Cantilever type coal digging machine cutting head positioning method and system

Abstract

The invention relates to the technical field of positioning, and discloses a method and a system for positioning a cutting head of a cantilever type coal digging machine so as to realize high-precision positioning. The method comprises the following steps: adjusting a cutting head to an initial point to obtain a corresponding relation between three-dimensional position coordinates of the cutting head relative to a machine body and mine tunnel coordinates; after the cutting head starts to work, calculating three-dimensional position coordinates of the cutting head relative to the rotation center of the coal digging machine in real time; calculating attitude change angles of the current azimuth angle, pitch angle and rolling angle of the inertial navigation system relative to the initial point, and obtaining an attitude change matrix according to the attitude change angles; according to the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal digging machine and the current posture change matrix, calculating to obtain the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal digging machine after posture correction; and the real-time position of the cutting head in the mine tunnel coordinates is obtained according to the corresponding relation between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine tunnel coordinates.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning method and system for a cantilever coal mining machine cutting head. Background Art

[0002] Coal miners are a type of large-scale mechanical equipment that greatly improves the efficiency of underground mines and ensures the safety of workers in industrial development. They integrate multiple functions such as digging, transmission, and loading. Traditional coal miners have always been operated manually, but the working environment in the mine is harsh, and there are often problems such as gas, high dust, darkness, humidity, and stuffiness. There are even mine cave collapse accidents in many mines. Manual operation varies from person to person, and there are great differences in operating specifications, safety precautions, and work efficiency. It is difficult to ensure the standardization and safety of such high-intensity and dangerous operations. Therefore, completing the large-scale, fully automated, intelligent, and unmanned operation of coal miners is an urgent problem to be solved at present, and the positioning of the coal miner cutting head in the mine tunnel is one of the core technologies of the system. Summary of the invention

[0003] The present invention aims to disclose a cantilever coal shearer cutting head positioning method and system to achieve high-precision positioning.

[0004] To achieve the above-mentioned purpose, the cantilever coal shearer cutting head positioning method disclosed in the present invention comprises the following steps:

[0005] Step S1, adjusting the cutting head to the initial point, obtaining the corresponding relationship between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates;

[0006] Step S2, after the cutting head starts to work, the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine are calculated in real time;

[0007] Step S3, calculating the attitude change angle of the current azimuth, pitch angle and roll angle of the inertial navigation system compared to the initial point, and obtaining an attitude change matrix according to the attitude change angle;

[0008] Step S4, calculate the three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center after correcting its posture based on the current three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center and the current posture change matrix; then obtain the real-time position of the cutting head in the mine tunnel coordinates based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine tunnel coordinates.

[0009] Preferably, the calculation method of the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine is:

[0010] The rotary structure of the cutting arm is defined as being on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the cutting arm of the coal mining machine. At this time, the rotary angle and the lifting angle are 0. The arm length from the rotary axis center O to the connection point A between the rotary rotating disk and the rotary cylinder is L. HZ1 , arm length L from the center of the rotary axis O to the connection point B between the coal mining machine body and the rotary cylinder HZ2 Length of rotary cylinder L HZG The rotation angle θ is calculated by three structures HZ :

[0011]

[0012] The lifting angle is L from the connection point C between the pitch cylinder and the cutting arm to the connection point E between the lifting frame and the cutting arm. SJ1 , the length from the connection point D between the lifting cylinder and the lifting frame to the connection point E between the lifting frame and the cutting arm is L SJ2 Length of lifting cylinder L SJG The lifting angle θ is calculated by three mechanical structures SJ :

[0013]

[0014] The three-dimensional position of the cutting head relative to the rotation center is calculated based on the length of the robotic arm, and the horizontal direction is defined as X, the vertical direction is defined as Y, and the forward direction is defined as Z, that is:

[0015] P X1 =(L OE +L SS *cos(θ SJ ))*sin(θ HZ );

[0016] P Y1 =L SS *sin(θ SJ );

[0017] P Z1 =(L OE +L SS *cos(θ SJ ))*cos(θ HZ );

[0018] Among them, P X1 , P Y1 , P Z1 It is the three-dimensional position coordinate of the cutting head relative to the rotation center of the coal mining machine.

