液压支架直线度检测机器人激光定位矩阵研究

Research on laser positioning matrix of straightness detection robot for hydraulic support

针对煤矿井下无人工作面液压支架直线度检测问题,提出了液压支架姿态及直线度检测模型,重点对液压支架直线度检测机器人的激光定位矩阵进行了研究,阐述了激光定位矩阵的软硬件设计方案。通过分析实验结果,得出结论:对于采用直径12mm的光敏电阻制作的激光定位矩阵,当光斑直径为9~30mm时,其检测误差随光斑直径的增大而减小,最大检测误差为7.6mm;综合考虑检测精度和有效检测范围,选择最佳光斑直径为12~18mm;影响激光定位矩阵检测精度的因素主要包括系统误差和随机误差,可通过减小光敏电阻直径、在光敏电阻前增加小阻值电阻等方式来降低检测误差。

For straightness detection of hydraulic support in unmanned working face of coal mine underground,an attitude and straightness detection model of hydraulic support was proposed.Laser positioning matrix of straightness detection robot for hydraulic support was focused on,and software and hardware design schemes of the laser positioning matrix were expounded.Through analyzing experimental results,following conclusions are gotten:For laser positioning matrix made by photosensitive resistors with a diameter of12mm,when light spot diameter is from9mm to30mm,detection error decreases with the increase of light spot diameter,and the maximum detection error is7.6mm.Considering detection precision and effective detection range synthetically,the optimal light spot diameter is selected to be from12mm to18mm.Factors influencing detection precision of the laser positioning matrix are systematic error and random error mainly.Detection error can decrease by reducing diameter of photosensitive resistor,adding resistor with low resistivity before photosensitive resistor,etc.