Position tracking and guiding system for slope coal mining machine of open pit coal mine

Abstract

The invention belongs to the technical field of open-pit coal mine mining equipment control, and provides a position tracking and guiding system for an open-pit coal mine slope coal mining machine in order to solve various problems existing in navigation of an existing laser orientation instrument. A full-automatic optical measurement device and a GNSS terminal respectively collect displacement offset data and initial coordinates of the slope coal mining machine; the inertial measurement unit and the mileage sensor are calibrated according to the collected data, the calibrated inertial measurement unit and the calibrated mileage sensor calculate the attitude and mileage data of the slope coal mining machine respectively, and the attitude and mileage data and footage data collected by the wireless ranging radar are transmitted to the lower computer; the lower computer performs data analysis and data fusion positioning on the received data to obtain the position information of the slope coal mining machine, and transmits the position information and the collected data to the upper computer for display, so that high-precision positioning and navigation can be realized under complex and changeable geological conditions, and the positioning precision of the slope coal mining machine is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of open-pit coal mining equipment control, and in particular relates to a position tracking and guiding system for a sidewall coal mining machine in an open-pit coal mine. Background Art

[0002] In the field of coal mining, the recovery of compressed coal from the sidewalls of open-pit coal mines has always been a technical problem. Due to the limitations of traditional mining technology, there is a large amount of "stagnant coal" that has been abandoned at the sidewalls of many open-pit coal mines. These coal resources not only cause huge waste of resources, but also have a certain impact on the environment. In order to solve this problem, it is necessary to develop an efficient and intelligent set of sidewall mining equipment, and position tracking and guidance technology is one of the key technologies.

[0003] At present, the continuous coal mining equipment for side slope mining in open-pit coal mines is navigated by the instructions of a precisely adjusted laser pointer. During the mining process, the mining driver controls the side slope coal mining machine drum to cut and run on the section by visually observing the laser spot on the section. However, the laser pointer has problems such as poor positioning accuracy and insufficient equipment adaptability when navigating, and requires sensory control by the operator, which makes it impossible to achieve remote centralized control and automatic collaborative operation of mining equipment. Therefore, it is necessary to design a navigation device suitable for side slope mining in open-pit coal mines. Summary of the invention

[0004] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a position tracking and guiding system for a sidewall coal mining machine in an open-pit coal mine.

[0005] The present invention is implemented by the following technical solution: a position tracking and guiding system for a sidewall coal mining machine in an open-pit coal mine, comprising:

[0006] An inertial measurement unit, used to calculate the attitude data of the sidewall coal mining machine in a geographic coordinate system, wherein the attitude data includes a heading angle, a pitch angle, and a roll angle;

[0007] A mileage sensor is used to measure the rotation angle of the travel reducer of the side coal mining machine, and calculate the mileage data of the side coal mining machine based on the rotation angle. There are at least two mileage sensors, which respectively collect the rotation conditions of the left and right travel reducers of the side coal mining machine;

[0008] A wireless ranging radar is used to measure the footage data of the side coal mining machine and to correct the spatial position coordinates according to the footage data;

[0009] GNSS terminal, used to provide the initial coordinates of the side coal shearer, and to locate and orient the side coal shearer;

[0010] A fully automatic optical measuring device, used for collecting displacement data of the side coal mining machine, and calibrating and calibrating the inertial measurement unit and mileage sensor according to the displacement data;

[0011] The lower computer is used to collect the data collected by the inertial measurement unit, the mileage sensor and the wireless ranging radar, synchronize the collected data, perform data analysis and data fusion positioning according to the data synchronization results, and transmit the data to the upper computer for display;

[0012] The fully automatic optical measuring device and the GNSS terminal respectively collect the displacement offset data and initial coordinates of the side coal mining machine, and calibrate the inertial measurement unit and the mileage sensor according to the collected data. The calibrated inertial measurement unit and the mileage sensor respectively calculate the posture and mileage data of the side coal mining machine, and transmit the posture and mileage data as well as the footage data collected by the wireless ranging radar to the lower computer. The lower computer performs data analysis and data fusion positioning on the received data to obtain the position information of the side coal mining machine, and transmits the position information and each collected data to the upper computer for display.

