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Mathematical Problems in Engineering
Volume 2017, Article ID 3793412, 14 pages
Research Article

A Joint Positioning and Attitude Solving Method for Shearer and Scraper Conveyor under Complex Conditions

1College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan, China
2Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan, China

Correspondence should be addressed to Zhaojian Yang; nc.ude.tuyt@naijoahzgnay

Received 7 July 2017; Accepted 24 September 2017; Published 26 October 2017

Academic Editor: Michael Defoort

Copyright © 2017 Jiacheng Xie et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In a fully mechanized coal-mining face, the positioning and attitude of the shearer and scraper conveyor are inaccurate. To overcome this problem, a joint positioning and attitude solving method that considers the effect of an uneven floor is proposed. In addition, the real-time connection and coupling relationship between the two devices is analyzed. Two types of sensors, namely, the tilt sensor and strapdown inertial navigation system (SINS), are used to measure the shearer body pitch angle and the scraper conveyor shape, respectively. To improve the accuracy, two pieces of information are fused using the adaptive information fusion algorithm. It is observed that, using a marking strategy, the shearer body pitch angle can be reversely mapped to the real-time shape of the scraper conveyor. Then, a virtual-reality (VR) software that can visually simulate this entire operation process under different conditions is developed. Finally, experiments are conducted on a prototype experimental platform. The positioning error is found to be less than 0.38 times the middle trough length; moreover, no accumulated error is detected. This method can monitor the operation of the shearer and scraper conveyor in a highly dynamic and precise manner and provide strong technical support for safe and efficient operation of a fully mechanized coal-mining face.