Coal mining face equipment pose real-time calculation method, system, device and medium

Abstract

The application provides a coal mining face equipment pose real-time calculation method, system, device and medium. At present, there is a lack of a measurement calculation method which can guarantee measurement accuracy, automatic real-time data calculation and cover the realization of the measurement of the coal mining face equipment group in the industry. To solve the above problems, the method of the application performs absolute pose real-time calculation and automatic processing on the coal mining machine, the scraper conveyor and the support during the mining of the coal mining face, has real-time performance, first measures the initial coordinate position and attitude of the inertial navigation device of the coal mining machine, measures and corrects the real-time position and attitude data of the inertial navigation device, so that the data is more accurate, finally obtains the absolute pose of the coal mining face equipment group, and finally outputs the absolute pose parameters of the coal mining face equipment group, thereby providing conditions for realizing the automation and intelligent operation of the coal mining face equipment group.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal mining technology, specifically to a method, system, equipment, and medium for real-time calculation of the position and orientation of coal mining face equipment. Background Technology

[0002] A coal mining face consists of a coal mining machine, supports, and scraper conveyors. With the continuous development of coal technology, the requirements for intelligent coal mining faces are also constantly increasing. The intelligent and unmanned operation of coal mining faces is the only way to achieve safe coal mining and a key breakthrough in practicing the advanced safety concept of "safety without human intervention".

[0003] Real-time, high-precision positioning and attitude determination of coal mining equipment in enclosed underground spaces are key technologies for achieving autonomous operation. Studying the real-time position and attitude information of coal mining face equipment can improve the intelligence level of coal mining faces. The position and attitude information of the equipment at the coal mining face allows for the measurement of the straightness of the "three machines" (machine, machinery, and equipment) throughout the entire coal mining face. The accuracy of the straightness measurement directly affects the equipment safety and engineering quality in underground coal mines. However, due to the special nature of the coal industry, coal mining faces are generally long and narrow measurement objects, and a large number of coal mining equipment are distributed within them. Due to the undulation of the coal seam and the influence of coal dust on the measurement during coal cutting, conventional ground-based laser positioning and latitude / longitude measurement technologies cannot be used to measure the equipment at the coal mining face.

[0004] Currently, there are several methods for measuring and calculating the position and attitude of equipment in coal mining faces: manually adjusting the straightness of the measuring support and scraper conveyor using ropes or infrared rays; and visually inspecting the deviation of straightness by underground workers using traditional tools such as ropes and infrared rays. However, due to the large number of equipment and high levels of coal dust in fully mechanized mining faces, as well as the curvature and undulations of the mining face, human vision is greatly affected, resulting in very low accuracy of straightness measurement. Furthermore, this method only measures whether the position of the equipment on the mining face is on a straight line and cannot obtain the absolute spatial position and attitude.

[0005] Currently, there is a positioning and measurement method for coal mining machines in working faces based on a combination of inertial navigation and odometer positioning. This method can obtain the real-time position of the coal mining machine in a relative coordinate system, but it cannot obtain the absolute spatial position and attitude, nor can it obtain the real-time position of the support and scraper conveyor.

[0006] Currently, there are measurement and positioning methods using laser measuring equipment, such as those described in Chinese patent applications "CN111396047A A Measurement and Positioning System and Method for a Group of Equipment in a Coal Mining Face" and "CN112412535A Dynamic Calibration Method, Device and System for Spatial Position of Equipment in a Fully Mechanized Mining Face." These methods employ a mobile measuring and positioning box, a mobile measuring and positioning base station, and mobile measuring and positioning devices installed on various equipment on the working face. A laser total station is used to capture the laser target ball of the mobile measuring and positioning device on each piece of equipment to obtain the spatial position of the equipment. Then, the attitude angle sensor in the mobile measuring and positioning device obtains the attitude angle of each piece of equipment on the working face. This method obtains the spatial position and attitude of the equipment on the working face through a laser total station and attitude sensor, achieving high accuracy. However, it cannot truly achieve real-time measurement and calculation of equipment position; the laser total station must be run repeatedly to obtain spatial coordinates, thus failing to achieve real-time, second-level dynamic measurement.

[0007] Currently, there are methods and systems for locating equipment in coal mining faces that use wireless base station positioning technology. For example, the Chinese patent application "CN114359477A Coal Mine Underground Intelligent Positioning Method and System" uses UWB (Ultra Wide Band) positioning base stations to achieve real-time measurement and positioning of coal mining face equipment groups. However, since the current accuracy of underground UWB positioning technology is no more than 0.3 meters, the obtained equipment position data is difficult to guarantee the high-precision control requirements of refined mining equipment.

[0008] Current methods for real-time pose detection and calculation of coal mining face equipment mainly focus on the real-time pose detection and calculation of coal mining machines, and lack methods for real-time pose detection and calculation of coal mining face equipment groups, including coal mining machines, scraper conveyors, and supports. For example, Chinese patent application "CN110285810A A method and device for autonomous positioning of a coal mining machine based on inertial navigation data" uses an inertial navigation device to obtain the precise position and attitude in the relative navigation coordinate system. Chinese patent application "CN107238385A A method for detecting the absolute pose of a coal mining machine" uses a combination of an inertial navigation device and a laser measurement device to realize the detection and calculation of the real-time absolute pose of the coal mining machine. For the real-time pose detection and calculation of scraper conveyors, the motion trajectory of the coal mining machine is mainly used as the running trajectory of the scraper conveyor. For example, Chinese patent application "CN104058215A A method for dynamic straightening of scraper conveyors based on the absolute motion trajectory of the coal mining machine" projects the running trajectory of the coal mining machine onto the working face bottom plate plane as the reference trajectory for calculating the scraper conveyor. This method does not consider the pitch angle of the coal mining equipment in space and can be used as basic straightness control, but it cannot be used to obtain the precise absolute coordinate attitude of the scraper conveyor.

[0009] Currently, the industry lacks a method that can guarantee measurement accuracy, automatic and real-time data calculation, and cover the real-time measurement and calculation of the position and attitude of coal mining face equipment groups, including coal mining machines, scraper conveyors, and supports. Summary of the Invention

[0010] The purpose of this invention is to provide a method, system, equipment, and medium for real-time calculation of the position and attitude of coal mining face equipment. It solves the problem that the existing technology lacks a calculation method that can ensure measurement accuracy, automatic and real-time data calculation, and cover the real-time measurement of the position and attitude of coal mining face equipment groups (including coal mining machines, scraper conveyors, and supports). This invention realizes the calculation and processing of the position and attitude of coal mining face equipment groups, providing conditions for the automation and intelligent operation of coal mining face equipment groups.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] A method for real-time calculation of the position and orientation of equipment in a coal mining face includes the following steps:

[0013] S1: Establish the positioning coordinate system;

[0014] S2: Measure the initial position of the inertial navigation system of the coal mining machine based on the positioning coordinate system;

[0015] S3: Obtain real-time position data of the coal mining machine's inertial navigation system relative to the initial position of the coal mining machine's inertial navigation system relative to S2;

[0016] S4: Based on the initial position of the coal mining machine inertial navigation system obtained in S2 and the relative real-time position data of the coal mining machine inertial navigation system obtained in S3, calculate the position and attitude of the inertial navigation system installation point. Then, based on the position and attitude of the inertial navigation system installation point, calculate the position and attitude of the coal mining machine, the scraper conveyor, and the support.

