METHOD AND DEVICE FOR CALIBRATING POSITIONING AND ORIENTATION SYSTEM OF COAL MINING MACHINE BASED ON LASER SCAN

摘要

A method and device for calibrating the positioning and orientation system of a coal mining machine (4) based on laser scan, which belong to a method and device for positioning the coal mining machine (4).The device comprises mounting laser signal receiving modules (2) and a data processing storage module (3) on the coal mining machine (4), wherein the number of the laser signal receiving modules (2) is no less than two, which record a relative location between each laser signal receiving module (2) and the coal mining machine (4);the data processing storage module (3) and the laser signal receiving module (2) are connected; and a rotary stage system (1) is mounted on hydraulic supports (5), and the distance between two hydraulic supports (5) is less than 50 m. The method is based on laser scan technology, in which a servo motor (8) drives a rotary stage (7), lasers scan the surrounding environment, the laser signal receiving module (2) receives a laser signal and records time information, and the data processing storage module (3) calculates location and orientation information about the coal mining machine (4) at this moment, and transmits the position and orientation information about the coal mining machine (4) to a coal mining machine control centre via a data transmission module. By means of this technical solution, a centimetre-level scan precision can be achieved in the range of 50 meters, and the requirement for the position and orientation precision of the coal mining machine (4) is fully satisfied.