Title:
METHOD FOR DETECTING ABSOLUTE POSE OF MINING MACHINE
Document Type and Number:
WIPO Patent Application WO/2018/219062
Kind Code:
A1
Abstract:
A method for detecting the absolute pose of a mining machine (1): when at a stoping work surface, detecting the absolute pose of a mining machine (1) in a tri-machine cooperative mining equipment which mainly consists of the mining machine (1), a scraper (2) and a hydraulic support (3). The method for detecting the absolute pose of the mining machine (1) performs dead reckoning pose detection by means of a strap-down inertial navigation module, and performs laser pose detection by means of a laser transmitting device (4), a laser receiving device and a smart total station (5), and then performs asynchronous integration on the two pose detection results by means of an optimal estimation algorithm so as to obtain an accurate absolute pose of the mining machine (1). An optimal estimation algorithm, such as a Kalman filter and the like, is used in the method for detecting the absolute pose of the mining machine (1) to perform asynchronous integration on two pieces of navigation information so as to obtain more accurate absolute pose parameters for the mining machine (1). The method is high-precision and reliable, and provides the conditions for the mining machine (1) to operate automatically and intelligently.
Inventors:
LIU SONGYONG (CN)
CHENG CHENG (CN)
WU HONGZHUANG (CN)
JIANG HONGXIANG (CN)
LI WEI (CN)
SHEN GANG (CN)
TANG WEI (CN)
LIU HOUGUANG (CN)
YANG JIANHUA (CN)
CHENG CHENG (CN)
WU HONGZHUANG (CN)
JIANG HONGXIANG (CN)
LI WEI (CN)
SHEN GANG (CN)
TANG WEI (CN)
LIU HOUGUANG (CN)
YANG JIANHUA (CN)
Application Number:
PCT/CN2018/083775
Publication Date:
December 06, 2018
Filing Date:
April 19, 2018
Export Citation:
Assignee:
UNIV CHINA MINING (CN)
International Classes:
G01C21/16; G01C15/00
Foreign References:
| CN107238385A | 2017-10-10 | |||
| CN107014379A | 2017-08-04 | |||
| CN105352504A | 2016-02-24 | |||
| CN101201631A | 2008-06-18 | |||
| CN103410512A | 2013-11-27 | |||
| CN104295297A | 2015-01-21 | |||
| CN104729501A | 2015-06-24 | |||
| CN102570287A | 2012-07-11 | |||
| CN104296733A | 2015-01-21 | |||
| US6421627B1 | 2002-07-16 | |||
| US6052181A | 2000-04-18 |
Attorney, Agent or Firm:
NANJING JINGWEI PATENT & TRADEMARK AGENCY CO., LTD (CN)
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