[0013] Preferably, the lower computer includes a main controller, a multi-channel data synchronization acquisition unit and a multi-protocol conversion module;

[0014] The main controller is used for data analysis and data fusion positioning;

[0015] The multi-channel data synchronization acquisition unit is used to receive the frame format data corresponding to the inertial measurement unit, the mileage sensor and the wireless ranging radar, and synchronize the received frame format data to obtain data of the same frame;

[0016] The multi-protocol conversion module is used for data transmission with the host computer.

[0017] Preferably, the data analysis and data fusion steps of the lower computer are:

[0018] The multi-channel data synchronization acquisition unit collects frame format data corresponding to the inertial measurement unit, mileage sensor and wireless ranging radar, and compiles frames and synchronizes timestamps according to the acquisition frequency;

[0019] The main controller performs dead reckoning based on the attitude collected by the inertial measurement unit and the mileage data of the mileage sensor in combination with the collected data of the wireless ranging radar, and establishes a Kalman filter of the side coal mining machine based on the above data to determine the position information of the side coal mining machine;

[0020] Based on the position information and the initial RTK data, obtaining the spatial coordinate data of the side coal mining machine;

[0021] The position information, spatial coordinate data and various received data of the side coal mining machine are packaged into data frames, transmitted to and stored in the host computer through the multi-protocol conversion module.

[0022] Preferably, the inertial measurement unit is installed above the center of the crawler track of the sidewall coal mining machine, and the right direction of the sidewall coal mining machine is set as the X-axis, the forward direction of the fuselage is set as the Y-axis, and the celestial direction of the fuselage is set as the Z-axis.

[0023] Preferably, the mileage sensor is installed on the transmission part of the side coal mining machine, and includes at least a first mileage sensor and a second mileage sensor. The first mileage sensor measures the rotation angle of the left travel reducer, and calculates the first mileage data of the left track through the rotation angle; the second mileage sensor measures the rotation angle of the right travel reducer, and calculates the second mileage data of the right track through the rotation angle.

[0024] Preferably, performing spatial position coordinate correction according to the footage data includes:

[0025] The wireless ranging radar is used to measure in real time the straight-line distance between the side coal mining machine and the initial coordinates during its movement;

[0026] The spatial position coordinates are corrected according to the straight-line distance and the posture data of the inertial measurement unit.

[0027] Preferably, the fully automatic optical measuring device comprises an optical measuring device and a prism group, wherein the optical measuring device is installed on the rear platform track of the sidewall coal mining machine, and the prism group is installed on the rear part of the body of the sidewall coal mining machine.

[0028] Preferably, the host computer is used to display the operating parameters of the side coal mining machine, the mining process and relative position information of the mining mine and the side coal mining machine in real time in three dimensions, and store the data.

[0029] Preferably, it also includes: a cylinder displacement sensor assembly for measuring the cumulative propulsion displacement of the rear-end coal mining machine, and performing mileage correction based on the cumulative propulsion displacement and the mileage data calculated by the mileage sensor.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. Under complex and changeable geological conditions (such as large fluctuations in coal seam thickness, large-angle working surfaces, complex roof and floor conditions, etc.), high-precision positioning and navigation can be achieved, which improves the positioning accuracy of the side coal mining machine and ensures the accuracy of mining operations.

[0032] 2. Through modular design and rapid adjustment mechanism, it can quickly adapt to and optimize mining strategies, reduce the time and cost of dynamic adjustment of equipment, and ensure smooth mining. Precise control reduces unnecessary downtime adjustment time, extends the continuous excavation length, further improves the recovery rate of slope coal, and reduces resource waste. This flexibility greatly improves the comprehensive application efficiency of the equipment.

[0033] 3. The host computer realizes the real-time display and correction prediction functions of three-dimensional dynamics, and can upload the positioning, status and production data to the central control platform in real time. It significantly improves the intelligent level of mine operations, reduces labor costs, and improves overall operational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of the structure of a position tracking and guiding system for a sidewall coal mining machine in an open-pit coal mine provided by an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the structure of another open-pit coal mine side shearer position tracking and guiding system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0039] At present, the complete set of continuous coal mining equipment for slope mining is navigated by the indication of a precisely adjusted laser pointer. During the mining process, the mining driver controls the drum of the side slope coal mining machine to cut and run on the section by visually observing the laser spot on the coal seam section. The existing side slope coal mining machine navigation method has the following disadvantages:

[0040] (1) Poor positioning accuracy. Traditional position tracking and guidance technologies often cannot guarantee high-precision positioning under complex geological conditions (such as large changes in coal seam thickness, large inclination angles, and complex roof and floor conditions).

