Method and system for positioning the cutting head of a cantilever coal mine

Abstract

This invention relates to the field of positioning technology, and discloses a method and system for positioning the cutting head of a cantilever coal mine, to achieve high-precision positioning. The method includes: adjusting the cutting head to an initial point to obtain the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine roadway coordinates; after the cutting head starts working, calculating the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mine in real time; calculating the attitude change angles of the current azimuth, pitch, and roll angles of the inertial navigation system compared to the initial point, and obtaining an attitude change matrix based on these attitude change angles; calculating the corrected three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mine based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal mine and the current attitude change matrix; and finally obtaining the real-time position of the cutting head in the mine roadway coordinates based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine roadway coordinates.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to a positioning method and system for the cutting head of a cantilever coal tunneling machine. Background Technology

[0002] Coal tunneling machines are large-scale mechanical equipment that greatly improves the efficiency of underground mining operations and ensures worker safety. They integrate digging, conveying, and loading functions. Traditionally, coal tunneling machines have been operated manually. However, the working environment underground is harsh, often involving methane gas, high dust levels, darkness, dampness, and heat. Mine collapses have even occurred in many mines. Furthermore, manual operation varies greatly from person to person, with significant differences in operating procedures, safety precautions, and work efficiency, making it difficult to guarantee the standardization and safety of such high-intensity and dangerous operations. Therefore, achieving large-scale, fully automated, intelligent, and unmanned operation of coal tunneling machines is an urgent problem to be solved. Among these technologies, the positioning of the coal tunneling machine's cutting head within the mine tunnel is one of the core technologies of the system. Summary of the Invention

[0003] The purpose of this invention is to disclose a positioning method and system for the cutting head of a cantilever coal tunneling machine, so as to achieve high-precision positioning.

[0004] To achieve the above objectives, the cantilever coal tunneling machine cutting head positioning method disclosed in this invention includes the following steps:

[0005] Step S1: Adjust the cutting head to the initial point to obtain the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the coordinates of the mine channel;

[0006] Step S2: After the cutting head starts working, calculate the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine in real time;

[0007] Step S3: Calculate the attitude change angles of the current azimuth, pitch, and roll angles of the inertial navigation system compared to the initial point, and obtain the attitude change matrix based on these attitude change angles;

[0008] Step S4: Calculate the corrected three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine and the current attitude 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 machine body and the mine tunnel coordinates.

[0009] Preferably, the method for calculating the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine is as follows:

[0010] The slewing structure of the cutting arm is defined on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the coal miner's cutting arm. At this time, the slewing angle and the lifting angle are 0. The arm length L is measured from the center O of the slewing shaft to the connection point A between the slewing disc and the slewing cylinder. HZ1 The distance from the center O of the slewing shaft to the connection point B between the coal excavator body and the slewing cylinder, and the length L of the boom. HZ2 With the cylinder length L of the rotary cylinder HZG The rotation angle θ was calculated from the three structures. HZ :

[0011]

[0012] The lifting angle is the length 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 L 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 [missing information]. SJ2 With the length L of the lifting cylinder SJG The lifting angle θ was calculated from the 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. The horizontal direction is defined as X, the vertical direction as Y, and the forward direction 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 These are the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal excavator.

[0019] Preferably, the attitude change matrix Cbb is a 3x3 matrix, and the values ​​of each element in the attitude change matrix are:

[0020]

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

[0022] Preferably, the formula for calculating the corrected three-dimensional position coordinates of the cutting head relative to the coal tunneling machine's rotation center, based on the current three-dimensional position coordinates of the cutting head relative to the coal tunneling machine's rotation center and the current attitude change matrix, is as follows:

[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 excavator were corrected for errors caused by attitude changes.

[0025] Preferably, the formula for calculating the real-time position of the cutting head in the mine coordinate system based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine coordinate system includes:

[0026]

[0027] Among them, P JGTX0 P JGTY0 P JGTZ0 Let P be the three-dimensional position coordinates of the cutting head relative to the fuselage at the initial point. XKD0 P YKD0 P ZKD0 P represents the coordinates of the cutting head at the initial point in the mine channel. XKD P YKD P ZKD This refers to the real-time three-dimensional coordinates of the cutting head in the mine tunnel coordinate system.

[0028] Preferably, the method of this embodiment further includes: calculating the left distance, right distance, top distance and bottom distance between the cutting head and the mine channel based on the real-time position of the cutting head in the mine channel coordinate system.

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

[0030] To achieve the above objectives, the present invention also discloses a positioning system for a cantilever coal miner cutting head, comprising 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 above method.