[0017] S5: Output the real-time position data of the inertial navigation device obtained in S3, the position and attitude of the coal mining machine obtained in S4, the position and attitude of the scraper conveyor and the position and attitude of the support.

[0018] The positioning coordinate system established in S1 includes the absolute coordinate system, the inertial navigation coordinate system, and the carrier coordinate system.

[0019] The specific steps for measuring the initial position of the inertial navigation system of the coal mining machine in S2 are as follows:

[0020] S201: Use an optical measurement and positioning device to set up measurement control points on both sides of the working face roadway to obtain the absolute coordinates of the measurement control points in the working face;

[0021] S202: Using the intersection of the horizontal and vertical axes of the coal mining machine body as the origin of the carrier coordinate system, a laser rangefinder is used to measure the relative distance between each optical measurement and positioning device to determine the relative position of the inertial navigation device and the origin of the carrier coordinate system.

[0022] S203: Based on the absolute coordinates of the measurement control points obtained in S201 and the relative distances between the optical measurement and positioning devices obtained in S202, the three-dimensional coordinates of each optical measurement and positioning device are measured and obtained, and then the three-dimensional coordinates and attitude of the origin of the carrier coordinate system are calculated.

[0023] S204: Based on the relative position of the inertial navigation device and the origin of the carrier coordinate system obtained in S202, and the three-dimensional coordinates and attitude of the origin of the carrier coordinate system obtained in S203, the initial position of the inertial navigation device is calculated.

[0024] In S3, the inertial navigation device obtains real-time position data relative to the initial position obtained in S2. Specifically, the inertial navigation device acquires and fuses data from the coal mining machine encoder and vibration sensor, and obtains real-time position data relative to the initial position obtained in S2 through the built-in error correction technology of the inertial navigation device.

[0025] The specific calculation of the position and attitude of the coal mining machine in S4 is as follows:

[0026] The initial position of the inertial navigation device (INS) installation point is obtained. Based on the initial position of the INS installation point, a local coordinate system for the INS is established, and the real-time position and attitude of the INS installation point are calculated. The relative position of the coal mining machine positioning reference point is obtained. Based on the real-time position and attitude of the INS installation point and the relative position of the coal mining machine positioning reference point, the position and attitude of the coal mining machine positioning reference point are calculated. A data storage database for the coal mining machine's position and attitude is then established to store the position and attitude of the INS installation point each time the coal mining machine starts and stops. When the coal mining machine starts again, the position and attitude of the INS installation point at the time of the last stop in the stored database are used as the initial position and attitude of the INS installation point for this start-up. The position and attitude of the coal mining machine are obtained through automatic loop calculation. Before the loop starts, the initial position coordinates of the coal mining machine's INS are corrected according to the method described in S2.

[0027] The specific calculation of the position and attitude of the scraper conveyor in S4 is as follows:

[0028] By combining the dimensions of the coal mining machine and the scraper conveyor and the position and attitude of the inertial navigation device installation point, the real-time position of the intersection point of the front and rear traveling wheel axles of the coal mining machine and the center line of the scraper conveyor is calculated to obtain the actual trajectory curve of the scraper conveyor. Based on the position of the scraper conveyor segment on the actual trajectory curve of the scraper conveyor, and the support action command data is obtained, it is determined whether the support corresponding to each scraper conveyor segment is pushed. If the determination result is no, the actual absolute coordinates of the scraper conveyor segment are calculated first, and then the spatial attitude of the scraper conveyor segment is calculated. Based on the spatial attitude of the scraper conveyor segment, the current position and attitude of the scraper conveyor are calculated. If the determination result is yes, the current position and attitude of the scraper conveyor segment are calculated based on the position of the scraper conveyor segment on the actual trajectory curve of the scraper conveyor.

[0029] The specific calculation of the position and attitude of the support in S4 is as follows:

[0030] Based on the location of the inertial navigation device (INS) installation point on the platform, and according to the relative positional relationship between the connection point of the support and the scraper conveyor and the INS installation point, coordinate transformation matrix formulas for the real-time coordinates of the INS installation point and the connection point of the support and the scraper conveyor are established. The spatial trajectory curve of the connection point of the support and the scraper conveyor is calculated. Based on the position of each connection point of the support and the scraper conveyor on the spatial trajectory curve, the coordinates of each connection point of the support and the scraper conveyor are calculated. Then, based on the real-time data obtained by the stroke sensor and tilt sensor on the support, and combined with the connection geometric relationship between the support base and the connection point of the support and the scraper conveyor, the position and attitude of the support are calculated.

[0031] A real-time position and attitude calculation system for coal mining face equipment includes:

[0032] Coordinate system establishment module: used to establish a positioning coordinate system;

[0033] Inertial navigation initial position measurement module: used to measure the initial position of the coal mining machine's inertial navigation system based on the positioning coordinate system;

[0034] Real-time position measurement module for inertial navigation: used to acquire real-time position data of the coal mining machine's inertial navigation device relative to S2 to obtain the initial position of the coal mining machine's inertial navigation;

[0035] Working face equipment pose calculation module: It is used to calculate the position and attitude of the inertial navigation device installation point based on the initial position of the coal mining machine inertial navigation and the real-time position data of the coal mining machine inertial navigation device. Then, based on the position and attitude of the inertial navigation device installation point, it calculates the position and attitude of the coal mining machine, the scraper conveyor and the support.

[0036] Data output module: Used to output the real-time position data of the inertial navigation device, the position and attitude of the scraper conveyor, and the position and attitude of the support.

[0037] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the real-time pose calculation method for coal mining face equipment as described in any of the preceding claims.

[0038] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the real-time pose calculation method for coal mining face equipment as described in any of the preceding claims.

