CN114593730A - A positioning and navigation system - Google Patents

Abstract

The invention provides a positioning and navigation system for coal mining, including a positioning system, a navigation system, a working condition monitoring system and an automatic motion system. The positioning system is connected with the navigation system and the automatic motion system, and the positioning system monitors and locates the shearer in real time. The navigation system is connected with the working condition monitoring system, the positioning system and the automatic motion system. The navigation system guides the movement of the shearer and also predicts the working condition of the shearer in real time for a period of time in the future; the working condition monitoring system monitors the coal mining in real time. The working condition of the machine is connected, and the working condition monitoring system is connected with the automatic operation system and the navigation system; the automatic operation system is connected with the positioning system, the navigation system and the working condition monitoring system. The positioning system, the navigation system, the working condition monitoring system and the automatic motion system of the present invention cooperate to ensure the unmanned working face coal mining operation of the shearer.

Description

A positioning and navigation system

technical field

The invention relates to the field of coal mining equipment automation systems, in particular to a positioning and navigation system.

Background technique

The automation system of coal mining equipment refers to the automatic control system of the operating parameters and operating attitude of the shearer. Working face coal mining.

The shearer automation system usually includes the constant power automatic speed regulation system, the automatic height adjustment system, the working condition monitoring system, the fault diagnosis and the positioning and navigation system.

In order to improve the stability of unmanned face coal mining, it is urgent to design a positioning and navigation system for coal mining.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a positioning and navigation system for coal mining, which can locate in real time and navigate the shearer to a set position according to the positioning data, so as to improve the precision and accuracy of automatic coal mining.

The technical scheme that realizes the object of the present invention is as follows:

A positioning and navigation system for coal mining, comprising:

a positioning system, the positioning system is connected with the navigation system and the automatic motion system, and the positioning system monitors and locates the position of the shearer in real time;

Navigation system, the navigation system is connected with the working condition monitoring system, the positioning system and the automatic movement system, the navigation system also predicts the work of the shearer in real time while guiding the movement of the shearer situation;

a working condition monitoring system, the working condition monitoring system monitors the working condition of the shearer in real time, and the working condition monitoring system is connected with the automatic operation system and the navigation system;

The automatic movement system is connected with the positioning system, the navigation system and the working condition monitoring system.

As a further improvement of the present invention, it also includes:

A fault diagnosis system, the fault diagnosis system diagnoses the fault cause of the shearer in real time, and the fault diagnosis system sends the fault cause to the working condition monitoring system in real time.

As a further improvement of the present invention, it also includes:

A server, the server is connected with the positioning system, the navigation system, the working condition monitoring system and the automatic motion system, and the server runs a positioning and navigation method.

As a further improvement of the present invention, the positioning and navigation method includes a positioning method and a navigation method, the positioning method is matched with the positioning system, and the navigation method is matched with the navigation method.

As a further improvement of the present invention, the positioning method includes:

(1) Build the three-dimensional model of the shearer and the dynamic compensation model of the shearer;

(2) Receive the three-dimensional position information of the fuselage collected in real time by the high-precision inertial navigation equipment and the two-dimensional position information of the cutting mechanism collected in real time by the positioning module;

(3) Inputting the three-dimensional position information of the fuselage into the three-dimensional model of the shearer to obtain the virtual position information of the cutting mechanism;

(4) Inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the shearer to obtain the real-time state parameters and virtual state parameters of the cutting mechanism;

(5) adjusting the three-dimensional model of the shearer based on the difference between the real-time state parameter and the virtual state parameter, and obtaining the three-dimensional positioning information of the shearer in the three-dimensional model of the shearer;

Among them: build a three-dimensional model of the shearer, including:

(11) Obtaining three-dimensional environmental data around the shearer;

(12) based on the three-dimensional environment data, extracting the outline of the reference object around the shearer;

(13) matching the profile of the reference object with pre-collected coal seam information and roadway information;

(14) Build a three-dimensional model of the shearer according to the matching results.

Among them: build a shearer dynamic compensation model, including:

(15) Build a quantitative compensation model based on a nonlinear system;

(16) Collecting compensation data and non-compensation data in at least three dimensions of the shearer, manually marking and expanding the compensation data by machine to obtain extended compensation parameters;

(17) training a quantitative compensation model based on extended compensation parameters;

(18) Validation of the quantitative compensation model using compensated and uncompensated data.

As a further improvement of the present invention, the navigation method includes:

(a) Collect real-time start data and end point data of the shearer;

(b) constructing at least one shearer movement path according to real-time start data and end point data;

(c) Obtain an optimal motion path;

(d) collecting the motion information of the shearer moving along the optimal motion path in real time;

(e) correcting the optimal motion path in real time according to the motion information;

Among them: collecting real-time starting data and end-point data of the shearer, including: high-precision inertial navigation equipment installed on the shearer; collecting real-time starting data of the shearer from the high-precision inertial navigation equipment; from the virtual environment of the server Obtain the environmental information around the coal body and the end point data of the shearer;

Among them: the real-time starting data of the shearer is collected from the high-precision inertial navigation equipment, including: the high-precision inertial navigation equipment collects the three-dimensional position information of the shearer in real time; the positioning module collects the two-dimensional position information of the cutting mechanism in real time; Input the three-dimensional position information and two-dimensional position information of the fuselage into the shearer model to obtain the real-time initial data of the shearer;

Wherein: constructing at least one shearer movement path according to real-time start data and end point data, including: fetching roadway information around the shearer and around the coal body; marking the real-time start data and all the roadway information in the roadway information The end point data; if the real-time start data and the end point data are in the same roadway, the real-time start data and the end point data have one and only one shearer motion path, and the shearer motion path is The optimal movement path; if the real-time starting data and the end-point data are located in different roadways, there are multiple shearer movement paths along different roadways for the real-time start data and the end-point data, and coal mining from multiple An optimal motion path is obtained from the motion path of the machine.

