Coal mining machine positioning monitoring system and monitoring method thereof

Abstract

The invention discloses a coal mining machine positioning monitoring system and a monitoring method thereof. The coal mining machine positioning monitoring system comprises an intelligent positioningand monitoring device, a positioning target and an upper computer. The intelligent positioning and monitoring device comprises a two-dimensional laser radar, a digital camera, a three-axis tilt sensorand a measurement and control microcomputer. When the coal mining machine walks on a scraper conveyor and is at different positions, the measurement and control microcomputer controls the two-dimensional laser radar to scan and measure the distance of the lateral positioning target, and the longitudinal position coordinate and the course angle of the coal mining machine on the working face can bedetermined by utilizing the distance measurement result; the digital camera shoots the lateral positioning target, the number of the positioning target and the displacement of the positioning targetrelative to the camera are determined by image recognition, and the transverse position coordinate of the coal mining machine on the working face can be determined; and the three-axis tilt angle sensor monitors the pitch angle and the roll angle of the coal mining machine, so that the posture of the coal mining machine is monitored. The invention is simple in system, reliable in performance and high in positioning accuracy.

Description

technical field [0001] The invention relates to a positioning monitoring system and method of a coal mining machine, in particular to a positioning monitoring system and method of a coal mining machine realized on the basis of machine vision and laser radar fusion technology in a fully mechanized mining face in a coal mine. [0002] technical background [0003] The fully mechanized mining face is one of the key links in the underground production of coal mines. In order to build an intelligent fully mechanized mining face and realize remote intelligent control of coal mining face equipment, it is necessary to monitor the position of the shearer in a fully mechanized mining face in real time and accurately, so as to detect abnormalities in time, deal with them reasonably, and ensure continuous safety Production. [0004] At present, the positioning and monitoring methods of coal mining machines mainly include infrared monitoring method, gear counting method, ultrasonic refle...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiency of the low positioning and monitoring accuracy of the coal mining machine in the prior art, and propose a coal mining machine positioning and monitoring system and method based on the fusion technology of machine vision and laser radar, so as to realize the mining of the fully mechanized mining face. High-precision monitoring of coal machine positioning

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