[0039] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a real-time calculation method for the position and attitude of coal mining face equipment based on inertial navigation. During the coal mining face retreat, the position and attitude of the coal mining machine, scraper conveyor and support are calculated and automatically processed in real time, which has real-time performance. The method first measures the initial coordinate position of the inertial navigation device of the coal mining machine, measures and corrects the real-time position data of the inertial navigation device to make the data more accurate, then calculates the position and attitude of the coal mining machine, scraper conveyor and support of the coal mining face, and finally outputs the position and attitude parameters of the coal mining face equipment group, providing conditions for realizing the automated and intelligent operation of the coal mining face equipment group. Attached Figure Description

[0040] Figure 1 This is a flowchart of the real-time calculation method for the posture of coal mining face equipment according to the present invention;

[0041] Figure 2 This is a diagram illustrating the positioning coordinate system of this invention;

[0042] Figure 3 This is a schematic diagram of the initial position measurement of the inertial navigation system of the coal mining machine according to the present invention;

[0043] Figure 4 This is a flowchart of the automatic calculation process for real-time positioning of the coal mining machine coordinates according to the present invention;

[0044] Figure 5 This is a diagram showing the operating trajectory of the coal mining machine according to the present invention;

[0045] Figure 6 This is a flowchart of the scraper conveyor segment position and attitude calculation method of the present invention;

[0046] Figure 7 This is a top view showing the geometric relationship between the coal mining machine and the scraper conveyor of the present invention.

[0047] Figure 8 This is a front view of the geometric relationship between the coal mining machine and the scraper conveyor of the present invention;

[0048] Figure 9 This is a side view of the geometric relationship between the coal mining machine and the scraper conveyor of the present invention;

[0049] Figure 10 This is a schematic diagram of the M0 and N0 space curves of the scraper conveyor when the coal mining machine is traveling in the forward direction according to the present invention;

[0050] Figure 11 This is a schematic diagram of the M0 and N0 space curves of the scraper conveyor when the coal mining machine is traveling in reverse according to the present invention;

[0051] Figure 12 This is a schematic diagram showing the geometric relationship between the scraper conveyor and the support frame of the present invention;

[0052] Figure 13 This is a schematic diagram of the geometric dimensional relationship of the scraper conveyor before and after the present invention is pushed, wherein (a) is a schematic diagram of the geometric dimensional relationship of the scraper conveyor before the scraper conveyor is pushed, and (b) is a schematic diagram of the geometric dimensional relationship of the scraper conveyor after the scraper conveyor is pushed;

[0053] Figure 14 This is a schematic diagram of the geometric parameters of the scraper conveyor structure of the present invention;

[0054] Figure 15 This is a flowchart of the real-time position calculation of the support in this invention;

[0055] Figure 16 These are schematic diagrams of the geometric dimensions of the support before and after the present invention is pulled, wherein (a) is a schematic diagram of the geometric dimensions of the support before the pull, and (b) is a schematic diagram of the geometric dimensions of the support after the pull;

[0056] Figure 17 This is a schematic diagram of the installation position of the laser target for the coal mining machine of the present invention;

[0057] Figure 18 This is a schematic diagram of the installation of the inertial navigation device for the coal mining machine of the present invention.

[0058] Figure 19 This is a flowchart illustrating the specific implementation of the present invention. Detailed Implementation

[0059] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0060] Example 1:

[0061] like Figure 1 As shown, the present invention provides a method for real-time calculation of the pose of coal mining face equipment, comprising the following steps:

[0062] S1: Establish the positioning coordinate system;

[0063] S2: Measure the initial position of the inertial navigation system of the coal mining machine based on the positioning coordinate system;

[0064] S3: Obtain the real-time position data of the inertial navigation device of the coal mining machine relative to the initial position of the inertial navigation device of the coal mining machine;

[0065] S4: Based on the initial position of the coal mining machine's inertial navigation system obtained in S2 and the real-time position data obtained in S3, calculate the position and attitude of the inertial navigation device installation point. Then, based on the position and attitude of the inertial navigation device installation point, calculate the position and attitude of the coal mining machine, the scraper conveyor, and the support.

[0066] S5: Output the real-time position data obtained in S3, the position and attitude of the coal mining machine obtained in S4, the position and attitude of the scraper conveyor, and the position and attitude of the support.

[0067] The positioning coordinate system established in S1 includes the absolute coordinate system, the inertial navigation coordinate system, and the carrier coordinate system.

[0068] The specific steps for measuring the initial position of the inertial navigation system of the coal mining machine in S2 are as follows:

[0069] S201: Use an optical measurement and positioning device to set up measurement control points on both sides of the working face roadway to obtain the absolute coordinates of the measurement control points in the working face;

[0070] S202: Using the intersection of the horizontal and vertical axes of the coal mining machine body as the origin of the carrier coordinate system, a laser rangefinder is used to measure the relative distance between each optical measurement and positioning device to determine the relative position of the inertial navigation device and the origin of the carrier coordinate system.

[0071] S203: Based on the absolute coordinates of the measurement control points obtained in S201 and the relative distances between the optical measurement and positioning devices obtained in S202, the three-dimensional coordinates of each optical measurement and positioning device are measured and obtained. Then, based on the three-dimensional coordinates of each optical measurement and positioning device, the three-dimensional coordinates and attitude of the origin of the carrier coordinate system are calculated.

[0072] S204: Based on the relative position of the inertial navigation device and the origin of the carrier coordinate system obtained in S202, and the three-dimensional coordinates and attitude of the origin of the carrier coordinate system obtained in S203, the initial position of the inertial navigation device is calculated.

[0073] In S3, the real-time position data of the inertial navigation device relative to the initial position of the coal mining machine's inertial navigation is obtained. Specifically, the inertial navigation device acquires and fuses the data from the coal mining machine's encoder and vibration sensor, and obtains the real-time position data of the inertial navigation device relative to the initial position of the coal mining machine's inertial navigation through the inertial navigation device's built-in error correction technology.

[0074] The specific calculation of the position and attitude of the coal mining machine in S4 is as follows:

[0075] The initial position of the inertial navigation device (INS) installation point is obtained. Based on the initial position of the INS installation point, a local coordinate system for the INS is established, and the real-time position and attitude of the INS installation point are calculated. The relative position of the coal mining machine positioning reference point is obtained. Based on the real-time position and attitude of the INS installation point and the relative position of the coal mining machine positioning reference point, the position and attitude of the coal mining machine positioning reference point are calculated. A database for storing the position and attitude of the coal mining machine position and attitude is then established to store the position and attitude of the INS installation point each time the coal mining machine starts and stops. When the coal mining machine starts again, the position and attitude of the INS installation point at the time of the last stop in the stored database is used as the initial position and attitude of the INS installation point for the current start-up. The position and attitude of the coal mining machine are automatically calculated in a loop. Before the loop starts, the initial position coordinates of the coal mining machine INS are corrected according to S2.

