Virtual Pose Reconstruction Method of Shearer Under Complex Coal Seam Floor

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.