基于陀螺仪和里程计的无人工作面采煤机自主定位系统  

Auto-positioning system of shearer operating on manless working face based on gyroscope and odometer

作　　者：张斌[1] 方新秋[1] 邹永洺[1] 尉瑞[1] 程远伟[1] 

机构地区：[1]中国矿业大学矿业学院,江苏徐州221008

出　　处：《矿山机械》2010年第9期10-13,共4页Mining & Processing Equipment

基　　金：国家自然科学基金资助项目(50504014)

摘　　要：采煤机定位技术是实现矿井无人工作面的关键,然而,现有采煤机定位系统大多依赖于已知的基站坐标或轨道形态等外界参数,不能满足采煤机定位的实时性、自主性和精确性要求。在前期采煤机自主定位系统研究的基础上,提出了基于陀螺仪和里程计的新定位方案,并构建了系统结构;在模拟试验中取得了较好的定位效果,为将来采煤机自主定位系统的研究提供了新思路。Auto-positioning of shearer is the critical technology for mining on manless working face, but the present auto-positioning systems can＇t meet the positioning requirements including real-time capability, autonomy and accuracy as they mostly depend on the external parameters such as known coordinate or rail shape. The paper provides a new auto-positioning system which combines gyroscope with odometer and establishes the system structure. The positioning results in the simulation experiment is good, which provides a new thought for research of the shearer auto-positioning system.

关 键 词：采煤机 自主定位 陀螺仪 里程计 航位推算(DR) 

分 类 号：TD421.6[矿业工程—矿山机电]