基于iGPS的悬臂式掘进机位姿测定系统研究

Research on the measuring system to heading cantilever's position and posture within iGPS

煤矿掘进作业中,常常会出现巷道基准轴线与掘进机位姿测量不一致的情况。为了解决掘进作业中掘进机的位姿自动测定的问题,文章结合悬臂式掘进机的结构和工作方式,提出一种iGPS的悬臂式掘进机位姿测定系统,计算出了系统产生的误差:机身位姿误差约为0.01745m,控制系统误差小于0.15m。最后,在系统造价、环境适用性和安全性能3个方面论述了系统的可行性。

In mine tunneling operation, the occurrence of the inconsistency between the datum axis of tunnel and the heading position measurement often occurred. In order to solve the problems of automatic determination to heading cantilever＇s position and posture within tunneling operation, this paper proposed the method of measuring system to heading cantilever＇s position and posture within i GPS, at the base of he structure and working mode of cantilever, calculated the error of system： body posture error was about 0.01745 m, the control system error was less than 0.15 m. Finally, In three ways of system cost, environmental applicability and safety performance, discussed the feasibility of the system.