[0019] Preferably, the posture change matrix Cbb is a 3x3 matrix, and the value of each element in the posture change matrix is:

[0020]

[0021] Among them, Cbb(n,m) is the element value of the attitude change matrix at the (n,m) position, n = 1, 2, 3, m = 1, 2, 3; Δα, Δβ, Δλ are the change angles of azimuth, pitch angle and roll angle respectively.

[0022] Preferably, the calculation formula for obtaining the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal shearer after the corrected posture is calculated based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal shearer and the current posture change matrix is:

[0023]

[0024] Among them, P X2 , P Y2 , P Z2 The three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine are corrected after errors due to posture changes.

[0025] Preferably, the calculation formula for obtaining the real-time position of the cutting head in the mine track coordinates according to the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates includes:

[0026]

[0027] Among them, P JGTX0 , P JGTY0 , P JGTZ0 is the three-dimensional position coordinate of the cutting head relative to the fuselage at the initial point, P XKD0 , P YKD0 , P ZKD0 P is the mine track coordinate corresponding to the initial point of the cutting head; XKD , P YKD , P ZKD It is the real-time three-dimensional coordinate of the cutting head in the mine tunnel coordinates.

[0028] Preferably, the method of this embodiment further comprises: calculating the left margin, right margin, upper margin and lower margin between the cutting head and the mine tunnel according to the real-time position of the cutting head in the mine tunnel coordinate system.

[0029] Optionally, the type of mine tunnel of the present invention is an isosceles trapezoidal mine tunnel, a sloping-roof trapezoidal mine tunnel, an arc-top mine tunnel or a flat-roofed arc mine tunnel. The mine tunnel coordinate system takes the intersection of the mine tunnel center and the mine tunnel bottom as the origin of the XY coordinates, and the position of the cutting head when it is adjusted to the bottom edge of the mine tunnel is taken as the Z origin. The initial point used to determine the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine tunnel coordinates is the vertex of the upper left corner or upper right corner of the mine tunnel or the highest point of the arc.

[0030] To achieve the above objectives, the present invention also discloses a cantilever coal mining machine cutting head positioning system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0031] The present invention has the following beneficial effects:

[0032] Through the posture information calculation model based on the mechanical structure design of the cutting arm of the cantilever coal mining machine, and combined with the inertial navigation system, the three attitude angle parameters of the coal mining machine in real time, namely, azimuth, pitch angle and roll angle, are obtained, and the parameters of these three attitude angles are compensated into the model, so as to achieve the self-adaptation of the coal mining machine to the working terrain. Finally, the positioning parameters calculated by the model are converted into position parameters with the mine tunnel as coordinates and the distance between the cutting head and the edge of the mine tunnel according to the shape of the mine tunnel to be excavated, so as to finally realize the positioning of the cantilever coal mining machine cutting head in the excavation area. In this way, parameters can be set according to different coal mining machine models and different mine tunnels, and the attitude parameters of the inertial navigation system can be used to compensate for the positioning error caused by the uneven ground. It can be maturely applied to coal mining and tunnel excavation, and has high commercial value.

[0033] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 The present invention discloses a cantilever type coal shearer cutting arm lifting structure diagram.

[0036] Figure 2 The invention discloses a cantilever type coal shearer cutting arm rotary structure diagram.

[0037] Figure 3 It is an isosceles trapezoidal mine tunnel map disclosed in an embodiment of the present invention.

[0038] Figure 4 The invention discloses a sloping-roofed trapezoidal mine tunnel diagram.

[0039] Figure 5 It is a circular arc top mine tunnel map disclosed in an embodiment of the present invention.

