continuous shearer, calculation of the attitude angle, and statistics of the mileage. The offset detection accuracy is ±10cm, the resolution is 3cm, and the detection accuracy of the roll angle and pitch angle is ±0.3 °, the detection accuracy of deflection angle is ±2.5°;

(3) The mileage of the continuous miner can be counted. It can be adjusted and installed according to the actual situation, and the implementation and operability are strong.

Description of drawings

Fig. 1 is a schematic diagram of the general layout of a continuous mining machine navigation and positioning system based on multi-sensor information fusion of the present invention;

FIG. 2 is a schematic diagram of the lateral movement working state of a continuous mining machine navigation and positioning system based on multi-sensor information fusion according to the present invention;

Fig. 3 is a schematic diagram of the left and right sides of the roadway with a Ymm range of deviation of a continuous shearer navigation and positioning system based on multi-sensor information fusion according to the present invention;

Fig. 4 is a schematic diagram of a continuous mining machine navigation and positioning system based on multi-sensor information fusion in the range of Ymm on the left side of the roadway;

FIG. 5 is a schematic diagram of a continuous mining machine navigation and positioning system based on multi-sensor information fusion in the range of Ymm on the right side of the roadway.

Among them, 1-8 ultrasonic ranging sensors, 9, 10 laser emission sensors, 11 laser receiving sensors, 12 inclination sensors, 13, 14 photoelectric odometers, 15 continuous shearers, 16 right side side of roadway, 17 roadway left Side side help, 18 right laser, 19 left laser.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings 1-5 in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, any modifications, equivalent replacements, improvements, etc., should be included in the protection scope of the present invention. Inside.

Referring to Fig. 1 to Fig. 5, a continuous mining machine navigation and positioning system based on multi-sensor information fusion of the present invention will be described in detail. A continuous mining machine navigation and positioning system based on multi-sensor information fusion of the present invention is mainly applicable to The navigation and positioning of the continuous shearer in the roadway cutting operation is not limited to the navigation and positioning of the continuous shearer.

As shown in Figures 1 to 5, ultrasonic ranging sensors (1-8) are respectively arranged on both sides of the continuous shearer (15) close to the left and right sidewalls (16, 17) of the roadway, and the laser emission sensor (9) ) and the laser emission sensor (10) are respectively installed at Xmm positions away from the left and right sidewalls (16, 17) of the roadway, and the laser receiving sensor (11) and the inclination sensor (12) are installed in the continuous shearer (15) The photoelectric odometers (13, 14) are respectively installed on the left and right crawler walking systems of the continuous shearer (15) in the middle position above the rear side frame of the The left and right lasers (18, 19) are respectively.

During the cutting operation of the continuous shearer (15), the corresponding lateral movement will be carried out in the lateral width of the roadway, and the longitudinal direction of the roadway will also be pushed forward accordingly. When the side (16, 17) is near (in the range of Ymm), the laser emission sensor (9, 10) located on the side starts to emit laser (18, 19) to cut the continuous shearer (15) For navigation and orientation guidance, within the entire width of the roadway, the ultrasonic ranging sensors (1-8), the inclination sensor (12), and the photoelectric odometer (13, 14) are all in working condition.

When the continuous shearer (15) deviates from the left and right sides of the roadway (16, 17) (Ymm range), the laser light emitted by the laser emission sensors (9, 10) cannot be projected to the laser receiving sensor of the continuous shearer (11), the laser navigation system stops working at this time, and the eight ultrasonic sensors (1-8) installed on both sides of the continuous mining machine detect the left and right side edges (16) of the continuous mining machine (15) relative to the roadway. , 17) (the working accuracy of the ultrasonic sensor has been verified in the well), after the information collected by the 8 ultrasonic sensors (1-8) is calculated by the system algorithm, the continuous miner (15) can be obtained. ) of the fuselage pose information, the solution algorithm solution process is as follows:

(1) Establish a coordinate system, take the direction of the central axis of the standard roadway as the X-axis direction of the coordinate system, the lateral direction of the roadway is the Y-axis direction of the coordinate system, the vertical direction of the roadway is the Z-axis direction of the coordinate system, and the Y-axis direction of the coordinate system The axis and the Z axis constitute the YOZ plane, and the X axis and the Y axis of the coordinate system constitute the XOY plane. Set each variable data that can be measured by the sensor, and take the distance to the side of the roadway measured by each number of ultrasonic ranging sensors (1-8) as d respectively_i(i=1~8) d₁, d₂, d₃, d₄, d₅, d₆, d₇, d₈, the distance is a space vector, the measurement accuracy of these data is ±9mm, the distance between the sensors in the vertical direction is H, the lateral distance of the sensor is B, the pitch angle and yaw angle measured by the tilt sensor are the angle β, angle γ;

(2) To find the deflection angle γ, first use the distances measured by the ultrasonic ranging sensor (1-8) to find the projection distance d _i ^' of each distance on the YOZ plane, and use the actual measured distance d _i (i= 1~8) Multiply the angle φ between the space distance vector and the YOZ surface, and the angle φ between the space vector distance and the YOZ surface is composed of the difference between the distance between the front and rear sensors at the same level and the space vector distance between the front and rear sensors. The relationship between the sides of the triangle is obtained, each projection distance is obtained, the relationship between the projection distance and other relevant distances is established, and the deflection angle γ of the continuous shearer is calculated. The solution process is as follows:

