Research On Combined Positioning And Attitude Monitoring Of Shearer

At present,the coal mining machine is developing towards the trend of automation and unmanned,and the demand for position monitoring of coal mining position is becoming higher and higher.Therefore,a large number of mining machine positioning methods and attitude monitoring methods emerge as the times require.These methods exist some bugs,such as the construction of experimental scene is not close to the real situation in the experimental process,the location or attitude method is not comprehensive enough,and the experimental equipment is defective.In view of the inaccuracy and unreliability of the location and attitude monitoring methods of the coal shearer in fully mechanized coal mining face,the situation of the actual working condition condition is not fully taken into account in the position and attitude determination test of the shearer.In this paper,the positioning method of strapdown inertial navigation system,the positioning method of the laser sensor,the joint position of the scraper conveyor and the height compensation method of the shearer drum are used to improve the positioning accuracy of the coal mining machine.And by setting up the prototype platform of the shearer and scraper conveyor,we can increase theactual working conditions by positioning and positioning methods.The main contents of this paper are as follows: A combined positioning system based on strapdown inertial navigation system and laser ranging sensor is proposed.Different positioning methods are developed for two sensors respectively,and the two methods are effectively coupled to achieve the combined location of shearers.The rationality and reliability of the positioning method are verified by experiments under different conditions.The theoretical calculation method of attitude analysis and cutting height adjustment in the working face of the shearer in the cutting process is put forward,and the calculation formula between the cutting height of the shearer and the topographic surface of the working face is obtained.Finally,the prototype of the shearer is designed and the cutting height adjustment test is carried out in different ground conditions.Aiming at the monitoring method of shearer fuselage,the attitude of shearer and scraper conveyor is taken into consideration.A shearer scraper conveyor combined attitude method is used to link the position and posture of the two positions,and is verified by experiments.The prototype platform of the shearer and the scraper conveyor prototype platform are designed and made.full consideration of the real working conditions.The two platforms fully consider the actual conditions of the working conditions,and use two test platforms to complete the positioning experiment in this subject,improve the accuracy of the experiment,increase the authenticity of the test,and fully verify the positioning method of this article.Design a set of physical test platform for solid shearers,for the layout of suitable sensors in shearers,data transmission is done by wireless base stations,and platform monitoring software is designed to monitor data,and ultimately achieve the purpose.After completing the above contents,we have the following conclusions.The positioning test of strapdown inertial navigation system and the method of laser sensor are used respectively,and the two methods are fused effectively toimprove the precision of the mining machine positioning method.The method of height compensation for shearer drum under different terrain conditions has been established,which solves the problem that the height calculation of the drum is too general and the result is inaccurate,and provides a theoretical basis for the subsequent memory cutting.A combined positioning and attitude determination method for shearer scraper conveyor is established,which effectively integrates two important equipments to lay the foundation for three machine combined positioning and attitude determination.The prototype platform of shearer and scraper conveyor is built to provide necessary working conditions for the positioning and orientation test of shearers,so that the test is more convincing.