Intelligent mining machine positioning system for mining

Abstract

The invention is suitable for the technical field of mine soil mining, and provides an intelligent mining machine positioning system for mining. The positioning system comprises a measurement robot, an encoder and an inertial navigation device, wherein the measurement robot comprises a chassis, a high-precision gyro north seeker, an automatic total station, a cage, an industrial personal computer, a power supply and a prism, the encoder is fixedly mounted on a traveling wheel of a mining machine, the inertial navigation device comprises an accelerometer and a gyroscope, the accelerometer is used for measuring the acceleration of the translational motion of a carrier, the gyroscope is used for measuring the rotational motion of the carrier, and the inertial navigation device is fixed on a mining machine body. Therefore, according to the positioning system, a wheel set mechanism of the measuring robot is arranged in the concave space below a crawler mechanism and is integrated with the crawler mechanism, so that the space occupied by the chassis is reduced, no special requirement is required for switching the wheel-carrying walking mode, non-stop quick switching can be carried out at any time, and the by matching with the encoder and the inertial navigation device, the real-time attitude and position coordinates of the mining machine can be accurately obtained in real time.

Description

technical field [0001] The invention relates to the technical field of ore mining, in particular to an intelligent mining machine positioning system. Background technique [0002] In recent years, with the passage of mining time, the mining of coal resources in my country has gradually shifted to the deep. Domestic coal mining enterprises, experts and scholars have long been committed to the research on the stability of surrounding rock in deep coal resource mining. However, due to the complexity of the migration law of surrounding rock in deep mining, strong mine pressure appears in the working face, large deformation of the roadway, and the coal wall is prone to instability. A series of problems have not been fundamentally resolved. In view of this, the company introduces mining intelligent systems to improve the mining efficiency and safety of working face mining. [0003] The positioning of existing mining machines adopts an inertial navigation device and an encoder co...

AI Technical Summary

Problems solved by technology

[0003] The positioning of existing mining machines adopts an inertial navigation device and an encoder combined positioning system. Due to the long-term drift of the inertial navigation device, large vibrations in the production environment, and large temperature changes in the working environment, the combined positioning system of the inertial navigation device and the encoder cannot Guaranteed long-term, stable and high-precision positioning

[0004] In summary, there are obviously inconveniences and defects in the actual use of the existing technology, so it is necessary to improve

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