As a further improvement of the present invention, the positioning system includes:

The high-precision inertial navigation equipment is installed on the fuselage of the shearer, and collects the three-dimensional position information of the fuselage in real time, and the three-dimensional position information of the fuselage is transmitted to the computer as the first position information through the communication module;

The positioning module, located in the cutting mechanism of the shearer, collects the two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is transmitted to the server as the second position information through the communication module;

Communication module, connected with high-precision inertial navigation equipment, positioning module and server.

As a further improvement of the present invention, the navigation system includes:

an input module, which is used for inputting real-time start data and end point data of the shearer;

a processing module, the processing module constructs at least one movement path of the shearer according to the real-time start data and the end point data, and obtains an optimal movement path, and the processing module is connected with the input module and the acquisition module;

Collection module, the collection module collects the movement information of the shearer moving along the optimal movement path in real time, the collection module sends the movement information to the processing module in real time, and the processing module also corrects the optimal movement information in real time. optimal movement path.

As a further improvement of the present invention, the working condition monitoring system includes a plurality of sensors, the sensors are connected to the server, and the sensors send sensing signals to the server.

As a further improvement of the present invention, the shearer includes a body, a first cutting mechanism and a second cutting mechanism, the body is located between the first cutting mechanism and the second cutting mechanism, and the automatic movement system includes a machine A body driving unit, a first cutting mechanism driving unit and a second cutting mechanism driving unit.

Compared with the prior art, the beneficial effects of the present invention are:

The positioning system, the navigation system, the working condition monitoring system and the automatic motion system of the present invention cooperate to ensure the unmanned working face of the shearer to mine coal.

Description of drawings

Fig. 1 is the principle block diagram 1 of the positioning and navigation system;

Fig. 2 is the second principle block diagram of the positioning and navigation system;

Fig. 3 is the third principle block diagram of the positioning and navigation system.

Detailed ways

The present invention will be described in detail below with reference to the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments do not limit the present invention. Equivalent transformations or substitutions all fall within the protection scope of the present invention.

Referring to FIG. 1, an embodiment of the present invention provides a positioning and navigation system for coal mining, including a positioning system, a navigation system, a working condition monitoring system and an automatic motion system, the positioning system is connected with the navigation system and the automatic motion system, The positioning system monitors and locates the position of the shearer in real time; the navigation system is connected with the working condition monitoring system, the positioning system and the automatic movement system. The navigation system guides the movement of the shearer and also predicts the working condition of the shearer in real time for a period of time in the future; The working condition monitoring system monitors the working condition of the shearer in real time, and the working condition monitoring system is connected with the automatic operation system and the navigation system; the automatic operation system is connected with the positioning system, the navigation system and the working condition monitoring system.

In most embodiments of the present invention, the positioning system includes high-precision inertial navigation equipment, a positioning module and a communication module. The three-dimensional position information of the body is transmitted to the computer as the first position information through the communication module; the positioning module, located in the cutting mechanism of the shearer, collects the two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is used as the second position information. The second position information is transmitted to the server through the communication module; the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the server.

In most embodiments of the present invention, the navigation system includes an input module, a processing module and an acquisition module, the input module is used for inputting real-time starting data and terminal data of the shearer; the processing module is constructed according to the real-time starting data and terminal data At least one motion path of the shearer, and to obtain an optimal motion path, the processing module is connected with the input module and the acquisition module; the acquisition module collects the motion information of the shearer moving along the optimal motion path in real time, and the acquisition module sends the motion information in real time To the processing module, the processing module also corrects the optimal motion path in real time according to the motion information.

The acquisition module in the embodiment of the present invention transmits data with the high-precision inertial navigation device and the positioning module through the communication module, and the processing module transmits data with the server.

In most embodiments of the present invention, the working condition monitoring system includes a plurality of sensors, the sensors are connected to the server, and the sensors send sensing signals to the server.

In most embodiments of the present invention, the shearer includes a body, a first cutting mechanism and a second cutting mechanism, the body is located between the first cutting mechanism and the second cutting mechanism, and the automatic movement system includes The fuselage driving unit, the first cutting mechanism driving unit and the second cutting mechanism driving unit.

The shearer automatic motion system is an automatic control system for the shearer's operating parameters and operating attitude. The purpose is to improve the adaptability of the shearer to harsh working conditions, reduce failures, improve the operating rate, and then realize the automatic unmanned face coal mining of the whole working face. Shearer automation includes the main contents of constant power automatic speed regulation system, automatic height adjustment system, working condition monitoring system and fault diagnosis.

