MAO Qinghua,ZHANG Xuhui,MA Hongwei,XUE Xusheng
1.School of Mechanical Engineering,Xi’an University of Science and Technology，Xi’an ,China；2.Shaanxi Key Laboratory for Intelligent Monitoring of Mine Mechanical and Electrical Equipment,Xi’an ,China
boom-type roadheader;multi sensor;position and posture monitoring;combined ins;geomagnetic
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According to the requirements of remote automatic mining of boom-type roadheader in fully mechanized face of coal mine,the real-time and precise monitoring of spatial position and posture of roadheader needs to be realized,a system scheme of spatial position and posture monitoring based on multi sensor information is proposed and the mathematic model of spatial position and posture is established.In the system,cutting arm attitude angle is tested by displacement sensor of hydraulic cylinder and spatial position and posture monitoring are tested by ultrasonic sensors,laser sensors and combined ins based on fusion of ins and geomagnetic.A remote monitoring experimental platform of boom-type roadheader is built and the testing of position and posture sensors system is carried out.The experiment results show that lift angle testing error of cutting arm is 0.23°,the yaw displacement testing error of the roadheader body of ultrasonic sensor is 0.024 m,the vehicle front distance testing error is 0.006 m.Combined ins signal based on fusion of ins and geomagnetic is not only not be shielded from the explosion-proof enclosure,but also it overcomes the problem of cumulative error of ins navigation angle with time and the testing error of navigation angle is in the range of 0.2°.
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