Shearer Precision Positioning Based On Laser Scanning Technology

With increasing complex conditions of coal mining, the unmanned mining technology underground is put forward the higher requirements. The key to realize unmanned mining underground is to research on automation and control technology of mining equipments which is adopt to the mine characteristic of our country, and then the operation position and attitude information of shearer in 3d space can be accurately and real-timely acquired by high-precision tracking positioning technology, therefore the technology is the premise and foundation to realize automation and control technology of mining equipments. Now the shearer positioning technology widely studied is inertial navigation technology which has the characteristic of good continuity and high precision, but due to the existence of the accumulative error, there need to positioning shearer when the shearer ran to the head section of scraper conveyer.The paper studied the shearer precision positioning method and technology based on laser scanning technology, in order to provide accurate calibration and reference on the head section of scraper conveyer in fully mechanized face, then the shearer positioning technology scheme by using the principle of front triangle intersection in combination with sector laser scanning was put forward. The positioning principle of double base stations was deduced and the shearer precision positioning prototype based on laser scanning technology was established. By analyzing the positioning experimental results and according to the actual working conditions of fully mechanized coal mining face, the errors, influenced by the installation of base station, the size of receiver and levelness of base station, was analyzed. The main work and research result of this paper are shown as follows:1) The basic theory of shearer positioning based on laser scanning technology was introduced and the formula of the receiver position based on double base station was deduced; in the view of coal mine environment and distinguishing different base stations, the horizontal and vertical deflection angle of sector laser shot from base station turntable was analyzed; different base station and sector laser were distinguished by time signal regularity; the optimal placement of base station was analyzed according to the actual working conditions of fully mechanized coal mining face.2)The whole technology scheme of shearer precision positioning system based on laser scanning technology was put forward on the basic of the theory of shearer positioning based on laser scanning technology; the positioning base station based on laser scanning technology was designed, which included the implementation of θ and α angles conforming to the characteristics of fully mechanized face, electrical configuration of base station and the launcher of zero signal; the receiver and receiving circuit board was made; the standard plate was designed; the whole frame of the flow chart of receiver signal process and coordinate calculation was designed.3) The receiver experiment of double base station positioning based on the shearer positioning technology of laser scanning technology was researched. The error in X axis was 0.030m~0.116 m, the error in Y axis was 0.053m~0.093 m and the error in Z axis was 0.043~0.129m; the positioning precision influenced by the base station installation and the receiver size were analyzed, and after revising the data, the error range of X axis is 0.014m~0.082 m, the error range of Y axis is 0.029m~0.085 m and the maximum error of Z axis is 0.083 m, then the 3d positioning precision is 0.098759m; the 3d positioning precision of unit distance is 0.013173m/m; in view of the inclination of base station turntable, the theoretical model by using spirit level to measure the approximate inclination was established.