It should be noted that, in parallel with the shearer automatic motion system, there are constant power automatic speed regulation system, automatic height adjustment system, working condition monitoring system, fault diagnosis system, etc. Among them: the constant power automatic speed regulation system automatically adjusts the traction speed according to the external load acting on the cutting drum, so that the actual average power of the cutting motor is always kept near the rated value, so as to obtain the system that maximizes the machine capacity. It includes a closed-loop control system including the load link. After the load signal is measured from the cutting (main) motor and compared with the rated value, the traction speed is adjusted by the controller. The change of the traction speed causes the load on the cutting drum to change accordingly, and the load power is limited to 95% to 105% of the rated value. %between. The system also has the function of artificially limiting the maximum towing speed. The automatic height adjustment system automatically adjusts the working height of the drum according to the undulating change of the top plate and the bottom plate, so that the drum can maintain the system of cutting along the top and bottom plates. The working environment of the coal mining face is that there is a lot of coal dust, low visibility, and high noise. It is difficult for the operator to accurately judge the cutting state of the drum. It often occurs that the roof and floor rocks are continuously cut to damage the pick or cause other machine parts to fail. , and may also cause the working face to explode due to the generation of sparks. Too thick top coal and bottom coal will reduce the mining height, make it difficult to move the conveyor and support, and reduce the recovery rate. The automatic height adjustment of the shearer drum is composed of an electro-hydraulic servo system for coal-rock boundary recognition and height adjustment. There are three main methods for coal-rock boundary identification: natural γ-ray detection, cutting force guidance and memory digital program control. These three kinds of drum automatic height adjustment systems are all realized through the server. The working condition monitoring system is also called the operating state monitoring system. Online detection of main operating parameters and operating attitude, so that each system of the machine does not deviate from the normal function of the system. When a fault deviates from the normal function, the control system adjusts some operating parameters to restore the normal function. Fault diagnosis determines the location, nature, degree, category, cause, development trend and impact of shearer failures by analyzing the information obtained from working condition monitoring, so as to make control and maintenance decisions.

Generally, a shearer is generally composed of a cutting mechanism, a loading mechanism, a traveling mechanism (traction mechanism), an electric motor, an operation control system and an auxiliary device. The general term for the working mechanism and its mechanical transmission or drive device. When the cutting part is driven by a special motor, the cutting mechanism also includes a cutting motor. The cutting mechanism is a component that directly realizes the main functions of cutting and crushing, and is equipped with picks, which break the coal from the coal body. Next, in order to form the required cutting section shape, the cutting mechanism of some shearers has one or several auxiliary cutting mechanisms in addition to a main cutting mechanism. The mechanical transmission device of the cutting mechanism is used to transmit power to the cutting mechanism to meet the requirements of its movement mode, movement direction and cutting speed. The mechanical transmission device usually adopts gear transmission, and generally cannot change speed during use, but a special speed change gear pair is provided for replacement during installation to meet the requirements of cutting speed. The loading mechanism is a component that loads the coal lumps broken by the cutting mechanism into the working face conveyor. The loading mechanism generally includes a loading assembly and a mechanical transmission. When the loading mechanism has a dedicated motor, including the loading motor, the loading mechanism can also be driven by the mechanical transmission device of the cutting part.

Referring to FIG. 2 , a positioning and navigation system for coal mining according to an embodiment of the present invention includes, in addition to a positioning system, a navigation system, a working condition monitoring system and an automatic motion system, a fault diagnosis system. The fault diagnosis system is real-time Diagnose the failure cause of the shearer, and the failure diagnosis system sends the failure cause to the working condition monitoring system in real time.

The basic links of the shearer fault diagnosis process include: ①On-line detection of operating parameters. Vibration, force, torque, power, displacement, temperature, etc. of dynamic processes can be used as monitoring and diagnostic signals. Online detection reflects the most sensitive physical quantity of fault symptoms as the characteristic signal of this parameter. ②Characteristic signal analysis. The collected operating parameter characteristic signals are preprocessed by filtering, smoothing, and boundary determination, and then conduct inductive analysis. Such as amplitude domain analysis, frequency domain analysis, statistical analysis, time series analysis, etc. ③ Feature quantity selection. The mode vector is formed by selecting the feature quantity that has strong correlation to the working condition and is sensitive to the state near the boundary between classes. And strive to compress the spatial dimension. ④ Status recognition. According to the characteristic parameters, referring to a certain specification, and using various knowledge and experience, the state of the equipment is identified and diagnosed, and a discriminant function D and a prescribed discriminant criterion are established. ⑤ Fault classification and decision-making. The operating conditions are classified in real time according to the discriminant function. When the operation is normal, the computer sends out instructions and the shearer continues to run. If a failure occurs, the computer will analyze the failure in real time, display the analysis results and make maintenance decisions, or issue an alarm signal, or issue a shutdown instruction.

Referring to FIG. 3 , a positioning and navigation system for coal mining according to an embodiment of the present invention includes, in addition to a positioning system, a navigation system, a working condition monitoring system, an automatic motion system and a fault diagnosis system, a server, and the server and the The positioning system, the navigation system, the working condition monitoring system and the automatic motion system are connected, and the server runs with a positioning and navigation method. The positioning and navigation method includes a positioning method and a navigation method, the positioning method is matched with the positioning system, and the navigation method is matched with the navigation method.