The angle φ between the space distance vector and the YOZ surface is:

i in the above formulas takes i=2, 4, 6, 8, and finally the deflection attitude angle of the continuous shearer (15) is obtained as:

In practice, the data measured by the ultrasonic ranging sensors (1-8) can be used to solve the deflection angle of the continuous shearer (15) four times. Ideally, four times The results should be exactly the same. Considering the reason for the error, we take the average value of four calculations as the system output value of the attitude deflection angle of the continuous shearer (15);

(3) To find the roll angle α, first use the distances measured by the ultrasonic ranging sensor (1-8) to find the projection distance d of each distance on the XOY plane_i ^＇＇, using the actual measured distance d_i(i=1~8) d₁, d₂, d₃, d₄, d₅, d₆, d₇, d₈, multiplied by the angle θ between the space distance vector and the XOY surface, the angle θ between the space vector distance and the XOY surface is based on the relationship between the distance between the adjacent upper and lower sensors and the difference between the space vector distances of the two sensors Obtained, the obtained projection distances are used to calculate the roll angle α of the continuous shearer (15), and the solution process is as follows:

The angle θ between the space distance vector and the XOY plane is:

i in the above formulas takes i=2, 3, 6, 7, and finally the roll attitude angle of the continuous shearer (15) is obtained as:

In practice, the data measured by the ultrasonic ranging sensors (1-8) can be used to solve the roll angle of the continuous shearer (15) four times. In an ideal state, four times The solution results should be exactly the same. Considering the reason for the error, we take the average value of four calculations as the system output value of the roll attitude angle of the continuous shearer (15).

When the continuous shearer (15) is on the left side (17) of the roadway (within the range of Ymm on the left side of the roadway), the laser light (19) emitted by the laser emission sensor (9) can be used by the continuous shearer (15) The laser receiving sensor (11) on the upper part of the roadway receives the reception, and the continuous shearer (15) can navigate under the guidance of the laser emission sensor (9). The positioning accuracy is ±5cm.

When the continuous shearer (15) is working near the right side (16) of the roadway (within a range of Ymm from the right side), the laser light (18) emitted by the laser emission sensor (10) can be used by the continuous shearer (15). ) received by the laser receiving sensor (11) on the The positioning accuracy of the right side help (16) is ±5cm.

The installation positions of the laser emission sensor (9) and the laser emission sensor (10) are fixed, and respectively ensure the positioning accuracy of the continuous shearer (15) on the left and right sides (16, 17) of the excavation roadway It is ±5CM, so under the guidance of the dual laser emission sensors (9, 10), the section forming accuracy of the entire roadway can be guaranteed to be ±10cm.

The above is a description of the effective embodiments of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection of the present invention. within the range.

Claims (6)

