Adjustment method and device for fully mechanized mining working face

Abstract

The present disclosure provides an adjustment method and device for a fully mechanized mining face, which belongs to the technical field of coal mining. The method comprises: calculating the geographic coordinates of the coal mining machine and the transfer matrix from the navigation coordinate system to the relative working face coordinate system of the coal mining machine; obtaining the relative three-dimensional coordinates of the coal mining machine according to the geographic coordinates of the coal mining machine and the transfer matrix based on the relative coordinate position calculation; determining the three-dimensional coordinates of the scraper of the fully mechanized mining face according to the relative three-dimensional coordinates of the coal mining machine; calculating the heading keeping error and the pitch keeping error; calculating the adjustment error of the fully mechanized mining face according to the heading keeping error and the pitch keeping error; adjusting the three-dimensional coordinates of the scraper of the fully mechanized mining face according to the adjustment error. The scheme disclosed in the present disclosure can increase the correction amount of straightening and leveling of the fully mechanized mining face to the centimeter level.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mining, and specifically relates to a method and device for adjusting a fully mechanized mining face, electronic equipment, a computer-readable storage medium, and a computer program product. Background Art

[0002] The precise autonomous positioning and navigation technology of coal mining machines is one of the key technologies for realizing the automated production of longwall fully mechanized mining faces. Among them, the main scoring items in the main scoring indicators of Class I coal mining systems include "coal mining machines have autonomous positioning, posture monitoring, three-machine coordinated control of coal cutting, straightness detection" and other functions. Coal mine safety regulations stipulate that during comprehensive mechanized coal mining, the coal wall, scraper conveyor and support of the working face must remain straight, and the bottom plate and roof must remain flat, that is, "three straight and two flat". The fully mechanized mining face of coal mines needs to be adapted to the inertial navigation system to achieve the corresponding functional requirements. However, even the most automated fully mechanized mining face currently needs to rely on manual adjustment of the support after advancing 2 to 3 cuts, and the straightness problem seriously restricts the level of fully mechanized mining automation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a method and device for adjusting a fully-mechanized mining working face, a computer-readable storage medium and a computer program product, which can achieve centimeter-level positioning accuracy of a coal mining machine through dead reckoning based on relative coordinates, thereby increasing the straightening and leveling correction amount inverted to the fully-mechanized mining working face to centimeter-level.

[0004] In order to achieve the above objectives, in a first aspect, an embodiment of the present disclosure provides a method for adjusting a fully mechanized mining face, comprising:

[0005] Calculate the transfer matrix from the shearer's geographic coordinates and navigation coordinate system to the shearer's relative working face coordinate system;

[0006] According to the geographic coordinates of the coal mining machine and the transfer matrix, the relative three-dimensional coordinates of the coal mining machine are obtained by relative coordinate dead reckoning;

[0007] Determining the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the relative three-dimensional coordinates of the coal mining machine;

[0008] Calculate heading hold error and pitch hold error;

[0009] Calculating the adjustment error of the fully mechanized mining working face according to the heading keeping error and the pitch keeping error;

[0010] The three-dimensional coordinates of the scraper of the comprehensive mining working face are adjusted according to the adjustment error.

[0011] In some embodiments, the method further comprises:

[0012] Based on the preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system, the installation position of the inertial navigation system is automatically matched.

[0013] In some embodiments, calculating the geographic coordinates of the coal mining machine includes:

[0014] Obtain geological data of the shearer face;

[0015] According to the geological data, the geographic coordinates of the coal mining machine are determined; wherein the geological data include the mileage increment of the odometer in the i-th sampling period, the three-dimensional displacement increment of the coal mining machine's geographic system in the i-th sampling period, and the transformation matrix between the navigation coordinate system and the coal mining machine coordinate system, and i is a positive integer greater than 1.

[0016] In some embodiments, calculating the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system includes:

[0017] According to the first coordinate of each starting end point of the coal mining machine passing through the fully mechanized mining face in the coal mining machine working face coordinate system, the dead position calculates the starting three-dimensional coordinate of each starting end point of the coal mining machine in the navigation coordinate system;

[0018] According to the second coordinate of each end point of the cutter tail of the coal mining machine passing through the fully mechanized mining working face in the coal mining machine working face coordinate system, the dead position calculates the three-dimensional coordinate of the end of each end point of the cutter tail in the navigation coordinate system;

[0019] According to the leading three-dimensional coordinates and the trailing three-dimensional coordinates, a transfer matrix from the navigation coordinate system to the coal mining machine relative working surface coordinate system is calculated.

[0020] In some embodiments, according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates, calculating the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system includes:

[0021] Calculate the unit matrix of the coal mining machine relative to the working face coordinate system in the navigation coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates;

[0022] According to the unit matrix of the shearer-relative working face coordinate system in the navigation coordinate system, a transfer matrix from the navigation coordinate system to the shearer-relative working face coordinate system is obtained.

[0023] In some embodiments, the relative three-dimensional coordinates of the coal mining machine are obtained by relative coordinate dead reckoning according to the geographic coordinates of the coal mining machine and the transfer matrix, including:

[0024] The product of the three-dimensional coordinates of the coal mining machine and the transfer matrix from the navigation coordinate system to the relative working surface coordinate system of the coal mining machine is calculated to obtain the relative three-dimensional coordinates of the coal mining machine.

[0025] In some embodiments, calculating the heading hold error and the pitch hold error includes:

[0026] Obtain navigation time, local geographic latitude and equivalent gyro bias;

[0027] The heading hold error and pitch hold error are calculated based on the navigation time, local geographic latitude and equivalent gyro zero bias.

[0028] In some embodiments, the adjustment error includes a leveling error and a straightening error of the fully mechanized mining working face, and the adjustment error of the fully mechanized mining working face is calculated according to the heading holding error and the pitch holding error, including:

[0029] Calculating the leveling error of the fully mechanized mining working face according to the length of the fully mechanized mining working face and the heading keeping error;

[0030] According to the length of the fully mechanized mining working face and the pitch holding error, the straightening error of the fully mechanized mining working face is calculated.

[0031] In some embodiments, the method further comprises:

[0032] A dual power supply mode is used to power the inertial navigation system.

[0033] In some embodiments, the coordinate origin of the navigation coordinate system is located at the volume center of the coal mining machine, the positive direction of the first coordinate axis of the navigation coordinate system is located at the local horizontal plane and points to the due north, the positive direction of the second coordinate axis of the navigation coordinate system points upward through a plumb line along the coordinate origin, and the positive direction of the third coordinate axis of the navigation coordinate system points to the local due east, and forms a right-handed system with the first coordinate axis and the second coordinate axis of the navigation coordinate system;

[0034] The positive direction of the first coordinate axis of the shearer working face coordinate system is along the forward direction of the shearer encoder, the second coordinate axis of the shearer working face coordinate system is perpendicular to the plane formed by the first coordinate axis of the shearer working face coordinate system and the horizontal plane projection and points to the coal seam, and the third coordinate axis of the shearer working face coordinate system, the first coordinate axis of the shearer working face coordinate system, and the second coordinate axis of the shearer working face coordinate system form a right-handed orthogonal coordinate system;

[0035] The first coordinate axis of the coordinate system of the coal mining machine relative to the working surface is the straight line where the connection line of the starting point coordinate and the end point coordinate of the dead reckoning is located, the second coordinate axis of the coordinate system of the coal mining machine relative to the working surface is perpendicular to the plane formed by the first coordinate axis of the coordinate system of the coal mining machine relative to the working surface and the horizontal plane, and the third coordinate axis of the coordinate system of the coal mining machine relative to the working surface, the second coordinate axis of the coordinate system of the coal mining machine relative to the working surface, and the first coordinate axis of the coordinate system of the coal mining machine relative to the working surface form a right-handed orthogonal coordinate system.