[0076] The specific calculation of the position and attitude of the scraper conveyor in S4 is as follows:

[0077] By combining the dimensions of the coal mining machine and the scraper conveyor and the position and attitude of the inertial navigation device installation point, the real-time position of the intersection point of the front and rear traveling wheel axles of the coal mining machine and the center line of the scraper conveyor is calculated to obtain the actual trajectory curve of the scraper conveyor. Based on the position of the scraper conveyor segment on the actual trajectory curve, the support action command data is obtained. Based on the position of the scraper conveyor segment on the actual trajectory curve and the obtained support action command data, it is determined whether the support corresponding to each scraper conveyor segment is pushed. If the determination result is no, the actual absolute coordinates of the scraper conveyor segment are calculated first, and then the spatial attitude of the scraper conveyor segment is calculated. Based on the spatial attitude of the scraper conveyor segment, the current position and attitude of the scraper conveyor is calculated. If the determination result is yes, the current position and attitude of the scraper conveyor segment is calculated based on the position of the scraper conveyor segment on the actual trajectory curve.

[0078] The specific calculation of the position and attitude of the support in S4 is as follows:

[0079] Based on the position and attitude of the inertial navigation device (INS) installation point, and according to the relative positional relationship between the connection point of the support and the scraper conveyor and the INS installation point, coordinate transformation matrix formulas for the real-time coordinates of the INS installation point and the connection point of the support and the scraper conveyor are established. The spatial trajectory curve of the connection point of the support and the scraper conveyor is calculated based on these formulas. The coordinates of each connection point are calculated based on its position on the spatial trajectory curve. The system then determines whether the support needs to be moved. Based on the determination result, the real-time coordinates and attitude of the support are calculated. The coordinates of the support's positioning point before and during the movement are then calculated to obtain the movement distance. Finally, the position and attitude of the support are calculated based on its real-time coordinates, attitude, and movement distance.

[0080] The detailed calculation method is as follows:

[0081] A method for real-time calculation of the pose of coal mining face equipment based on inertial navigation is described in the detailed flowchart below. Figure 19 As shown:

[0082] S1: Establish the positioning coordinate system.

[0083] (1) Absolute coordinate system: The Beijing 54 coordinate system is selected as the absolute coordinate system, denoted as OENZ.

[0084] (2) Inertial navigation coordinate system: The initial position of the coal mining machine when it starts running is the origin of the coordinate system. The direction of the working face cutting eye, i.e. the direction of the coal mining machine, is the x-axis, and the direction of the roadway, i.e. the direction of the working face advancement, is the y-axis. This is denoted as the g system and is used as the inertial navigation coordinate system, i.e.: Inertial navigation coordinate system OgXgYgZg.

[0085] (3) Carrier coordinate system: Take a certain point on the body of the coal mining machine as the origin of the coordinate system Oc, and select the right, front and up directions (OcXcYcZc) as the carrier coordinate system. X points to the horizontal axis of the robot body, Y points to the vertical axis of the robot body, and Z points to the vertical axis of the robot body.

[0086] The diagram of the positioning coordinate system is as follows Figure 2 As shown.

[0087] S2. Based on the positioning coordinate system, measure the initial position of the coal mining machine's inertial navigation system:

[0088] Before the coal mining machine enters its working cycle, the initial position of the coal mining machine's inertial navigation system is measured.

[0089] (1) Use high-precision laser measuring equipment (laser total station) to set up control points at certain intervals on both sides of the working face roadway to obtain the absolute coordinates of the measurement control points on both sides of the working face roadway.

[0090] (2) The laser target is installed at a fixed position on the axis of the coal mining machine, with the intersection of the horizontal and vertical axes of the coal mining machine as the origin O of the carrier coordinate system. C Laser targets J1 and J2 are installed on the axis of the coal mining machine body and are symmetrical with respect to the vertical axis of the machine body, i.e., O C Defined as the midpoint connecting J1 and J2, the laser target J3 is mounted in the carrier coordinate system Y. C On the axis, not with O C Points coincide, and J1, J2, and J3 are installed at the same height in the coordinate system of the coal mining machine carrier. The relative distance between laser targets J1, J2, and J3 is determined using a high-precision handheld laser rangefinder: Jd 1-2 ,Jd 1-3 ,Jd 2-3 A schematic diagram of the installation location of the laser target for the coal mining machine is shown below. Figure 17 As shown.

[0091] (3) The inertial navigation device is installed in a fixed position on the body of the coal mining machine, and the installation points O and O' of the inertial navigation device are determined. C The relative position of a point in the carrier coordinate system (x) O ,y O ,z O The schematic diagram of the installation location of the inertial navigation device of the coal mining machine is shown below. Figure 18 As shown.

[0092] (4) Using high-precision laser measuring equipment (laser total station), based on the absolute coordinates of the measurement control points in the upper and lower roadways, the three laser targets installed on the coal mining machine body are tracked and located, and the three-dimensional coordinates (E) of the three laser targets in the absolute coordinate system are measured and obtained. J1 N J1 Z J1 ),(E J2 N J2 Z J2 ),(E J2 N J2 Z J2 ).

[0093] Using the formula:

[0094]

[0095]

[0096]

[0097]

[0098] Among them, E Oc O is the origin of the carrier coordinate system C In the east direction, the coordinate is N. Oc O is the origin of the carrier coordinate system C The coordinates in the due north direction, Z Oc O is the origin of the carrier coordinate system C elevation, O is the origin of the carrier coordinate system C azimuth angle, θ Oc γ is the pitch angle of the origin of the carrier coordinate system. Oc The roll angle is the angle at the origin of the carrier coordinate system.

[0099] Calculation yields O C 3D coordinates and orientation of a point in an absolute coordinate system

[0100] (5) According to the formula, and formula

[0101] in:

[0102]

[0103] Among them, E O0 N is the distance from the inertial navigation system installation point O in the due east direction. O0 Z is the distance from the inertial navigation system mounting point O in the due north direction. O0 Let R′ be the elevation of the inertial navigation device mounting point O. Z The formula for the spatial coordinate rotation transformation matrix in the vertical upward direction is R′. Y The formula for the spatial coordinate rotation transformation matrix in the coal mining advance direction is R′. X The formula for the spatial coordinate rotation transformation matrix of the coal mining machine's travel direction.

[0104] The initial position coordinates (E) of the inertial navigation device mounting point O in the absolute coordinate system were calculated. O0 ,Y O0 Z O0 and heading angle like Figure 3 The T-shaped scale point shown represents the initial position of the inertial navigation device installation point, which serves as a reference point for the conversion from relative coordinates to absolute coordinates.

[0105] Step S3. Obtain the real-time position data of the inertial navigation device of the coal mining machine relative to the initial position of the inertial navigation of the coal mining machine.

