Absolute positioning device and method for coal shearer integrated with geological environment information

Abstract

The invention provides a geological environment information-fused absolute positioning device and method for a coal cutter, which belongs to absolute positioning devices and methods for coal cutters. An explosion-proof enclosure is fixed on the body of a coal cutter. A coal cutter positioning device is arranged in and connected with the explosion-proof enclosure and comprises an aspect sensor, an inertial measurement unit, a vibration sensor, an ultra wide band (UWB) wireless positioning system sensor and a positioning data microprocessing unit, wherein the output ends of the aspect sensor, the inertial measurement unit, the vibration sensor, the UWB wireless positioning system sensor and a shaft encoder are connected with the input end of the positioning data microprocessing unit, the output end of the positioning data microprocessing unit is connected with the input end of an industrial control computer through a data output interface, and positioning labels are arranged on the coal wall of a roadway and a hydraulic support at an equal interval. The invention has the following advantages: geological environment information and the coal cutter are integrated in a same space-time system, the operation route of the coal cutter is planned, footage and mining height of the coal cutter are adjusted, situations possibly incurring danger are avoided in advance, and the other advantages of practicality, safety, reliability and convenient installation and operation are obtained.

Description

technical field [0001] The invention relates to an absolute positioning device and method of a coal shearer, in particular to an absolute positioning device and method of a coal shearer integrated with geological environment information. Background technique [0002] Shearer is one of the core equipments of fully mechanized mining face, responsible for the tasks of coal dropping and coal loading. At present, most of the linkage of the three machines in the fully mechanized mining face: shearer, scraper conveyor and hydraulic support requires manual intervention. In the process of comprehensive mechanized coal mining, in order to realize coal mining automation and unmanned or less-manned coal mining, it is necessary to realize the coordinated automation of the coal shearer, scraper conveyor, and hydraulic support. In order to realize the coordinated automation of the three machines, it is necessary to solve the problems of hydraulic support and machine automation, timely sup...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a coal mining machine absolute positioning device and method that integrates geological environment information to solve the problem of large positioning errors in the existing coal mining machine positioning method, which is difficult to adapt to the complex and harsh underground coal mining environment and mining environment. The continuous change of coal route and coal rock properties will cause disturbance to the movement of the shearer, resulting in inaccurate positioning

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