[0036] In a second aspect, the embodiment of the present disclosure further provides an adjustment device for a fully mechanized mining working face, the device comprising:

[0037] The first calculation module is used to calculate the transfer matrix from the geographic coordinates and navigation coordinate system of the coal mining machine to the coordinate system of the coal mining machine relative to the working surface;

[0038] A first solution module is used for obtaining the relative three-dimensional coordinates of the coal mining machine by relative coordinate dead reckoning according to the geographic coordinates of the coal mining machine and the transfer matrix;

[0039] A first determination module is used to determine the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the relative three-dimensional coordinates of the coal mining machine;

[0040] A second calculation module is used to calculate a heading keeping error and a pitch keeping error;

[0041] A third calculation module is used to calculate the adjustment error of the fully mechanized mining working face according to the heading keeping error and the pitch keeping error;

[0042] An adjustment module is used to adjust the three-dimensional coordinates of the scraper of the comprehensive mining working face according to the adjustment error.

[0043] In some embodiments, the apparatus further comprises:

[0044] The matching module is used to automatically match the installation position of the inertial navigation system based on a preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system.

[0045] In some embodiments, the first computing module includes:

[0046] A first acquisition unit, used for acquiring geological data of the coal mining machine working face based on an inertial navigation system;

[0047] The first determination unit is used to determine the geographic coordinates of the coal mining machine based on the geological data; wherein the geological data includes the mileage increment of the odometer in the i-th sampling period, the three-dimensional displacement increment of the coal mining machine's geographic system in the i-th sampling period, and the transformation matrix between the navigation coordinate system and the coal mining machine coordinate system, and i is a positive integer greater than 1.

[0048] In some embodiments, the first computing module includes:

[0049] The first dead reckoning unit is used to determine the starting three-dimensional coordinates of the navigation coordinate system according to the dead position of the coal mining machine when it passes the starting end point of each cut of the fully mechanized mining face;

[0050] The second dead reckoning unit is used to determine the tail end three-dimensional coordinates of the navigation coordinate system according to the dead position of each cutter tail end point of the coal mining machine passing through the fully mechanized mining working face;

[0051] The first calculation unit is used to calculate the transfer matrix from the navigation coordinate system to the coal mining machine relative working surface coordinate system according to the starting three-dimensional coordinates and the tail three-dimensional coordinates.

[0052] In some embodiments, the first computing unit includes:

[0053] A first calculation subunit is used to calculate the unit matrix of the coal mining machine relative to the working face coordinate system in the navigation coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates;

[0054] The second calculation subunit is used to obtain a transfer matrix from the navigation coordinate system to the coal mining machine relative to the working surface coordinate system according to the unit matrix of the coal mining machine relative to the working surface coordinate system in the navigation coordinate system.

[0055] In some embodiments, the first solution module is specifically used to calculate the product of the geographic coordinates of the coal mining machine and the transfer matrix to obtain the relative three-dimensional coordinates of the coal mining machine.

[0056] In some embodiments, the second computing module includes:

[0057] A second acquisition unit is used to acquire navigation time, local geographic latitude and equivalent gyro zero bias;

[0058] The second calculation unit is used to calculate the heading keeping error and the pitch keeping error according to the navigation time, the local geographical latitude and the equivalent gyro zero bias.

[0059] In some embodiments, the adjustment error includes a leveling error and a straightening error of the fully mechanized mining working face, and the third calculation module includes:

[0060] A third calculation unit is used to calculate the leveling error of the fully mechanized mining working face according to the length of the fully mechanized mining working face and the heading keeping error;

[0061] The fourth calculation unit is used to calculate the straightening error of the comprehensive mining working face according to the length of the comprehensive mining working face and the pitch holding error.

[0062] In some embodiments, the apparatus further comprises:

[0063] The power supply module is used to supply power to the inertial navigation system in a dual power supply mode.

[0064] In a third aspect, the present disclosure further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the method of the first aspect is implemented when the processor executes the program.

[0065] In a fourth aspect, the present disclosure further provides a computer-readable storage medium storing a computer program for executing the method of the first aspect.

[0066] In a fifth aspect, the present disclosure further provides a computer program product, comprising a computer program / instructions, which implement the steps of the method of the first aspect when the computer program / instructions are executed by a processor.

[0067] The disclosed embodiment first uses the relative coordinate dead reckoning method based on the geographic coordinates of the coal mining machine and the transfer matrix to obtain the three-dimensional coordinates of the coal mining machine relative to the working face based on the relative coordinate dead reckoning calculation, so that the relative positioning of the coal mining machine calculated based on the relative coordinate dead reckoning is more accurate. Furthermore, taking the positioning accuracy of the coal mining machine as the research object, the three-dimensional coordinates of the comprehensive mining working face obtained by inversion are also more accurate. Then, by calculating the heading keeping error and the pitch keeping error, the accuracy of the heading error of the coal mining machine is determined. Finally, based on the accurately obtained three-dimensional coordinates of the comprehensive mining working face, combined with the adjustment error accuracy of the comprehensive mining working face, the accuracy of the leveling and straightening correction amount of the comprehensive mining working face is improved from two aspects, so that the positioning accuracy after adjustment can reach the centimeter level. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0069] Figure 1 A flow chart of a method for adjusting a fully mechanized mining face provided in an embodiment of the present disclosure;

[0070] Figure 2 A structural diagram of a coal mining machine provided in an embodiment of the present disclosure;

[0071] Figure 3 A relative coordinate system of a coal mining machine relative to a working surface provided in an embodiment of the present disclosure;

[0072] Figure 4 A flow chart of another method for adjusting a fully mechanized mining face provided in an embodiment of the present disclosure;

[0073] Figure 5 A structural block diagram of an adjustment device for a fully mechanized mining face provided in an embodiment of the present disclosure;

[0074] Figure 6 A structural block diagram of a first computing module provided in an embodiment of the present disclosure;

[0075] Figure 7A structural block diagram of a first computing unit provided in an embodiment of the present disclosure;

[0076] Figure 8 A structural block diagram of a second computing module provided in an embodiment of the present disclosure;

[0077] Fig. 9 A structural block diagram of a third computing module provided in an embodiment of the present disclosure;

[0078] Fig.10 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0079] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail and completely in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0080] In the existing technology, on the one hand, by introducing LASC technology, combined with the deep integration of comprehensive mining equipment such as coal mining machine control system, electro-hydraulic control system and comprehensive mining automation system, an automatic straightening control system for comprehensive mining working face has been developed. According to the results of ground joint adjustment and underground industrial tests, the detection error of the automatic straightening control system for comprehensive mining working face is less than 10cm for the straightness of the working face, and the control error of the straightness of the entire working face is less than 30cm. It is currently the most mainstream coal mining machine position measurement solution in the industry.

