Abstract:
In view of the problems in attitude monitoring of shearer, such as dust occlusion sensor and difficult reconstruction of equipment coupling relationship, a virtual pose r...Show MoreMetadata
Abstract:
In view of the problems in attitude monitoring of shearer, such as dust occlusion sensor and difficult reconstruction of equipment coupling relationship, a virtual pose reconstruction method of shearer under complex coal seam floor is proposed. First, the strapdown inertial navigation system and induction sensors are used to measure the pose of the shearer and the initial position data of each middle groove of the scraper conveyor, respectively. By analyzing the connection and coupling relationship between the two devices and the bottom plate, the coordinates of the coal seam bottom plate where the current physical entity of the shearer is located are calculated, and according to the constructed current virtual bottom plate model, the current virtual pose of the shearer is determined. Second, a new floor coordinate is calculated by measuring the inclination angle of the lower rocker arm and the marked key points to realize the construction of the new virtual floor and the advancement of the virtual model. Finally, the effectiveness of the virtual pose reconstruction of shearer is verified by the reconstruction accuracy evaluation method, and the shearer model was used to carry out experiments on horizontal and undulating floor. The results showed that the pose results obtained by the virtual reconstruction method were very close to the experimental measurement results, and the reconstruction accuracy reaches 93.65% on the new undulating floor, which verifies the feasibility of the virtual pose reconstruction method of the shearer through the coal seam floor in the virtual space, overcomes the problem of dust occlusion sensors in the fully mechanized mining work, and provides effective reference and powerful technical support for the attitude monitoring of real shearer.
Published in: IEEE Sensors Journal ( Volume: 25, Issue: 12, 15 June 2025)
Funding Agency:
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Ning Li received the B.S. degree in mechanical design, manufacturing and automation from Xi’an Technological University, Xi’an, China, in 2016, and the M.S. degree in mechanical engineering from Taiyuan University of Technology, Taiyuan, China, in 2019, where he is currently pursuing the Ph.D. degree in mechanical engineering.
His current research area is fault monitoring and diagnosis using data-driven and digital twin me...Show More
Ning Li received the B.S. degree in mechanical design, manufacturing and automation from Xi’an Technological University, Xi’an, China, in 2016, and the M.S. degree in mechanical engineering from Taiyuan University of Technology, Taiyuan, China, in 2019, where he is currently pursuing the Ph.D. degree in mechanical engineering.
His current research area is fault monitoring and diagnosis using data-driven and digital twin me...View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Hua Ding received the Ph.D. degree from a major in mechanical design and theory from Taiyuan University of Technology, Taiyuan, Shanxi, China, in 2011.
She was with the Postdoctoral Workstation, Taiyuan Heavy Coal Machine Company Ltd., Taiyuan, from 2013 to 2016. She was with U.S. Pacific University, Stockton, CA, USA, as a Visiting Scholar for one year. She is currently a Professor and a Doctoral Supervisor with the Depar...Show More
Hua Ding received the Ph.D. degree from a major in mechanical design and theory from Taiyuan University of Technology, Taiyuan, Shanxi, China, in 2011.
She was with the Postdoctoral Workstation, Taiyuan Heavy Coal Machine Company Ltd., Taiyuan, from 2013 to 2016. She was with U.S. Pacific University, Stockton, CA, USA, as a Visiting Scholar for one year. She is currently a Professor and a Doctoral Supervisor with the Depar...View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Xiaochun Sun received the B.S. degree in mechanical design and manufacture from North China Institute of Science and Technology, Langfang, Hebei, China. He is currently pursuing the Ph.D. in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His research fields are deep learning and fault diagnosis.
Xiaochun Sun received the B.S. degree in mechanical design and manufacture from North China Institute of Science and Technology, Langfang, Hebei, China. He is currently pursuing the Ph.D. in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His research fields are deep learning and fault diagnosis.View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Shaanxi Shuanglong Coal Industry Development Company Ltd.,, Yan’an, China
Zihan Feng received the bachelor’s degree in mining engineering from Henan Polytechnic University, Jiaozuo, China, in 2012.