[0040] Figure 6 It is a flat-top circular arc mine road map disclosed in an embodiment of the present invention.

[0041] Figure 7 The invention is a schematic flow chart of a method for positioning a cutting head of a cantilever coal shearer disclosed in an embodiment of the invention. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0043] Example 1

[0044] This embodiment discloses a method for positioning a cutting head of a cantilever coal shearer.

[0045] Reference Figure 1 and Figure 2 , where MN is the rotary axis, and the components referred to by each index are: ①: telescopic arm; ②: rotary arm; ③: cutting head pitch arm 1; ④: cutting head pitch cylinder; ⑤: cutting head pitch arm 2; ⑥ cutting head telescopic cylinder: ⑦: rotary arm 1; ⑧: cutting head rotary cylinder; ⑨: rotary arm 2. As shown in the figure, the coal mining mechanical structure of the coal mining machine mainly consists of three parts: rotary structure, lifting structure, and telescopic structure. The rotary structure consists of a rotating disk and two rotary telescopic cylinders. The rotary telescopic cylinder can push the rotating disk to rotate around the central axis to realize the horizontal swing of the cutting head of the coal mining machine; the lifting structure consists of a pitch arm, a cutting arm, and a pitch cylinder. When the pitch cylinder is extended, the cutting arm is lifted, and when it is retracted, the cutting arm is lowered, which can complete the lifting and lowering movement of the cutting arm; the telescopic structure consists of a telescopic arm and a telescopic cylinder. The telescopic cylinder can extend the cutting head and retract the cutting head when it is retracted. The rotary structure, lifting structure and telescopic structure together complete the horizontal movement, up and down lifting movement and telescopic movement of the cutting head, thereby realizing the movement operation of the structural head in three directions.

[0046] This embodiment utilizes the existing cantilever type coal shearer structure, introduces the attitude measurement data of the inertial navigation system, and constructs a mathematical model of the commonly used mine tunnel excavation area. The parameters of the mine tunnel can be set manually before the coal shearer works, and finally the position data of the cutting head in the area to be excavated is obtained so that the coal shearer system can operate accordingly. Figure 7 The steps are detailed as follows:

[0047] Step S1, adjusting the cutting head to the initial point, obtaining the corresponding relationship between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine track coordinates.

[0048] In this step, the essence is to obtain the translation variable between two three-dimensional coordinate systems; the origin of one coordinate system is based on the rotation center of the coal shearer, and the origin of the other coordinate system is based on the mine tunnel.

[0049] Step S2: After the cutting head starts to work, the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine are calculated in real time.

[0050] In this step, the calculation method of the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine can be specifically as follows:

[0051] The rotary structure of the cutting arm is defined as being on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the cutting arm of the coal mining machine. At this time, the rotary angle and the lifting angle are 0. The arm length from the rotary axis center O to the connection point A between the rotary rotating disk and the rotary cylinder is L. HZ1 , arm length L from the center of the rotary axis O to the connection point B between the coal mining machine body and the rotary cylinder HZ2 Length of rotary cylinder L HZG The rotation angle θ is calculated by three structures HZ :

[0052]

[0053] The lifting angle is L from the connection point C between the pitch cylinder and the cutting arm to the connection point E between the lifting frame and the cutting arm. SJ1 , the length from the connection point D between the lifting cylinder and the lifting frame to the connection point E between the lifting frame and the cutting arm is L SJ2 Length of lifting cylinder L SJG The lifting angle θ is calculated by three mechanical structures SJ :

[0054]

[0055] The three-dimensional position of the cutting head relative to the rotation center is calculated based on the length of the robotic arm, and the horizontal direction is defined as X, the vertical direction is defined as Y, and the forward direction is defined as Z, that is:

[0056] P X1 =(L OE +L SS *cos(θ SJ ))*sin(θ HZ );

[0057] P Y1 =L SS *sin(θ SJ );

[0058] P Z1 =(L OE +L SS *cos(θ SJ ))*cos(θ HZ );

[0059] Among them, P X1 , P Y1 , P Z1 It is the three-dimensional position coordinate of the cutting head relative to the rotation center of the coal mining machine.