[0106] The inertial navigation system (INS) of the coal mining machine integrates data from the encoder and vibration sensors. After error correction using the INS' built-in error correction technologies (Kalman filtering, intelligent zero-speed correction algorithm, and straightness fuzzy approximation), it outputs the real-time relative coordinates and attitude of the INS mounting point O relative to its initial position after startup.

[0107] S4. Calculation of the position and attitude of the coal mining machine, the scraper conveyor, and the support:

[0108] Real-time automatic calculation of the position and attitude of the coal mining machine:

[0109] (1) Obtain the real-time relative coordinates and attitude of the initial position of the inertial navigation device mounting point. Obtain the initial position coordinates (E) of the inertial navigation device mounting point O in the absolute coordinate system. O0 ,Y O0 Z O0 and heading angle Using the initial position point O of the inertial navigation device as the origin, a local coordinate system for the inertial navigation system is established, and a real-time conversion formula from relative coordinates to absolute coordinates is established:

[0110]

[0111] Where E Ot N is the real-time distance in the due east direction from the installation point O of the inertial navigation device. Ot Z is the distance in the real-time due north direction from the installation point O of the inertial navigation system. Ot This is the real-time elevation of the inertial navigation device installation point O.

[0112] The real-time position and attitude of the inertial navigation device mounting point O were calculated.

[0113] (2) Based on the inertial navigation device installation point O and the coal mining machine positioning reference point O c relative position (x) O ,y O ,z O Establish the coordinate transformation formula:

[0114]

[0115] Where E oct Reference point O for positioning the coal mining machine c The real-time distance in the due east direction, N Oct Reference point O for positioning the coal mining machine c The real-time distance to due north, Z Oct Reference point O for positioning the coal mining machine c The elevation.

[0116] The coal mining machine positioning reference point O was calculated. c Real-time position and attitude

[0117] (3) Establish a database for storing the position and attitude data of the coal mining machine, and record the position and attitude of the coal mining machine each time it starts and stops. After the coal mining machine stops running, save the absolute coordinate data and attitude of the inertial navigation device installation point at the time of shutdown, and use it as the initial absolute coordinate position and attitude of the inertial navigation device installation point when the coal mining machine starts again.

[0118] (4) When the coal mining machine is restarted, the absolute coordinates and azimuth of the inertial navigation device installation point at the last shutdown are used as the initial absolute coordinates and azimuth of the inertial navigation device installation point for this startup. The inertial navigation relative coordinate system and coordinate transformation matrix are re-established according to step (1), and the real-time absolute pose of the inertial navigation device installation point is calculated. The absolute real-time position coordinates and attitude of the mechanical equipment positioning reference point after restarting are calculated according to step (2).

[0119] (5) After the coal mining machine has been running for a period of time (such as after each working cycle or after advancing a certain distance), the coordinates of the coal mining machine's stopping position recorded in step (3) can be corrected before starting the machine. That is, the S2 measurement is repeated to remeasure the absolute coordinates of the initial position, thereby eliminating the accumulated error. Repeat steps S2-S4 to realize the real-time automatic measurement and calculation of the coal mining machine's position and attitude.

[0120] The flowchart for automatic calculation of the coordinate position and attitude of the coal mining machine is as follows: Figure 4 As shown.

[0121] Real-time automatic calculation of scraper conveyor position and attitude:

[0122] Since the coal mining machine always travels on the scraper conveyor, the spatial attitude curve of the scraper conveyor determines the spatial position of the coal mining machine. Because the operation of the coal mining face equipment is a cyclical and gradual process, mainly consisting of pushing the conveyor, mining, and moving the support, this cycle repeats continuously. Therefore, the spatial attitude curve of the scraper conveyor changes in real time. The real-time state of the scraper conveyor attitude curve change is mainly divided into two types: one is the planned position of the coal mining machine before it passes after the scraper conveyor has moved. This is derived and calculated based on the spatial curve of the scraper conveyor after the previous pass, combined with the support stroke sensor and the inclination and pitch angles of the support, as well as the geometric dimensions of the mechanical connection between the scraper conveyor and the support; the other is the actual position of the coal mining machine after it has passed. This is obtained by coordinate transformation calculation based on the historical trajectory of the inertial navigation system and the body dimensions of the coal mining machine and the scraper conveyor. The coal mining machine's running trajectory is as follows: Figure 5 As shown.

[0123] To accurately reproduce the spatial position and attitude of the scraper conveyor, after obtaining the spatial attitude trajectory curve of the scraper conveyor, it is necessary to accurately calculate the spatial position and attitude of the scraper conveyor head, tail, and each scraper unit based on the mechanical geometric dimensions of the scraper conveyor space. For example... Figure 6 The following is the calculation process for the position and attitude of the scraper conveyor:

[0124] (1) Formula for the actual curve coordinate transformation matrix of the scraper conveyor. For example... Figure 7 As shown, point O is the installation location of the inertial navigation device. M0 and N0 are the intersections of the front and rear travel wheel axles of the coal mining machine with the center line of the scraper conveyor, respectively. AB and CD are the intersections of the front and rear travel wheel axles of the coal mining machine with the installation surface of the inertial navigation device of the coal mining machine, respectively. L M Let L be the distance between point O in the mounting plane of the inertial navigation device and the projection of AB. Q The projected distances of M0 and N0 in the mounting plane of the inertial navigation device, such as Figure 9 As shown, L B L is the distance between point O in the mounting plane of the inertial navigation system and the line connecting M0 and N0. H The height difference between the mounting surface of the inertial navigation device and the plane containing M0 and N0. Figure 8 This is a front view showing the geometric relationship between the coal mining machine and the scraper conveyor.

[0125] (2) The real-time absolute pose of the inertial navigation device mounting point O is calculated. Based on the basic Euler angle spatial coordinate rotation transformation matrix, the matrix formula for calculating the coordinates M0 and N0 from the coordinates of the inertial navigation device installation point O is derived as follows:

[0126]

[0127]

[0128] Connecting the real-time calculated spatial points M0 and N0 in historical time sequence yields the spatial trajectory curves of points M0 and N0.

[0129] like Figure 10 and Figure 11 As shown, when the coal mining machine is traveling in the forward and reverse directions, the trajectories of points M0 and N0 have a length of L at both ends. Q The trajectories do not coincide. Since M0 and N0 are always on the center line of the scraper conveyor, the trajectories of points M0 and N0 in the middle section coincide. Therefore, the union of the historical trajectory lines of points M0 and N0 is the actual spatial curve S after the coal mining machine passes the center line of the scraper conveyor. MN .

