Inertia/visual integrated attitude determination device and method for rocker arm of coal mining machine

Abstract

The invention discloses an inertia / visual integrated attitude determination device and method for a rocker arm of a coal mining machine. The device comprises a target feature point, an inertial measurement unit and a monocular vision measurement unit and an information processing unit, wherein the target feature point unit is installed on the rocker arm of the coal mining machine; the inertial measurement unit and the monocular vision measurement unit are rigidly connected and are arranged on the coal mining machine; the information processing unit is arranged in an electrical control box of the coal mining machine; and the monocular vision measurement unit is used for measuring the relative attitude of the rocker arm relative to the coal mining machine, and the inertia measurement unit isused for measuring the absolute attitude of the coal mining machine relative to a local horizontal coordinate system. By simultaneously calculating the attitude of the rocker arm relative to the coalmining machine and the attitude of the rocker arm relative to the local horizontal geographic coordinate system, a problem of high-precision attitude determination of the rocker arm of the coal mining machine is solved. The device has the advantages of simple system structure, easy camera calibration and calibration, adaptability to a rocker arm strong vibration environment, complete attitude information and high precision, and is particularly suitable for near-distance high-precision attitude determined of a fully-mechanized mining face.

Description

Technical field [0001] The invention relates to the technical field of rocker arm attitude determination of a coal shearer, in particular to an inertial / visual combined attitude determination device and method for the rocker arm of a coal shearer. Background technique [0002] In the process of automatic coal mining, the shearer is the main equipment for coal dropping and coal loading at the fully mechanized mining face, and it is a highly integrated fully mechanized mining equipment. The rocker arm of the shearer is an important part of the shearer. The rocker arm attitude of the shearer is a key parameter for the automation, remote control and online monitoring of the shearer. By measuring the rocker arm attitude, the automatic coal cutting track of the shearer can be realized. Measurement and automatic control. The rocker arm of the shearer is the basis of the automatic control of the shearer, and it is one of the key technologies of the automatic control of the shearer and t...

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Problems solved by technology

[0005] Angular displacement sensor method, linear displacement measurement method and inclination measurement method need to install the sensor on the rocker arm. Since the rocker arm vibrates violently during coal mining, the main defect is that severe vibration can easily lead to serious equipment wear and sensor failure. The rate is high, and the reliability of the equipment is reduced.

[0006] The visual measurement method can only be used for relative attitude measurement, and the attitude information is incomplete when used alone, and it is difficult to obtain the absolute attitude required for automatic control, so it cannot meet the needs of fully automatic control of coal mining machines

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