[0041] (2) The mining efficiency and safety are poor, and there is a lot of dust on the working surface. The lighting at the work site is poor. Especially when cutting the bottom plate of the tunnel, the operator's line of sight is blocked by the equipment body, making it difficult to accurately judge the position of the cutting part during the tunnel excavation process, which brings great difficulties to mining control. Poor safety, low production efficiency, and limited excavation length result in low slope coal recovery rate and great waste.

[0042] (3) The equipment is not adaptable enough. In order to cope with mining under different geological conditions, especially when there are a lot of interlayers, the time and cost of equipment modification and adjustment should be reduced to ensure the smooth progress of mining.

[0043] (4) Without positioning data, the system relies solely on sensory control by operators, making it impossible to achieve remote centralized control and automatic collaborative operation of mining equipment.

[0044] In order to solve the above problems, the present invention provides a position tracking and guidance system for the side coal mining machine in an open-pit coal mine, which is used to solve the problems that the current laser pointer has poor positioning accuracy and insufficient equipment adaptability during navigation, and requires sensory control by the operator, and cannot realize remote centralized control and automatic collaborative operation of mining equipment. A position tracking and guidance system for the side coal mining machine in an open-pit coal mine is provided.

[0045] like Figure 1 As shown, an embodiment of the present invention provides a position tracking and guiding system for a sidewall coal mining machine in an open-pit coal mine, comprising:

[0046] An inertial measurement unit, used to calculate the attitude data of the sidewall coal mining machine in a geographic coordinate system, wherein the attitude data includes a heading angle, a pitch angle, and a roll angle;

[0047] A mileage sensor is used to measure the rotation angle of the travel reducer of the side coal mining machine, and calculate the mileage data of the side coal mining machine based on the rotation angle. There are at least two mileage sensors, which respectively collect the rotation conditions of the left and right travel reducers of the side coal mining machine;

[0048] A wireless ranging radar is used to measure the footage data of the side coal mining machine and to correct the spatial position coordinates according to the footage data;

[0049] GNSS terminal, used to provide the initial coordinates of the side coal shearer, and to locate and orient the side coal shearer;

[0050] A fully automatic optical measuring device, used for collecting displacement data of the side coal mining machine, and calibrating and calibrating the inertial measurement unit and mileage sensor according to the displacement data;

[0051] The lower computer is used to collect the data collected by the inertial measurement unit, the mileage sensor and the wireless ranging radar, synchronize the collected data, perform data analysis and data fusion positioning according to the data synchronization results, and transmit the data to the upper computer for display;

[0052] The fully automatic optical measuring device and the GNSS terminal respectively collect the displacement offset data and initial coordinates of the side coal mining machine, and calibrate the inertial measurement unit and the mileage sensor according to the collected data. The calibrated inertial measurement unit and the mileage sensor respectively calculate the posture and mileage data of the side coal mining machine, and transmit the posture and mileage data as well as the footage data collected by the wireless ranging radar to the lower computer. The lower computer performs data analysis and data fusion positioning on the received data to obtain the position information of the side coal mining machine, and transmits the position information and each collected data to the upper computer for display.

[0053] Optionally, the lower computer includes a main controller, a multi-channel data synchronization acquisition unit and a multi-protocol conversion module; the main controller is used to perform data analysis and data fusion positioning; the multi-channel data synchronization acquisition unit is used to receive frame format data corresponding to the inertial measurement unit, mileage sensor and wireless ranging radar, and synchronize the received frame format data to obtain data of the same frame; the multi-protocol conversion module is used to transmit data with the upper computer.