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

[0032] Based on the mechanical structure design of the cantilever coal tunneling machine's cutting arm, a posture information calculation model is established and integrated with an inertial navigation system. This model acquires the real-time azimuth, pitch, and roll angles of the tunneling machine. These parameters are then incorporated into the model to compensate for the tunneling machine's instability in adapting to the working terrain. Finally, the positioning parameters calculated by the model are converted into position parameters based on the required tunnel shape, such as the distance between the cutting head and the tunnel edge. This ultimately enables the cantilever coal tunneling machine's cutting head to be positioned within the excavation area. This allows for parameter settings tailored to different tunneling machine models and tunnel types, and the use of inertial navigation system posture parameters to compensate for positioning errors caused by uneven ground. This technology has mature applications in coal mining and tunnel excavation and possesses significant commercial value.

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0035] Figure 1 This is a diagram of the lifting structure of the cutting arm of a cantilever coal tunneling machine disclosed in an embodiment of the present invention.

[0036] Figure 2 This is a structural diagram of the cantilever coal tunneling machine cutting arm rotation disclosed in an embodiment of the present invention.

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

[0038] Figure 4 This is a diagram of a sloped trapezoidal mine tunnel disclosed in an embodiment of the present invention.

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

[0040] Figure 6 This is a diagram of a flat-top circular arc mine tunnel disclosed in an embodiment of the present invention.

[0041] Figure 7 This is a schematic diagram of the positioning method for the cutting head of a cantilever coal tunneling machine disclosed in an embodiment of the present invention. Detailed Implementation

[0042] The embodiments of the present invention will be 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 the cutting head of a cantilever coal tunneling machine.

[0045] Reference Figure 1 and Figure 2 In the figure, MN represents the rotary shaft, and the components indicated by each index are as follows: 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 machine's mechanical structure mainly consists of three parts: a rotary structure, a lifting structure, and a telescopic structure. The rotary structure consists of a rotating disc and two rotary telescopic cylinders. The extension and retraction of the rotary telescopic cylinders can drive the rotating disc to rotate around the central axis, thereby realizing 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 extends, the cutting arm rises; when it retracts, the cutting arm descends, thus completing 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 when it retracts, the cutting head returns to its original position. The rotary structure, lifting structure, and telescopic structure work together to complete the horizontal movement, vertical lifting and telescopic movement of the cutting head, thereby realizing the movement of the structural head in three dimensions.

[0046] This embodiment utilizes the existing structural design of cantilever coal tunnelers, introduces attitude measurement data from an inertial navigation system, and constructs a mathematical model of commonly used mine excavation areas. The parameters of the mine tunnel can be manually set before the coal tunneler begins operation. Finally, the position data of the cutting head in the area to be excavated is obtained, allowing the coal tunneling system to perform its operations accordingly. Figure 7 As shown, each step is described in detail below:

[0047] Step S1: Adjust the cutting head to the initial point to obtain the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the coordinates of the mine channel.

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

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

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

[0051] The slewing structure of the cutting arm is defined on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the coal miner's cutting arm. At this time, the slewing angle and the lifting angle are 0. The arm length L is measured from the center O of the slewing shaft to the connection point A between the slewing disc and the slewing cylinder. HZ1 The distance from the center O of the slewing shaft to the connection point B between the coal excavator body and the slewing cylinder, and the length L of the boom. HZ2 With the cylinder length L of the rotary cylinder HZG The rotation angle θ was calculated from the three structures. HZ :

[0052]

[0053] The lifting angle is the length 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 L 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 [missing information]. SJ2 With the length L of the lifting cylinder SJG The lifting angle θ was calculated from the 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. The horizontal direction is defined as X, the vertical direction as Y, and the forward direction as Z.

[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 These are the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal excavator.

[0060] Step S3: Calculate the attitude change angles of the current azimuth, pitch, and roll angles of the inertial navigation system compared to the initial point, and obtain the attitude change matrix based on these attitude change angles.

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

[0062]

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

[0064] If the azimuth, pitch, and roll angles of the inertial navigation system corresponding to the initial point are α0, β0, and λ0 respectively, and the real-time azimuth, pitch, and roll angles are α, β, and λ respectively, then subtraction can yield Δα, Δβ, and Δλ.

[0065] Step S4: Calculate the corrected three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine and the current attitude 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 machine body and the mine tunnel coordinates.

