Position detection system of shearer based on combined measurement of multiple sensing modes

In recent years, safety accidents such as underground gas explosions and water penetration have occurred frequently, seriously threatening the lives of miners. In order to achieve the unmanned and high-precision detection of the shearer’s position in the fully mechanized coal mining face, improve the working environment of the miners, and increase the mechanization and automation of the coal mine, the real-time position of the coal mining machine in the existing comprehensive mining face was compared. Based on the technical method of attitude, a coal shearer attitude detection system based on combined measurement of multiple sensing methods was proposed.This system uses a combination of a total station and UWB (Ultra Wide-band) positioning system to measure the spatial position coordinates of the shearer. A combination of inclination sensor and a north seeker was used to measure the attitude angle (heading angle, roll angle, and pitch angle) of the shearer. In this paper, a three-dimensional model of the system was established. The total station was installed at the intersection of the section transportation lane and the transportation uphill, and the UWB fixed base station group was installed at the transfer machine at the intersection of the fully-mechanized working face and the section transportation lane. In order to realize the autonomous calibration of the UWB mobile base station when it moves, the UWB modules were installed at the top and bottom of the hydraulic support, the UWB positioning node was installed on the shearer body, and the inclination sensor and the north finderwere installed on the shearer body. The measurement method of the coordinates of the total station and the UWB fixed base station group was deduced, and the CT (Caffery-Taylor) algorithm of the UWB positioning system based on the TOA (Time of Arrival) positioning model was deduced. The coordinate transformation matrix between the total station coordinate system and the UWB fixed base station group coordinate system was also calculated. The system structure and working principle of shearer inclination sensor and north finder were introduced in detail. The limited factors of this system in practical application were analyzed, and corresponding improvement schemes were briefly proposed. This system can theoretically realize the real-time posture and attitude detection of the shearer in the fully mechanized working face, which provides a theoretical reference for simulation analysis and experimental platform construction.