[0130] like Figure 14 As shown:

[0131] L tThe distance along the axis between the head positioning point and the positioning point of the first scraper conveyor segment;

[0132] L w The distance along the scraper axis between the tail positioning point and the positioning point of the last scraper conveyor segment;

[0133] L d The distance between the positioning points of adjacent scraper conveyor segments along the scraper axis;

[0134] L td The distance from the starting point of the spatial trajectory line of the scraper conveyor to the positioning point of the machine head on the axis of the scraper conveyor model;

[0135] L wd The distance from the starting point of the spatial trajectory line of the scraper conveyor to the tail positioning point on the axis of the scraper conveyor model;

[0136] L G The distance between the endpoints of the empty scraper conveyor trajectory line is calculated from the inertial navigation data of the coal mining machine.

[0137] The actual space curve S MN The length L is distributed along the tangential direction at the starting and ending points. td L wd The length is used to obtain the complete space curve S′ of the scraper conveyor. MN Define the space curve S′ of the scraper conveyor MN The starting position curve parameter is 0, the ending position curve parameter is 1, and the position of any segment of the scraper conveyor on the curve is represented as follows:

[0138]

[0139] (4) Calculation of the actual absolute coordinates of the scraper conveyor segment.

[0140] Using geometric definitions of graphical data, we can calculate the spatial coordinates, normal vector, and tangent vector of any point on a given spatial curve using the following formulas: The spatial coordinates of the head, tail, and i-th segment positioning point, as well as the normal and tangent vectors of these points on the scraper conveyor trajectory curve, are calculated as follows:

[0141]

[0142] (5) Spatial attitude calculation of scraper conveyor segments.

[0143] L Gi Point tangent vector Decomposed into vertical direction and horizontal direction Given two vectors, calculate the horizontal vector at that point. With the element vector v along the N-axis of the absolute coordinate systemN The included angle is used to obtain the azimuth angle of the scraper conveyor segment. Calculate the tangent vector With horizontal vector The included angle is used to obtain the pitch angle θ of the scraper conveyor segment. Gi .

[0144] The position calculation of the scraper conveyor is performed simultaneously with the position calculation of the coal mining machine. In step S4(3), the system automatically records the calculated spatial coordinates of each scraper conveyor segment when the coal mining machine passes through each scraper conveyor segment, such as... Figure 12 As shown, L Gi (N) point and L Gi Point (N-1). Place L... Gi Connecting the spatial coordinates of the points recorded N times before the point is formed into a three-dimensional spline curve. And calculate L Gi (N) point is on the curve Tangent vector on Decompose the tangent vector into vertical directions. and horizontal direction Given two vectors, calculate the tangent vector. With horizontal vector The included angle is used to obtain the roll angle γ of the scraper conveyor segment. Gi The spatial positions and orientations of the scraper conveyor's head, tail, and the positioning point of the i-th segment are calculated:

[0145]

[0146] (6) Determine the status of the scraper conveyor segment based on the status of the corresponding support, obtain all support action command data, and determine whether the support corresponding to each scraper conveyor segment is pushed based on the action command data of each support.

[0147] If the judgment result is "no", then proceed to step (4) to calculate the real-time coordinates and attitude of the current scraper conveyor segment.

[0148] If the judgment result is "yes", then continue to calculate the real-time coordinates and attitude of the current scraper conveyor segment according to step (5).

[0149] Real-time calculation of the spatial orientation of the scraper conveyor under the support pushing state.

[0150] The geometric relationship between the scraper conveyor before and after the movement is as follows: Figure 13 As shown, P i Point (N-1) is the support connection point before the move, L Gi Point (N-1) is the positioning point of the scraper conveyor segment before the relocation, P′ iPoint (N) is the connection point of the moved support, L′ Gi Point (N) is the positioning point of the scraper conveyor segment after it has been moved.

[0151] D r The pin lug gap is a fixed value.

[0152] L g1 P after the last time the bracket was moved i (N-1) point to L Gi The distance is (N-1), which is a fixed value;

[0153] L g2 To move the pin into place, P i (N-1) point to L Gi The distance L is (N-1). g2 =L g1 -D r , is a fixed value;

[0154] L d2 Q after the last time the bracket was moved i (N-1) point to P i The distance between (N-1) points is a fixed value.

[0155] L′ d2 To move the pin ear into place, Q i (N-1) point to P i The distance between (N-1) points, L′ d2 =L d2 +D r ; is a fixed value;

[0156] L d3 To push Q i (N-1) point to P′ i The distance to point (N) is a variable value;

[0157] L dt The cumulative pushing stroke of the hydraulic cylinder for the support pusher is a variable value.

[0158] L st L represents the actual pushing stroke of a scraper conveyor segment. st =L dt -D r Step S6. The spatial pose of the support is automatically calculated in real time.

[0159] Calculate the support connection point p before displacement using the following formula. i The absolute spatial coordinates (E) of (N) Pi N Pi Z Pi ).

[0160]

[0161] Calculate the connection point P′ of the moved support according to the following formula. i (N) Spatial coordinates (E′) Pi ,N′ Pi ,Z′ Pi ).

[0162] The azimuth angle of the support is obtained from the data interface of the working face equipment control system;

[0163] θ Qi The pitch angle of the support is obtained from the data interface of the working face equipment control system;

[0164]

[0165] The spatial coordinates (E′) of the shifted scraper conveyor segment are calculated using the following formula. Gi ,N′ Gi ,Z′ Gi ).

[0166]

[0167] Calculate the attitude angle of the scraper conveyor segment after it has been moved using the following formula.

[0168] γ′ Mi This is the correction value for the angle of the top and bottom plates of the coal seam when the scraper conveyor moves along the coal mining face. It is derived from the slope change of the bottom plate of the coal seam along the advancing direction.

[0169]

[0170] This leads to the spatial orientation of the scraper conveyor in the push-pull state.

[0171]

[0172] Real-time automatic calculation of support spatial pose

[0173] like Figure 15 As shown, after the inertial navigation system calculates and obtains the real-time coordinates of the inertial navigation device installation point O, a coordinate transformation matrix formula for calculating the real-time coordinates of point P from point O is established based on the relative positional relationship between the support and scraper conveyor connection point P and point O, forming a spatial trajectory curve of point P. Based on the position of each support and scraper conveyor connection point P on the spatial trajectory curve of point P, the coordinates of each support and scraper conveyor connection point P are calculated. Then, based on the real-time data of the support's stroke sensor and tilt sensor, combined with the connection geometric relationship between the support base point Q and point P, the coordinates and attitude of the support base point Q are calculated.

[0174] (1) Calculation of the spatial trajectory curve of the connection point between the support frame and the scraper conveyor

[0175] like Figure 16 As shown:

[0176] P i Point (N) is the connection point between the support and the scraper conveyor before the support is pulled away.

[0177] q i Point (N) is the positioning point before the support is pulled away.

