近年来我国煤矿井下瓦斯爆炸、透水等安全事故频发，严重威胁矿工生命安全。为实现煤矿井下综采工作面采煤机位姿无人化、高精度检测，改善矿工的工作环境，提高煤矿机械化、自动化程度，对比了现有的检测综采工作面上采煤机实时位姿的技术方法，提出了一种基于多感知方式组合测量的采煤机位姿检测系统，该系统采用全站仪和UWB(Ultra Wide-band)定位系统组合测量采煤机的空间位置坐标，采用倾角传感器和寻北仪组合测量采煤机的姿态角(航向角、横滚角、俯仰角)；建立了系统的三维模型，将全站仪安装在区段运输平巷与运输上山的交点处，将UWB固定基站群安装至综采工作面与区段运输平巷交点的转载机处。为实现UWB移动基站移站时的自主标定，液压支架顶端和底端分别安装UWB模块，将UWB定位节点安装至采煤机机身，将倾角传感器和寻北仪安装至采煤机机身。推导了全站仪与UWB固定基站群的坐标的测量方法，UWB定位系统基于TOA(Time of Arrival)定位模型的CT(Caffery-Taylor)算法以及全站仪坐标系与UWB固定基站群坐标系间的坐标变换矩阵。详细介绍了采煤机倾角传感器和寻北仪的系统结构和工作原理，分析了该系统在实际应用中的受限因素，并简要提出了相应的改善方案。该系统理论上可实现采煤机在综采工作面中的实时位姿检测，为系统仿真分析和实验平台搭建提供了理论参考。

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.

0 引言

1 多感知方式组合测量系统结构

2 采煤机的位置检测系统

   2.1 全站仪检测系统

   2.2 UWB定位系统

   2.3 坐标系间的变换矩阵

3 采煤机姿态检测系统

   3.1 倾角传感器结构及工作原理

   3.2 寻北仪结构及工作原理

4 结论