Among them, the positioning methods include:

(1) Build the three-dimensional model of the shearer and the dynamic compensation model of the shearer;

(2) Receive the three-dimensional position information of the fuselage collected in real time by the high-precision inertial navigation equipment and the two-dimensional position information of the cutting mechanism collected in real time by the positioning module;

(3) Input the three-dimensional position information of the fuselage into the three-dimensional model of the shearer to obtain the virtual position information of the cutting mechanism;

(4) Input the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the shearer, and obtain the real-time state parameters and virtual state parameters of the cutting mechanism;

(5) Adjusting the three-dimensional model of the shearer based on the difference between the real-time state parameters and the virtual state parameters, and obtaining the three-dimensional positioning information of the shearer in the three-dimensional model of the shearer;

(1) The high-precision inertial navigation device of the embodiment of the present invention can locate the fuselage in real time. However, the cutting mechanism will move relative to the fuselage during the working process of the shearer, which causes the high-precision inertial navigation device to be unable to accurately locate the shearer. For the cutting mechanism, the invention utilizes the dynamic compensation model of the shearer to compensate the positioning information of the high-precision inertial navigation equipment, thereby improving the positioning accuracy of the shearer. (2) The high-precision inertial navigation device of the embodiment of the present invention is matched with an inertial navigation system, the three-dimensional model of the shearer can be embedded in the inertial navigation system, and the shearer positioning information input in the inertial navigation system is the compensation in the three-dimensional model of the shearer 3D positioning information. (3) In the embodiment of the present invention, several positioning points are selected under the same coordinates, and the positioning points are used as marking points to obtain the position information of the cutting mechanism, and the position information of the cutting mechanism is used to compensate the positioning error of the high-precision inertial navigation module to realize coal mining. real-time positioning of the machine in the coal seam environment.

Among them: build a three-dimensional model of the shearer, including:

(11) Obtaining three-dimensional environmental data around the shearer;

(12) Based on the three-dimensional environmental data, extract the contour of the reference object around the shearer;

(13) Match the contour of the reference object with the coal seam information and roadway information collected in advance;

(14) Build a three-dimensional model of the shearer according to the matching results.

Among them: build a shearer dynamic compensation model, including:

(15) Build a quantitative compensation model based on a nonlinear system;

(16) Collect the compensation data and non-compensation data of at least three dimensions of the shearer, manually mark and expand the compensation data by the machine, and obtain the expanded compensation parameters;

(17) training a quantitative compensation model based on extended compensation parameters;

(18) Validation of the quantitative compensation model using compensated and uncompensated data.

Among them, the three-dimensional position information of the fuselage collected in real time by the high-precision inertial navigation equipment is received, including:

Install high-precision inertial navigation equipment on the fuselage of the shearer;

The high-precision inertial navigation equipment collects the three-dimensional position information of the fuselage in real time;

The high-precision inertial navigation equipment sends the three-dimensional position information of the fuselage to the server through the communication module;

The server receives the three-dimensional position information of the body.

Among them, receiving the two-dimensional position information of the cutting mechanism collected in real time by the positioning module includes:

Select the reference point based on the high-precision inertial navigation equipment on the shearer, and use the reference point as the coordinate point to construct the coordinates;

Select or add several positioning points on the cutting mechanism of the shearer;

Monitor several positioning points in real time, and determine the real-time coordinate points of several positioning points based on the coordinates;

All real-time coordinate points are connected to form the real-time contour of the cutting mechanism;

The positioning module determines the two-dimensional position information of the cutting mechanism according to the real-time contour.

The virtual position information of the cutting mechanism is obtained by inputting the three-dimensional position information of the fuselage into the three-dimensional model of the shearer, including:

Input the shearer's speed, position attitude and traveling direction in the 3D position information of the fuselage into the 3D model of the shearer;

Input the current mining depth, shearer track position, coal pillar thickness and coal seam thickness in the 3D position information of the fuselage into the 3D model of the shearer;

Based on the shearer's speed, position, attitude and travel direction, as well as the current mining depth, shearer track position, coal pillar thickness, and coal seam thickness, the position parameters and volume parameters of the current cutting coal block are calculated;

According to the position parameters and volume parameters of the cutting coal block, the virtual position information of the cutting mechanism is simulated.

Among them, the two-dimensional position information and the virtual position information of the cutting mechanism are input into the dynamic compensation model of the shearer, and the real-time state parameters and virtual state parameters of the cutting mechanism are obtained, including:

Extracting the two-dimensional virtual information corresponding to the two-dimensional position information from the virtual position information of the cutting mechanism;

Input the two-dimensional position information into the shearer dynamic compensation model to obtain the real-time state parameters of the cutting mechanism;

Input the two-dimensional virtual information into the shearer dynamic compensation model to obtain the virtual state parameters of the cutting mechanism.

Among them, the three-dimensional model of the shearer is adjusted based on the difference between the real-time state parameters and the virtual state parameters, and the three-dimensional positioning information of the shearer is obtained in the three-dimensional model of the shearer, including:

Corresponding real-time state parameters and virtual state parameters one by one;

Calculate the deviation of each parameter;

Obtain the relative error of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation;

Compensate the maximum positioning error of the shearer's position and attitude in the three-dimensional model of the shearer according to the relative error, and obtain the compensated three-dimensional positioning information of the shearer;

According to the three-dimensional positioning information of the shearer after compensation, the three-dimensional positioning information of the shearer is obtained.

