CN113772363B - Scraper conveyor pose model establishing method and system - Google Patents

Scraper conveyor pose model establishing method and system Download PDF

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CN113772363B
CN113772363B CN202110963576.8A CN202110963576A CN113772363B CN 113772363 B CN113772363 B CN 113772363B CN 202110963576 A CN202110963576 A CN 202110963576A CN 113772363 B CN113772363 B CN 113772363B
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scraper
middle groove
included angle
scraper conveyor
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CN113772363A (en
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梁敏富
方新秋
徐子岳
宋扬
吴刚
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China University of Mining and Technology CUMT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
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Abstract

The invention discloses a method and a system for establishing a position and posture model of a scraper conveyor, wherein the method comprises the following steps: establishing a reference coordinate system OXYZ, sequentially connecting the reference coordinate system OXYZ into a plurality of middle grooves, defining the vertex of one side of a gap formed by the first section of middle groove and the second section of middle groove as a coordinate origin O, wherein the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis; defining each parameter of the pose model, and defining the length L and the width H of a middle groove of the scraper conveyor; the central point of the middle groove of the scraper conveyor is taken as a position standard point, and the included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiBecause of the included angle, a space exists between the middle grooves of the two scraper conveyors, and the space is defined as a; the included angle between the middle groove of each scraper conveyor and the horizontal plane in the whole bending state is defined as thetai(ii) a And simplifying and deducing the complex operation condition of the scraper conveyor to form a pose model.

