基于LINS/激光传感器的掘进机姿态识别系统  

Roadheader attitude recognition system based on LINS/laser sensor

作　　者：田立勇[1] 马春莹 TIAN Liyong;MA Chunying(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《传感器与微系统》2022年第5期91-94,98,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金面上资助项目(51874157)。

摘　　要：提出了以轻型惯性导航系统(LINS)和激光传感器组合的掘进机姿态识别系统。介绍了系统的工作原理,建立了姿态解算模型,并以SANDVIK的MB670型掘锚一体机为研究对象,在煤矿井下进行导航实验,对其测量数据进行误差分析。实验结果表明:系统可实现互相纠偏,姿态角的测量误差均在0.15°范围内,能够满足巷道掘进过程中掘进机姿态角的精度要求,并通过界面实现掘进机的姿态调控,为巷道掘进机的自动化技术提供基础。The attitude recognition system of roadheader based on lightweight inertial navigation system(LINS) and laser sensor is proposed.The working principle of the system is introduced,and the attitude calculation model is established.The navigation experiment is carried out in the coal mine underground with SANDVIK MB670 anchor machine as the research object,and the error analysis of the measured data is carried out.The experimental results show that the system can achieve mutual correction,measurement error of attitude angle is within 0.15° range,which can meet the precision requirements of roadheader attitude angle in the process of roadway excavation,and realize the attitude control of roadheader through the interface,which provides the basis for the automatic technology of roadheader.

关 键 词：轻型惯性导航系统 激光传感器 掘进机姿态角 组合测量 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TD421.5[自动化与计算机技术—控制科学与工程]