1. a continuous mining machine navigation and positioning system based on multi-sensor information fusion, is characterized in that: the continuous mining machine navigation and positioning system is based on the laser orientation guidance of dual laser transmitters and single laser receivers , a continuous mining machine navigation and positioning system supplemented by ultrasonic sensors, inclination sensors, and photoelectric odometers for position and attitude calculation, offset measurement, mileage statistics and feedback adjustment mechanisms, and multi-sensor information fusion centralized output The signal of the machine establishes a communication connection with the main machine control system of the shearer to carry out intelligent navigation and positioning control of the continuous shearer. 2. The dual-laser transmitter and the single-laser receiver according to claim 1, wherein the dual-laser transmitter is two lasers that are respectively fixed and arranged at a certain distance Xmm from the left and right sides of the roadway Transmitter, single laser receiver is a laser signal receiver installed in the box and arranged together with the box in the middle position on the rear frame of the continuous shearer. The horizontal laser receiving range of the laser receiver is 200mm (depending on use Corresponding adjustment is required), the position distance X of the two laser transmitters fixed in the roadway can be determined by the continuous shearer when the front drum is close to the side of the roadway, the laser emitted by the laser transmitter irradiates the laser receiver. The middle position of the laser is determined. 3. The dual laser transmitter and single laser receiver according to claim 2, it is characterized in that: when the side of the continuous shearer is within the range of Ymm from any side of the roadway (the Y value is determined by the width of the roadway and the The width of the continuous shearer is determined by the width of the continuous shearer), the laser emission sensor located in the side side area emits laser light, and the laser receiver located in the upper and middle position of the rear side frame of the continuous shearer receives the laser signal emitted by the laser transmitter, and the continuous The shearer performs navigation and directional cutting along the direction of the laser signal, and the forming accuracy of the single-sided roadway section can reach ±5cm/50m. The laser orientation system composed of the laser receiver and the laser receiver stops working. 4. The position and attitude calculation, offset measurement, mileage statistics and feedback adjustment mechanism of an ultrasonic ranging sensor, an inclination sensor, and a photoelectric odometer according to claim 1, wherein the ultrasonic sensor is characterized in that: There are 8 distance sensors, which are arranged on both sides of the continuous miner, and each side is arranged in a rectangular shape with 4 ultrasonic distance sensors. The distance and offset between the position of the sensor on the side of the continuous shearer and the side of the roadway are detected in real time. There is a total of one inclination sensor, which is installed in the box equipped with the laser receiver to measure the pitch angle of the continuous shearer. β and deflection angle γ are measured. There are two photoelectric odometers, which are respectively arranged on the crawler walking system on both sides of the continuous shearer. The internal calculation algorithm of the system performs calculation and analysis to obtain the roll angle α and deflection angle γ attitude angle of the continuous shearer, and real-time detection and real-time transmission of the attitude and position of the continuous shearer during the working process. The detection accuracy is ±9mm, the resolution is 3mm, and the detection accuracy of the attitude angle is ±0.3°; when it deviates from the roadway Ymm, the distance detection accuracy is ±10cm, the resolution is 3cm, the detection accuracy of the roll angle is ±0.3°, and the pitch angle is ±0.3°. The detection accuracy is ±0.3°, and the deflection angle is ±2.5°. 5. according to the ultrasonic ranging sensor described in claim 4, inclination sensor, it is characterized in that photoelectric odometer is characterized in that: described system internal solution algorithm, its concrete solution solution method and step are: (1) Establish a coordinate system, take the direction of the central axis of the standard roadway as the X-axis direction of the coordinate system, the lateral direction of the roadway is the Y-axis direction of the coordinate system, the vertical direction of the roadway is the Z-axis direction of the coordinate system, and the Y-axis direction of the coordinate system The axis and Z axis form the YOZ plane, the X axis and the Y axis of the coordinate system form the XOY plane, and each variable data that can be measured by the sensor is set, and the distance to the side of the roadway measured by the ultrasonic ranging sensor of each number is respectively is d _i (i=1~8)d ₁ , d ₂ , d ₃ , d ₄ , d ₅ , d ₆ , d ₇ , d ₈ , the distance is a space vector, the distance between sensors in the Y-axis direction is H, the distance in the X-axis direction of the sensor is B, and the pitch angle and yaw angle measured by the tilt sensor are the angle β and the angle γ; (2) To find the deflection angle γ, first use the distances measured by the ultrasonic ranging sensor to find the projection distance d _i ^' of each distance on the YOZ plane, and multiply the actual measured distance d _i (i=1~8) Taking the angle φ between the space distance vector and the YOZ surface, the angle φ between the space vector distance and the YOZ surface is based on the distance between the front and rear sensors at the same level and the difference between the front and rear sensors. The relationship between the two is obtained, each projection distance is obtained, the relationship between the projection distance and other relevant distances is established, and the deflection angle γ of the continuous shearer is calculated. The solution process is as follows:

The angle φ between the space distance vector and the YOZ surface is:

i in the above formulas takes i=2, 4, 6, 8, and finally the deflection attitude angle of the continuous shearer is obtained as:

In practice, the data measured by the ultrasonic ranging sensor can be used to solve the deflection angle of the continuous shearer four times. Ideally, the results of the four solutions should be exactly the same. Because of the reason, we take the average value of four calculations as the system output value of the attitude deflection angle of the continuous shearer; (3) To find the roll angle α, first use the distances measured by the ultrasonic ranging sensor to find the projection distance d _i ^'' of each distance on the XOY plane, and use the actual measured distance d _i (i=1~8 )d ₁ , d ₂ , d ₃ , d ₄ , d ₅ , d ₆ , d ₇ , d ₈ , multiply by the angle θ between the space distance vector and the XOY plane, and the angle θ between the space vector distance and the XOY plane is based on The relationship between the distance between the adjacent upper and lower sensors and the difference between the space vector distances of the two sensors is obtained. The obtained projection distances are used to calculate the roll angle α of the continuous miner, and the solution process is solved. as follows:

The angle θ between the space distance vector and the XOY plane is:

i in the above formulas takes i=2, 3, 6, 7, and finally the roll attitude angle of the continuous shearer is obtained as:

In practice, the data measured by the ultrasonic ranging sensor can be used to solve the roll angle of the whole machine in the attitude angle of the continuous shearer four times. The reason for the error, we take the average value of four calculations as the system output value of the roll attitude angle of the continuous shearer; The ultrasonic ranging sensor measures the offset of the continuous shearer; The photoelectric odometer performs statistical records on the driving mileage of the coal shearer during the working process of the continuous shearer, which is recorded as mileage S; The inclination sensor performs corresponding auxiliary measurements on the pitch angle β and the yaw angle γ of the continuous shearer. 6. according to the position and attitude calculation algorithm in the system that the ultrasonic ranging sensor and the inclination sensor are formed according to claim 5, it is characterized in that: the data obtained by the calculation of the position and attitude calculation algorithm is along with the continuous shearer. It is updated in real time according to the change of the working state, and realizes the communication connection with the control system of the continuous shearer main engine, carries out intelligent navigation and orientation control of the continuous shearer, and controls the offset and attitude angle of the continuous shearer. Real-time detection and adjustment instructions are made to guide the directional cutting of the continuous shearer.

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