[0054] In this embodiment, the lower computer realizes the collection of all data, data synchronization processing and the operation of the combined positioning algorithm. The lower computer includes a main controller with computing power, a multi-channel data synchronization acquisition unit and a multi-protocol conversion module, wherein the multi-channel data synchronization acquisition unit synchronously collects the square wave signal of the mileage sensor, the frame format data of the inertial measurement unit and the frame format data of the wireless ranging radar. A clock module is provided in the multi-channel data synchronization acquisition unit. After synchronously collecting data of different frame rates of the inertial measurement unit, the mileage sensor and the wireless ranging radar, the clock module is used to re-encode each data into the same frame of data, so as to facilitate the main controller to perform data analysis and data fusion positioning.

[0055] In this embodiment, the multi-protocol conversion module has CAN, LAN and 422 interfaces, and is connected to the host computer for transmitting the communication data processed by the main controller to the host computer. The communication data in this embodiment includes the attitude parameters (heading angle, pitch angle, roll angle) of the side coal mining machine, the positioning and orientation parameters (travel direction coordinates, lateral coordinates, elevation coordinates), the state parameters of each sensor and the corresponding control instructions.

[0056] Optionally, the data analysis and data fusion steps of the lower computer are as follows: a multi-channel data synchronization acquisition unit acquires frame format data corresponding to the inertial measurement unit, the mileage sensor and the wireless ranging radar, and frames the synchronization timestamp according to the acquisition frequency; the main controller performs dead reckoning based on the posture acquired by the inertial measurement unit and the mileage data of the mileage sensor, and in combination with the acquired data of the wireless ranging radar, and at the same time establishes a Kalman filter for the side coal mining machine based on the above data to determine the position information of the side coal mining machine; based on the position information and the initial RTK data, the spatial coordinate data of the side coal mining machine is obtained; the position information, spatial coordinate data and each received data of the side coal mining machine are packaged into data frames, and transmitted and stored to the upper computer through the multi-protocol conversion module.

[0057] In this embodiment, for the navigation equipment of the side coal mining machine of the open-pit coal mine, the designed lower computer realizes the functions of multi-sensor data collection, framing, fusion operation, communication, storage, etc. First, the inertial measurement unit is self-aligned and the position information of other sensors is initialized. Then, the data is collected through the multi-channel data synchronization acquisition unit, and the frame synchronization timestamp is compiled according to the acquisition frequency. The main controller performs dead reckoning based on the three-axis attitude data of the inertial gyroscope in the inertial measurement unit and the mileage sensor data. The dead reckoning data is combined with the wireless ranging radar data to establish the Kalman filter of the side coal mining machine to determine the position information of the side coal mining machine. The position information of the side coal mining machine is combined with the initial RTK (Real-time kinematic) data to obtain the XYZ three-axis spatial coordinates of the side coal mining machine. Finally, the relevant position information and attitude data are packaged into data frames, which are remotely transmitted and stored through the CAN and LAN interfaces.

[0058] Optionally, the inertial measurement unit is installed above the center of the crawler track of the sidewall coal mining machine, and the right direction of the sidewall coal mining machine is set as the X-axis, the forward direction of the fuselage is set as the Y-axis, and the vertical direction of the fuselage is set as the Z-axis.

[0059] In this embodiment, the inertial measurement unit (IMU) is used to measure and report the three basic linear motions (accelerations) and three basic angular motions (angular velocities) of an object, and is installed on the sidewall coal mining machine body, preferably above the center of the crawler. The three axes XYZ of the inertial measurement unit point to the right, forward and celestial directions of the sidewall coal mining machine body, respectively, and are used to calculate the heading angle, pitch angle and roll angle of the body in the geographic coordinate system.

[0060] Optionally, the mileage sensor is installed at the transmission part of the side coal mining machine, and includes at least a first mileage sensor and a second mileage sensor. The first mileage sensor measures the rotation angle of the left travel reducer, and calculates the first mileage data of the left track through the rotation angle; the second mileage sensor measures the rotation angle of the right travel reducer, and calculates the second mileage data of the right track through the rotation angle.

[0061] In this embodiment, the mileage sensor can be in the form of a rotary encoder or a rotary transformer, but the present invention is not limited thereto. The mileage sensor is installed on the transmission part of the side coal mining machine. The first mileage sensor and the second mileage sensor are used to accurately measure the rotation of the left and right travel reducers of the side coal mining machine, thereby calculating the first mileage data and the second mileage data of the two tracks.