Since 2012, he has been working at Shaanxi Shuanglong Coal Industry Development Company Ltd., Yan’an, China, successively serving as a Mining Technician, the Leader of the Coal Mining Team, the Director of the Production Technology Department, and the Deputy Chief Engineer. At present, he is the Deput...Show More
Zihan Feng received the bachelor’s degree in mining engineering from Henan Polytechnic University, Jiaozuo, China, in 2012.
Since 2012, he has been working at Shaanxi Shuanglong Coal Industry Development Company Ltd., Yan’an, China, successively serving as a Mining Technician, the Leader of the Coal Mining Team, the Director of the Production Technology Department, and the Deputy Chief Engineer. At present, he is the Deput...View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Guang Zou received the bachelor’s degree in mechanical design, manufacturing and automation from Hangzhou Dianzi University, Hangzhou, China, in 2021. He is currently pursuing the master’s degree in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His current research area is fault diagnosis research that combines digital twins and machine learning.
Guang Zou received the bachelor’s degree in mechanical design, manufacturing and automation from Hangzhou Dianzi University, Hangzhou, China, in 2021. He is currently pursuing the master’s degree in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His current research area is fault diagnosis research that combines digital twins and machine learning.View more
Shaanxi Tongwei Digital Technology Company Ltd.,, Xi’an, China
Guoshu Pu received the M.S. degree from Shandong University of Science and Technology, Qingdao, China, in 1982.
He was a former Researcher at the State Coal Industry Bureau, Beijing, China. He has been engaged in the design and research of coal mining equipment for a long time and has presided the technical research and development of multiple national special projects and coal industry research projects. He has published ...Show More
Guoshu Pu received the M.S. degree from Shandong University of Science and Technology, Qingdao, China, in 1982.
He was a former Researcher at the State Coal Industry Bureau, Beijing, China. He has been engaged in the design and research of coal mining equipment for a long time and has presided the technical research and development of multiple national special projects and coal industry research projects. He has published ...View more
Contents Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Ning Li received the B.S. degree in mechanical design, manufacturing and automation from Xi’an Technological University, Xi’an, China, in 2016, and the M.S. degree in mechanical engineering from Taiyuan University of Technology, Taiyuan, China, in 2019, where he is currently pursuing the Ph.D. degree in mechanical engineering.
His current research area is fault monitoring and diagnosis using data-driven and digital twin methods.
Ning Li received the B.S. degree in mechanical design, manufacturing and automation from Xi’an Technological University, Xi’an, China, in 2016, and the M.S. degree in mechanical engineering from Taiyuan University of Technology, Taiyuan, China, in 2019, where he is currently pursuing the Ph.D. degree in mechanical engineering.
His current research area is fault monitoring and diagnosis using data-driven and digital twin methods.View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Hua Ding received the Ph.D. degree from a major in mechanical design and theory from Taiyuan University of Technology, Taiyuan, Shanxi, China, in 2011.
She was with the Postdoctoral Workstation, Taiyuan Heavy Coal Machine Company Ltd., Taiyuan, from 2013 to 2016. She was with U.S. Pacific University, Stockton, CA, USA, as a Visiting Scholar for one year. She is currently a Professor and a Doctoral Supervisor with the Department of Mechanical Design, College of Mechanical and Vehicle Engineering, Taiyuan University of Technology. Her research interests include intelligent design, deep learning, and virtual reality.
Hua Ding received the Ph.D. degree from a major in mechanical design and theory from Taiyuan University of Technology, Taiyuan, Shanxi, China, in 2011.