[0178] The connection point between the support bracket and the scraper conveyor after the bracket is pulled away.

[0179] Q′ i Point (N) is the positioning point before the support is pulled away.

[0180] D r The gap between the pins is a fixed value.

[0181] Lg is P i The horizontal distance between point (N) and the inertial navigation device installation point O in the coal mining machine carrier coordinate system is a fixed value;

[0182] Hp is P i The vertical height difference between point (N) and the inertial navigation device installation point O in the coal mining machine carrier coordinate system is a fixed value;

[0183] L′ g for The horizontal distance between point O and the inertial navigation device installation point O in the coordinate system of the coal mining machine carrier is a fixed value;

[0184] H′ p for The vertical height difference between point O and the inertial navigation device installation point O in the coordinate system of the coal mining machine carrier is a fixed value.

[0185] The real-time absolute pose of the inertial navigation device mounting point O is obtained based on calculations. Calculate P using the following formula i (N) point and Real-time spatial coordinates of a point.

[0186]

[0187]

[0188] The obtained P i (N) point and Connecting the real-time spatial coordinates of points in historical time sequence yields P. i (N) point and The spatial trajectory curve S of a point P (N) and

[0189] (2) Calculation of the position of the support connection point on the trajectory curve.

[0190] Define the spatial trajectory curve of the connection point between the support frame and the scraper conveyor as follows: the starting position curve parameter is 0, the ending position curve parameter is 1, and the distance from the starting point of the connection point on the spatial trajectory curve is L. Z0 The distance between adjacent supports is L Zd The position of any connection point between the support and the scraper conveyor on the curve is represented as:

[0191]

[0192]

[0193] (3) Calculation of the coordinates of the connection point between the support and the scraper conveyor.

[0194] Using geometric definitions of graphical data, the formula for calculating the spatial coordinates of any point on a given spatial curve is: (E Zi N Zi Z Zi )=f(Z i The spatial coordinates of the connection point between the i-th support and the scraper conveyor are calculated as follows:

[0195]

[0196]

[0197] (4) Determine the status of the stent.

[0198] The system's working face equipment control system data interface acquires all support action command data and determines whether each support needs to be moved based on the action command data of each support.

[0199] If the judgment result is "no", then according to P i (N) Spatial coordinate calculation yields the current real-time coordinates and attitude of the support.

[0200] If the judgment result is "yes", then according to Spatial coordinate calculations yield the real-time coordinates and attitude of the current support.

[0201] (5) Calculation of the coordinates of the support positioning point before the frame is moved

[0202] like Figure 16 As shown:

[0203] D r The gap between the pins is a fixed value.

[0204] L di Q before the support is moved i (N) and P i The distance (N)

[0205] The forward azimuth angle of the support frame is obtained from the data interface of the working face equipment control system;

[0206] θ Qi The forward tilt angle of the support frame is obtained from the data interface of the working face equipment control system;

[0207] γ Qi The roll angle before the support shifts, obtained from the data interface of the working face equipment control system;

[0208] According to the following formula based on P i (N) Spatial coordinate calculation yields the spatial coordinates of the support before relocation and the natural coordinates.

[0209]

[0210] (6) Calculation of the coordinates of the support positioning point during the frame relocation

[0211] like Figure 12 As shown:

[0212] D r The pin lug gap is a fixed value.

[0213] L l This is the cumulative stroke of the support-pushing cylinder stroke sensor during the support movement process;

[0214] This refers to the azimuth angle during the movement of the support frame;

[0215] θ′ Qi The pitch angle during support frame relocation;

[0216] γ′ Qi This refers to the roll angle during bracket movement;

[0217] L′ di When moving the support frame, Q′ i (N) and Distance between points; L′ di =L di -L l -D r ;

[0218] According to the following formula Spatial coordinate calculations yield the spatial coordinates and orientation of the support frame during its movement.

[0219] Automatic cyclic calculation of support position and attitude

[0220] The support position calculation is performed synchronously with the coal mining machine position calculation. The system automatically records the spatial coordinates and orientation of each support when the coal mining machine starts and stops each time, as well as L. di Q before the support is moved i (N) and P i (N) distance; when the coal mining machine is restarted, the data recorded at the last shutdown is used as the initial data for this calculation, and the spatial coordinates and attitude of each support are automatically calculated according to steps (1)-(6).

[0221] S5: Real-time output of the position and attitude of equipment at the coal mining face:

[0222] Establish a system for real-time output of calculated position and attitude data for coal mining face equipment. This system outputs the calculated coordinate positions and attitude data of the coal mining face equipment in real time, providing fundamental data for equipment attitude positioning. This includes the spatial coordinates and attitude angles (yaw angle, pitch angle, roll angle) of the coal mining machine, scraper conveyor, and supports.

[0223] (1) Output of coal mining machine position and attitude data

[0224] Output the position and attitude of the coal mining machine calculated in step S4.

[0225]

[0226] (2) Output of scraper conveyor position and attitude data

[0227] Output the position and attitude of the scraper conveyor segment calculated in step S4.

[0228]

[0229] (3) Output of support position and attitude data

[0230] Output the support position and orientation calculated by S4

[0231] Example 2: This invention provides a real-time pose calculation system for coal mining face equipment, comprising:

[0232] Coordinate system establishment module: used to establish a positioning coordinate system;

[0233] Inertial navigation initial position measurement module: used to measure the initial position of the inertial navigation system of the coal mining machine;

[0234] Real-time position measurement module for inertial navigation: used to acquire real-time position data of the inertial navigation device relative to its initial position;

[0235] Working face equipment pose calculation module: It is used to calculate the position and attitude of the inertial navigation device installation point based on the initial position and real-time position data of the coal mining machine inertial navigation device, and then calculate the position and attitude of the coal mining machine, the scraper conveyor and the support based on the position and attitude of the inertial navigation device installation point.

[0236] Data output module: Used to output real-time position data, position and attitude, position and attitude of scraper conveyor and support.

[0237] Example 3:

[0238] This invention provides a terminal device. The terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the various method embodiments described above. Alternatively, when the processor executes the computer program, it implements the functions of each module in the various device embodiments described above.

[0239] The computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention.

[0240] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0241] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0242] The memory can be used to store the computer programs and modules. The processor implements various functions of the terminal device by running or executing the computer programs and modules stored in the memory and by calling the data stored in the memory.

[0243] If the modules integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0244] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art, guided by the specification, can make many other modifications without departing from the scope of the claims of the present invention, and all of these modifications are within the scope of protection of the present invention.

