An inertial navigation system for a coal mining machine

Abstract

The utility model discloses a kind of inertial navigation system for coal mining machine, optical fiber inertial navigation equipment is mounted on coal mining machine, the signal of optical fiber inertial navigation equipment is wirelessly transmitted to wireless coverage unit through CPE antenna on body, wireless coverage unit is connected with switch, the data of wireless coverage unit is forwarded, exchanges, central control host computer is connected with switch, receives the data forwarded from switch;Coal mining machine is connected with switch or central control host computer through communication line.The utility model system is high in integration, realizes multi-source data real-time integration, equipment collaborative management and control, greatly improves working face automation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of positioning and navigation technology for coal mining machines. Specifically, it is an inertial navigation system for coal mining machines. Background Technology

[0002] Located on the northern edge of the Dongsheng Coalfield, the mine has soft overlying strata with poor cementation, classifying it as a typical weak stratum. Especially after entering the medium to deep sections, the difficulty of mining high-extraction longfaces increases, and the characteristics and severity of mine pressure manifestations differ significantly from those in mines with other conditions. Currently, the first mining face in the second panel area of ​​the Hongqingliang Coal Mine is the 12308 working face, with an average coal seam thickness of approximately 5.5m-6m, classifying it as a thick coal seam, making it prone to abnormal mine pressure manifestations during mining. Simultaneously, the weak cementation and low strength of the surrounding rock significantly impact roof movement, posing significant challenges to mine pressure management at the working face.

[0003] With the deepening of intelligent coal mine construction, the automated and unmanned operation of coal mining machines, as the core equipment of fully mechanized mining faces, has become a key direction for improving mining efficiency and reducing safety risks. Achieving precise positioning and attitude control of coal mining machines is a prerequisite for their automated operation. Inertial navigation systems, due to their immunity to external environmental interference and ability to continuously output position, velocity, and attitude information, have shown significant application potential in the field of coal mining machine navigation. Among them, fiber optic inertial navigation systems, with their advantages of high precision and strong anti-interference capabilities, have shown significant application potential in complex underground environments.

[0004] However, due to the special working environment of coal mining machines, the acquisition and transmission of their navigation data face multiple challenges. In existing systems, the integration of navigation equipment, transmission modules and underground communication networks is low, which easily leads to problems such as incompatible data formats and transmission protocol conflicts, affecting the overall monitoring efficiency and making it difficult to achieve centralized and intelligent control of the entire working face equipment. Therefore, there is an urgent need for a coal mine working face automation system with a reasonable structure, stable communication and the ability to achieve precise monitoring and centralized control, so as to improve the working face production efficiency and safety. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to provide an inertial navigation system for coal mining machines, which can effectively solve the problems of low integration, unstable communication and poor positioning accuracy of existing inertial navigation systems.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] An inertial navigation system for a coal mining machine includes a fiber optic inertial navigator mounted on the coal mining machine. The signal from the fiber optic inertial navigator is wirelessly transmitted to a wireless coverage unit via a CPE antenna on the machine body. The wireless coverage unit is connected to a switch to forward and exchange data from the wireless coverage unit. A central control host is connected to the switch to receive data forwarded from the switch. The coal mining machine is connected to the switch or the central control host via a communication line.

[0008] Preferably, there are no fewer than three wireless coverage units, and each wireless coverage unit is connected by a network cable.

[0009] Preferably, the aforementioned wireless coverage unit includes a power supply, an antenna, a wireless base station, and a video switch. The video switch is connected to the wireless base station via a network cable, and the power supply and antenna are connected to the wireless base station via a feeder. The video switches of adjacent wireless coverage units are connected via network cables, and the wireless base station and video switch of each wireless coverage unit are respectively connected to the switch via network cables.

[0010] Preferably, the power supply is a mining explosion-proof and intrinsically safe DC regulated power supply.

[0011] Preferably, each of the above wireless coverage units is equipped with two antennas.

[0012] Preferably, the aforementioned wireless coverage units are spaced apart along the working face of the fully mechanized coal mining face.

[0013] Preferably, the antenna is fixedly mounted under the PTZ camera mounting frame on the fully mechanized coal mining face, and the power supply and wireless base station are mounted on the support rod of the hydraulic support on the fully mechanized coal mining face.

[0014] Preferably, the power supply is installed on the support rod of the hydraulic support of the fully mechanized coal mining face, the wireless base station is suspended below the top beam of the support walkway of the fully mechanized coal mining face, the antenna is fixedly installed under the PTZ camera mounting frame of the fully mechanized coal mining face, and the power supply and antenna are connected to the wireless base station via a feeder.