She was with the Postdoctoral Workstation, Taiyuan Heavy Coal Machine Company Ltd., Taiyuan, from 2013 to 2016. She was with U.S. Pacific University, Stockton, CA, USA, as a Visiting Scholar for one year. She is currently a Professor and a Doctoral Supervisor with the Department of Mechanical Design, College of Mechanical and Vehicle Engineering, Taiyuan University of Technology. Her research interests include intelligent design, deep learning, and virtual reality.View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Xiaochun Sun received the B.S. degree in mechanical design and manufacture from North China Institute of Science and Technology, Langfang, Hebei, China. He is currently pursuing the Ph.D. in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His research fields are deep learning and fault diagnosis.
Xiaochun Sun received the B.S. degree in mechanical design and manufacture from North China Institute of Science and Technology, Langfang, Hebei, China. He is currently pursuing the Ph.D. in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His research fields are deep learning and fault diagnosis.View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Shaanxi Shuanglong Coal Industry Development Company Ltd.,, Yan’an, China
Zihan Feng received the bachelor’s degree in mining engineering from Henan Polytechnic University, Jiaozuo, China, in 2012.
Since 2012, he has been working at Shaanxi Shuanglong Coal Industry Development Company Ltd., Yan’an, China, successively serving as a Mining Technician, the Leader of the Coal Mining Team, the Director of the Production Technology Department, and the Deputy Chief Engineer. At present, he is the Deputy Chief Engineer with Shaanxi Shuanglong Coal Industry Development Company Ltd., and he is responsible for the work of one mine and three prevention, mining technology, and scientific and technological innovation management.
Zihan Feng received the bachelor’s degree in mining engineering from Henan Polytechnic University, Jiaozuo, China, in 2012.
Since 2012, he has been working at Shaanxi Shuanglong Coal Industry Development Company Ltd., Yan’an, China, successively serving as a Mining Technician, the Leader of the Coal Mining Team, the Director of the Production Technology Department, and the Deputy Chief Engineer. At present, he is the Deputy Chief Engineer with Shaanxi Shuanglong Coal Industry Development Company Ltd., and he is responsible for the work of one mine and three prevention, mining technology, and scientific and technological innovation management.View more
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
Guang Zou received the bachelor’s degree in mechanical design, manufacturing and automation from Hangzhou Dianzi University, Hangzhou, China, in 2021. He is currently pursuing the master’s degree in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His current research area is fault diagnosis research that combines digital twins and machine learning.
Guang Zou received the bachelor’s degree in mechanical design, manufacturing and automation from Hangzhou Dianzi University, Hangzhou, China, in 2021. He is currently pursuing the master’s degree in mechanical engineering with Taiyuan University of Technology, Taiyuan, China.
His current research area is fault diagnosis research that combines digital twins and machine learning.View more
Shaanxi Tongwei Digital Technology Company Ltd.,, Xi’an, China
Guoshu Pu received the M.S. degree from Shandong University of Science and Technology, Qingdao, China, in 1982.
He was a former Researcher at the State Coal Industry Bureau, Beijing, China. He has been engaged in the design and research of coal mining equipment for a long time and has presided the technical research and development of multiple national special projects and coal industry research projects. He has published more than 20 professional papers both domestically and internationally. He holds three national invention patents and 15 national utility model patents. His research field mainly focuses on the intelligent construction of coal mine fully mechanized mining face equipment.
Mr. Pu has won two first and two second prizes for scientific and technological progress at the provincial and ministerial levels.
Guoshu Pu received the M.S. degree from Shandong University of Science and Technology, Qingdao, China, in 1982.
He was a former Researcher at the State Coal Industry Bureau, Beijing, China. He has been engaged in the design and research of coal mining equipment for a long time and has presided the technical research and development of multiple national special projects and coal industry research projects. He has published more than 20 professional papers both domestically and internationally. He holds three national invention patents and 15 national utility model patents. His research field mainly focuses on the intelligent construction of coal mine fully mechanized mining face equipment.
Mr. Pu has won two first and two second prizes for scientific and technological progress at the provincial and ministerial levels.View more