Among them, the navigation methods include:

(a) Collect real-time start data and end point data of the shearer;

(b) constructing at least one shearer movement path according to real-time start data and end point data;

(c) Obtain an optimal motion path;

(d) Collect the motion information of the shearer moving along the optimal motion path in real time;

(e) correcting the optimal motion path in real time according to the motion information;

The above-mentioned collection of real-time starting data and end-point data of the shearer includes: installing high-precision inertial navigation equipment on the shearer; collecting real-time starting data of the shearer from the high-precision inertial navigation equipment; collecting data from the virtual environment of the server Obtain the environmental information around the coal body and the end point data of the shearer;

The above-mentioned collection of real-time initial data of the shearer from the high-precision inertial navigation equipment includes: the high-precision inertial navigation equipment collects the three-dimensional position information of the shearer in real time; the positioning module collects the two-dimensional position information of the cutting mechanism in real time; Input the three-dimensional position information and two-dimensional position information of the fuselage into the shearer model to obtain the real-time initial data of the shearer;

The shearer model of the embodiment of the present invention includes a three-dimensional model of the shearer and a dynamic compensation model of the shearer. The three-dimensional model of the shearer and the dynamic compensation model of the shearer are constructed in the server, and the three-dimensional model of the shearer is based on the Built on an inertial navigation platform. In the dynamic compensation model of the shearer in the embodiment of the present invention, each compensation parameter is completed through training and learning. The training and learning of the dynamic compensation model of the shearer is based on the learning of the environmental characteristics of the minimum deviation range. When the virtual position of the cutting mechanism is observed on the three-dimensional model of the shearer, the fuselage, coal seam, roadway, and excavation amount of the shearer are There is a relatively complex nonlinear relationship between the vectors of the amount of coal cut. The goal of discriminative learning is to reduce the number of misclassifications by minimizing the average cost function, (1) define the discriminant function (2) define the misclassification measure (3) define the cost function (4) the average cost function (5) the average cost function minimize. In this way, the environmental features can be iteratively optimized continuously along the gradient descent of the average cost function. After the deviation feature is estimated, the deviation position of the cutting mechanism can be estimated on this basis, and the estimated deviation position can be used for training and identification.

The high-precision inertial navigation device of the embodiment of the present invention is equipped with a high-precision closed-loop fiber optic gyroscope and an accelerometer. Considering that the high-precision inertial navigation device is equipped with an inertial navigation system, the inertial navigation system is embedded with an inertial navigation algorithm, which plays an important role in the coal mine guide navigation. Even millimeter-level positioning.

Specifically, constructing a three-dimensional model of the shearer includes: acquiring the three-dimensional environment data around the shearer; extracting the contour of the reference object around the shearer based on the three-dimensional environment data; comparing the contour of the reference object with pre-collected coal seam information and roadway information Match; build a three-dimensional model of the shearer according to the matching results.

The three-dimensional environment data in the embodiment of the present invention is scanned by a high-definition camera. High-definition cameras select high-precision and high-resolution cameras that can be used in explosive gas environments. The coal seam information and roadway information collected in advance in the embodiment of the present invention are firstly based on the coal seam information explored in the coal mine. The information includes the layer structure of the coal seam, coal type, coal quality and changes, coal seam occurrence, faults with a drop greater than 20m, and so on. The outline of the reference object in the embodiment of the present invention includes but is not limited to the head of the shearer, the tail of the shearer, the front drum of the shearer, the rear drum of the shearer, the shovel plate, the roadway support, and the scraper conveying of the shearer machine and so on.

Specifically, constructing a dynamic compensation model for a shearer includes: constructing a quantitative compensation model based on a nonlinear system; collecting compensation data and non-compensation data in at least three dimensions of the shearer, manually marking and expanding the compensation data by machine to obtain extended compensation parameters ; Train quantitative compensation models based on extended compensation parameters; Validate quantitative compensation models with compensated and uncompensated data.

Because there is a relatively complex nonlinear relationship among the vectors of shearer fuselage, coal seam, roadway, excavation amount, and cutting amount of coal lumps, each variable forming the nonlinear relationship constitutes a nonlinear system, which is constructed according to the nonlinear system. Quantitative Compensation Model.

The compensation data of the above-mentioned shearer in at least three dimensions includes shearer hydraulic system data, shearer sprocket chain tension data, shearer drum swing hydraulic data, roadway direction data and roadway bottom surface flatness data. The above-mentioned non-compensated data of the shearer includes the size data of the shearer itself, the data of each component of the shearer cutting mechanism, the data of each component of the shearer transportation system, and the like. The embodiment of the present invention expands the compensation data according to parameters such as coal seam change, roadway direction, shearer specification change, and cutting mechanism change.

Receive the 3D position information of the fuselage collected in real time by high-precision inertial navigation equipment, including: installing high-precision inertial navigation equipment on the fuselage of the shearer; The guidance device sends the three-dimensional position information of the fuselage to the server through the communication module; the server receives the three-dimensional position information of the fuselage.

The high-precision inertial navigation device of the embodiment of the present invention is a reliable solid-state inertial measurement unit. Built-in three-axis silicon gyroscope and three-axis silicon accelerometer, and are precisely calibrated by a three-axis turntable to meet the performance requirements under different conditions. Real-time, accurate carrier attitude and sensor data can be output. It can calibrate the zero point, zero temperature coefficient, sensitivity, sensitivity temperature coefficient, orthogonality error and acceleration effect of gyroscope, and zero point, zero temperature coefficient, sensitivity, sensitivity temperature coefficient and orthogonality error of accelerometer. In most embodiments, the three-dimensional model of the shearer and the dynamic compensation model of the shearer run in the server.

