With the rapid development of coal mining technology and equipment, the fully mechanized mining face has experienced
mechanization, automation and intelligent mining. The mechanization degree of large-scale coal mines in China has
reached 95%, and has entered the stage of intellectualization. The intelligent system of fully mechanized mining is based on
the electro-hydraulic control system of hydraulic support. By improving the perception, transmission and intelligent
control capabilities, the intelligent system of fully mechanized mining is realized.
The goal of adaptive control is to realize unmanned coal mining.
The low-cost north finder developed by Firepower can be applied to the scene of coal caving directional drilling rig to
accurately control the azimuth of the drill bit and achieve precise operation. The small north finder has also been applied to
the mining intrinsically safe drilling rig opening orientation instrument, which is a new type of portable instrument for
intelligent measurement of drilling rig attitude. The instrument uses a high precision fiber optic gyroscope to measure the
azimuth and The inclination angle is used to select the opening position for the drilling rig for accurate positioning

The unmanned ship system is generally composed of RW, PC base station and remote controller, propulsion system,
navigation system, communication system, power supply and water quality monitoring system. The ship navigation board
can be equipped with GPS receiver, three-axis compass, three-axis accelerometer, and built-in navigation algorithm, so that
the ship can navigate accurately. In addition, the task data can be transmitted back to the base station through the wireless
communication module for operation processing. Accurate location information, real attitude information, and real-time,
accuracy, and availability of information
Berthing is the core and foundation to ensure the real-time application of unmanned ship control and measurement.
Navigation of underwater vehicle means that the mobile robot gets the state of itself with the help of sensors and completes
the autonomous movement process from the initial position to the target position. Navigation technology is the core of AUV.
Technology is also one of the most difficult key technologies to