Research on the Application of Double-end Constraint Algorithm on Fully Mechanized Mining Face

This paper studies the precise measurement method of the trajectory of the shearer in a fully mechanized coal mining face, and designs a multi-source information fusion system based on inertial measurement technology, dead reckoning technology and visual measurement technology. First of all, the conversion from the 2000 national coordinate system used in the survey to the independent coordinate system of the fully mechanized mining face and the division of the mining area is discussed. Based on this, the regional coordinate system covering the operational trajectory of the shearer is constructed. Compared with traditional coal mining, the value scope is expanded. Then combined with the characteristics of the environment in the pit, the active cooperative target vision measurement system was selected to realize the precise capture of the control points. Aiming at the characteristics of the divergence of inertial errors, a double-end constraint algorithm based on the control points was proposed, and field verification was conducted on the railway track. Under the condition of an error of 0.02m, the trajectory measurement accuracy is better than 0.05m. Finally, the actual measurement results of the shearer trajectory are given. The verification results show that the system can accurately measure the operation trajectory of the shearer after being used in a fully mechanized mining face, which provides a basis for the mining of thin coal seams and the correction of triangular coal areas.