Research On Position And Attitude Determination Method Of Fully-mechanized Coal Winning Machine Based On Inertial Navigation

0Fully mechanized coal mining machine is the main mining equipment in large coal mines.Its automation and intelligence level is of great significance to promote the safe production of coal enterprises and reduce the production cost of coal enterprises.At present,the key factor affecting the intelligent development of fully mechanized coal mining machine automation in China is that its chute straightness measurement and coal cutting drum height measurement technology are not mature enough and there are many manual participation.The key equipment for coal mining machine chute straightness measurement-inertial navigation system mainly depends on foreign imports,and domestic equipment and measurement methods are still in the research and trial stage,The height measurement of coal cutting drum mainly depends on artificial eye observation,which is not conducive to the coal mine safety production management of "few people and no one",and seriously affects the digital and intelligent development in the construction of smart mine.Aiming at the problems encountered in the automatic operation of fully mechanized coal mining machines in China,such as low measurement accuracy of chute straightness,many manual participation,high price of imported equipment,difficult maintenance and limited by trade barriers,this paper first demonstrates the feasibility of using the measurement results of total station as the benchmark for evaluating the positioning accuracy of inertial combination of coal mining machines,On this basis,the domestic high-precision inertial measurement unit is used to replace the imported inertial navigation system,and the straightness measurement method of fully mechanized coal mining machine chute based on the combination of domestic inertial navigation system and odometer is proposed.Through the operation test of coal mining machine in the ground sports car and the National Key Laboratory of coal mining equipment,it shows that the domestic high-precision inertial measurement unit can replace the imported equipment,Meet the requirements of straightness measurement accuracy of chute of fully mechanized coal mining machine;Secondly,on the basis of chute straightness measurement,aiming at the height measurement of coal cutting drum of fully mechanized shearer,a method of measuring and positioning the rocker arm attitude of Shearer Based on "Double Inertial combination" is proposed.Through the measurement of rocker arm attitude,the height of coal cutting drum is calculated to prevent the coal cutting drum from damaging the hydraulic support of fully mechanized shearer;Finally,aiming at the problem of high cost of existing high-precision inertial devices,a positioning and attitude determination method of fully mechanized coal mining machine based on single gyro + double accelerometer based on rotation modulation technology is proposed.For the latter two methods mentioned in this paper,because the equipment is in the development stage and the test conditions are limited,only the correctness and feasibility of the method are verified by simulation.The results show that the method proposed in this paper is feasible and effective,and the accuracy can meet the measurement requirements of the existing fully mechanized coal mining machine in our country.