[0015] Preferably, the fiber optic inertial navigation system is installed horizontally on the coal mining machine, with its Z-axis perpendicular to the machine body.

[0016] Preferably, when the coal mining machine uses Modbus TCP for communication, it is connected to the switch via a communication line; when the coal mining machine uses Modbus RTU or CAN for communication, it is connected to the central control host via a communication line.

[0017] The technical solution of this utility model has achieved the following beneficial technical effects:

[0018] 1. This utility model has a high degree of system integration. Compared with the shortcomings of existing modules being isolated and data being fragmented, this utility model realizes real-time integration of multi-source data and collaborative control of equipment, which greatly improves the automation efficiency of the work surface.

[0019] 2. Compared with conventional systems that rely on limit switches, encoders, or single-axis inertial navigation systems, this invention utilizes a fiber optic inertial navigation system mounted laterally to directly sense changes in lateral attitude (such as left and right tilting, lateral displacement). Furthermore, the fiber optic inertial navigation system has strong anti-electromagnetic interference capabilities, and its measurement errors are negligible. This provides a high-precision benchmark for the automatic cutting and tilting adjustment of coal mining machines, reducing coal resource waste or equipment damage caused by positioning deviations.

[0020] 3. This utility model achieves full signal coverage by setting multiple wireless coverage units at intervals along the fully mechanized coal mining face, and these units are specifically designed for fiber optic inertial navigation systems, ensuring the stability of inertial navigation data transmission and significantly improving communication stability. Attached Figure Description

[0021] Figure 1 This is a connection frame diagram of the inertial navigation system for a coal mining machine according to this utility model;

[0022] Figure 2 This is a schematic diagram of the physical connection of this utility model.

[0023] The reference numerals in the figure are as follows: 1-Wireless coverage unit; 11-Power supply; 12-Antenna; 13-Wireless base station; 14-Video switch; 2-Switch; 3-Central control host; 4-Coal mining machine; 5-Fiber optic inertial navigation. Detailed Implementation

[0024] This embodiment describes an inertial navigation system for a coal mining machine, such as... Figure 1 As shown, the fiber optic inertial navigation device 5 is mounted on the coal mining machine 4. The signal of the fiber optic inertial navigation device 5 is wirelessly transmitted to the wireless coverage unit 1 via the CPE antenna on the machine body. The wireless coverage unit 1 is connected to the switch 2, which forwards and exchanges the data of the wireless coverage unit 1. The central control host 3 is connected to the switch 2 and receives the data forwarded from the switch 2. The coal mining machine 4 is connected to the switch 2 or the central control host 3 via a communication line.

[0025] like Figure 2 As shown, there are 3 wireless coverage units 1. Each wireless coverage unit 1 includes a power supply 11, an antenna 12, a wireless base station 13, and a video switch 14. The video switch 14 is connected to the wireless base station 13 via a network cable. The power supply 11 and the antenna 12 are connected to the wireless base station 13 via a feeder line. The video switches 14 of adjacent wireless coverage units 1 are connected via network cables. The wireless base station 13 and the video switch 14 of each wireless coverage unit 1 are respectively connected to switch 2 via network cables.

[0026] In this embodiment, the power supply 11 is a mining explosion-proof and intrinsically safe DC regulated power supply. In the high-risk environment of underground coal mines, it can simultaneously achieve explosion-proof, safe power supply and stable DC output, which not only meets the underground explosion-proof safety regulations, but also ensures the reliable operation of the equipment.

[0027] Each wireless coverage unit 1 is equipped with two antennas 12. Through antenna diversity or spatial multiplexing technology, the stability, coverage, and data transmission capabilities of wireless communication in coal mines are greatly improved.

[0028] The fiber optic inertial navigation device 5 is installed horizontally on the coal mining machine 4, with its Z-axis perpendicular to the body of the coal mining machine 4. The horizontal installation of the fiber optic inertial navigation device 5 can more directly sense the attitude changes of the coal mining machine 4 during its movement (such as the left and right tilt angle of the body and the lateral displacement). The measured data can be fed back to the wireless coverage unit 1 more quickly, improving the tilt adjustment response speed and ensuring the accuracy of the cutting path.

