Calibration method and device for positioning and attitude determination system of coal mining machine based on laser scanning

Abstract

A calibration method and device for positioning and attitude determination of a coal mining machine based on laser scanning, which belong to the positioning method and device for a coal mining machine. Device: install a laser signal receiving module and a data processing storage module on the coal shearer, the laser signal receiving modules are not less than two, record the relative position of each laser signal receiving module and the coal shearer; the data processing storage module The laser signal receiving modules are connected; the rotary table system is installed on the hydraulic support, and the distance between the two hydraulic supports is less than 50m; the method is based on laser scanning technology, the servo motor drives the rotary table, the laser scans around, and the laser signal receiving module receives Receive the laser signal, record the time information, and the signal processing module calculates the position and attitude information of the coal mining machine at this time, and transmits the position and attitude information of the coal mining machine to the coal mining machine control center through the signal transmission module. The scanning accuracy of the invention can reach centimeter level within the range of 50 meters, which fully meets the requirements for the accuracy of positioning and attitude determination of the coal mining machine.

Description

technical field [0001] The invention relates to a coal mining machine positioning method and device, in particular to a laser scanning-based calibration method and device for a coal mining machine positioning and attitude determination system. Background technique [0002] Coal is still the current theme energy in our country, but due to the harsh and complex underground environment and the relatively low level of automation of equipment in my country's coal industry, accidents in my country's coal industry occur frequently. [0003] Realizing unmanned and automatic fully mechanized mining face is an effective way to solve this problem. Among them, it is particularly important to realize accurate positioning and posture determination of the coal mining machine. The overall positioning accuracy is generally not high in the range of hundreds of meters to realize the positioning and attitude determination of the shearer by using the existing means. Therefore, it is necessary to...

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Problems solved by technology

[0005] Technical problem: The purpose of the present invention is to provide a laser scanning-based calibration method and device for the positioning and posture determination of coal mining machines, so as to solve the problem of calibrating the posture and posture of coal mining machines under the fully mechanized mining face of coal mines

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