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1. (WO2018219062) METHOD FOR DETECTING ABSOLUTE POSE OF MINING MACHINE

Pub. No.:    WO/2018/219062    International Application No.:    PCT/CN2018/083775
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Fri Apr 20 01:59:59 CEST 2018
IPC: G01C 21/16
G01C 15/00
Applicants: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
中国矿业大学
Inventors: LIU, Songyong
刘送永
CHENG, Cheng
程诚
WU, Hongzhuang
吴洪状
JIANG, Hongxiang
江红祥
LI, Wei
李伟
SHEN, Gang
沈刚
TANG, Wei
唐玮
LIU, Houguang
刘后广
YANG, Jianhua
杨建华
Title: METHOD FOR DETECTING ABSOLUTE POSE OF MINING MACHINE
Abstract:
A method for detecting the absolute pose of a mining machine (1): when at a stoping work surface, detecting the absolute pose of a mining machine (1) in a tri-machine cooperative mining equipment which mainly consists of the mining machine (1), a scraper (2) and a hydraulic support (3). The method for detecting the absolute pose of the mining machine (1) performs dead reckoning pose detection by means of a strap-down inertial navigation module, and performs laser pose detection by means of a laser transmitting device (4), a laser receiving device and a smart total station (5), and then performs asynchronous integration on the two pose detection results by means of an optimal estimation algorithm so as to obtain an accurate absolute pose of the mining machine (1). An optimal estimation algorithm, such as a Kalman filter and the like, is used in the method for detecting the absolute pose of the mining machine (1) to perform asynchronous integration on two pieces of navigation information so as to obtain more accurate absolute pose parameters for the mining machine (1). The method is high-precision and reliable, and provides the conditions for the mining machine (1) to operate automatically and intelligently.