Receive the two-dimensional position information of the cutting mechanism collected in real time by the positioning module, including: selecting a reference point on the shearer based on high-precision inertial navigation equipment, and using the reference point as a coordinate point to construct coordinates; Several positioning points are added; several positioning points are monitored in real time, and the real-time coordinate points of several positioning points are determined based on the coordinates; all real-time coordinate points are connected to form the real-time contour of the cutting mechanism; the positioning module determines the two-dimensional position information of the cutting mechanism according to the real-time contour.

The reference point of the shearer selected in the embodiment of the present invention includes the outrigger of the shearer, the chute for coal mining, the swing arm of the shearer, the rocker arm of the shearer, the drum of the shearer, and the sliding shoe of the working face , The main frame of the shearer, etc. The embodiment of the present invention selects the positioning point on the cutting mechanism of the shearer, including selecting the cutting depth of the cutting mechanism, the drum of the cutting mechanism and the angle of the cutting mechanism. The embodiment of the present invention adds several positioning points on the cutting mechanism of the shearer, including adding a left angle sensor, a right angle sensor, a pitch//swing sensor, coal machine working face positioning and goaf positioning.

In the embodiment of the present invention, inputting the three-dimensional position information of the fuselage into the three-dimensional model of the shearer to obtain the virtual position information of the cutting mechanism includes: inputting the speed, position and attitude and the traveling direction of the shearer in the three-dimensional position information of the fuselage into the shearer 3D model; input the current mining depth, shearer track position, coal pillar thickness, and coal seam thickness in the 3D position information of the fuselage into the shearer 3D model; The position parameters and volume parameters of the current cutting coal block are calculated based on the position of the shearer track, the thickness of the coal pillar and the thickness of the coal seam; the virtual position information of the cutting mechanism is simulated according to the position parameters and volume parameters of the cutting coal block.

In this embodiment, the two-dimensional position information and the virtual position information of the cutting mechanism are input into the dynamic compensation model of the shearer to obtain the real-time state parameters and virtual state parameters of the cutting mechanism, including: extracting from the virtual position information of the cutting mechanism The two-dimensional virtual information corresponding to the two-dimensional position information is obtained; the two-dimensional position information is input into the dynamic compensation model of the shearer to obtain the real-time state parameters of the cutting mechanism; the two-dimensional virtual information is input into the dynamic compensation model of the shearer to obtain the cutting The virtual state parameter of the institution.

In this embodiment, the three-dimensional model of the shearer is adjusted based on the difference between the real-time state parameters and the virtual state parameters, and the three-dimensional positioning information of the shearer is obtained in the three-dimensional model of the shearer, including: adding the real-time state parameters and the virtual state parameters one by one Corresponding; calculate the deviation of each parameter; obtain the relative error of the two-dimensional position information and the virtual position information of the cutting mechanism according to the deviation; compensate the maximum positioning error of the position and attitude of the shearer in the three-dimensional model of the shearer according to the relative error, and get the compensation The three-dimensional positioning information of the shearer after compensation is obtained; according to the three-dimensional positioning information of the shearer after compensation, the three-dimensional positioning information of the shearer is obtained.

The above-mentioned construction of at least one shearer movement path according to the real-time start data and end point data includes: fetching the roadway information around the coal machine and around the coal body; marking the real-time start data and end point data in the roadway information; The starting data and the ending data are in the same roadway, then the real-time starting data and the ending data have one and only one shearer motion path, and this shearer motion path is the best motion path; if the real-time starting data and the ending point data are in the For different roadways, the real-time start data and end point data have multiple shearer motion paths along different roadways, and an optimal motion path is obtained from the multiple shearer motion paths.

According to the motion information, the optimal motion path is corrected in real time, including: determining the maximum cutting coal width of the shearer according to the model of the shearer; determining the distance between the rocker arm of the shearer and the roadway wall according to the conditions of the roadway; The coal width and the distance between the rocker arm of the shearer and the roadway wall determine the preset trajectory of the cutting drum; the preset trajectory of the cutting drum is fitted with the actual trajectory of the cutting drum, and the correction coefficient of the cutting drum is obtained; based on the cutting drum The correction factor corrects the optimal motion path.

In some special embodiments, the determination of the alignment parameters depends on the coal charging mechanism in addition to the cutting drum. Specifically, after the coal charging mechanism is in place, start the coal loader body and the rocker arm. When the coal loader body starts to move, it starts to approach the direction of the rocker arm from the curve of the coal body area. Before the movement, the cutting width is equally divided into multiple points. Set the number of equal points as M, then divide the width of the curve area according to M points, and then mark each point correspondingly. When moving, first install the rocker arm on the shearer, and the driving device will pull the cutting drum away from the ground. Height, run parallel to the roadway to push the shearer to move, the driving device drives to the coal body, and starts the next round of movement, after that, the distance to the coal body increases by 0.1-0.3 meters each time until it moves to the expected movement trajectory of the cutting drum On the sideline, when part of the edge is not on the sideline, straighten the roadway again in the virtual picture until the sideline of the sleeper coincides with the sideline of the expected movement track of the cutting drum, and the movement of the coal loader body ends.

