1、英文原文：Research on the Key Technology of Shearer PositionAbstractAccording to the disadvantage of low precision and big error in previous shearer positioning system, the author proposes a new design concept: using the sensor information of shearer, scraper conveyor and hydraulic supports to define the
2、 shearers position which is called “three-machine position”,combining the sensor information of motion state and static state which is called static and dynamic fusion. This paper solves the problem of three-dimensional positioning in shearer movement process and deduces the related formulas. The ex
3、perimental result shows that this system can improve the positioning accuracy and stability effectively, provide guarantee for the realization of shearer memory cutting of and remote control.Keywords-shearer; positioning system; static-dynamic fusion;three-machine positionI. INTRODUCTIONShearers aut
4、omation and remote control is the key factors to realize the automatic coal face and safety highefficient production in coal mines. Practice has proved that the memory cutting is the most simple and effective technology for the shearer automatic control. The premise of memory cutting is to get Shear
5、ers position information; any little error in position information will directly affect the accuracy of memory cutting. For the undulating floor, it is need to establish a shearer body positioning system to obtain its correct location information. As harsh environment on the coal face, it is difficu
6、lt to use a single sensor to directly obtain three-dimensional position information of the shearer.Previous scholars measured the attitude and position information through gyroscope and acceleration sensors in the shearers movement process as mentioned in 1-3, but there were the short comings of low
7、 accuracy and cumulative error caused by the following reasons: (1) it only obtained the shearers own sensor data but neglected the influence of scraper conveyor and hydraulic supports positioning data on positioning the shearer body; (2) severe vibration in the shearer movement process would interf
8、ered or even damaged the sensors easily. So it needs not only to obtain a collection of dynamic data, but also to associate with the static sensor data in order to realize the shearer positioning system.Aiming at the problems above, this paper combines the dynamic data of shearer with the static dat
9、a of conveyor shearer and hydraulic supports in order to obtain shearers three-direction position information and provide guarantee for the automation and remote control of shearer.II. COORDINATE SYSTEM OF SHEARER WORKING PATHWith the coordination of scraper conveyor and the hydraulic supports, the
10、shearer works independently on the coal face, which is called three-machine interaction as mentioned in 4-6. The hydraulic supports lined up along the coal wall shelter the shearer and the scraper conveyor below. And shearer runs along the orbit of the scraper conveyor. In this paper, the shearers m
11、ovement along the scraper conveyor is defined as horizontal movement. In the process of shearer cutting, the having been walked part of scraper conveyor will be pushed toward the coal wall by the hydraulic supports. So when shearer moves form one side to another, the scraper conveyor will be arrange
12、d in a straight line again, equivalent to the shearer moving towards the coal wall for a distance. And the movement towards the coal wall is defined as vertical movement in this paper. In the positioning system, a feature point on the shearer body must be select as the representative, and using its
13、threedimensional coordinates to determine the position of Shearer uniquely. This paper selects contact point of walking gear and scraper conveyors orbit as the feature point for position calculation. And the coordinate system is defined as follows:Shearers feature point at the starting position on t
14、he initial state is the origin of the system.The negative direction of gravitational acceleration is the positive direction of y-axis; and the positive direction of gravitational acceleration is the negative direction of y-axis.The x-axis is parallel to the scraper conveyor and perpendicular to the
15、y-axis. Facing the coal wall, the right side is the x-axis positive direction and the left side is the x-axis negative direction.The z-axis is perpendicular to the xy plane. The direction point to the coal wall is the z-axis positive direction; the other is the z-axis negative direction.In the three
16、-dimensional coordinate system, the shearers running track can be projected onto the xy, yz, xz plane forming three projection curves. As the discussion above, we know that the projection of shearer running track on the xy plane is horizontal movement trajectory; and on the yz plane is vertical movement trajectory. Figure 1 shows the coordinates of shearer positioning system when horizontal mining. Usually coal face has a certain angle and