[0081] However, although this solution has achieved the required accuracy, it still has some disadvantages. First, the cost is very high; second, there are still many problems in the application of LASC technology in many mining areas, and its application effect has not achieved the expected effect.

[0082] Since the inertial navigation system has the continuity, autonomy and high reliability of navigation information, it is an irreplaceable position measurement method in the complex environment of the mine. In view of the fact that the inertial navigation positioning error has the characteristic of divergence over time, its combination with the encoder dead reckoning becomes a simple and easy-to-use error suppression method. Based on this, by installing a high-precision fiber optic inertial navigation system on the coal mining machine and combining it with the mileage data of the odometer, the inertial navigation positioning of the coal mining machine is realized. Its positioning method is based on the traditional geographical location dead reckoning, and the position is solved according to the attitude and speed of the coal mining machine to determine the three-dimensional position and attitude of the coal mining machine, and the real-time correction of the encoder data effectively suppresses the accumulation of inertial navigation position errors. At the same time, the introduction of Kalman filtering technology based on dynamic zero-speed correction improves the positioning accuracy of the coal mining machine to a certain extent, and provides reliable data for the straightening of the fully mechanized mining face.

[0083] However, the accuracy of dead reckoning based on geographic location is related to the installation angle error, north-seeking error and initial alignment error of the high-precision fiber-optic inertial navigation system. Although the above scheme introduces the Kalman filter dynamic zero-speed correction to eliminate the error, the motion trajectory of the coal mining machine is close to linear motion, and the heading error and installation angle error are unobservable errors for the Kalman filter, resulting in inaccurate error estimation and the positioning accuracy cannot be guaranteed to be at the centimeter level.

[0084] The above two positioning methods and their error analysis are both relative to the geographic coordinate system, but the actual coal mining operation focuses on the straightness of the longwall working face trajectory rather than the precise geographic coordinates. Based on the above problems existing in the prior art, in the first aspect, the embodiment of the present disclosure provides a method for adjusting a comprehensive mining working face. The method provided by the present disclosure uses a high-precision comprehensive mining working face autonomous straightening and leveling system based on a combination of a fiber optic inertial navigation system and an odometer, combined with the coordinates of the beginning and end of each cut of the working face obtained from geological data, and through the dead reckoning of relative coordinates, the precise relative positioning of the coal mining machine is solved, and the three-dimensional coordinates of the scraper of the comprehensive mining working face are further inverted to increase the leveling and straightening correction amount of the comprehensive mining working face inverted to the centimeter level.

[0085] Figure 1 The following is a flow chart of a method for adjusting a fully mechanized mining face provided by an embodiment of the present disclosure. Figure 1 As shown, the method comprises the following steps:

[0086] S1. Calculate the transfer matrix from the geographic coordinates and navigation coordinate system of the coal mining machine to the coordinate system of the coal mining machine relative to the working face.

[0087] Among them, the inertial navigation system is installed on the coal mining machine to measure the relevant motion information of the coal mining machine, so as to calculate the geographic coordinates of the coal mining machine based on the measured relevant motion information of the coal mining machine, that is, to obtain the dead reckoning trajectory of the coal mining machine.

[0088] The navigation coordinate system is a reference coordinate system that describes the posture of the carrier (in this application, the carrier can be a coal mining machine), and is also the reference coordinate system for navigation calculations. The shearer-to-working-face coordinate system refers to the working face as a reference, focusing on describing the relationship between the coal mining machine and the working face, such as the position and posture of the coal mining machine relative to the working face. It may involve the geometric characteristics of the working face, such as the curvature and inclination of the working face.

[0089] The transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system is used to describe the process of converting the position and attitude information of the shearer in the navigation system to the shearer working face coordinate system, that is, to obtain the relative displacement of the shearer. This conversion involves three main attitude angles: heading angle (ψ), pitch angle (θ) and roll angle (γ), which describe the direction of the shearer relative to the navigation coordinate system, which is crucial for the positioning and navigation of the shearer.

[0090] S2. According to the geographic coordinates of the coal mining machine and the transfer matrix, the relative three-dimensional coordinates of the coal mining machine are obtained by relative coordinate dead reckoning.

[0091] Specifically, the transfer matrix can reflect the trajectory of the coal mining machine working face. According to the geographic coordinates of the coal mining machine and the transfer matrix, the relative three-dimensional coordinates of the coal mining machine can be calculated from the relationship between the dead reckoning trajectory and the real trajectory.

[0092] The disclosed embodiment utilizes the relative coordinate dead reckoning method based on the geographic coordinates of the coal mining machine and the transfer matrix to obtain the three-dimensional coordinates of the coal mining machine relative to the working surface, and calculates the relative positioning of the coal mining machine through relative coordinate dead reckoning, thereby avoiding the influence of the initial alignment error and installation deflection of the inertial navigation system, thereby improving the positioning accuracy of the coal mining machine.

[0093] S3. Determine the three-dimensional coordinates of the scraper of the fully mechanized mining face according to the relative three-dimensional coordinates of the coal mining machine.

[0094] Specifically, the three-dimensional coordinates of the scraper of the fully-mechanized working face can be inverted based on the relative three-dimensional coordinates of the coal mining machine. In some embodiments, the position relationship model between the coal mining machine and the scraper conveyor of the fully-mechanized working face can be established using deep learning based on the relative three-dimensional coordinates of the coal mining machine to achieve the three-dimensional coordinate inversion of the scraper of the fully-mechanized working face. In some embodiments, the relative three-dimensional coordinates of the coal mining machine can also be inverted to the three-dimensional coordinates of the scraper of the fully-mechanized working face based on technologies such as coordinate system conversion technology, data fusion processing technology, and inversion algorithm, and the present disclosure does not limit this.

[0095] The embodiment of the present disclosure obtains the precise relative three-dimensional coordinates of the coal mining machine in step S2, and obtains the three-dimensional coordinates of the scraper of the comprehensive mining working face by inversion, so that the position of the scraper of the comprehensive mining working face is also more precise, thereby making the position after subsequent adjustment more precise.

[0096] S4. Calculate the heading hold error and the pitch hold error.

[0097] Specifically, the heading hold error refers to the deviation between the target heading and the actual heading during navigation. In coal mining machine navigation, the heading hold error directly affects the cutting accuracy and path control of the coal mining machine. The pitch hold error refers to the deviation between the target pitch angle and the actual pitch angle during navigation. In coal mining machine navigation, the pitch hold error affects the vertical position control and cutting depth of the coal mining machine.

[0098] S5. Calculate the adjustment error of the fully mechanized mining working face according to the heading keeping error and the pitch keeping error.

