基于捷联惯导的刮板输送机布置形态检测方法的研究

Research on Straightness Detection Method of Scraper Conveyor Based on Strapdown Inertial Navigation

针对煤矿井下刮板输送机在工作面连续推进数刀后中部槽出现弯曲的问题,提出了一种基于捷联惯导的刮板输送机布置形态检测的方法。根据采煤机与刮板输送机的位置关系,将惯导系统安装在采煤机机身平面上,采用四元数对惯导模块的姿态信息进行解算,然后通过检测安装在液压支架上的红外信号发射器所产生的的红外信号建立起刮板输送机节数的检测模型,最后在考虑在各节中部槽尺寸为常值以及每节刮板的连接间隙的情况下建立刮板输送机中部槽几何特征点位置推导模型,通过坐标旋转变换解算出各中部槽的空间位置坐标。实验结果表明该方法所测得刮板输送机姿态角误差小于1.3°、位移误差小于15 mm,具有很好的可靠性。

Aiming at the problem of the central groove bending after the scraper conveyor in the coal mine continuously advances several passes on the working face, proposes a method for detecting the layout form of the scraper conveyor based on strapdown inertial navigation. According to the position relationship between the shearer and the scraper conveyor, the inertial navigation system is installed on the plane of the shearer body. The quaternion is used to calculate the posture information of the inertial navigation module, and then the detection model of the section number of the scraper conveyor is established by detecting the infrared signal generated by the infrared signal transmitter installed on the hydraulic support. Finally, considering that the size of the central groove of each section is a constant value and the connection gap of each section of the scraper, the derivation model of the geometric feature point position of the central groove of the scraper conveyor is established, and the spatial position coordinates of each central groove are calculated through coordinate rotation transformation.The experimental results show that the attitude angle error of the scraper conveyor measured by this method is less than 1.3°, and the displacement error is less than 15 mm, which has good reliability.