[0066] In this step, the calculation formula for the real-time position of the cutting head in the mine coordinate system, based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine coordinate system, includes:

[0067]

[0068] Among them, P JGTX0 P JGTY0 P JGTZ0 Let P be the three-dimensional position coordinates of the cutting head relative to the fuselage at the initial point. XKD0 P YKD0 P ZKD0 P represents the coordinates of the cutting head at the initial point in the mine channel. XKD P YKD P ZKD This refers to the real-time three-dimensional coordinates of the cutting head in the mine tunnel coordinate system. Preferably, the mine tunnel type is an isosceles trapezoidal mine tunnel, a sloped-top trapezoidal mine tunnel, a circular arc-top mine tunnel, or a flat-top circular arc mine tunnel. The mine tunnel coordinate system takes the intersection of the mine tunnel center and the bottom of the mine tunnel 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 as the origin of the Z coordinates. The initial points used to determine the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine tunnel coordinates are the vertices of the upper left and upper right corners of the mine tunnel or the highest point of the circular arc.

[0069] Furthermore, this embodiment can also calculate the left, right, top, and bottom distances between the cutting head and the mine channel based on the real-time position of the cutting head in the mine channel coordinate system.

[0070] I. Reference Figure 3 Taking an isosceles trapezoidal mine tunnel as an example: the main parameter of an isosceles trapezoidal mine tunnel is the length of the top side L. DY1 Base length L DY2 With high H DY With three parameters determined, the design model can be adapted to different mine tunnels by adjusting these parameters; by adjusting the cutting head to the upper left or upper right corner of the isosceles trapezoid as the initial point, the correspondence between the three-dimensional position of the cutting head relative to the machine body 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). Wherein, R JGT Let K be the radius of the cutting head, and K be 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 This represents the coordinates of the cutting head relative to the machine body when the cutting head is located at the origin of the mine roadway coordinate system.

[0074] Therefore, if the coordinates of the initial point of the cutting head in the mine tunnel are (1, 2, 0.5), and P is calculated based on the three-dimensional position coordinates of the initial point of the cutting head relative to the machine body... JGTX0 P JGTY0 P JGTZ0 If the value is (1, 1, 0), then 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 channel is divided into left side distance d. L , right distance d R Top margin dT Bottom margin d B The formulas for calculating the four values ​​are as follows:

[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] II. When using a sloping-top trapezoidal mine tunnel, such as Figure 4 As shown, the main parameter of the sloping-top trapezoidal mine tunnel is the base width L. XD Mine tunnel center height H XD With the angle θ of the hypotenuse XD With the three parameters determined, the sign of the hypotenuse angle can be changed to set the sloping top trapezoid to be left-sloping or right-sloping; by adjusting the cutting head to the upper or lower edge of the sloping top trapezoidal mine channel as the initial point, the initial coordinates of the cutting head in the sloping top trapezoidal mine channel coordinate system can be obtained:

[0080] When the mine channel slopes downwards from left to right, and the initial point of the cutting head is on the upper edge of the hypotenuse:

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

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

[0083] When the mine channel slopes downwards from left to right, and the initial point of the cutting head is below the hypotenuse:

[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 channel slopes downwards from left to right, and the initial point of the cutting head is on the upper edge of the hypotenuse:

[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 channel slopes downwards from left to right, and the initial point of the cutting head is below the hypotenuse:

[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 )-P YKD ;d B =P YKD And when the cutting head height is on the upper part of the hypotenuse and the left side is higher than the right side: d L =L XD / 2+P XKD ;d R =(H XD -P YKD ) / tan(θXD )-P XKD .

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

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

[0095] III. When the mine tunnel type adopts Figure 5 When a circular arc-topped mine tunnel is shown, the main parameter of the circular arc-topped mine tunnel is the bottom width L. YH Mine tunnel height H YH , arc angle θ YH With the radius R of the arc YH With four parameters determined, and the cutting head adjusted to the highest point of the arc at the top of the ore channel as the initial point, the initial coordinates of the cutting head in the arc-shaped ore channel coordinate system can be obtained: P XKD0 =0; P YKD0 =H YH -R JGT And P ZKD0 It can be made by P ZKD0 =P JGTZ0 -P Z0 Please provide a solution.

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

[0097] IV. When the mine tunnel type adopts Figure 6 The flat-topped circular arc tunnel shown differs from a regular circular arc tunnel in that the top of the flat-topped 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 Circular radius R PD With the circular arc theory, height H PDYH By adjusting the cutting head to the upper left or upper right corner of the flat-top circular tunnel as the initial point, the initial coordinates of the cutting head in the flat-top circular tunnel coordinate system can be obtained:

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

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

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

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

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

[0103]

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

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

[0106] When the cutting head is in the lateral position P XKD In the flat-top section: 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 model structure, without the need to modify the existing hardware.

[0109] 2. Structural parameters can be set according to different coal mining machine models to achieve multi-model compatibility and expand the application scope of the invention.

