Inertial Navigation Technology Helps New Improvement Of Coal Mine Intelligent Excavation

The coal mining industry has always been a "high-risk industry". Under complex conditions, it is not only dark and humid, but also "lurking" natural disasters such as water, fire, gas, coal dust, and roofs, threatening the safety of coal miners at all times. Intelligent coal mining is an inevitable trend in the development of coal mining technology in the world, and it is also an urgent need to achieve safe and efficient production in my country's coal industry.

 

The key equipment of intelligent coal mining - inertial navigation system plays an important role.

 

Before answering this question, we should first have a consensus, that is, the roadheader needs to navigate in order to achieve unmanned driving, automatic driving, or intelligent driving. Next, what kind of technology to use to achieve navigation is a question that needs to be discussed. Whether it is unmanned driving, automatic driving or intelligent driving, continuous measurement of the position and attitude of the roadheader itself is required, and the measured dynamic range is large. For the boring machine for underground and tunnel use, the currently used guidance technologies include laser, total station and visual navigation, and the attitude measurement technology is mainly UWB. The disadvantage of these technologies is that it is either impossible to measure parameters such as heading, attitude, and speed at the same time, or it cannot be measured continuously, or it cannot be continuously measured due to environmental factors or the range of accuracy changes is too large.

 

Only inertial navigation technology is truly passive navigation. The navigation device does not need to transmit any signals to the outside world, nor does it need to receive external signals in real time. It only needs to provide an initial position to the navigation system, and the navigation system can operate in any external environment. (such as vibration, impact, damp heat, fog, dust, etc.) Continuously measure the position and attitude of the roadheader, without fear of the ups and downs and inclinations of the terrain, and output information as required. And the problem that inertial navigation errors accumulate over time can be compensated by using some useful conditions and special algorithms.

 

Therefore, especially in the absence of satellite positioning signals, harsh environments, large dynamic range and the need for continuous measurements, inertial technology is currently the optimal navigation solution.

 

Intelligent perception, intelligent decision-making and automatic control are the three elements of intelligent coal mining. Intelligent mining has the functions of independent learning and independent decision-making, and has the ability of self-perception, self-control, and self-correction. An intelligent fully mechanized mining system with such capabilities can fully respond to changes in the production environment and realize intelligent mining in the true sense. Unmanned mining targets in conditions. The shearer is also the key equipment for intelligent coal mining. It is impossible to use GPS and other equipment to determine the position and direction in the underground. Once the travel direction is wrong, the deviation can reach tens of meters, or even hundreds of meters. At this time, a sharp weapon with a named direction is needed to correct the error of the self-travel distance while the equipment is advancing. In order to achieve this purpose, a high-precision sensing device for detecting the attitude of the moving machine is required - inertial navigation system . Inertial navigation has the characteristics of small size, high precision, independent of external information, strong anti-interference ability, and good concealment. Inertial measurement devices typically include accelerometers and gyroscopes. The accelerometer measures the acceleration of an object, and the gyroscope is also called an angular velocity sensor, which measures the angular velocity. Using the parameters recorded by these devices can be calculated and navigated.

 

In intelligent mining applications, the high-precision navigation system can provide accurate position and orientation information for the roadheader to ensure the azimuth accuracy of the automatic roadheading system operation. The FS-201 fiber optic integrated navigation system can achieve high-precision position and orientation reference in a small volume.

Product accuracy can be customized, wide application fields

 

FS-201 fiber optic integrated navigation system is a highly reliable and cost-effective fiber optic inertial/satellite integrated navigation system, which can be widely used in the fields of navigation, control and measurement represented by high-precision vehicle-mounted, medium and long-endurance UAVs, etc. .

 

FS-201 adopts closed-loop fiber optic gyroscope (FOG) and high-precision accelerometer, combined with professional GNSS board, and processed by specially designed GNSS/INS data fusion software (GINS) to provide precise positioning information (longitude, latitude and Altitude), fixed attitude information (pitch, roll and heading), as well as dynamic information such as three-dimensional acceleration, angular velocity, etc., is a high-precision integrated navigation system.

                                                                      

FS-201 series integrated navigation system can be configured with different hardware and software according to the needs of users. According to the characteristics of some navigation applications, the gyroscope can be replaced with a high-precision gyroscope to meet the needs of different users to the greatest extent.