基于IMU捷联惯导技术的巷道掘进机测姿系统研究  

Research on Roadheader Attitude Measurement System Based on IMU Strapdown Inertial Navigation Technology

作　　者：许名熠 廖敏辉 黄炳 王帅 何志敏 王元鹏 Xu Mingyi;Liao Minhui;Huang Bing;Wang Shuai;He Zhimin;Wang Yuanpeng(College of Disaster Prevention and Rescue,Hunan Vocational Institute of Safety Technology,Changsha 410151,China;Hunan Vocational Institute of Safety Technology,Changsha 410151,China;Hunan Kute Intelligent Technology Co.,Ltd.,Changsha 410205,China)

机构地区：[1]湖南安全技术职业学院防灾与救援学院,长沙410151 [2]湖南安全技术职业学院,长沙410151 [3]湖南库特智能科技有限公司,长沙410205

出　　处：《煤矿机械》2025年第1期66-68,共3页Coal Mine Machinery

基　　金：湖南省教育厅科学研究项目(23C0506)。

摘　　要：为提升巷道掘进机定位导航精度和掘进施工效率、降低工人劳动强度、提高巷道成形质量,在没有卫星导航信号辅助的情况下,煤矿巷道掘进机的姿态检测是实现其智能、安全、高效、精准作业的关键。采用低成本的惯性测量单元(IMU)捷联惯导单元,通过研究悬臂式巷道掘进机测姿简化模型和测姿方法,设计悬臂式巷道掘进机测姿系统,实现巷道掘进机姿态的实时计算。模型能够快速、准确地计算出掘进机姿态角及位置结果,实现煤矿综合采掘面恶劣环境下的掘进机姿态及位置的在线监测。In order to improve the positioning and navigation accuracy of roadheader and the efficiency of excavation construction,reduce the labor intensity of workers and improve the quality of roadway forming,without the assistance of satellite navigation signals,the attitude detection of coal mine roadheader is the key to realize its intelligent,safe,efficient and accurate operation.Using the low-cost inertial measurement unit(IMU)strapdown inertial navigation unit,by studying the simplified model and pose measurement method of the cantilever roadheader,designed the position measurement system of cantilever roadheader to realize the real-time calculation of roadheader attitude.The model can quickly and accurately calculate the roadheader attitude angle and position results,realize the online monitoring of the posture and position of the roadheader under the harsh environment of the coal mine comprehensive mining face.

关 键 词：IMU捷联惯导 巷道掘进机 测姿 智能化 

分 类 号：TD421.5[矿业工程—矿山机电]