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

[0111] 4. A commonly used mathematical model for mine tunnels was designed, which can adapt to different mine tunnel types by only needing to initially inject the mine tunnel shape parameters.

[0112] Example 2

[0113] Corresponding to the above embodiments, this embodiment discloses a cantilever coal tunneling machine cutting head positioning system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a series of steps of the method disclosed in the above embodiments.

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

[0115] Based on the mechanical structure design of the cantilever coal tunneling machine's cutting arm, a posture information calculation model is established and integrated with an inertial navigation system. This model acquires the real-time azimuth, pitch, and roll angles of the tunneling machine. These parameters are then incorporated into the model to compensate for the tunneling machine's instability in adapting to the working terrain. Finally, the positioning parameters calculated by the model are converted into position parameters based on the required tunnel shape, such as the distance between the cutting head and the tunnel edge. This ultimately enables the cantilever coal tunneling machine's cutting head to be positioned within the excavation area. This allows for parameter settings tailored to different tunneling machine models and tunnel types, and the use of inertial navigation system posture parameters to compensate for positioning errors caused by uneven ground. This technology has mature applications in coal mining and tunnel excavation and possesses significant commercial value.

[0116] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for positioning the cutting head of a cantilever coal mine, characterized in that, Includes the following steps: Step S1: Adjust the cutting head to the initial point to obtain the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the coordinates of the mine channel; Step S2: After the cutting head starts working, calculate the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine in real time; Step S3: Calculate the attitude change angles of the current azimuth, pitch, and roll angles of the inertial navigation system compared to the initial point, and obtain the attitude change matrix based on these attitude change angles; Step S4: Calculate the corrected three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine based on the current three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneling machine and the current attitude 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 machine body and the mine tunnel coordinates.

2. The method according to claim 1, characterized in that, The method for calculating the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal tunneler is as follows: The slewing structure of the cutting arm is defined on the central axis of the machine body. When the telescopic arm is horizontal, it is the initial state of the coal miner's cutting arm. At this time, the slewing angle and the lifting angle are 0. The arm length L is measured from the center O of the slewing shaft to the connection point A between the slewing disc and the slewing cylinder. HZ1 The distance from the center O of the slewing shaft to the connection point B between the coal excavator body and the slewing cylinder, and the length L of the boom. HZ2 With the cylinder length L of the rotary cylinder HZG The rotation angle θ was calculated from the three structures. HZ : The lifting angle is the length 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 L 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 [missing information]. SJ2 With the length L of the lifting cylinder SJG The lifting angle θ was calculated from the 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. The horizontal direction is defined as X, the vertical direction as Y, and the forward direction as Z. 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 These are the three-dimensional position coordinates of the cutting head relative to the rotation center of the coal excavator.

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 this attitude change matrix are: Where Cbb(n,m) is the element value of the attitude change matrix at position (n,m), n = 1, 2, 3, m = 1, 2, 3; Δα, Δβ, Δλ are the angles of change of azimuth, pitch and roll, respectively.

4. The method according to claim 3, characterized in that, Based on the current three-dimensional position coordinates of the cutting head relative to the center of rotation of the coal tunneling machine and the current attitude change matrix, the formula for calculating the corrected three-dimensional position coordinates of the cutting head relative to the center of rotation of the coal tunneling machine is as follows: 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 excavator were corrected for errors caused by attitude changes.

5. The method according to claim 4, characterized in that, The formula for calculating the real-time position of the cutting head in the mine coordinate system, based on the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the mine coordinate system, includes: Among them, P JGTX0 P JGTY0 P JGTZ0 Let P be the three-dimensional position coordinates of the cutting head relative to the fuselage at the initial point. XKD0 P YKD0 P ZKD0 P represents the coordinates of the cutting head at the initial point in the mine channel. XKD P YKD P ZKD This refers to the real-time three-dimensional coordinates of the cutting head in the mine tunnel coordinate system.

6. The method according to claim 5, characterized in that, Also includes: The left, right, top, and bottom distances between the cutting head and the mine channel are calculated based on the real-time position of the cutting head in the mine channel 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 tunnels, sloping-top trapezoidal tunnels, circular-top tunnels, or flat-top circular-top tunnels. The tunnel coordinate system takes the intersection of the tunnel center and the bottom of the tunnel as the origin of the XY coordinates, and the position of the cutting head when it is adjusted to the bottom edge of the tunnel as the origin of the Z coordinates. The initial points used to determine the correspondence between the three-dimensional position coordinates of the cutting head relative to the machine body and the tunnel coordinates are the vertices of the upper left and upper right corners of the tunnel or the highest point of the circular arc.

8. A positioning system for a cantilever coal miner cutting head, 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 method described in any one of claims 1 to 7.

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