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1. (WO2018219361) METHOD OF SENSING ABSOLUTE POSITION AND ORIENTATION OF COAL MINING MACHINE

Pub. No.:    WO/2018/219361    International Application No.:    PCT/CN2018/096457
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Sat Jul 21 01:59:59 CEST 2018
IPC: G01C 21/16
E21C 35/00
Applicants: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
中国矿业大学
XUZHOU ZHIRUN MINING EQUIPMENT SCIENCE AND TECHNOLOGY CO., LTD
徐州秩润矿山设备科技有限公司
Inventors: LIU, Songyong
刘送永
ZHU, Zhencai
朱真才
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
ZHANG, Xin
张新
CHENG, Cheng
程诚
WU, Hongzhuang
吴洪状
Title: METHOD OF SENSING ABSOLUTE POSITION AND ORIENTATION OF COAL MINING MACHINE
Abstract:
A method of sensing the absolute position and orientation of a coal mining machine (1). In a three-part mining-equipment set primarily composed of a coal mining machine (1), a scraper conveyor (2), and hydraulic supports (3), the absolute position and orientation of the coal mining machine (1) is sensed during work face stoping. In the method, a strapdown inertial navigation module is used for dead-reckoning sensing of the position and orientation of the machine; a laser transmission device (4), a laser reception device, and an intelligent total station (5) are used for laser sensing of the position and orientation of the machine; then, an optimal estimation algorithm is used for asynchronous fusion of the results from said two types of sensing in order to obtain the precise absolute position and orientation of the coal mining machine (1). In the present method, optimal estimation algorithms such as Kalman filtering are used for asynchronous fusion of two types of navigation information in order to obtain more precise absolute position and orientation parameters for a coal mining machine (1). The invention is highly precise, reliable, and provides the conditions for achieving the automated and intelligent operation of the coal mining machine (1).