Study On Straightness Perception Mechanism Of Scraper Conveyor In Intelligent Working Face

In order to solve the key technical problem of straightness perception of scraper conveyor in coal intelligent mining process,based on the in-depth analysis of the structure of scraper conveyor and the bending law of scraper conveyor in the process of three-machine linkage,an intellectualized straightness perception system model of scraper conveyor is constructed,which integrates "perception,processing,decisionmaking,regulation".And then Based on the principle of fiber grating strain sensing and three-dimensional curvature sensing,a fiber grating three-dimensional curvature sensor for real-time dynamic sensing of three-dimensional bending shape of scraper conveyor in complex coal mine environment is designed and developed,and with the help of the ANSYS numerical simulation software,the three-dimensional curvature optical fiber grating sensor in the radius of curvature,respectively is 100 m,200 m,300 m and 400 m and 500 m five cases sensor built-in fiber Bragg grating strain situation simulation,the results show that the built-in fiber Bragg grating strain and fiber Bragg grating chain bend curvature linear relationship,the simulation results are consistent with theoretical results,verify the rationality of the design of the sensor.Then,based on the curvature information of discrete points in the orthogonal direction obtained by the three-dimensional curvature sensor of fiber Bragg grating,the three-dimensional attitude algorithm of the scraper conveyor was deduced by linear interpolation and vector recursion,and the three-dimensional bending shape perception and fitting reconstruction of the scraper conveyor were realized.And through constructing scraper conveyor test platform,three-dimensional bending test of scraper conveyor plane(3d)straight line and plane(3d)bending mode shape and actual shape perception of measurement results are verified,the experiment results show that the three-dimensional curved shape in scraper conveyor layout cases,the measured curve and curve perception,the axis direction error is not more than plus or minus 15 mm,can satisfy the requirement of the intelligent work with straightness accuracy;Finally,on the basis of the successful construction of the perception system of the straightness of the scraper conveyor,the paper analyzes the errors of the perception system from two aspects,namely,the measurement error of space curvature and the error of the reconstruction algorithm of three-dimensional bending shape,and puts forward the methods to reduce the errors.