Study Of The SINS/WSN-based Scraper Conveyor Straightness Detection Technology And System

With the implementation and development of national energy strategy,the coal mining has been made to the green,safety and high efficient mining gradually from high-volume production.The automation and unmanned for fully mechanized coal mining face is an important component in improvement of the information and automation level of coal mine.Taking fully mechanized coal mining “three machines” i.e.Scraper conveyor,Shearer and Hydraulic support,as the object,this thesis researches the high-accuracy position and pose perception technology supported by the National High Technology Research and Development Program of China.On the basis of the Strap-down Inertial Navigation System(SINS)and Wireless Sensor Network(WSN),implementing the scraper conveyor straightness detection in the coal mine is the aim of our researches.Through analysising the linkage of "three-machines",it is discovered that using the kinematic constraint of scraper conveyor and shearer,we can calculate the coordinate of the scraper conveyor center line with the coordinate transform matrix.On this basis,the shearer-scraper conveyor straightness detection model is built.The detection method based on the Rodrigues method of SINS is analysised.Compared with quaternion algorithm by simulation,its feasibility and accuracy has been verified.For the problem of accumulative error and long time divergence in pure SINS,put forward the position correction method based on WSN location technology.Through the analysis of the principle and the error of WSN positioning technology,combining the advantages of SINS and WSN,the straightness solution strategy for scraper conveyor under SINS and WSN integrated system is built.On this basis,the fusion algorithm based on kalman filter is researched.And through the simulation analysis,it is verified that the integrated detection system can eliminate the cumulative error and improve the detection accuracy.On the basis of theoretical research,a simulator test rig is built,which is divided into SINS subsystem and WSN subsystem.Meanwhile,a scraper conveyor straightness detection monitoring software is designed with C#,Matlab and SQL database which is corresponding to simulator test rig.The monitoring software realizes the functions of human-computer interaction,data acquisition and processing,real-time monitoring and display,storage and query of data.Finally,the experiment and result analysis of the scraper conveyor in three different conditions has been completed,i.e.linear track,horizontal curve track and vertical curve track.The results show that the average error is less than 2 cm on the Y axis,and the average error is less than 10 cm on the X,Z axis.The integrated detection system has good accuracy.