Description

Scraper conveyor pose model establishing method and system
Technical Field
The invention relates to a method and a system for establishing a position and posture model of a scraper conveyor, which are suitable for linearity sensing of the scraper conveyor on a coal mine underground working surface.
Background
The intelligent sensing is one of three essential elements of intelligent mining of coal mines, and is also one of the most basic links. The precision of intelligent perception has an extremely important influence on the realization of intelligent decision and automatic control. The straightness sensing precision of the scraper conveyor is higher, the pushing of the hydraulic support is more accurate, and the coal cutting efficiency of the coal cutter is higher. However, the traditional scraper conveyor pose model is established indirectly through a hydraulic support or a coal mining machine. The position and the posture of the scraper conveyor are calculated by monitoring the pushing action of the hydraulic support, and the position and the posture of the scraper conveyor are inverted after the operation track of the coal mining machine is calculated by an inertial navigation system on the coal mining machine. The two traditional scraper conveyor position and posture models belong to indirect establishment methods, and both can generate larger accumulated errors, so that the straightness accuracy of the scraper conveyor is low, and the intelligent sensing requirement is difficult to meet.
Disclosure of Invention
In order to solve the problems and requirements, the technical scheme provides a scraper conveyor pose model establishing method which can achieve the technical purpose and bring other technical effects due to the adoption of the following technical characteristics.
One purpose of the invention is to provide a scraper conveyor pose model establishing method, which comprises the following steps:
s10: establishing a reference coordinate system OXYZ, sequentially connecting the reference coordinate system OXYZ into a plurality of middle grooves, defining the vertex of one side of a gap formed by the first section of middle groove and the second section of middle groove as a coordinate origin O, wherein the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
s20: defining each parameter of the pose model, and defining the length L and the width H of a middle groove of the scraper conveyor; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) in a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
S30: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to deduce and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
s301: assuming that only the front two sections of the middle groove of the scraper conveyer are bent, the included angle theta between the middle groove of the second section of the scraper conveyer and the horizontal plane1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1At this time, the state of the second section is:
Figure GDA0003571699550000021
Figure GDA0003571699550000022
s302: if the middle groove of the scraper conveyor is bent by n + m +1 sections, the bending accumulation stage is performed before the n +1 sections, and the included angle theta between the middle groove of the n +1 section scraper conveyor and the horizontal planenIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiAccumulating the sum; i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure GDA0003571699550000023
Figure GDA0003571699550000024
s303: belongs to the bending recovery stage after the section n +1, and the included angle theta between the middle groove of the section n +2 scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the (n + 2) th section and the (n + 1) th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of the (n + 2) th section is:
Figure GDA0003571699550000025
Figure GDA0003571699550000026
s304: after section n +2, section n + m +1 is scrapedIncluded angle theta between middle groove of plate conveyer and horizontal planen+mIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyer from the n +2 th section to the n + m +2 th sectioniDifference of the accumulated sums; i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure GDA0003571699550000027
Figure GDA0003571699550000028
s305: and (3) synthesizing the above formulas to obtain a lower posture model of the scraper conveyor under the bending working condition:
Figure GDA0003571699550000031
Figure GDA0003571699550000032
Figure GDA0003571699550000033
in one embodiment of the present invention, in step S30, the simplified analysis of the complex operating conditions of the scraper conveyor comprises the steps of:
s31: assuming that the first middle groove is in a standard straight state;
s32: assuming the face conveyor is in a flat coal seam floor, there is only a bend parallel to the coal seam floor.
Another objective of the present invention is to provide a scraper conveyor posture model building system, including:
defining a coordinate system module: the system is used for establishing a reference coordinate system OXYZ, and is sequentially connected into a plurality of middle grooves, the vertex of one side of a gap formed by a first section of middle groove and a second section of middle groove is defined as a coordinate origin O, the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
a parameter defining module: the pose model is used for defining all parameters of the pose model, and the length of a middle groove of the scraper conveyor is defined as L, and the width of the middle groove of the scraper conveyor is defined as H; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) under a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
A pose model establishing module: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to deduce and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
the first calculation unit: the included angle theta between the middle groove of the second section of scraper conveyer and the horizontal plane is used for assuming that only the front two sections of the middle groove of the scraper conveyer are bent1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1Calculating (x)1,y1) Position coordinates of (2):
Figure GDA0003571699550000041
Figure GDA0003571699550000042
a second calculation unit: when the middle groove of the scraper conveyor is bent by n + m +1 sections, calculating (x)n,yn) The included angle theta between the middle groove of the scraper conveyer of the (n + 1) th section and the horizontal plane belongs to the bending accumulation stage before the (n + 1) th sectionnIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiAccumulating the sum; i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure GDA0003571699550000043
Figure GDA0003571699550000044
a third calculation unit: for calculating (x) belonging to the bending recovery stage after section n +1n+1,yn+1) The included angle theta between the middle groove of the (n + 2) th section of scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the n +2 th section and the n +1 th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of section n +2 is:
Figure GDA0003571699550000045
Figure GDA0003571699550000046
a fourth calculation unit: for calculating (x) after section n +2n+m,yn+m) The included angle theta between the middle groove of the (n + m + 1) th section of scraper conveyer and the horizontal planen+mIs a clamp formed between middle grooves of the front n +1 adjacent scraper conveyorsAngle alphaiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyors from the (n + 2) th section to the (n + m + 1) th sectioniDifference of the accumulated sums; i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure GDA0003571699550000047
Figure GDA0003571699550000048
a fifth calculation unit: the lower attitude model of the bending condition of the scraper conveyor is obtained according to the first calculating unit, the second calculating unit, the third calculating unit and the fourth calculating unit:
Figure GDA0003571699550000051
Figure GDA0003571699550000052
Figure GDA0003571699550000053
in one embodiment of the present invention, the pose model building module further includes:
a first defining unit: the first middle groove is used for defining a first straight state as a reference;
a second positioning unit: for defining scraper conveyors in flat coal seam floors, only curves parallel to the coal seam floor exist.
Compared with the prior art that the position and posture model of the scraper conveyor is indirectly established based on the movement of a hydraulic support or a coal mining machine, the method realizes the direct establishment of the position and posture model of the scraper conveyor by monitoring the angle variation between the middle grooves of two adjacent sections of the scraper conveyor. The pose model establishing method is beneficial to eliminating accumulated errors of indirectly establishing the model, and improves the precision of monitoring the pose of the scraper conveyor.
