多传感器信息的悬臂式掘进机空间位姿监测系统研究

Study on spatial position and posture monitoring system of boom-type roadheader based on multi sensor information

根据煤矿综掘工作面悬臂式掘进机远程自动化开采需要实现掘进机空间位姿实时精确监测的需求,提出了一种多传感器信息的煤矿悬臂式掘进机空间位姿监测系统方案,建立了掘进机空间位姿数学模型。该系统运用油缸行程传感器检测截割臂姿态角,运用超声、激光和惯导与地磁融合的组合惯导检测掘进机机身空间位姿。构建了煤矿悬臂式掘进机远程监控试验平台,并对掘进机位姿传感检测系统进行了试验测试。试验结果表明:基于油缸行程传感器的截割臂升降角度模型误差为0.23°,超声传感器的机身偏航位移检测误差为0.024 m,激光传感器的车前距检测误差为0.006 m,惯导与地磁融合的组合惯导信号不仅不被防爆外壳屏蔽,而且克服了惯导航向角随时间产生累积误差的难题,航向角检测误差在0.2°范围内。

According to the requirements of remote automatic mining of boom-type roadheader in fully mechanized face of coal mine,the real-time and precise monitoring of spatial position and posture of roadheader needs to be realized,a system scheme of spatial position and posture monitoring based on multi sensor information is proposed and the mathematic model of spatial position and posture is established.In the system,cutting arm attitude angle is tested by displacement sensor of hydraulic cylinder and spatial position and posture monitoring are tested by ultrasonic sensors,laser sensors and combined ins based on fusion of ins and geomagnetic.A remote monitoring experimental platform of boom-type roadheader is built and the testing of position and posture sensors system is carried out.The experiment results show that lift angle testing error of cutting arm is 0.23°,the yaw displacement testing error of the roadheader body of ultrasonic sensor is 0.024 m,the vehicle front distance testing error is 0.006 m.Combined ins signal based on fusion of ins and geomagnetic is not only not be shielded from the explosion-proof enclosure,but also it overcomes the problem of cumulative error of ins navigation angle with time and the testing error of navigation angle is in the range of 0.2°.