Coal mining machine accurate positioning system and method based on acoustic array

Abstract

The invention discloses a coal mining machine accurate positioning system and method based on an acoustic array. The coal mining machine accurate positioning system comprises a coal mining machine onboard controller located in a fully mechanized coal mining face looped network, an active sound emission device, an acoustic sensor array installed at the end of the air inlet side of a fully mechanized coal mining face, and a calculation processing device. The sound emission device actively emits sound signals with fixed sound waveforms and frequency bands, and the frequency of the sound emissiondevice avoids the main interval of sound emitted by other equipment on the working face as much as possible. The onboard controller gives an instruction to the sound emission device at set intervals.The acoustic sensor array comprises three sound sensors in spatial distribution. Signals emitted by the sound emission device are separated through a blind source separation algorithm, the position ofthe sound emission device is calculated according to the time difference of the signals received by the sensors, and therefore, the spatial position of the coal mining machine is obtained, and accurate positioning of the coal mining machine is achieved. The system is simple in structure, small in size, low in power consumption, low in cost and easy to install, arrange and maintain.

Description

technical field [0001] The invention belongs to the technical field of precise positioning of a shearer in a fully mechanized coal mining face, and relates to a precise positioning system and method for a shearer based on an acoustic array. Background technique [0002] With the development of coal mining technology, the automation and intelligence of modern mines have been greatly improved, which has promoted the process of "unmanned" or "less-manned" coal mining. As one of the key equipment of the comprehensive mechanized coal mining face (referred to as "mechanized mining face"), the degree of automation and intelligence of the shearer largely restricts the level of coal mining. Among them, the precise positioning technology of the shearer, that is, to accurately identify the current position of the shearer in the fully mechanized mining face, is a recognized technical difficulty and development bottleneck in the field of coal mining at home and abroad. [0003] Because ...

AI Technical Summary

Problems solved by technology

This method can only obtain the approximate position of the shearer. Due to the discontinuous deployment of monitors, it is impossible to measure the position of the shearer in the blind area.

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