[0099] Specifically, heading hold error and pitch hold error are key indicators for evaluating the performance of the coal mining machine navigation system. These errors can be effectively reduced and the navigation accuracy of the coal mining machine can be improved through precise control algorithms and calibration techniques.

[0100] S6. Adjust the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the adjustment error.

[0101] The disclosed embodiment first uses the dead reckoning method of relative coordinates based on the geographic coordinates of the coal mining machine and the transfer matrix to solve the three-dimensional coordinates of the coal mining machine relative to the working face, so that the solved relative positioning of the coal mining machine is more accurate. Furthermore, taking the positioning accuracy of the coal mining machine as the research object, the three-dimensional coordinates of the comprehensive mining working face obtained by inversion are also more accurate. Then, by calculating the heading keeping error and the pitch keeping error, the accuracy of the heading error of the coal mining machine is determined. Finally, based on the accurately obtained three-dimensional coordinates of the comprehensive mining working face, combined with the adjustment error accuracy of the comprehensive mining working face, the accuracy of the leveling and straightening correction amount of the comprehensive mining working face is improved from two aspects, so that the positioning accuracy after adjustment can reach the centimeter level.

[0102] Figure 2 The structure diagram of a coal mining machine provided by the embodiment of the present disclosure is shown in FIG. Figure 2 As shown, the coal mining machine includes an upper drum, a lower drum, an inertial navigation system, and an odometer, which work together to achieve accurate control and positioning of the coal mining machine. Among them, the inertial navigation system and the odometer can also be combined into a combined navigation system.

[0103] The motion trajectory of the coal mining machine in the fully mechanized mining face can be approximated as a straight line. If the heading installation angle and the pitch installation angle are treated as small quantities, it is necessary to ensure that the inertial navigation coordinate system is approximately consistent with the coal mining machine coordinate system when the fiber optic inertial navigation system is installed on the coal mining machine. In this way, the dead reckoning trajectory of the relative coordinates can be deduced as the coal mining machine working face coordinate system and the actual trajectory rotated by an angle as a whole.

[0104] In some embodiments, the method not only includes the above steps S1 to S6, but also includes: automatically matching the installation position of the inertial navigation system based on a preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system.

[0105] Specifically, the inertial navigation system in the present invention has a built-in coordinate adjustment function. According to the actual installation position of the inertial navigation system, through the preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system, the centralized control center remotely issues instructions to automatically match the navigation coordinate system under different installation orientations, ensuring that the inertial coordinate system and the coal mining machine coordinate system coincide in real time.

[0106] The positive direction of the shearer coordinates is forward (positive direction of the odometer), upward, and right. The corresponding table of installation positions is shown in Table 1.

[0107] Table 1. Correspondence between installation coordinate system and shearer coordinate system

[0108]

[0109] The preset corresponding table of the inertial navigation system installation coordinate system and the shearer coordinate system in the disclosed embodiment enables the inertial navigation system to have a built-in coordinate adjustment function, allowing the centralized control center to remotely issue instructions, and automatically match the navigation coordinate system under the 24 different installation orientations in the above Table 1, thereby reducing the error caused by the installation deviation and the initial alignment deviation. Ultimately, the positioning accuracy of the shearer is guaranteed to reach the centimeter level, and the leveling and straightening correction amount inverted to the fully mechanized mining face is increased to the centimeter level.

[0110] In some embodiments, the coordinate origin of the navigation coordinate system is located at the volume center of the coal mining machine, the positive direction of the first coordinate axis of the navigation coordinate system is located in the local horizontal plane and points to due north, the positive direction of the second coordinate axis of the navigation coordinate system points upward through a plumb line along the coordinate origin, and the positive direction of the third coordinate axis of the navigation coordinate system points to due east locally, and forms a right-handed system with the first and second coordinate axes of the navigation coordinate system.

[0111] Specifically, the n-system onxnynzn is defined as the navigation coordinate system, which adopts east (xn)-north (yn)-sky (zn). This coordinate system is the reference coordinate system for describing the attitude of the carrier and is also the reference coordinate system for navigation calculation. The origin o is taken at the volume center of the carrier, the positive direction of the first coordinate axis onyon axis is located in the local horizontal plane and points to the due north, the positive direction of the second coordinate axis onzn axis passes through the plumb line along the origin o (normal of the geoid ellipsoid) and points upward, and the positive direction of the third coordinate axis onxn axis points to the local due east, forming a right-handed system with the first coordinate axis onyon axis and the second coordinate axis onzn axis.

[0112] like Figure 1 As shown, in some embodiments, the m system omxmymzm is defined as the coal mining machine working face coordinate system, the omym axis is along the forward direction of the coal mining machine encoder, the omxm axis is perpendicular to the plane formed by the omym axis and the horizontal plane projection, pointing to the coal seam, and the omzm axis, omxm and omym axes form a right-handed orthogonal coordinate system.

[0113] In some embodiments, the first coordinate axis of the coal mining machine relative to the working surface coordinate system is the straight line connecting the starting point coordinate and the end point coordinate of the dead reckoning, the second coordinate axis of the coal mining machine relative to the working surface coordinate system is perpendicular to the plane formed by the first coordinate axis of the coal mining machine relative to the working surface coordinate system and the horizontal plane, and the third coordinate axis of the coal mining machine relative to the working surface coordinate system, the second coordinate axis of the coal mining machine relative to the working surface coordinate system, and the first coordinate axis of the coal mining machine relative to the working surface coordinate system constitute a right-handed orthogonal coordinate system.

[0114] Figure 3 A relative coordinate system of a coal mining machine relative to a working surface is provided in an embodiment of the present disclosure. Figure 3 As shown in the figure, the r system orxryrzr is defined as the shearer relative working face coordinate system, and the oryr axis is the line connecting the dead reckoning starting point coordinate and the end point coordinate, that is, the line on which the shearer runs on the fully mechanized working face. The orxr axis is perpendicular to the plane formed by the oryr axis and the horizontal plane, and the orzr axis, orxr axis, and oryr axis form a right-handed orthogonal coordinate system.

[0115] The definition of the attitude angle mentioned in the above step S1 is as follows:

[0116] Heading angle ψ: The angle between the projection of the carrier's longitudinal axis (y-axis) in the horizontal plane and the local meridian. North-east is positive, and the definition domain is 0°~360°.

[0117] Pitch angle θ: the angle between the carrier's transverse axis (x-axis) and the horizontal plane. The angle is positive when the vehicle is tilted upward, and the definition range is -90° to 90°.

[0118] Roll angle γ: the angle between the longitudinal symmetry plane of the carrier (through the z-axis) and the longitudinal plumb plane. Right tilt is positive and the definition domain is -180° to 180°.

[0119] In some embodiments, calculating the geographic coordinates of the coal mining machine in step S1 specifically includes the following steps:

[0120] S11. Obtain geological data of the coal mining machine working face.

