基于多传感器融合的定位定姿技术研究

Research on Positioning and Attitude Determination Technology Based on Multi-sensor Fusion

对薄煤层开采自动化控制关键技术展开研究。采用多传感器融合技术获得采煤机和液压支架的准确位置和支护状态。以自动化控制模型为依据,设计基于液压支架位姿的"降-移-升"调控技术以适应薄煤层破碎顶板的快速支护要求,研究与采煤机速度相配合的刮板输送机顺序推移技术保证刮板输送机能自动推移到位,设计采煤机滚筒自适应调高方法以适应薄煤层工作面多变的底板条件,使采煤机、液压支架、刮板输送机在薄煤层现场条件下能达到较好的推移位姿状态。

Research on the key technology of automatic control of thin coal seam mining was carried out. Multi-sensor fusion technology was used to obtain the accurate position and support state of the shearer and hydraulic support. Based on the automatic control model, designed the drop-shift-lift control technology to meet the requirements of rapid support of thin coal seam broken roof, researched on the sequential moving technology of scraper conveyor that matches the speed of the shearer to ensure that the scraper conveyor can automatically move in place, and designed the method of shearer drum to adjust the height automatically to adapt to the changeable floor conditions of the thin coal seam face, so that the shearer, hydraulic support, and scraper conveyor can achieve a better moving position under the thin coal seam field conditions.