[0060] Step S3, calculating the attitude change angles of the current azimuth, pitch angle and roll angle of the inertial navigation system compared to the initial point, and obtaining an attitude change matrix according to the attitude change angles.

[0061] In this step, the posture change matrix Cbb is a 3x3 matrix, and the values ​​of each element in the posture change matrix are:

[0062]

[0063] Among them, Cbb(n,m) is the element value of the attitude change matrix at the (n,m) position, n = 1, 2, 3, m = 1, 2, 3; Δα, Δβ, Δλ are the change angles of azimuth, pitch angle and roll angle respectively.

[0064] Among them, if the azimuth, pitch and roll angles of the inertial navigation system corresponding to the initial point are α respectively 0 , β 0 , 0 , and the real-time azimuth, pitch and roll angles are α, β, and λ respectively. Subtraction can give Δα, Δβ, and Δλ.

[0065] Step S4, calculate the three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center after correcting its posture based on the current three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center and the current posture change matrix; then obtain the real-time position of the cutting head in the mine tunnel coordinates based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine tunnel coordinates.

[0066] In this step, the calculation formula for obtaining the real-time position of the cutting head in the mine track coordinates according to the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates includes:

[0067]

[0068] Among them, P JGTX0 , P JGTY0 , P JGTZ0 is the three-dimensional position coordinate of the cutting head relative to the fuselage at the initial point, P XKD0 , P YKD0 , P ZKD0 P is the mine track coordinate corresponding to the initial point of the cutting head; XKD , P YKD , P ZKDIt is the real-time three-dimensional coordinate of the cutting head in the mine track coordinate. Preferably, the type of the mine track is an isosceles trapezoidal mine track, a sloping-top trapezoidal mine track, an arc-top mine track or a flat-top arc mine track. The mine track coordinate system uses the intersection of the mine track center and the mine track bottom as the origin of the XY coordinates, and the position of the cutting head when it is adjusted to the bottom of the mine track is used as the origin of Z. The initial point used to determine the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates is the vertex of the upper left corner or upper right corner of the mine track or the highest point of the arc.

[0069] Furthermore, this embodiment can also calculate the left margin, right margin, upper margin and lower margin between the cutting head and the mine tunnel according to the real-time position of the cutting head in the mine tunnel coordinate system.

[0070] 1. Reference Figure 3 , taking the isosceles trapezoidal mine tunnel as an example: the main parameters of the isosceles trapezoidal mine tunnel are the top side length L DY1 , bottom length L DY2 With high H DY The three parameters are determined, and the model can be designed to adapt to different mine tunnels by adjusting these three parameters; the cutting head is adjusted to the upper left corner or upper right corner of the isosceles trapezoid as the initial point, and the corresponding relationship between the three-dimensional position of the cutting head relative to the fuselage and the mine tunnel can be obtained:

[0071] When the cutting head is at the upper left corner of the isosceles trapezoid: P XKD0 =-L DY1 / 2+R JGT / cos(K)-R JGT tan(K). Where, R JGT is the radius of the cutting head, and K is the angle between the hypotenuse of the isosceles trapezoid and the vertical plane.

[0072] When the cutting head is at the upper right corner of the isosceles trapezoid: P XKD0 =L DY1 / 2-R JGT / cos(K)+R JGT tan(K).

[0073] At the same time: P YKD0 =H DY -R JGT , P ZKD0 =P JGTZ0 -P Z0 ; Among them, P Z0 It is the coordinate of the cutting head relative to the fuselage when the cutting head is located at the origin of the mine track coordinates.