[0029] Wireless coverage units 1 are spaced along the working face of the coal mine. The operating trajectory of the coal mining machine is monitored by fiber optic inertial navigation devices 5 installed on the coal mining machine. Wireless CPE antennas are installed on the body of the fiber optic inertial navigation devices 5. The appropriate number of wireless coverage units 1 are arranged according to the length of the working face to ensure full wireless signal coverage of the working face. They are dedicated to the fiber optic inertial navigation devices 5 to ensure inertial navigation data transmission.

[0030] In this embodiment, the antenna 12 is fixedly mounted under the PTZ camera mounting frame on the fully mechanized coal mining face, and the power supply 11 and the wireless base station 13 are mounted on the support rod of the hydraulic support on the fully mechanized coal mining face. The base station mounting frame is adjacent to the switch mounting frame at a suitable location on the working face, ensuring full coverage of the data transmission system.

[0031] As the coal mining machine 4 moves, the fiber optic inertial navigation system 5 acquires the trajectory of each point on the machine. This data is wirelessly transmitted via the CPE antenna and received by the wireless base station 13 via antenna 12. The acquired data is then uploaded to the switch via the wireless base station 13, converged with data from multiple video switches, and forwarded to the central control host 3. The raw data is then processed and analyzed. After the movement, all supports move and push at full range to obtain the scraper conveyor profile curve, i.e., the current actual curve of the scraper conveyor. Although the shape of the conveyor changes, the supports move and push at full range. Therefore, it is assumed that the bending shape of the conveyor and the shape measured by the fiber optic inertial navigation system 5 are the same (shifted forward by one movement step). Thus, the shape measured by the fiber optic inertial navigation system 5 can be considered the bending shape of the conveyor. Combining this with the LASC (Longwall Automation Steering Committee, an internationally advanced fully mechanized mining automation system developed by the Commonwealth Scientific and Industrial Research Organisation (CSIRO) of Australia) system, the target curve for the next cut is calculated using a face straightening algorithm combined with parameters such as the current movement amount of each support and the maximum and minimum movement distance. By coordinating with the corresponding electro-hydraulic control system of the hydraulic support, closed-loop straightness control of the working face can be achieved, improving the production efficiency and safety of the working face.

[0032] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. An inertial navigation system for a coal mining machine, characterized in that, The system includes a fiber optic inertial navigation system (5), which is mounted on the coal mining machine (4). The signal from the fiber optic inertial navigation system (5) is wirelessly transmitted to the wireless coverage unit (1) via the CPE antenna on the machine body. The wireless coverage unit (1) is connected to the switch (2) to forward and exchange the data from the wireless coverage unit (1). The central control host (3) is connected to the switch (2) to receive the data forwarded from the switch (2). The coal mining machine (4) is connected to the switch (2) or the central control host (3) via a communication line. The wireless coverage unit (1) includes a power supply (11), an antenna (12), a wireless base station (13), and a video switch (14). The video switch (14) is connected to the wireless base station (13) via a network cable. The power supply (11) and the antenna (12) are connected to the wireless base station (13) via a feeder. The video switches (14) of adjacent wireless coverage units (1) are connected via network cables. The wireless base station (13) and video switch (14) of each wireless coverage unit (1) are respectively connected to the switch (2) via network cables.

2. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The wireless coverage unit (1) is provided in no less than 3 units, and each wireless coverage unit (1) is connected by a network cable.

3. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The power supply (11) is a mining explosion-proof and intrinsically safe DC regulated power supply.

4. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, Each wireless coverage unit (1) is equipped with two antennas (12).

5. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The wireless coverage unit (1) is set at intervals along the working face of the coal mine fully mechanized mining face.

6. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The antenna (12) is fixedly mounted under the PTZ camera mounting frame of the fully mechanized coal mining face, and the power supply (11) and the wireless base station (13) are mounted on the support rod of the hydraulic support of the fully mechanized coal mining face.

7. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The power supply (11) is installed on the support rod of the hydraulic support of the coal mine fully mechanized mining face, the wireless base station (13) is suspended below the top beam of the support pedestrian passage of the coal mine fully mechanized mining face, and the antenna (12) is fixedly installed below the PTZ camera mounting frame of the coal mine fully mechanized mining face.

8. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, The fiber optic inertial navigation system (5) is installed horizontally on the coal mining machine (4), with its Z-axis perpendicular to the body of the coal mining machine (4).

9. The inertial navigation system for a coal mining machine according to claim 1, characterized in that, When the coal mining machine (4) communicates via Modbus TCP, it is connected to the switch (2) via a communication line. When the coal mining machine (4) communicates via Modbus RTU or CAN, it is connected to the central control host (3) via a communication line.

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