Method and device for relatively locating coal cutter and hydraulic supports

Abstract

The invention discloses a method and device for relatively locating a coal cutter and hydraulic supports. The device comprises an infrared sensor, a shaft coding and locating device, an inertial navigating and locating device and a central system processing unit. The inertial navigating and locating device, the shaft coding and locating device and the infrared sensor are electrically connected with the central system processing unit. The inertial navigating and locating device is mounted on a gravity center position of the coal cutter, the shaft coding and locating device is arranged on a low speed output shaft of a planetary reducer of a walking part of the coal cutter, the infrared sensor comprises an infrared ray emitting device mounted at the center of the coal cutter and a plurality of infrared ray receiving devices mounted on all hydraulic supports. The method and device for relatively locating the coal cutter and the hydraulic supports have the advantages that three locating strategies of infrared sensor locating, shaft coding device locating and inertial navigating locating are combined to locate the coal cutter, and the reliability and the accuracy of locating are improved.

Description

technical field [0001] The invention relates to a method and a device capable of accurately positioning a coal mining machine, in particular to a method and a device for relative positioning of a coal mining machine and a hydraulic support. Background technique [0002] The core of fully mechanized mining automation is the coordinated action of "three machines", that is, the hydraulic support and scraper conveyor are automatically controlled by information such as the working position and working status of the shearer. Therefore, the primary task of fully mechanized mining automation research is the shearer Research on the intelligent monitoring system, and the most critical is the independent precise positioning technology of the coal mining machine. At present, infrared shearer position detection device and shaft encoder positioning device are the two most commonly used positioning methods in underground industrial sites. There will be certain problems in using one of the ...

AI Technical Summary

Problems solved by technology

At present, infrared shearer position detection device and shaft encoder positioning device are the two most commonly used positioning methods in underground industrial sites. There will be certain problems in using one of the positioning methods alone. For example, when using infrared position detection device, it will Some items on the site blocked the infrared signal, causing misjudgment; when using the shaft encoder for positioning, the meshing of the walking wheel of the coal mining machine with the pin row of the scraper conveyor is not a gear transmission in the strict sense, it can only be regarded as a gear transmission. A kind of "gear-like row transmission", because there is a large gap when the gear teeth mesh with the pin row, this will form a cumulative error in the calculation process, and the error will become larger as time accumulates, so these single The reliability and accuracy of the method for the positioning of the shearer are not high

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