Research On Key Technologies Of Composited Positioning For Shearer

Shearer is one of the key equipments to implement safety and efficient production of coalmine,the intelligence level of shearer is the key factor to implement ‘less humanizing' or ‘unmanned' of fully mechanized coalface.Shearer works in continuous moving and complex working environment.Accurate positioning of shearer is the precondition for intelligent control.Strapdown inertial navigation technology is widely used in the positioning of shearer because of its strong autonomy and high reliability.Effective methods should be taken to correcte error generated by strapdown inertial navigation.A shearer composited positioning technology in this paper was proposed.Based on strapdown inertial navigation,use visual beacon positioning to eliminate the cumulative error,realize the precise positioning of the movement process of shearer,and lay the foundation for the intelligent control of the shearer.The main work and research results in this paper are as follows:(1)The basic structure and the cooperative working process of shearer were analyzed.The basic principle of strapdown inertial navigation positioning model and visual beacon positioning of shearer was studied.A composited positioning technology based on strapdown inertial navigation and visual beacon was proposed.(2)The error model of strapdown inertial navigation system of shearer was studied and the error propagation characteristics were analyzed.The inertial sensor was calibrated and the error compensation was compensated to eliminate the predicted error in the inertial sensor.The optimized UKF filtering algorithm was uesd to carriy out initial alignment to raise the initial alignment accuracy of the strapdown inertial navigation.It laid the foundation for improving the positioning precision of shearer.(3)In view of the poor quality of visual beacon,a beacon image enhancement algorithm based on BM3 D filtering is researched.Using EPnP algorithm to calculate the position and pose of visual beacon.A correction algorithm for the positioning error of shearer was proposed,which combines visual beacon positioning and Kalman filtering algorithm,effectively eliminating the acumulative error of strapdown inertial navigation system.(4)The shearer composited positioning experiment platform was built and the experimental verification was carried out in Jiangsu Mining Intelligent Equipment Center.The experimental results showed that accuracy of shearer positioning under the motion state is 0.12 m when using the composited positioning method based on strapdown inertial navigation and visual beacon,which can meet the location requirements of shearer.