[0062] In this embodiment, the first mileage data and the second mileage data measured by the mileage sensor are combined to perform data fusion correction on the inertial measurement unit, and the inertial measurement unit calculates the position of the spatial coordinates (footage axial direction, left-right axial direction, and up-down axial direction) of the sidewall coal mining machine. In actual use, since the number of revolutions measured by the mileage sensor is converted into the displacement of the crawler, it is affected by the transmission ratio of the reducer, the meshing clearance of the crawler drive teeth, the installation clearance of the crawler shoe, etc., and it is also necessary to calibrate the pulse number and actual mileage of the mileage sensor to improve the measurement accuracy.

[0063] Optionally, the spatial position coordinates are corrected according to the footage data, including: using the wireless ranging radar to measure in real time the straight-line distance between the side coal mining machine and the initial coordinates during movement; and correcting the spatial position coordinates according to the straight-line distance and the posture data of the inertial measurement unit.

[0064] In this embodiment, during the sidewall mining process, personnel cannot enter the tunnel for accurate measurement and calibration, and the position estimation scheme combining the inertial measurement unit and the mileage sensor inevitably has cumulative errors over time and mileage. At the same time, during the sidewall coal mining process, there may be track slippage, resulting in mileage errors. These errors will cause deviations in the three axial results of the sidewall coal mining machine's positioning in the spatial coordinate system. Therefore, the wireless ranging radar is used to measure the straight-line distance between the sidewall coal mining machine and the initial coordinates in real time during the movement, and the spatial position coordinates of the sidewall coal mining machine are regularly corrected in combination with the attitude data of the inertial measurement unit. In practical applications, the wireless ranging radar can be in the form of UWB, LORA or millimeter wave radar, as long as it can realize the function of the module, and the present invention is not limited thereto.

[0065] In this embodiment, a high-precision GNSS terminal is installed on the self-moving platform of the side coal mining machine. The GNSS terminal processes and analyzes the received data, calculates the position, speed, time and other information of the GNSS terminal, thereby accurately positioning and orienting the side coal mining machine, and providing initial coordinates for the side coal mining machine outside the tunnel.

[0066] Optionally, the fully automatic optical measuring device includes an optical measuring device and a prism group, wherein the optical measuring device is installed on the rear platform track of the sidewall coal mining machine, and the prism group is installed on the rear part of the body of the sidewall coal mining machine.

[0067] In this embodiment, a fully automatic optical measuring device is used to accurately measure the position offset of the side coal mining machine, which is divided into an optical measuring device and a prism group, wherein the optical measuring device is installed on the track of the rear platform of the side coal mining machine, and the prism group is installed on the rear part of the side coal mining machine. When not mining, the fully automatic optical measuring device measures the position information of the machine body in the geographic coordinate system in real time, which is used as the auxiliary measurement information of the side coal mining machine displacement for accurate position calibration.

[0068] Optionally, it also includes: a cylinder displacement sensor assembly for measuring the cumulative propulsion displacement of the side coal mining machine, and performing mileage correction based on the cumulative propulsion displacement and the mileage data calculated by the mileage sensor.

[0069] In this embodiment, Figure 2 As shown, the cylinder displacement sensor assembly is used to accurately measure the cumulative propulsion displacement of the rear supporting equipment of the side coal mining machine, that is, the cumulative propulsion displacement of the main frame of the side coal mining machine. The rear supporting equipment of the side coal mining machine is connected to the cylinder and moved by the traction of the machine head and the push of the cylinder. The cylinder displacement sensor accurately measures the displacement of the cylinder and then determines the propulsion displacement and quantity of the rear supporting equipment. Then, it is integrated with the mileage data of the side coal mining machine calculated by the mileage sensor to correct the mileage and obtain more accurate mileage data.

[0070] Optionally, the host computer is used to display the operating parameters of the side coal mining machine, the mining process and relative position information of the mining mine and the side coal mining machine in real-time three-dimensional dynamic mode, and store the data.