Claims

1. A method for real-time calculation of the position and posture of equipment in a coal mining face, characterized in that, Includes the following steps: S1: Establish the positioning coordinate system; S2: Measure the initial position of the inertial navigation system of the coal mining machine based on the positioning coordinate system; S3: Obtain the real-time position data of the inertial navigation device of the coal mining machine relative to the initial position of the inertial navigation device of the coal mining machine; S4: Based on the initial position of the coal mining machine's inertial navigation system obtained in S2 and the real-time position data obtained in S3, calculate the position and attitude of the inertial navigation device installation point. Then, based on the position and attitude of the inertial navigation device installation point, calculate the position and attitude of the coal mining machine, the scraper conveyor, and the support. S5: Output the real-time position data obtained in S3, the position and attitude of the coal mining machine obtained in S4, the position and attitude of the scraper conveyor, and the position and attitude of the support; The specific calculation of the position and attitude of the scraper conveyor in S4 is as follows: By combining the dimensions of the coal mining machine and the scraper conveyor and the position and attitude of the inertial navigation device installation point, the real-time position of the intersection point of the front and rear traveling wheel axles of the coal mining machine and the center line of the scraper conveyor is calculated to obtain the actual trajectory curve of the scraper conveyor. At the same time, the support action command data is acquired. Based on the position of the scraper conveyor segment on the actual trajectory curve of the scraper conveyor, and combined with the acquired support action command data, it is determined whether the support corresponding to each scraper conveyor segment is pushed. If the determination result is no, the actual absolute coordinates of the scraper conveyor segment are first calculated, and then the spatial attitude of the scraper conveyor segment is calculated. Based on the spatial attitude of the scraper conveyor segment, the current position and attitude of the scraper conveyor is calculated. If the determination result is yes, the current position and attitude of the scraper conveyor is calculated based on the position of the scraper conveyor segment on the actual trajectory curve of the scraper conveyor.

2. The method for real-time calculation of the position and orientation of coal mining face equipment according to claim 1, characterized in that, The positioning coordinate system established in S1 includes the absolute coordinate system, the inertial navigation coordinate system, and the carrier coordinate system.

3. The method for real-time calculation of the pose of coal mining face equipment according to claim 2, characterized in that, The specific steps for measuring the initial position of the inertial navigation system of the coal mining machine in step S2 are as follows: S201: Use an optical measurement and positioning device to set up measurement control points on both sides of the working face roadway to obtain the absolute coordinates of the measurement control points in the working face; S202: Using the intersection of the horizontal and vertical axes of the coal mining machine body as the origin of the carrier coordinate system, a laser rangefinder is used to measure the relative distance between each optical measurement and positioning device to determine the relative position of the inertial navigation device and the origin of the carrier coordinate system. S203: Based on the absolute coordinates of the measurement control points in the working surface obtained in S201 and the relative distance between each optical measurement and positioning device obtained in S202, obtain the three-dimensional coordinates of each optical measurement and positioning device, and then calculate the three-dimensional coordinates and attitude of the origin of the carrier coordinate system based on the three-dimensional coordinates of each optical measurement and positioning device. S204: Based on the relative position of the inertial navigation device and the origin of the carrier coordinate system obtained in S202, and the three-dimensional coordinates and attitude of the origin of the carrier coordinate system obtained in S203, the initial position of the inertial navigation device is calculated.

4. The method for real-time calculation of the position and orientation of coal mining face equipment according to claim 1, characterized in that, In S3, the real-time position data of the inertial navigation device relative to the initial position of the coal mining machine's inertial navigation is obtained. Specifically, the inertial navigation device acquires and fuses the data from the coal mining machine's encoder and vibration sensor, and obtains the real-time position data of the inertial navigation device relative to the initial position of the coal mining machine's inertial navigation through the inertial navigation device's built-in error correction technology.

5. The method for real-time calculation of the position and orientation of coal mining face equipment according to claim 1, characterized in that, The specific calculation of the position and attitude of the coal mining machine in S4 is as follows: The system acquires the real-time relative coordinates and attitude of the inertial navigation device (INS) installation point. Based on these coordinates, a local coordinate system is established, and a real-time conversion formula from relative to absolute coordinates is developed. The real-time position and attitude of the INS installation point are calculated using this formula. The relative position of the coal mining machine's positioning reference point is also acquired. Based on the real-time position and attitude of the INS installation point and the relative position of the coal mining machine's positioning reference point, the position and attitude of the coal mining machine's positioning reference point are calculated. A database storing the position and attitude of the INS installation point is then established, storing the position and attitude of the INS installation point each time the coal mining machine starts and stops. When the coal mining machine restarts, the position and attitude of the INS installation point at the time of the previous stop, stored in the database, are used as the initial position and attitude of the INS installation point for the current start-up. The position and attitude of the coal mining machine are automatically calculated in a loop. Before the loop begins, the initial position coordinates of the coal mining machine's INS are corrected according to S2.

6. The method for real-time calculation of the position and orientation of coal mining face equipment according to claim 1, characterized in that, The specific calculation of the position and attitude of the support in S4 is as follows: Based on the position and attitude of the inertial navigation device (INS) installation point, and according to the relative positional relationship between the connection point of the support and the scraper conveyor and the INS installation point, coordinate transformation matrix formulas for the real-time coordinates of the INS installation point and the connection point of the support and the scraper conveyor are established. Based on these formulas, the spatial trajectory curve of the connection point is calculated. According to the position of each connection point on the spatial trajectory curve, the coordinates of each connection point are calculated. It is then determined whether the support needs to be moved. Based on the determination result, the real-time coordinates and attitude of the support are calculated. The coordinates of the support's positioning point before and during the movement are then calculated to obtain the movement distance. Finally, based on the support's real-time coordinates, attitude, and movement distance, the position and attitude of the support are calculated.

7. A real-time calculation system for the position and posture of equipment in a coal mining face, characterized in that, The real-time calculation method for the pose of coal mining face equipment according to any one of claims 1-6 includes: Coordinate system establishment module: used to establish a positioning coordinate system; Inertial navigation initial position measurement module: used to measure the initial position of the coal mining machine's inertial navigation system based on the positioning coordinate system; Real-time position measurement module for inertial navigation: used to acquire real-time position data of the inertial navigation device of the coal mining machine relative to the initial position of the inertial navigation of the coal mining machine; Working face equipment pose calculation module: It is used to calculate the position and attitude of the inertial navigation device installation point based on the initial position and real-time position data of the coal mining machine inertial navigation device, and then calculate the position and attitude of the coal mining machine, the scraper conveyor and the support based on the position and attitude of the inertial navigation device installation point. Data output module: Used to output real-time position data, position and attitude, position and attitude of scraper conveyor and support.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the real-time calculation method for the pose of coal mining face equipment as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the real-time calculation method for the pose of coal mining face equipment as described in any one of claims 1 to 6.

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