[0074] Thus, if the coordinates of the initial point of the cutting head in the mine tunnel are (1, 2, 0.5), and the P calculated based on the three-dimensional position coordinates of the initial point of the cutting head relative to the fuselage is JGTX0 , P JGTY0 , PJGTZ0 If the value is (1, 1, 0), in the subsequent dynamic processing, position matching can be performed based on the fixed deviation between the two, which is essentially equivalent to the relative translation between the two coordinate systems.

[0075] Correspondingly, the distance between the subsequent cutting head and the edge of the mine road is divided into the left distance d L , right margin d R , top margin d T , bottom margin d B The calculation formulas for the four values ​​are:

[0076] d L =L DY1 / 2+(L DY2 -L DY1 )×(H DY -P YKD ) / (2×H DY )-P XKD ;

[0077] d R =L DY1 / 2+(L DY2 -L DY1 )×(H DY -P YKD ) / (2×H DY )+P XKD ;

[0078] d T =H DY -P YKD ;d B =P YKD .

[0079] 2. When using a sloping roof trapezoidal mine tunnel, if Figure 4 As shown, the main parameters of the inclined roof trapezoidal mine tunnel are the bottom width L XD , Mine tunnel center height H XD Angle θ with hypotenuse XD The three parameters are determined, and the positive and negative values ​​of the bevel angle can be changed to set the inclined top trapezoid to be left-inclined or right-inclined; the cutting head is adjusted to the upper or lower side of the inclined side of the inclined top trapezoidal mine tunnel as the initial point, and the initial coordinates of the cutting head in the inclined top trapezoidal mine tunnel coordinate system can be obtained:

[0080] When the mine tunnel is high on the left and low on the right, and the initial point of the cutting head is above the slope:

[0081] P XKD0 =-L XD / 2+R JGT ;

[0082] P YKD0 =HXD +(L XD / 2-R JGT )tan(θ XD )-R JGT / cos(θ XD ).

[0083] When the mine tunnel is high on the left and low on the right, and the initial point of the cutting head is below the slope:

[0084] P XKD0 =L XD / 2-R JGT ;

[0085] P YKD0 =H XD -(L XD / 2-R JGT )tan(θ XD )-R JGT / cos(θ XD );

[0086] When the mine tunnel is low on the left and high on the right, and the initial point of the cutting head is above the slope:

[0087] P XKD0 =L XD / 2-R JGT ;

[0088] P YKD0 =H XD +(L XD / 2-R JGT )tan(θ XD )-R JGT / cos(θ XD ).

[0089] When the mine tunnel is low on the left and high on the right, and the initial point of the cutting head is below the slope:

[0090] P XKD0 =-L XD / 2+R JGT ;

[0091] P YKD0 =H XD -(L XD / 2-R JGT )tan(θ XD )-R JGT / cos(θ XD ).

[0092] Corresponding: d T =H XD -P XKD ×tan(θ XD )-PYKD ;d B =P YKD When the cutting head is at the upper part of the bevel and the left side is higher than the right side: d L =L XD / 2+P XKD ;d R =(H XD -P YKD ) / tan(θ XD )-P XKD .

[0093] When the cutting head is at the upper part of the bevel and the left side is lower and the right side is higher: d L =(H XD -P YKD ) / tan(θ XD )+P XKD ;d R =L XD / 2-P XKD .

[0094] When the cutting head height is in the rectangular part and: d L =L XD / 2+P XKD ;d R =L XD / 2-P XKD .

[0095] 3. When the mine tunnel type is adopted Figure 5 The main parameter of the arc top mine tunnel is the bottom width L. YH 、Mine tunnel height H YH 、Arc angle θ YH With arc radius R YH After the four parameters are determined, the cutting head is adjusted to the highest point of the arc of the arc top mine tunnel as the initial point, and the initial coordinates of the cutting head in the arc top mine tunnel coordinate system can be obtained: P XKD0 =0;P YKD0 =H YH -R JGT . And P ZKD0 Can be P ZKD0 =P JGTZ0 -P Z0 Please solve.

