刮板输送机水平面形态检测方法  

Horizontal shape detection method for scraper conveyor

作　　者：乔春光 王学文[1,2] 谢嘉成 李祥 杨兆建 QIAO Chunguang;WANG Xuewen;XIE Riacheng;LI Xiang;YANG Zhaojian(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械工程学院,山西太原030024 [2]煤矿综采装备山西省重点实验室,山西太原030024

出　　处：《工矿自动化》2018年第8期52-57,共6页Journal Of Mine Automation

基　　金："十二五"山西省科技重大专项资助项目(20111101040);2016年山西省留学人员科技活动择优资助重点项目;山西省回国留学人员科研资助项目(2016-043)

摘　　要：针对现有刮板输送机水平面形态检测方法测量结果不准确的问题,提出了一种基于采煤机与刮板输送机协同位姿解算的刮板输送机水平面形态检测方法。该方法首先根据采煤机与刮板输送机在运行过程中的耦合关系,利用Rodrigues参数法对捷联惯导系统信息进行解算,获得采煤机在刮板输送机上运行时的位姿信息;然后将解算的采煤机位姿信息、已知的刮板输送机中部槽航向角代入建立的刮板输送机水平面形态检测数学模型,计算出刮板输送机各中部槽航向角,从而得到刮板输送机在水平面的工作形态。试验结果表明,该方法对刮板输送机中部槽航向角的检测误差为0~1.5°,对刮板输送机水平面形态的最大检测误差为30.70mm,满足刮板输送机水平面形态检测要求。Aiming at problem of inaccurate measurement results of existing horizontal shape detection methods for scraper conveyor,a horizontal shape detection method for scraper conveyor was proposed which was based on cooperative position and attitude calculation of shearer and scraper conveyor.Firstly,information of strapdown inertial navigation system was calculated by use of Rodrigues parameter method according to coupling relationship between shearer and scraper conveyor in running process,so as to obtain position and attitude information of shearer when running on scraper conveyor.Then the calculated position and attitude information of shearer and the known heading angle of middle trough of scraper conveyor were substituted into mathematical model of horizontal shape detection for scraper conveyor,thus each heading angle of middle trough of scraper conveyor was calculated,so as to obtain horizontal shape of scraper conveyor.The test results show that detection error of the method is 0-1.5°to heading angle of middle trough of scraper conveyor,and the maximum detection error of horizontal shape of scraperconveyor is 30.70 mm,which meets horizontal shape detection requirements of scraper conveyor.

关 键 词：采煤机 刮板输送机 捷联惯导系统 位姿检测 水平面形态检测 协同位姿解算 中部槽航向角 

分 类 号：TD679[矿业工程—矿山机电]