[0121] S12. Determine the geographic coordinates of the coal mining machine based on the geological data; wherein the geological data includes the mileage increment of the odometer in the i-th sampling period, the three-dimensional displacement increment of the coal mining machine's geographic system in the i-th sampling period, and the transformation matrix between the navigation coordinate system and the coal mining machine coordinate system, and i is a positive integer greater than 1.

[0122] Specifically, the geological data can be obtained based on inertial navigation system and odometer measurement. First, the beginning and end of each cut of the comprehensive mining face are determined as the two end points of the coal mining machine working face, and the specific geographic coordinates of the two points are determined using geological data. That is, dead reckoning is performed based on the geological data to obtain the geographic coordinates of the coal mining machine. for:

[0123]

[0124] Among them, ΔSi represents the mileage increment of the ith sampling period of the odometer, represents the three-dimensional displacement increment of the mining machine's geographic system in the ith sampling period, and k represents the total number of sampling periods. Represents the transformation matrix between the navigation coordinate system and the shearer coordinate system. The actual displacement vector of the shearer , the dead reckoning displacement vector .

[0125] The disclosed embodiment utilizes the geological data of the coal mining machine working face to obtain the geographic coordinates of the coal mining machine by dead reckoning, so that the obtained geographic coordinates are more accurate, thereby improving the accuracy of subsequent leveling and straightening of the comprehensive mining working face.

[0126] In some embodiments, the calculation of the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system in step S1 specifically includes the following steps:

[0127] S13. According to the first coordinate of the starting end point of each cut of the coal shearer passing through the fully mechanized mining face in the coal shearer working face coordinate system, the dead reckoning calculates the starting three-dimensional coordinate of the starting end point of each cut in the navigation coordinate system.

[0128] S14. According to the second coordinates of each end point of the cutter tail of the coal shearer passing through the fully mechanized mining face in the coal shearer working face coordinate system, the dead position calculates the three-dimensional coordinates of the end of each end point of the cutter tail in the navigation coordinate system.

[0129] S15. Calculate the transfer matrix from the navigation coordinate system to the coal mining machine relative working surface coordinate system according to the starting three-dimensional coordinates and the tail three-dimensional coordinates.

[0130] Specifically, the starting endpoint of the coal mining machine passing through the working face is defined as O, the tail endpoint is defined as P, and the relative height difference between the two endpoints is Δh. Dead reckoning has no error at point O. When the coal mining machine travels along the fully mechanized mining working face to point P, the position displayed by dead reckoning is Point K is the projection of point P on the Oxmym plane. Point Point J is the projection of point P on the Oxmym plane. Point The projection of point on the oxrzr plane. The three-dimensional coordinates of the dead reckoning n system when passing through the end point O at the beginning of each cut in the fully mechanized mining face are: , the three-dimensional coordinates of the dead reckoning n system passing through the tail end point P are , thereby calculating the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system.

[0131] In some embodiments, step S15, calculating the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates, specifically includes:

[0132] S151. Calculate the unit matrix of the coal mining machine relative to the working face coordinate system in the navigation coordinate system based on the starting three-dimensional coordinates and the tail three-dimensional coordinates.

[0133] S152. Obtain a transfer matrix from the navigation coordinate system to the coal shearer relative working face coordinate system based on the unit matrix of the coal shearer relative working face coordinate system in the navigation coordinate system.

[0134] Specifically, by Figure 2 It can be seen that when the shearer coordinate system is transferred to the navigation coordinate system, the three-dimensional coordinates of the dead reckoning are:

[0135]

[0136] Furthermore, the three-dimensional coordinates obtained by dead reckoning are normalized to obtain the unit matrix of the r system in the n system: , the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system can be obtained .

[0137]

[0138]

[0139] In some embodiments, step S2, according to the geographic coordinates of the coal mining machine and the transfer matrix, the relative three-dimensional coordinates of the coal mining machine are obtained according to the relative coordinate position calculation, specifically including: calculating the product of the three-dimensional coordinates of the coal mining machine and the transfer matrix from the navigation coordinate system to the coal mining machine relative to the working surface coordinate system, to obtain the relative three-dimensional coordinates of the coal mining machine. That is, the relative three-dimensional coordinates of the coal mining machine are obtained according to the following formula:

[0140]

[0141] The disclosed embodiment proposes a relative measurement method based on the relationship between the dead reckoning trajectory and the real trajectory, which can avoid the influence of the initial alignment error and installation deflection of the inertial navigation system, thereby accurately locating the position of the coal mining machine.

[0142] In some embodiments, step S4, calculating the heading hold error and the pitch hold error, specifically comprises the following steps:

[0143] S41. Obtain navigation time, local geographic latitude and equivalent gyro zero bias.

[0144] S42. Calculate the heading hold error and the pitch hold error according to the navigation time, the local geographic latitude and the equivalent gyro zero bias.

[0145] Specifically, since the motion trajectory of the coal mining machine in the fully mechanized mining face is approximately a straight line and the heading remains basically unchanged, the heading accuracy depends on the heading initial alignment error maintenance accuracy, and the attitude accuracy depends on the attitude initial alignment error maintenance accuracy. The heading maintenance error is Δφ, and the pitch maintenance error is Δθ.

[0146]

[0147] In the formula represents the equivalent gyro zero bias, t represents the navigation time, L represents the local geographical latitude, and w ie represents the angular velocity of the Earth's rotation, which is approximately 15.0411 ° / h, w s is the Schura angular frequency, about 255.9242 ° / h, w f is the Foucault angular frequency, w f =w ie sinL, at latitude L = 39°, is approximately 9.4657 ° / h. Calculate Δφ max= 0.016°, Δθ max= 0.0102°.

[0148] In some embodiments, step S5, the adjustment error includes a leveling error and a straightening error of the fully mechanized mining working face, and the adjustment error of the fully mechanized mining working face is calculated according to the heading holding error and the pitch holding error, specifically including the following steps:

[0149] S51. Calculate the leveling error of the fully mechanized mining face according to the length of the fully mechanized mining face and the heading keeping error.

[0150] S52. Calculate the straightening error of the fully mechanized mining working face according to the length of the fully mechanized mining working face and the pitch maintaining error.

[0151] Specifically, the positioning error of the coal mining machine is related to the displacement of the coal mining machine and the mileage of the odometer. In actual applications, the movement mode of the coal mining machine is different from that of the traditional inertial navigation carrier. The coal mining machine moves forward and backward without turning around. In this way, the positioning error caused by the inertial measurement error is offset in the positive and negative displacement vectors. Based on the above error analysis, the maximum error of the leveling and straightening of the fully mechanized mining face can be approximated as the product of the length of the working face and the heading and attitude maintenance error.

[0152] For example, in a fully mechanized mining face with a length of 300 m per cut, the Foucault angular frequency, w f =w ie sinL, at latitude L = 39°, is approximately 9.4657 ° / h. Calculate Δφ max= 0.016°, Δθ max= 0.0102°. Leveling error ΔH and straightening error ΔY of fully mechanized mining working face.

[0153]

[0154]

[0155] Based on the above error calculation, the straightness accuracy of the comprehensive mining working face has reached the centimeter level.

[0156] In some embodiments, the method further includes: adopting a dual power supply mode to power the inertial navigation system.

