关键词：位姿检测;方向掘进;自动分条切割和成形控制;可视化远程控制;掘进机
摘 要：The system which could be described as "trinity,seven subsystems" has realized automatic remote control of the machine working process with orientation,localization and formalization.At local place,it realized automatic position and pose online detection,automatic orientation tunneling,automatic section cutting and forming and adaptive control of cutting arm swaying speed,it was the first time that realized absolute measuring of roadheader frame position and pose error under coal mine working condition in our country which could avoid error accumulation in relative measuring and guarantee the high precision of orientation tunneling.In underground remote,it realized remote monitoring,wireless remote control and video surveillance,thus realized remote control with multiple angles,visualization and one-button control under the condition of dustiness and vibration.At any network access point on ground using mining ring network,it realized real-time monitoring and displaying of roadheader running state parameters,and realized the functions of remote fault diagnosis and alarming.The whole system has been tested many times underground.The application results show that it is stable and reliable.With the development of automation,intellectualization,and informatization and other high technology,this system will be more and more suitable for fully mechanized excavation face.