The following description of the preferred embodiments for carrying out the present invention will be made in detail with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly described below. Wherein the drawings are only for purposes of illustrating some embodiments of the invention and are not to be construed as limiting the invention to all embodiments thereof.
Fig. 1 is a flowchart of a scraper conveyor curved pose model building method according to an embodiment of the present invention;
fig. 2 is a schematic view of a curved pose model of the scraper conveyor according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention. Like reference symbols in the various drawings indicate like elements. It should be noted that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
One object of the present invention is to provide a scraper conveyor pose model establishing method, as shown in fig. 1 and fig. 2, including the following steps:
s10: establishing a reference coordinate system OXYZ, sequentially connecting the reference coordinate system OXYZ into a plurality of middle grooves, defining the vertex of one side of a gap formed by the first section of middle groove and the second section of middle groove as a coordinate origin O, wherein the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
s20: defining each parameter of the pose model, and defining the length L and the width H of a middle groove of the scraper conveyor; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) under a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
S30: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to derive and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
s301: assuming that only the front two sections of the middle groove of the scraper conveyer are bent, the included angle theta between the middle groove of the first section of the scraper conveyer and the horizontal plane1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1At this time, the state of the second section is:
Figure GDA0003571699550000061
Figure GDA0003571699550000062
s302: if the middle groove of the scraper conveyor is bent by n + m +1 sections, the bending accumulation stage is performed before the n +1 sections, and the included angle theta between the middle groove of the n +1 section scraper conveyor and the horizontal planenIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiAccumulating the sum; i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure GDA0003571699550000071
Figure GDA0003571699550000072
s303: belongs to the bending recovery stage after the section n +1, and the included angle theta between the middle groove of the section n +2 scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the n +2 th section and the n +1 th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of the (n + 2) th section is:
Figure GDA0003571699550000073
Figure GDA0003571699550000074
s304: after the section n +2, the included angle theta between the middle groove of the section n + m +1 scraper conveyer and the horizontal planen+mIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyors from the (n + 2) th section to the (n + m + 1) th sectioniDifference of the accumulated sums; i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure GDA0003571699550000075
Figure GDA0003571699550000076
s305: and (3) synthesizing the above formulas to obtain a lower posture model of the scraper conveyor under the bending working condition:
Figure GDA0003571699550000077
Figure GDA0003571699550000081
Figure GDA0003571699550000082
in one embodiment of the present invention, in step S30, the simplified analysis of the complex operating conditions of the scraper conveyor comprises the steps of:
s31: assuming that the first middle groove is in a standard straight state;
s32: assuming the face conveyor is in a flat topographical environment, there is only a horizontal bend.
Compared with the prior art that the position and posture model of the scraper conveyor is indirectly established based on the movement of a hydraulic support or a coal mining machine, the method realizes the direct establishment of the position and posture model of the scraper conveyor by monitoring the angle variation between the middle grooves of two adjacent sections of the scraper conveyor. The pose model establishing method is beneficial to eliminating accumulated errors of indirectly establishing the model, and improves the precision of monitoring the pose of the scraper conveyor.
Another objective of the present invention is to provide a scraper conveyor posture model building system, including:
defining a coordinate system module: the system is used for establishing a reference coordinate system OXYZ, and is sequentially connected into a plurality of middle grooves, the vertex of one side of a gap formed by a first section of middle groove and a second section of middle groove is defined as a coordinate origin O, the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
a parameter defining module: the pose model is used for defining all parameters of the pose model, and the length of a middle groove of the scraper conveyor is defined as L, and the width of the middle groove of the scraper conveyor is defined as H; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) under a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
A pose model establishing module: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to deduce and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
the first calculation unit: the included angle theta between the middle groove of the second section of scraper conveyer and the horizontal plane is used for assuming that only the front two sections of the middle groove of the scraper conveyer are bent1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1Calculating (x)1,y1) Position coordinates of (2):
Figure GDA0003571699550000091
Figure GDA0003571699550000092
a second calculation unit: when the middle groove of the scraper conveyor is bent by n + m +1 sections, calculating (x)n,yn) The included angle theta between the middle groove of the scraper conveyer of the (n + 1) th section and the horizontal plane belongs to the bending accumulation stage before the (n + 1) th sectionnIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiCumulative sum, i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure GDA0003571699550000093
Figure GDA0003571699550000094
a third calculation unit: for calculating (x) belonging to the bending recovery stage after section n +1n+1,yn+1) The included angle theta between the middle groove of the (n + 2) th section of scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the n +2 th section and the n +1 th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of section n +2 is:
Figure GDA0003571699550000095
Figure GDA0003571699550000096
a fourth calculation unit: for calculating (x) after section n +2n+m,yn+m) The included angle theta between the middle groove of the (n + m + 1) th section of scraper conveyer and the horizontal planen+mAn included angle alpha formed between middle grooves of adjacent scraper conveyors of the front n +1 sectionsiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyors from the (n + 2) th section to the (n + m + 1) th sectioniDifference of the accumulated sums; i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure GDA0003571699550000097
Figure GDA0003571699550000098
a fifth calculation unit: the lower attitude model of the scraper conveyor under the bending condition is obtained according to the first calculating unit, the second calculating unit, the third calculating unit and the fourth calculating unit:
Figure GDA0003571699550000101
Figure GDA0003571699550000102
Figure GDA0003571699550000103
in one embodiment of the present invention, the pose model building module further includes:
a first defining unit: the first middle groove is used for defining a first straight state as a reference;
a second positioning unit: for defining a scraper conveyor in a flat coal seam floor, only bends parallel to the coal seam floor exist.
Compared with the prior art that the position and posture model of the scraper conveyor is indirectly established based on the movement of a hydraulic support or a coal mining machine, the system realizes the direct establishment of the position and posture model of the scraper conveyor by monitoring the angle variation between the middle grooves of two adjacent sections of the scraper conveyor, and the position and posture model establishment system is favorable for eliminating the accumulated error of the indirectly established model and improving the accuracy of the position and posture monitoring of the scraper conveyor.
Although the exemplary embodiment of the scraper conveyor posture model building method proposed by the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various modifications and changes may be made to the above-described specific embodiments without departing from the concept of the present invention, and various combinations of the various technical features and structures proposed by the present invention may be made without departing from the scope of the present invention, which is defined by the appended claims.

