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煤矿全断面掘进机捷联惯导曲线测量系统
Strapdown inertial navigation curve measurement system of full-section roadheader in coal mine
【索引】刘宇,陈根林,刘永忠.煤矿全断面掘进机捷联惯导曲线测量系统[J].工矿自动化,2019,45(8):65-69.
【Reference】LIU Yu,CHEN Genlin, LIU Yongzhong. Strapdown inertial navigation curve measurement system of full-section roadheader in coal mine[J].Industry and Mine Automation,2019,45(8):65-69.
【DOI】10.13272/j.issn.1671-251x.2018120061
【作者】 刘宇,陈根林,刘永忠
【Author】 LIU Yu,CHEN Genlin,LIU Yongzhong
【作者机构】中煤科工集团上海有限公司, 上海200030
【Unit】CCTEG Shanghai Co.,Ltd., Shanghai 200030, China
【摘要】针对现有煤矿掘进巷道偏差曲线测量系统存在不通视和实时测量难的问题,设计了一种煤矿全断面掘进机捷联惯导曲线测量系统。捷联惯导系统通过捷联姿态更新算法实时采集掘进机推进的姿态角;行程传感器安装于掘进机上,用于测量每次截割部向前推进的行程值;将姿态角和行程值代入巷道实际曲线算法得到实际的掘进曲线,与巷道设计轴线进行比较后得到掘进偏差曲线,根据偏差曲线及时对掘进巷道进行纠偏,以保证工程质量。实验结果表明,该系统可实现快速、实时的高精度曲线监控,能够准确计算测量出煤矿全断面掘进机前进的曲线偏差,掘进5 m时,最大偏差约为23.2 mm,满足煤矿掘进曲线精度要求。
【Abstract】In view of problems of bad visibility and difficulty in real-time measurement existed in deviation curve measurement system of coal mine tunneling roadway, a strapdown inertial navigation curve measurement system of full-section roadheader in coal mine was designed. The strapdown inertial navigation system uses strapdown attitude update algorithm to acquire attitude angle of the roadheader in real time.The travel sensor is installed on the roadheader and used to measure travel value pushed forward by each cutting section. The attitude angle and travel value were plug into the actual roadway curve algorithm to get the actual roadway tunneling curve, and tunneling deviation curve can be obtained by comparing with the design axis of roadway, the deviation of roadway tunneling is corrected in time according to the tunneling deviation curve, so as to ensure engineering quality. The experimental results show that the system can realize fast and real-time high-precision curve monitoring, and can accurately calculate and measure the curve deviation of full-section roadheader in coal mine. When the tunneling is 5 m, the maximum deviation is about 23.2 mm, which meets requirements of coal mine tunneling curve accuracy.
【关键词】 煤炭开采; 煤矿全断面掘进机; 捷联惯导系统; 掘进曲线偏差测量; 捷联姿态更新算法; 巷道实际曲线; 巷道设计轴线; 行程传感器
【Keywords】coal mining; coal mine full-section roadheader; strapdown inertial navigation system; tunneling curve deviation measurement; strapdown attitude update algorithm; actual roadway curve; design axis of roadway; travel sensor
【文献出处】工矿自动化,2019年8期
【基金】天地科技股份有限公司科技创新创业资金专项项目(2018-TD-QN033)
【分类号】TD175
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