Horizontal shape detection method for scraper conveyor

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 scraper conveyor is 30.70 mm, which meets horizontal shape detection requirements of scraper conveyor.