[0071] In this embodiment, for the navigation equipment of the side coal mining machine in the open-pit coal mine, it is necessary to send the results of data analysis and data fusion positioning performed by the main controller, as well as the side coal mining machine parameters collected by the multi-channel data synchronization acquisition unit, to the host computer through the multi-protocol conversion module to guide the operator to perform remote mining operations. According to the data of the lower computer, the key operating parameters and status of the side coal mining machine, mining tunnels, mine scenes, etc. are remotely, in real time, dynamically, and three-dimensionally displayed. The following functions are mainly realized:

[0072] (1) Real-time 3D dynamic display of key operating parameters of the sidewall shearer, including posture, position, operating status of each sensor, etc., mainly including the following data:

[0073] a. Display of the three-dimensional model of the side coal mining machine. Real-time display of the side coal mining machine's posture, cutting action, left and right up and down position, and footage.

[0074] b. Drawing of historical operation track of sidewall coal mining machine. The track includes X, Y deviation and Z elevation information, reflecting the operation deviation of mining tunnel in real time.

[0075] c. Display of planned mining trajectory, predicted trajectory and decision information of sidewall coal mining machine. The planned mining lane trajectory is displayed with the preset mining lane direction; the difference and alarm between construction according to design and construction according to deviation are displayed according to the current direction of the equipment and the angle deviation of the preset trajectory; if the deviation is greater than a certain range, the decision-making travel method is prompted on the interface.

[0076] (2) 3D dynamic display of mining, mining process and relative position of side coal mining machines;

[0077] a. Real-time display of the relative position of the mine tunnel and the side coal mining machine equipment (XYZ three directions), real-time display of the tunnel mining progress and the side coal mining machine operation track.

[0078] b. The software perspective includes panoramic mode, real-time mining of equipment, etc. The perspective can be adjusted by keyboard and mouse, and the tunnel perspective can be realized by clicking on the tunnel, while displaying the information statistics such as the accumulated time of mining tunnel and coal output.

[0079] c. The three-dimensional panoramic view of the mine is a full interface, including the entire mine, tunnels, external equipment, etc., and has perspective zooming and panning effects.

[0080] (3) Real-time interactive function, users can use the software to configure parameters of the coal mining machine, issue instructions, etc.;

[0081] Data storage function, establish a database to store and upload data from the lower computer. It has historical data statistical query function: including navigation position parameters of year, month and day, cumulative coal output, cumulative operating time, fault occurrence, etc.

[0082] Aiming at the problems faced by the conventional navigation and mining technologies currently used in slope mining, the present invention provides a position tracking and guiding system for a side slope coal mining machine in an open-pit coal mine, which has significant technical advantages. High-precision positioning capability: The present invention integrates multi-sensor and inertial navigation technology, and can achieve high-precision positioning and navigation even under complex and changeable geological conditions (such as large fluctuations in coal seam thickness, large-angle working faces, complex roof and floor conditions, etc.), improving the positioning accuracy of the sidewall coal mining machine and ensuring the accuracy of mining operations; improving mining efficiency and safety: precise control reduces unnecessary downtime adjustment time, extends the length of continuous excavation, further improves the recovery rate of slope coal, and reduces resource waste. Especially in the case of a large number of interlayers in the coal seam, through modular design and rapid adjustment mechanism, it can quickly adapt to and optimize mining strategies, reduce the time and cost of dynamic adjustment of equipment, and ensure the smooth progress of mining work. This flexibility greatly improves the comprehensive application efficiency of the equipment; realize remote centralized control and automatic collaborative operation: This technology not only relies on traditional sensory control, but also integrates three-dimensional dynamic real-time display and correction prediction functions, and can upload positioning, status and production data to the central control platform in real time. It significantly improves the intelligence level of mining operations, reduces labor costs, and improves overall operational efficiency.

