Horizontal shape detection method for scraper conveyor

QIAO Chunguang; WANG Xuewen; XIE Jiacheng; LI Xiang; YANG Zhaojian

doi:10.13272/j.issn.1671-251x.2018060004

Volume 44 Issue 8

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Article Navigation > Journal of Mine Automation > 2018 > 44(8): 52-57

QIAO Chunguang, WANG Xuewen, XIE Jiacheng, et al. Horizontal shape detection method for scraper conveyor[J]. Industry and Mine Automation, 2018, 44(8): 52-57. doi: 10.13272/j.issn.1671-251x.2018060004

Citation:

QIAO Chunguang, WANG Xuewen, XIE Jiacheng, et al. Horizontal shape detection method for scraper conveyor[J]. Industry and Mine Automation, 2018, 44(8): 52-57. doi: 10.13272/j.issn.1671-251x.2018060004

Citation:

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Horizontal shape detection method for scraper conveyor

doi: 10.13272/j.issn.1671-251x.2018060004

QIAO Chunguang^{1, 2},
WANG Xuewen^{1, 2},
XIE Jiacheng^{1, 2},
LI Xiang^{1, 2},
YANG Zhaojian^{1, 2}

1.
College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2.
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan 030024, China

Publish Date: 2018-08-10

Abstract

Abstract

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.