[0157] Specifically, in order to further suppress the initial alignment error introduced by the power-off restart of the high-precision fiber-optic inertial navigation system, the present disclosure provides a dual power supply mode for the inertial navigation. When the coal mining machine is powered normally, the inertial navigation is powered by the coal mining machine, and the UPS (Uninterruptible Power Supply) is in charging mode; when the coal mining machine is shut down and the power is cut off, the inertial navigation is powered by the UPS. Continuous positioning of the inertial navigation is achieved, eliminating the initial alignment error caused by realignment.

[0158] Based on the relative displacement principle of the coal mining machine on the fully mechanized mining face, the present invention innovatively proposes a relative positioning technology. This technology accurately calculates the three-dimensional spatial coordinates of the coal mining machine relative to the working face by applying the dead reckoning method of relative coordinates. In order to further improve the positioning accuracy, the present invention also integrates the dual power supply mode and the method of adapting the navigation coordinate system to the internal installation coordinate system of the inertial navigation system, effectively reducing the adverse effects caused by installation deviation and initial alignment error.

[0159] Through the above method, the disclosure ensures that the positioning accuracy of the coal mining machine reaches the high standard of centimeter level, and then can accurately apply this high-precision positioning information inversion to the leveling and straightening process of the fully mechanized mining working face, so that the leveling and straightening correction amount also reaches the centimeter level accuracy. This achievement not only meets the strict requirements of "three straight and two flat" for high-quality coal mine working faces, but also significantly reduces the need for manual intervention in the coal mining process, thereby promoting the dual improvement of coal production efficiency and safety.

[0160] Figure 4 A flowchart of another method for adjusting a fully mechanized mining face provided in an embodiment of the present disclosure. Figure 4 As shown, the method comprises the following steps:

[0161] S401. Start.

[0162] S402. Initial alignment of high-precision fiber-optic inertial navigation system.

[0163] Specifically, the fiber optic inertial navigation system is installed on the coal mining machine, and the inertial coordinate system is approximately consistent with the coal mining machine coordinate system when the fiber optic inertial navigation system is installed on the coal mining machine. In this way, the heading installation angle and the pitch installation angle can be treated as small quantities, so that the dead reckoning trajectory of the relative coordinates can be deduced as the coal mining machine working face coordinate system and the actual trajectory are rotated by an angle as a whole.

[0164] S403. The coal mining machine working face coordinate system automatically adapts to the navigation coordinate system.

[0165] Specifically, a coordinate adjustment function may be built into the inertial navigation system. Based on the actual installation position, instructions may be remotely issued through the centralized control center to automatically match the navigation coordinate system under different installation orientations, thereby ensuring that the inertial coordinate system and the coal mining machine coordinate system coincide in real time.

[0166] S404: Dead reckoning relative to the coordinate system.

[0167] Specifically, the dead reckoning of the relative coordinate system can be performed based on the data at both ends of the fully mechanized mining face and the mileage data of the odometer, and the geographic coordinate system of the coal mining machine can be obtained by dead reckoning.

[0168] S405. Relative displacement of the coal mining machine.

[0169] Specifically, the transfer matrix from the navigation coordinate system to the shearer's relative working face coordinate system can be calculated based on the leading and trailing endpoints of each cut of the shearer passing through the fully mechanized mining face, that is, the relative displacement of the shearer can be obtained.

[0170] S406. Relative three-dimensional coordinates of the coal mining machine.

[0171] Specifically, the relative three-dimensional coordinates of the coal mining machine can be determined based on the transfer matrix from the navigation coordinate system to the coal mining machine relative working surface coordinate system.

[0172] S407, coal mining machine flight fee error.

[0173] Specifically, since the motion trajectory of the coal mining machine in the fully mechanized mining face is approximately a straight line and the heading remains basically unchanged, the accuracy of the heading depends on the accuracy of maintaining the initial alignment error of the heading, and the accuracy of the attitude depends on the accuracy of maintaining the initial alignment error of the attitude.

[0174] S408, inversely calculate the leveling and straightening errors of the fully mechanized mining working face.

[0175] Specifically, based on the relative three-dimensional coordinates of the coal mining machine, the three-dimensional coordinates of the scraper of the comprehensive mining working face are inverted, and the relative height of the scraper conveyor of the comprehensive mining working face is calculated using trigonometric functions, thereby calculating the leveling and straightening error of the comprehensive mining working face.

[0176] The adjustment method of the fully mechanized mining face provided in the embodiment of the present disclosure is based on the relative coordinate dead reckoning method, and utilizes the relative displacement principle of the coal mining machine in the fully mechanized mining face to propose a relative coordinate dead reckoning method to solve the precise position of the coal mining machine. The present disclosure comprehensively considers that the coal mining machine cannot carry out underground calibration of the inertial navigation installation angle error in the complex underground environment, and combines the principle of approximate linear motion of the coal mining machine in the fully mechanized mining face to provide a new relative coordinate dead reckoning method, which improves the relative positioning accuracy of the three-dimensional trajectory of the coal mining machine to the centimeter level.

[0177] In the second aspect, the inertial navigation system disclosed in the present invention has a built-in automatic matching method for navigation coordinate systems in 24 different installation orientations. In order to reduce the error caused by installation deviation and initial alignment deviation, the inertial navigation system has a built-in coordinate adjustment function. According to the actual installation position of the inertial navigation on the coal mining machine, the centralized control center can adapt the coal mining machine working face coordinate system to the navigation coordinate system through instructions, further reducing the installation error and initial alignment error.

[0178] Thirdly, the inertial navigation system disclosed in the present invention is a dual power supply mode. Since the coal mining machine is often powered off for maintenance underground, the inertial navigation data is easily lost at this time. After powering on again, the inertial navigation needs 5 minutes of static realignment, which does not conform to the actual working principle of the coal mining machine and the requirements of efficient mining. The dual power supply mode can switch the power supply mode for the inertial navigation at any time to ensure continuous navigation of the inertial navigation, further eliminating the impact of the initial alignment error of the inertial navigation.

[0179] Through the above three aspects, the present invention enables the leveling and straightening accuracy of the comprehensive mining working face to reach the centimeter level.

[0180] On the second aspect, based on the same inventive concept, the embodiment of the present disclosure also provides an adjustment device for a comprehensive mining working face.

[0181] Figure 5 This is a structural block diagram of an adjustment device for a fully mechanized mining face provided by an embodiment of the present disclosure. Figure 5 As shown, the adjustment device 10 includes: a first calculation module 11, a first solution module 12, a first determination module 13, a second calculation module 14, a third calculation module 15, and an adjustment module 16.

