Verticality Detection Of Mine Vertical Shaft Guide Based On Inertial Technology

Mine lifting equipment is an important equipment to connect underground and above ground.With the increase of mining years and the continuous emergence of large depth mines and extra-large deep mines,the deformation of shaft guide caused by various reasons is a problem that can't be ignored.When the deformation reaches a certain degree,major accidents such as cans lock and drop may occur.Therefore,it is necessary for the safe operation of the skip hoist to select an effective method to detect the health status of the overall operation of the shaft guide.Compared with traditional detection methods,this paper adopts the inertial technology to detect verticality of vertical shaft guide.This way can obtains the three-axis displacement curve and space trajectory of the carrier and higher accuracy.The following is the main research content of the paper:(1)This paper description the external performance characteristics of the shaft guide deformation.We have analyzed the deformation mechanism of shaft guide and given the flow chart.Real-time updating of the coordinate system of the inertial navigation attitude matrix by introducing quaternions.The spatial motion trajectory of the carrier is obtained by twice integral continuously for the updated acceleration.The shaft guide verticality information and parameters are determined according to the shaft guide verticality determination system diagram.(2)The acceleration signal and gyro signal involved in data collected and processing are studied.This article takes the simulated shaft guide data collected as an example,we can establish the polynomial model by the difference equation and the least squares principle and elimination the acceleration signal trend item.The transfer function of integrator is derived by rectangle method,and the second integral of the acceleration signal is realized by the design of digital integral filter and MATLAB algorithm programming.Due to drift of the gyro signal,we need to process the gyro signal.Firstly,we establish the ARMA model of gyro drift and.Secondly,the wavelet threshold filter is used to de-noising the gyro signal on the basis of this model.Finally,through the simulation experiment,we can compare and analyze the denoising effect under different wavelet coefficients.The denoising effect reaches the expected target by selecting appropriate wavelet coefficients.In the process of wavelet threshold function selection,we put forward a new threshold function based on the comparison of denoising effect of soft threshold function and hard threshold function and also study the algorithm of wavelet threshold selection rule.(3)We've established a set of shaft guide detecting device by KJJ-32C laser strap-down inertial navigation system,data transmission device,computer and corresponding software.And we study the experimental software and hardware system.Based on the processing of acceleration signal and gyro signal,the simulation system is solved by we have written the MATLAB program.The simulation results show that the three-axis displacement curve and spatial motion trajectory of the carrier along the shaft guide can be accurately simulated in this environment,and the current status of the shaft guide deformation can be clearly obtained.We have established an experimental platform for experimental verification,the experimental results further verified that the feasibility of inertial technology in the verticality detection of vertical shaft guide and it's accuracy can reach millimeters.