Research On Straightness Measurement Technology Of Fully Mechanized Mining Face Based On Combination Of Inertial Navigation And Odometer

In order to realize the safe and efficient mining of the equipment group in the fully mechanized mining face,it is particularly important to ensure the straightness of the hydraulic support.Aiming at the problem of straightness measurement of fully mechanized mining face,a straightness measurement method based on combination of inertial navigation and odometer is proposed in order to improve the straightness measurement accuracy of fully mechanized mining face and the positioning accuracy of the hydraulic support.The requirements for straightness measurement of fully mechanized mining face are studied and analyzed,and the overall plan of straightness measurement based on the shearer's traj ectory is designed.The straightness detection method and detection accuracy of the scraper conveyor in the fully mechanized mining face are analyzed.The stability and feasibility of the combined positioning method of inertial navigation and odometer in the positioning of the shearer are studied.Aiming at the problem of position and attitude calculation for inertial navigation and odometer in the shearer positioning system,the definition and conversion method of thecoordinate system in the straightness measurement system of fully mechanized mining face are analyzed.The gyroscope and acceleration data collected by sins are analyzed,and the attitude,velocity and position information of sins are solved by quaternion method.The position and speed of Shearer in unit time are calculated,which lays the foundation for the integrated positioning of inertial navigation and odometer.Aiming at the problem of positioning accuracy and measurement error of shearer pose measurement system,a positioning method of combined inertial navigation and odometer is proposed.The inertial navigation system error and dead reckoning error are analyzed.The closed-loop Kalman filter is applied to establish a combined positioning model of inertial navigation and odometer.By compensating the posterior error of shearer,the positioning accuracy of shearer is improved.Aiming at the problem of straightness measurement and straightening in fully mechanized coal mining face,the detection model of scraper conveyor position and posture is studied.According to the operating characteristics of the shearer,a method for detecting the straightness of the scraper conveyor based on the running track of the shearer is proposed.The smooth path filtering algorithm is applied to calculate the complete posture of scraper conveyor,the displacement of each hydraulic support to be corrected in the next cut in the fully mechanized mining face is calculate.Straightness measurement platform for fully mechanized mining face is build.According to the proposed combination of inertial navigation and odometer mining face straightness measurement method,static and dynamic experiments are carried out.The positioning accuracy and stability of the combined inertial navigation and odometer positioning method in the actual mining face is verified.After the multiple cutting experiments,the posterior error of shearer is corrected.Accurately measured the straightness of the fully mechanized mining face and the straightening displacement of the hydraulic support.The straightness measurement and straightening of fully mechanized mining face combination of inertial navigation and odometer are realized.