[0182] Among them, the first calculation module 11 is used to calculate the transfer matrix from the geographic coordinates of the coal mining machine and the navigation coordinate system to the coordinate system of the coal mining machine relative to the working face. The first solution module 12 is used to obtain the relative three-dimensional coordinates of the coal mining machine according to the geographic coordinates of the coal mining machine and the transfer matrix based on the relative coordinate navigation calculation. The first determination module 13 is used to determine the three-dimensional coordinates of the scraper of the comprehensive mining working face according to the relative three-dimensional coordinates of the coal mining machine. The second calculation module 14 is used to calculate the heading keeping error and the pitch keeping error. The third calculation module 15 is used to calculate the adjustment error of the comprehensive mining working face according to the heading keeping error and the pitch keeping error. The adjustment module 16 is used to adjust the three-dimensional coordinates of the scraper of the comprehensive mining working face according to the adjustment error.

[0183] In some embodiments, the first solution module 12 is specifically used to calculate the product of the geographic coordinates of the coal mining machine and the transfer matrix to obtain the relative three-dimensional coordinates of the coal mining machine.

[0184] like Figure 5 As shown, in some embodiments, the device further includes: a matching module 17 for automatically matching the installation position of the inertial navigation system based on a preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system.

[0185] Figure 6 FIG. 1 is a structural block diagram of a first computing module provided in an embodiment of the present disclosure. Figure 6 As shown, the first calculation module 11 includes: a first acquisition unit 111 and a first determination unit 112 .

[0186] The first acquisition unit 111 is used to acquire geological data of the coal mining machine working face based on the inertial navigation system. The first determination unit 112 is used to determine the geographic coordinates of the coal mining machine based on the geological data; wherein the geological data includes the mileage increment of the ith sampling period of the odometer, the three-dimensional displacement increment of the coal mining machine geographic system in the ith sampling period, and the conversion matrix between the navigation coordinate system and the coal mining machine coordinate system, where i is a positive integer greater than 1.

[0187] like Figure 6 As shown, the first calculation module further includes: a first dead reckoning unit 113 , a second dead reckoning unit 114 and a first calculation unit 115 .

[0188] Among them, the first dead reckoning unit 113 is used to determine the starting three-dimensional coordinates of the navigation coordinate system according to the dead position of the coal mining machine passing the starting end point of each cutter of the fully mechanized working face. The second dead reckoning unit 114 is used to determine the tail end three-dimensional coordinates of the navigation coordinate system according to the dead position of the coal mining machine passing the tail end point of each cutter of the fully mechanized working face. The first calculation unit 115 is used to calculate the transfer matrix from the navigation coordinate system to the coal mining machine relative working face coordinate system according to the starting three-dimensional coordinates and the tail end three-dimensional coordinates.

[0189] Figure 7 FIG. 1 is a structural block diagram of a first computing unit provided in an embodiment of the present disclosure. Figure 7 As shown, the first calculation unit 115 includes: a first calculation subunit 1151 and a second calculation subunit 1152.

[0190] The first calculation subunit 1151 is used to calculate the unit matrix of the shearer relative to the working face coordinate system in the navigation coordinate system according to the starting three-dimensional coordinates and the tail three-dimensional coordinates. The second calculation subunit 1152 is used to obtain the transfer matrix from the navigation coordinate system to the shearer relative to the working face coordinate system according to the unit matrix of the shearer relative to the working face coordinate system in the navigation coordinate system.

[0191] Figure 8 FIG. 1 is a structural block diagram of a second computing module provided in an embodiment of the present disclosure. Figure 8 As shown, the second calculation module 14 includes: a second acquisition unit 141 and a second calculation unit 142 .

[0192] The second acquisition unit 141 is used to acquire the navigation time, the local geographic latitude and the equivalent gyro zero bias. The second calculation unit 142 is used to calculate the heading keeping error and the pitch keeping error according to the navigation time, the local geographic latitude and the equivalent gyro zero bias.

[0193] Fig. 9 FIG. 1 is a structural block diagram of a third computing module provided in an embodiment of the present disclosure. Fig. 9 As shown, the adjustment error includes the leveling error and the straightening error of the fully mechanized mining working face, and the third calculation module 15 includes: a third calculation unit 151 and a fourth calculation unit 152.

[0194] The third calculation unit 151 is used to calculate the leveling error of the fully-mechanized mining face according to the length of the fully-mechanized mining face and the heading keeping error. The fourth calculation unit 152 is used to calculate the straightening error of the fully-mechanized mining face according to the length of the fully-mechanized mining face and the pitch keeping error.

[0195] In some embodiments, the device further includes: a power supply module, configured to supply power to the inertial navigation system in a dual power supply mode.

[0196] It can be understood that the specific details of the device provided in the embodiment of the present disclosure can refer to the specific details of the method embodiment of the first aspect mentioned above, and will not be repeated here.

[0197] In a third aspect, an embodiment of the present disclosure further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented.

[0198] Specifically, Fig.10 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present disclosure, such as Fig.10 As shown, the electronic device 003 includes a processor 301, a memory 302 and a bus 303. The processor 301 and the memory 302 communicate with each other via the bus 303.

[0199] The processor 301 is used to call the program instructions in the memory 302 to execute the methods provided by the above method embodiments.

[0200] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program of the method described in any one of the first aspects above.

[0201] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, comprising a computer program / instructions, which, when executed by a processor, implement the steps of any one of the methods described in the first aspect above.

[0202] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0206] The present disclosure uses specific embodiments to illustrate the principles and implementation methods of the present disclosure. The description of the above embodiments is only used to help understand the method of the present disclosure and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present disclosure, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present disclosure.

Claims

1. A method for adjusting a fully mechanized mining face, characterized in that: The method comprises: Calculate the transfer matrix from the shearer's geographic coordinates and navigation coordinate system to the shearer's relative working face coordinate system; According to the geographic coordinates of the coal mining machine and the transfer matrix, the relative three-dimensional coordinates of the coal mining machine are obtained by relative coordinate dead reckoning; Determining the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the relative three-dimensional coordinates of the coal mining machine; Calculate heading hold error and pitch hold error; Calculating the adjustment error of the fully mechanized mining working face according to the heading keeping error and the pitch keeping error; Adjusting the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the adjustment error; The calculation of the transfer matrix from the navigation coordinate system to the shearer relative working surface coordinate system includes: According to the first coordinate of each starting end point of the coal mining machine passing through the fully mechanized mining face in the coal mining machine working face coordinate system, the dead position calculates the starting three-dimensional coordinate of each starting end point of the coal mining machine in the navigation coordinate system; According to the second coordinate of each end point of the cutter tail of the coal mining machine passing through the fully mechanized mining working face in the coal mining machine working face coordinate system, the dead position calculates the three-dimensional coordinate of the end of each end point of the cutter tail in the navigation coordinate system; Calculate the transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates; The calculation of heading hold error and pitch hold error includes: Obtain navigation time, local geographic latitude and equivalent gyro bias; Calculate the heading hold error and pitch hold error based on the navigation time, local geographic latitude and equivalent gyro zero bias; The adjustment error includes a leveling error and a straightening error of the fully mechanized mining working face. The adjustment error of the fully mechanized mining working face is calculated according to the heading holding error and the pitch holding error, including: Calculating the leveling error of the fully mechanized mining working face according to the length of the fully mechanized mining working face and the heading keeping error; According to the length of the fully mechanized mining working face and the pitch holding error, the straightening error of the fully mechanized mining working face is calculated.