[0096] Correspondingly, d B =P YKD When the cutting head height is in the arc part: When the cutting head height is in the rectangular part: d L =L Yh / 2+P XKD ;d R =LYH / 2-P XKD .

[0097] 4. When the mine tunnel type is adopted Figure 6 The flat-top circular arc mine road shown in the figure is different from the circular arc mine road in that the top of the flat-top circular arc is a flat straight line. The main parameter is the bottom width L PD , Flat top height H PD 、Arc angle θ PD 、Arc radius R PD The arc theoretical height H PDYH , adjust the cutting head to the upper left corner or upper right corner of the flat-top circular mine tunnel as the initial point, and you can get the initial coordinates of the cutting head in the flat-top circular mine tunnel coordinate system:

[0098] When the cutting head is at the upper left corner of the flat-top circular mine tunnel:

[0099] P YKD0 =H PD -R JGT .

[0100] When the cutting head is at the upper right corner of the flat-top circular mine tunnel:

[0101] P YKD0 =H PD -R JGT .

[0102] Correspondingly, when the cutting head height P YKD In the arc part:

[0103]

[0104] When the cutting head height P YKD In the rectangular part: d L =L PD / 2+P XKD ;d R =L XD / 2-P XKD .

[0105] When the cutting head lateral position P XKD In the arc part: d B =P YKD .

[0106] When the cutting head lateral position P XKD In the flat top part: d T =H PD -P YKD ;d B =P YKD .

[0107] In summary, the method disclosed in this embodiment has the following advantages:

[0108] 1. The algorithm is designed based on the existing coal mining machine structure, without the need to modify the existing hardware machinery.

[0109] 2. The structural parameters can be set according to different coal mining machine models to achieve sharing among multiple models and improve the application scope of the invention.

[0110] 3. It can compensate in real time for the pitch, tilt and lateral shift angles caused by uneven ground and body depression during coal mining machine operation, thus avoiding the positioning error of the cutting head caused by this.

[0111] 4. A commonly used mine tunnel mathematical model has been designed, which can adapt to different mine tunnel types by only initially injecting the mine tunnel shape parameters.

[0112] Example 2

[0113] Corresponding to the above-mentioned embodiments, this embodiment discloses a cantilever coal mining machine cutting head positioning system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a series of steps of the method disclosed in the above-mentioned embodiments when executing the computer program.

[0114] In summary, the method and system of the present invention have at least the following beneficial effects:

[0115] Through the posture information calculation model based on the mechanical structure design of the cutting arm of the cantilever coal mining machine, and combined with the inertial navigation system, the three attitude angle parameters of the coal mining machine in real time, namely, azimuth, pitch angle and roll angle, are obtained, and the parameters of these three attitude angles are compensated into the model, so as to achieve the self-adaptation of the coal mining machine to the working terrain. Finally, the positioning parameters calculated by the model are converted into position parameters with the mine tunnel as coordinates and the distance between the cutting head and the edge of the mine tunnel according to the shape of the mine tunnel to be excavated, so as to finally realize the positioning of the cantilever coal mining machine cutting head in the excavation area. In this way, parameters can be set according to different coal mining machine models and different mine tunnels, and the attitude parameters of the inertial navigation system can be used to compensate for the positioning error caused by the uneven ground. It can be maturely applied to coal mining and tunnel excavation, and has high commercial value.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for positioning a cantilever coal mining machine cutting head, characterized in that: The following steps are involved: Step S1, adjusting the cutting head to the initial point, obtaining the corresponding relationship between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates; Step S2, after the cutting head starts to work, the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine are calculated in real time; Step S3, calculating the attitude change angle of the current azimuth, pitch angle and roll angle of the inertial navigation system compared to the initial point, and obtaining an attitude change matrix according to the attitude change angle; Step S4, calculate the three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center after correcting its posture based on the current three-dimensional position coordinates of the cutting head relative to the coal shearer's rotation center and the current posture change matrix; then obtain the real-time position of the cutting head in the mine tunnel coordinates based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine tunnel coordinates.

