Heading machine autonomous navigation system and method based on dead reckoning
An autonomous navigation system and dead reckoning technology, applied in navigation, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problem that the position and attitude information of the cantilever roadheader cannot be obtained in real time, and achieve high positioning accuracy , strong penetrating effect
Active Publication Date: 2020-01-31
CHINA UNIV OF MINING & TECH (BEIJING)
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[0008] The purpose of the present invention is to provide an autonomous navigation system and method for a cantilever type roadheader in a coal mine, to solve the problem that the position and attitude information of the cantilever type roadheader cannot be obtained in real time under the harsh environment of the excavation working face, and to realize the autonomous navigation of the coal mine roadway. Precise directional excavation lays the foundation for unmanned and intelligent coal mining
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[0051] In order to further explain the technical means and effects that the present invention adopts to achieve the intended purpose of the invention, below in conjunction with the accompanying drawings and preferred embodiments, the self-positioning and orientation system and method thereof for roadheaders based on dead reckoning proposed according to the present invention Specific embodiments, structures, features and effects thereof are described in detail below.
[0052] The dead reckoning based roadheader autonomous navigation system and method thereof in preferred embodiments of the present invention, such as figure 1 As shown, it consists of a reference UWB radio ranging module group 2, a fuselage UWB radio ranging module 6, an omnidirectional odometer 7, a navigation computer 8, a strapdown inertial navigation system 9, and a remote display and control system 12. The reference UWB radio ranging module group 2 includes three reference UWB radio ranging modules (3, 4, 5)...
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The invention discloses a cantilever type heading machine autonomous navigation system and method based on dead reckoning, and belongs to the field of coal mine underground mobile equipment autonomousnavigation. The system comprises a reference UWB (Ultra Wide Band) radio distance measurement module group, a fuselage UWB radio distance measurement module, a strapdown inertial navigation system, an omnidirectional odometer, a navigation computer and far-end display and control equipment. Before the heading machine advances, the initial position of the heading machine is determined by adoptinga UWB radio pulse distance measurement method; when the heading machine runs forwards, the strapdown inertial navigation system measures the attitude angle and the heading angle of the heading machinein real time, meanwhile, the omnidirectional odometer measures the mileage increment of the heading machine, and the navigation computer generates an advancing track according to a dead reckoning algorithm; and when the heading machine runs to a preset working position, the UWB radio pulse distance measurement method is used again to calibrate the position of the heading machine. The navigation computer sends the navigation information to the far-end display and control system in real time, so that autonomous navigation of the heading machine in roadway tunneling is realized.
Description
technical field [0001] The invention relates to a cantilever roadheader in the field of coal mine underground mobile equipment, in particular to an autonomous navigation system and method for the roadheader. Background technique [0002] Unmanned and intelligent coal mining has increasingly become a development hotspot in the field of coal mining. The cantilever roadheader is one of the core equipments of coal mining. Autonomous positioning and navigation is the key basis for unmanned and intelligent coal mines, and the accurate position and posture detection of the roadheader is the guarantee for the directional tunneling of coal mine roadways. In the coal mine tunneling process, once the tunneling direction deviates, it will affect the normal production of the entire mining area. In severe cases, it may cause geological disasters in the tunnel, cause underground safety accidents, and endanger the personal safety of all construction workers on the comprehensive excavation f...
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Login to View More IPC IPC(8): G01C21/16G01S5/02
CPCG01C21/165G01S5/0257
Inventor 吴淼沈阳兰玉
Owner CHINA UNIV OF MINING & TECH (BEIJING)