2. The method according to claim 1, characterized in that: The method further comprises: Based on the preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system, the installation position of the inertial navigation system is automatically matched.

3. The method according to claim 1, characterized in that Calculate the geographic coordinates of the shearer, including: Obtain geological data of the shearer face; According to the geological data, the geographic coordinates of the coal mining machine are determined; wherein the geological data include the mileage increment of the odometer in the i-th sampling period, the three-dimensional displacement increment of the coal mining machine's geographic system in the i-th sampling period, and the transformation matrix between the navigation coordinate system and the coal mining machine coordinate system, and i is a positive integer greater than 1.

4. The method according to claim 1, characterized in that According to the leading three-dimensional coordinates and the trailing three-dimensional coordinates, a transfer matrix from the navigation coordinate system to the shearer relative working face coordinate system is calculated, including: Calculate the unit matrix of the coal mining machine relative to the working face coordinate system in the navigation coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates; According to the unit matrix of the shearer-relative working face coordinate system in the navigation coordinate system, a transfer matrix from the navigation coordinate system to the shearer-relative working face coordinate system is obtained.

5. The method according to claim 1, characterized in that The relative three-dimensional coordinates of the coal mining machine are obtained by relative coordinate dead reckoning according to the geographic coordinates of the coal mining machine and the transfer matrix, including: The product of the three-dimensional coordinates of the coal mining machine and the transfer matrix from the navigation coordinate system to the relative working surface coordinate system of the coal mining machine is calculated to obtain the relative three-dimensional coordinates of the coal mining machine.

6. The method according to claim 1, characterized in that The method further comprises: A dual power supply mode is used to power the inertial navigation system.

7. The method according to claim 1, characterized in that The coordinate origin of the navigation coordinate system is located at the volume center of the coal mining machine, the positive direction of the first coordinate axis of the navigation coordinate system is located at the local horizontal plane and points to the due north, the positive direction of the second coordinate axis of the navigation coordinate system points upward through a plumb line along the coordinate origin, the positive direction of the third coordinate axis of the navigation coordinate system points to the local due east, and forms a right-handed system with the first coordinate axis and the second coordinate axis of the navigation coordinate system; The positive direction of the first coordinate axis of the shearer working face coordinate system is along the forward direction of the shearer encoder, the second coordinate axis of the shearer working face coordinate system is perpendicular to the plane formed by the first coordinate axis of the shearer working face coordinate system and the horizontal plane projection and points to the coal seam, and the third coordinate axis of the shearer working face coordinate system, the first coordinate axis of the shearer working face coordinate system, and the second coordinate axis of the shearer working face coordinate system form a right-handed orthogonal coordinate system; The first coordinate axis of the coordinate system of the coal mining machine relative to the working surface is the straight line where the connection line of the starting point coordinate and the end point coordinate of the dead reckoning is located, the second coordinate axis of the coordinate system of the coal mining machine relative to the working surface is perpendicular to the plane formed by the first coordinate axis of the coordinate system of the coal mining machine relative to the working surface and the horizontal plane, and the third coordinate axis of the coordinate system of the coal mining machine relative to the working surface, the second coordinate axis of the coordinate system of the coal mining machine relative to the working surface, and the first coordinate axis of the coordinate system of the coal mining machine relative to the working surface form a right-handed orthogonal coordinate system.

8. An adjustment device for a fully mechanized mining working face, characterized in that: The device comprises: The first calculation module is used to calculate the transfer matrix from the geographic coordinates and navigation coordinate system of the coal mining machine to the coordinate system of the coal mining machine relative to the working surface; A first solution module is used to obtain the relative three-dimensional coordinates of the coal mining machine according to the geographic coordinates of the coal mining machine and the transfer matrix according to the relative coordinate dead position calculation; A first determination module is used to determine the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the relative three-dimensional coordinates of the coal mining machine; A second calculation module is used to calculate a heading keeping error and a pitch keeping error; A third calculation module is used to calculate the adjustment error of the fully mechanized mining working face according to the heading keeping error and the pitch keeping error; An adjustment module, used for adjusting the three-dimensional coordinates of the scraper of the fully mechanized mining working face according to the adjustment error; Wherein, the first calculation module includes: The first dead reckoning unit is used to determine the starting three-dimensional coordinates of the navigation coordinate system according to the dead position of the coal mining machine when it passes the starting end point of each cut of the fully mechanized mining face; The second dead reckoning unit is used to determine the tail end three-dimensional coordinates of the navigation coordinate system according to the dead position of each cutter tail end point of the coal mining machine passing through the fully mechanized mining working face; A first calculation unit is used to calculate a transfer matrix from a navigation coordinate system to a coordinate system of the coal mining machine relative to a working surface according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates; Wherein, the second calculation module includes: A second acquisition unit is used to acquire navigation time, local geographic latitude and equivalent gyro zero bias; A second calculation unit is used to calculate a heading keeping error and a pitch keeping error according to the navigation time, the local geographical latitude and the equivalent gyro zero bias; Wherein, the adjustment error includes the leveling error and the straightening error of the fully mechanized mining working face, and the third calculation module includes: A third calculation unit is used to calculate the leveling error of the fully mechanized mining working face according to the length of the fully mechanized mining working face and the heading keeping error; The fourth calculation unit is used to calculate the straightening error of the comprehensive mining working face according to the length of the comprehensive mining working face and the pitch holding error.

9. The device according to claim 8, characterized in that The device also includes: The matching module is used to automatically match the installation position of the inertial navigation system based on a preset correspondence table between the inertial navigation system installation coordinate system and the coal mining machine coordinate system.

10. The device according to claim 8, characterized in that The first calculation module includes: A first acquisition unit, used for acquiring geological data of the coal mining machine working face based on an inertial navigation system; The first determination unit is used to determine the geographic coordinates of the coal mining machine based on the geological data; wherein the geological data includes the mileage increment of the odometer in the i-th sampling period, the three-dimensional displacement increment of the coal mining machine's geographic system in the i-th sampling period, and the transformation matrix between the navigation coordinate system and the coal mining machine coordinate system, and i is a positive integer greater than 1.

11. The device according to claim 8, characterized in that The first computing unit comprises: A first calculation subunit is used to calculate the unit matrix of the coal mining machine relative to the working face coordinate system in the navigation coordinate system according to the leading three-dimensional coordinates and the trailing three-dimensional coordinates; The second calculation subunit is used to obtain a transfer matrix from the navigation coordinate system to the coal mining machine relative to the working surface coordinate system according to the unit matrix of the coal mining machine relative to the working surface coordinate system in the navigation coordinate system.

12. The device according to claim 8, characterized in that The first solution module is specifically used to calculate the product of the geographic coordinates of the coal mining machine and the transfer matrix to obtain the relative three-dimensional coordinates of the coal mining machine.

13. The device according to claim 8, characterized in that The device also includes: The power supply module is used to supply power to the inertial navigation system in a dual power supply mode.

14. An electronic 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, the method according to any one of claims 1 to 7 is implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the method according to any one of claims 1 to 7.

16. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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