In some embodiments, fitting the preset trajectory line of the cutting drum with the actual trajectory line of the cutting drum to obtain the correction coefficient of the cutting drum, including: calculating the cutting declination angle Θ; obtaining the cutting drum according to the cutting declination angle Θ Preset track line; draw a reference line along the edge of the best motion path, and connect the preset track line and reference line of the cutting drum with a curve; mark the curve with a marker line on the server when starting to move; press 0.05±0.02m The speed of /s adopts the angle of attack method to control the shearer to move slowly from back to front; if part of the cutting drum is not on the edge of the curve, the roadway will be straightened in the virtual screen, and the straightening parameters of the straightening roadway will be retained; The parameter obtains the correction factor of the cutting drum.

The embodiment of the present invention calculates the predicted movement track of the cutting drum according to the cutting deflection angle Θ, the length L of the shearer and the central coordinates of the cutting drum (X ₀ , Y ₀ ), where X= X ₀ +LCosΘ, Y=Y ₀ +LSinΘ along the cutting drum center coordinates (X, Y) and the cutting drum center coordinates (X ₀ , Y ₀ ) to determine a straight line, that is, the cutting drum preset trajectory line, to cut The predicted movement trajectory of the cutting drum can be obtained by translating the center line by half the width of the cutting drum, and a reference line is drawn along the edge of the trajectory line. Cut the drum.

In this embodiment, the predicted movement trajectory of the cutting drum and the reference line should be connected by a curve with a broken line length of 10-25 mm, so that the coal charging mechanism of the shearer can be fine-tuned to the bottom of the cutting drum, and the curve is x distance from the center of the coal charging mechanism. When starting to move, first mark the curve with a marking line, install the rocker arm on the shearer, the driving device pulls the shearer about 0.1m away from the coal body, and runs parallel to the roadway to remove the cutting drum from the coal body. Pull it out, and then move the shearer slowly from the back to the front at a speed of 0.05±0.02m/s using the angle of attack method. When going up, straighten the roadway in the virtual picture, and match the edge line of the expected movement track of the cutting drum with the actual track line of the cutting drum again, until the actual track line of the cutting drum and the edge line of the expected movement track of the cutting drum coincide, in the virtual picture The interval where the coal charging mechanism advances less than 1 meter is trimmed into a smooth curve according to the broken line of 20-80mm, until the coal charging mechanism can pass the curve in the actual roadway.

In some embodiments, calculating the cut off angle Θ includes:

According to the model of the shearer, the maximum cutting width D of the shearer is determined;

Determine the distance D2 between the cutting surface of the cutting drum and the roadway wall according to different roadways;

Determine the distance D1 between the shearer rocker arm and the roadway wall according to the roadway conditions;

Based on the cutting width D1≈the maximum cutting coal width D-cutting drum cutting section D2, and according to the cutting width D1 and the length L of the shearer, calculate the cutting angle Θ=2arcsin(D1/(2*L) ).

In the embodiment of the present invention, the maximum coal cutting width D of the shearer is determined according to the model of the shearer, and the cutting section D2 of the cutting drum corresponding to the roadway is determined. When the inclination angle of the coal seam is greater than 15°, the cutting section of the cutting drum is greater than 25 meters. , the inclination of the coal seam is less than 15° and the cutting section of the cutting drum is greater than 1 meter. According to the roadway conditions, determine the shearer rocker arm distance D1, cutting width D1 = maximum cutting coal width D - cutting drum cutting section D2, according to the cutting The cutting width D1 and the length L of the shearer are used to calculate the cutting angle Θ=2arcsin(D1/(2*L)).

In this embodiment, after the cutting drum is in place, the power supply of the driving device is restored, and the shearer walks toward the coal body at a speed of 0-8m/min after starting. During the walking process, pay attention to the virtual screen and the coal loading mechanism in actual operation along the coal mining. To avoid the coal loading mechanism from the expected trajectory in the virtual screen, finally park the coal loading mechanism directly in front of the coal body, and the coal loading mechanism is about 0.2 meters away from the center point of the coal body.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not used to limit the protection scope of the present invention. Changes should all be included within the protection scope of the present invention.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. A positioning and navigation system for coal mining, comprising:

the positioning system is connected with the navigation system and the automatic motion system, and monitors and positions the position of the coal mining machine in real time;

the navigation system is connected with the working condition monitoring system, the positioning system and the automatic moving system, and can be used for predicting the working condition of the coal mining machine for a period of time in the future in real time while guiding the movement of the coal mining machine;

the working condition monitoring system monitors the working condition of the coal mining machine in real time and is connected with the automatic operation system and the navigation system;

and the automatic running system is connected with the positioning system, the navigation system and the working condition monitoring system.

2. The positioning and navigation system of claim 1, further comprising:

and the fault diagnosis system diagnoses the fault reason of the coal mining machine in real time and sends the fault reason to the working condition monitoring system in real time.

3. The positioning and navigation system according to claim 1 or 2, further comprising:

the server is connected with the positioning system, the navigation system, the working condition monitoring system and the automatic movement system, and the server runs a positioning navigation method.

