Automatic leveling method for coal mining machine

Abstract

The invention belongs to the technical field of coal mining machines, and particularly discloses an automatic leveling method for a coal mining machine, which comprises the following steps of: acquiring and based on three-dimensional position data acquired by inertial navigation and an accumulated running distance of an odometer in unit time, and solving a two-dimensional position track and an attitude signal of the coal mining machine by utilizing a two-dimensional coordinate conversion algorithm; coal mining machine action control parameters, a two-dimensional position track and attitude signal information which are collected by a coal mining machine centralized control system are obtained, a current coal mining process section is judged, parameter coordinate system control is output based on the current coal mining process section, and the coal mining machine action control parameters comprise start-stop, direction, lifting and speed parameters; pre-input coal field working face data are matched with parameter coordinate system control, effective coal mining curve data are output, and automatic leveling of the coal mining machine is achieved.

Description

technical field [0001] The invention belongs to the technical field of coal mining machines, and in particular relates to an automatic leveling method for coal mining machines. Background technique [0002] The coal mining machine is the core equipment of the coal mining face, and it leads the intelligent coal mining process in the working face. The current intelligent soft control technology of coal shearer realizes the operation of "primary intelligence + remote intervention" through intelligent perception and manual remote real-time intervention. Usually, the cutting height perception of the drum is to measure the swing angle of the rocker arm relative to the fuselage through the precise servo rotary potentiometer of the rotation angle sensor, and calculate the real-time cutting height; the position detection and traction speed perception are detected by the rotary encoder to detect the traction travel wheel The number of rotations and angles of the machine, and the timi...

AI Technical Summary

Problems solved by technology

[0003] The current shearer lacks the intelligent leveling program of the shearer, and the intelligent fully mechanized mining face has not yet developed an automatic leveling system corresponding to the geological changes of the actual working face. If the surface is not under the intervention of personnel, there may be inequality in the working face conveyor and coal wall, and the "three-level and constant" that cannot meet the project quality requirements

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