[0083] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A position tracking and guiding system for sidewall coal mining machines in open-pit coal mines, characterized in that: include: An inertial measurement unit is used to calculate the attitude data of the sidewall coal mining machine in a geographic coordinate system, wherein the attitude data includes a heading angle, a pitch angle, and a roll angle; A mileage sensor is used to measure the rotation angle of the travel reducer of the side coal mining machine, and calculate the mileage data of the side coal mining machine based on the rotation angle. There are at least two mileage sensors, which respectively collect the rotation conditions of the left and right travel reducers of the side coal mining machine; A wireless ranging radar is used to measure the footage data of the side coal mining machine and to correct the spatial position coordinates according to the footage data; GNSS terminal, used to provide the initial coordinates of the side coal shearer, and to locate and orient the side coal shearer; A fully automatic optical measuring device, used for collecting displacement data of the sidewall shearer, and calibrating and calibrating the inertial measurement unit and mileage sensor according to the displacement data; The lower computer is used to collect the data collected by the inertial measurement unit, the mileage sensor and the wireless ranging radar, synchronize the collected data, perform data analysis and data fusion positioning according to the data synchronization results, and transmit the data to the upper computer for display; The fully automatic optical measuring device and the GNSS terminal respectively collect the displacement offset data and initial coordinates of the side coal mining machine, and calibrate the inertial measurement unit and the mileage sensor according to the collected data. The calibrated inertial measurement unit and the mileage sensor respectively calculate the posture and mileage data of the side coal mining machine, and transmit the posture and mileage data as well as the footage data collected by the wireless ranging radar to the lower computer. The lower computer performs data analysis and data fusion positioning on the received data to obtain the position information of the side coal mining machine, and transmits the position information and each collected data to the upper computer for display.

2. The open-pit coal mine side shearer position tracking and guidance system according to claim 1, characterized in that: The lower computer includes a main controller, a multi-channel data synchronization acquisition unit and a multi-protocol conversion module; The main controller is used for data analysis and data fusion positioning; The multi-channel data synchronization acquisition unit is used to receive the frame format data corresponding to the inertial measurement unit, the mileage sensor and the wireless ranging radar, and synchronize the received frame format data to obtain data of the same frame; The multi-protocol conversion module is used for data transmission with the host computer.

3. The open-pit coal mine side shearer position tracking and guiding system according to claim 2, characterized in that: The data analysis and data fusion steps of the lower computer are as follows: The multi-channel data synchronization acquisition unit collects frame format data corresponding to the inertial measurement unit, mileage sensor and wireless ranging radar, and compiles frames and synchronizes timestamps according to the acquisition frequency; The main controller performs dead reckoning based on the attitude collected by the inertial measurement unit and the mileage data of the mileage sensor in combination with the collected data of the wireless ranging radar, and establishes a Kalman filter of the side coal mining machine based on the above data to determine the position information of the side coal mining machine; Based on the position information and the initial RTK data, obtaining the spatial coordinate data of the side coal mining machine; The position information, spatial coordinate data and various received data of the side coal mining machine are packaged into data frames, transmitted to and stored in the host computer through the multi-protocol conversion module.

4. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: The inertial measurement unit is installed above the center of the crawler of the side coal mining machine, and the right direction of the side coal mining machine is set as the X-axis, the forward direction of the fuselage is set as the Y-axis, and the celestial direction of the fuselage is set as the Z-axis.

5. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: The mileage sensor is installed on the transmission part of the side coal mining machine, and includes at least a first mileage sensor and a second mileage sensor. The first mileage sensor measures the rotation angle of the left travel reducer, and calculates the first mileage data of the left track through the rotation angle; the second mileage sensor measures the rotation angle of the right travel reducer, and calculates the second mileage data of the right track through the rotation angle.

6. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: The spatial position coordinate correction according to the footage data includes: Using the wireless ranging radar to measure in real time the straight-line distance between the side coal mining machine and the initial coordinates during its movement; The spatial position coordinates are corrected according to the straight-line distance and the posture data of the inertial measurement unit.

7. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: The fully automatic optical measuring device comprises an optical measuring device and a prism group. The optical measuring device is installed on the rear platform track of the sidewall coal mining machine, and the prism group is installed on the rear part of the body of the sidewall coal mining machine.

8. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: The host computer is used for real-time three-dimensional dynamic display of the operating parameters of the side coal mining machine, the mining process and relative position information of the mining mine and the side coal mining machine mining tunnel, and for data storage of various data.

9. The open-pit coal mine side shearer position tracking and guiding system according to claim 1, characterized in that: Also includes: The oil cylinder displacement sensor assembly is used to measure the cumulative propulsion displacement of the rear-mounted side coal mining machine, and to perform mileage correction based on the cumulative propulsion displacement and the mileage data calculated by the mileage sensor.

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