基于煤层地质模型的采煤机绝对定姿定位方法的研究

针对目前采煤机定位定姿数据无法满足综采工作面生产过程中实用性、精确性的要求,根据采煤机与工作面煤层之间的空间位置关系,提出了基于煤层地质模型的采煤机绝对定位定姿方法。首先利用工作面煤层地质数据,生成精确的煤层地质模型;然后深入研究采煤机自主导航参数解算的原理,并在此基础上对惯导系统的参考坐标系进行了调整;通过采煤机位姿数据和煤层地质数据相互融合,实现了采煤机的绝对定位定姿和对煤层地质数据感知,为采煤机滚筒实现自适应截割提供技术支撑;最后在山西某自动化工作面进行了工业性试验。

Research on Method of Shearer Absolute Position and Attitude Based on Coal Seam Geological Model

In view of the fact that the position and attitude data of the shearer can not meet the requirements of practicability and accuracy in the production process of the fully mechanized coal face,according to the spatial position relationship between the shearer and the coal seam of the coal face,an method of the shearer absolute position and attitude based on coal seam geological model was proposed.Firstly,the coal seam geological data was used to generate an accurate coal seam geological model.Secondly,the principle of autonomous navigation parameter calculation of the shearer was deeply studied,and the reference coordinate system of the inertial navigation system was adjusted on this basis.Through the fusion of the position and attitude data of the shearer and the geological data of the coal seam,the position and attitude of the shearer and the geological data perception of the coal seam were realized,it provides technical support for shearer drum to realize adaptive cutting.Finally,it has carried on the industrial test in an automation working face of Shanxi Province.