4. The positioning and navigation system according to claim 3, wherein the positioning and navigation method comprises a positioning method and a navigation method, the positioning method is matched with the positioning system, and the navigation method is matched with the navigation method.

5. The positioning and navigation system according to claim 4, wherein the positioning method comprises:

(1) constructing a three-dimensional model of a coal mining machine and a dynamic compensation model of the coal mining machine;

(2) receiving three-dimensional position information of a machine body acquired by high-precision inertial navigation equipment in real time and two-dimensional position information of a cutting mechanism acquired by a positioning module in real time;

(3) inputting the three-dimensional position information of the machine body into the three-dimensional model of the coal mining machine to obtain virtual position information of a cutting mechanism;

(4) inputting the two-dimensional position information and the virtual position information of the cutting mechanism into the dynamic compensation model of the coal mining machine to obtain real-time state parameters and virtual state parameters of the cutting mechanism;

(5) adjusting the three-dimensional model of the coal mining machine based on the difference value of the real-time state parameter and the virtual state parameter, and obtaining three-dimensional positioning information of the coal mining machine in the three-dimensional model of the coal mining machine;

wherein: constructing a three-dimensional model of a coal mining machine, comprising:

(11) acquiring three-dimensional environmental data around the coal mining machine;

(12) extracting a reference object profile around the coal mining machine based on the three-dimensional environment data;

(13) matching the reference object outline with pre-collected coal bed information and roadway information;

(14) and constructing a three-dimensional model of the coal mining machine according to the matching result.

Wherein: constructing a dynamic compensation model of the coal mining machine, comprising the following steps:

(15) constructing a quantitative compensation model based on a nonlinear system;

(16) collecting compensation data and uncompensated data of at least three dimensions of the coal mining machine, manually marking and mechanically expanding the compensation data to obtain expanded compensation parameters;

(17) training a quantitative compensation model based on the extended compensation parameters;

(18) the quantitative compensation model is verified using the compensated data and the uncompensated data.

6. The positioning and navigation system according to claim 4, wherein the navigation method comprises:

(a) collecting real-time initial data and end point data of a coal mining machine;

(b) constructing at least one coal mining machine motion path according to the real-time initial data and the end point data;

(c) obtaining an optimal motion path;

(d) acquiring motion information of the coal mining machine moving along the optimal motion path in real time;

(e) correcting the optimal motion path in real time according to the motion information;

wherein: collecting real-time start data and end point data of a coal mining machine, comprising: the high-precision inertial navigation equipment is arranged on the coal mining machine; collecting real-time initial data of a coal mining machine from high-precision inertial navigation equipment; acquiring environmental information around a coal body and terminal point data of a coal mining machine from a virtual environment of a server;

wherein: the method for acquiring real-time initial data of the coal mining machine from the high-precision inertial navigation equipment comprises the following steps: the method comprises the steps that high-precision inertial navigation equipment collects three-dimensional position information of a machine body of a coal mining machine in real time; the positioning module collects two-dimensional position information of the cutting mechanism in real time; inputting the three-dimensional position information and the two-dimensional position information of the machine body into a coal cutter model to obtain real-time initial data of the coal cutter;

wherein: constructing at least one coal mining machine motion path according to the real-time starting data and the end point data, wherein the method comprises the following steps: acquiring roadway information around a coal mining machine and around a coal body; marking the real-time starting data and the end point data in the roadway information; if the real-time starting data and the end point data are in the same roadway, the real-time starting data and the end point data have only one coal mining machine motion path, and the coal mining machine motion path is an optimal motion path; and if the real-time starting data and the end point data are in different roadways, the real-time starting data and the end point data have a plurality of coal mining machine movement paths along the different roadways, and an optimal movement path is obtained from the plurality of coal mining machine movement paths.

7. The positioning and navigation system according to claim 1, wherein the positioning system comprises:

the high-precision inertial navigation equipment is arranged on a machine body of the coal mining machine, and is used for acquiring three-dimensional position information of the machine body in real time, and the three-dimensional position information of the machine body is used as first position information and is transmitted to a computer through a communication module;

the positioning module is positioned on a cutting mechanism of the coal mining machine and used for acquiring two-dimensional position information of the cutting mechanism in real time, and the two-dimensional position information of the cutting mechanism is used as second position information and is transmitted to the server through the communication module;

and the communication module is connected with the high-precision inertial navigation equipment, the positioning module and the server.

8. The positioning navigation system according to claim 1 or 7, characterized in that the navigation system comprises:

the input module is used for inputting real-time initial data and end point data of the coal mining machine;

the processing module is used for constructing at least one coal mining machine motion path according to real-time initial data and end point data and obtaining an optimal motion path, and is connected with the input module and the acquisition module;

the acquisition module acquires motion information of the coal mining machine moving along the optimal motion path in real time, the acquisition module sends the motion information to the processing module in real time, and the processing module also corrects the optimal motion path in real time according to the motion information.

9. The position location and navigation system of claim 1, wherein the condition monitoring system comprises a plurality of sensors, the sensors are connected with the server, and the sensors transmit the sensing signals to the server.

10. The positioning and navigation system of claim 1, wherein the shearer includes a body, a first cutting mechanism, and a second cutting mechanism, the body being positioned between the first cutting mechanism and the second cutting mechanism, the automatic movement system including a body drive unit, a first cutting mechanism drive unit, and a second cutting mechanism drive unit.

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