2. The method according to claim 1, characterized in that The calculation method of the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine is: The rotary structure of the cutting arm is defined as being on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the cutting arm of the coal mining machine. At this time, the rotary angle and the lifting angle are 0. The arm length from the rotary axis center O to the connection point A between the rotary rotating disk and the rotary cylinder is L. HZ1 , arm length L from the center of the rotary axis O to the connection point B between the coal mining machine body and the rotary cylinder HZ2 Length of rotary cylinder L HZG The rotation angle θ is calculated by three structures HZ : The lifting angle is L from the connection point C between the pitch cylinder and the cutting arm to the connection point E between the lifting frame and the cutting arm. SJ1 , the length from the connection point D between the lifting cylinder and the lifting frame to the connection point E between the lifting frame and the cutting arm is L SJ2 Length of lifting cylinder L SJG The lifting angle θ is calculated by three mechanical structures SJ : The three-dimensional position of the cutting head relative to the rotation center is calculated based on the length of the robotic arm, and the horizontal direction is defined as X, the vertical direction is defined as Y, and the forward direction is defined as Z, that is: P X1 =(L OE +L SS *cos(θ SJ ))*sin(θ HZ ); P Y1 =L SS *sin(θ SJ ); P Z1 =(L OE +L SS *cos(θ SJ ))*cos(θ HZ ); Among them, P X1 , P Y1 , P Z1 It is the three-dimensional position coordinate of the cutting head relative to the rotation center of the coal mining machine.

3. The method according to claim 2, characterized in that The attitude change matrix Cbb is a 3x3 matrix, and the values ​​of each element in the attitude change matrix are: Among them, Cbb(n,m) is the element value of the attitude change matrix at the (n,m) position, n = 1, 2, 3, m = 1, 2, 3; Δα, Δβ, Δλ are the change angles of azimuth, pitch angle and roll angle respectively.

4. The method according to claim 3, characterized in that The calculation formula for the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal shearer after the corrected posture is obtained based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal shearer and the current posture change matrix is: Among them, P X2 , P Y2 , P Z2 The three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mining machine are corrected after errors due to posture changes.

5. The method according to claim 4, characterized in that The calculation formula for obtaining the real-time position of the cutting head in the mine track coordinates according to the corresponding relationship between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine track coordinates includes: Among them, P JGTX0 , P JGTY0 , P JGTZ0 is the three-dimensional position coordinate of the cutting head relative to the fuselage at the initial point, P XKD0 , P YKD0 , P ZKD0 P is the mine track coordinate corresponding to the initial point of the cutting head; XKD , P YKD , P ZKD It is the real-time three-dimensional coordinate of the cutting head in the mine tunnel coordinates.

6. The method according to claim 5, characterized in that Also includes: The left margin, right margin, upper margin and lower margin between the cutting head and the mine tunnel are calculated according to the real-time position of the cutting head in the mine tunnel coordinate system.

7. The method according to any one of claims 1 to 6, characterized in that: The types of mine tunnels are isosceles trapezoidal mine tunnels, sloping-roof trapezoidal mine tunnels, arc-top mine tunnels or flat-roof arc mine tunnels. The mine tunnel coordinate system takes the intersection of the mine tunnel center and the mine tunnel bottom as the origin of the XY coordinates, and the position of the cutting head when it is adjusted to the bottom edge of the mine tunnel is taken as the Z origin. The initial point used to determine the correspondence between the three-dimensional position coordinates of the cutting head relative to the fuselage and the mine tunnel coordinates is the vertex of the upper left corner or upper right corner of the mine tunnel or the highest point of the arc.

8. A cantilever coal mining machine cutting head positioning system, 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, the method according to any one of claims 1 to 7 is implemented.

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