基于地理信息系统（GIS）的采煤机定位定姿技术研究

采煤机自主定位及其对煤层信息的感知是采煤机自动控制系统关键技术。以山西某煤矿18201工作面为试验地点，利用震波CT探测技术对工作面煤层进行了精细勘探，构建了工作面煤层地理信息系统。以具有自动寻北功能的惯性导航装置、轴编码器为传感元件，开发了基于工作面地理信息系统的采煤机定位定姿装置。经过工作面试验，采煤机定位装置可实时测量采煤机行走轨迹、截割轨迹及其与煤层顶底板关系，实现了采煤机在工作面煤层三维地质环境中的定位与煤层地质信息的感知。

Study on the positioning and orientation of a shearer based on geographic information system

Autonomous positioning and sensing coal seam are the key technologies of an auto-control system of a shearer.No.18201 longwall face at a coal mine in Shanxi,China was selected as an experimental face.Seismic wave CT was used to detect the coal seam precisely.A geographic information system of the longwall face was built.A positioning and orientation system of shearer was developed with an inertial navigation device and axial encoders.Through some experiments in the longwall face,the positioning and orientation system measured the running tracks and cutting tracks of the shearer.The relationship between these tracks and the roof and floor of the coal seam was obtained.The shearer was located in its working face so that it can sense the coal seam.