Claims (4)

1. A scraper conveyor pose model establishing method is characterized by comprising the following steps:
s10: establishing a reference coordinate system OXYZ, sequentially connecting the reference coordinate system OXYZ into a plurality of middle grooves, defining the vertex of one side of a gap formed by the first section of middle groove and the second section of middle groove as a coordinate origin O, wherein the length direction of the first section of middle groove is an X axis, the width direction is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
s20: defining each parameter of the pose model, and defining the length L and the width H of a middle groove of the scraper conveyor; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) under a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
S30: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to deduce and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
s301: assuming that only the front two sections of the middle groove of the scraper conveyor are bent, the included angle theta between the middle groove of the second section of the scraper conveyor and the horizontal plane1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1At this time, the state of the second section is:
Figure FDA0003571699540000011
Figure FDA0003571699540000012
s302: if the middle groove of the scraper conveyor is bent by n + m +1 sections, the bending accumulation stage is performed before the n +1 sections, and the included angle theta between the middle groove of the n +1 section scraper conveyor and the horizontal planenIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiAccumulating the sum; i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure FDA0003571699540000013
Figure FDA0003571699540000014
s303: belongs to the bending recovery stage after the section n +1, and the included angle theta between the middle groove of the section n +2 scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the n +2 th section and the n +1 th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of section n +2 is:
Figure FDA0003571699540000021
Figure FDA0003571699540000022
s304: after the section n +2, the included angle theta between the middle groove of the section n + m +1 scraper conveyer and the horizontal planen+mIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyors from the (n + 2) th section to the (n + m + 1) th sectioniDifference of the accumulated sums; i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure FDA0003571699540000023
Figure FDA0003571699540000024
s305: and (3) synthesizing the above formulas to obtain a lower posture model of the scraper conveyor under the bending working condition:
Figure FDA0003571699540000025
Figure FDA0003571699540000026
Figure FDA0003571699540000027
2. the scraper conveyor posture model building method according to claim 1,
in step S30, the simplified analysis of the complex operating conditions of the scraper conveyor includes the steps of:
s31: assuming that the middle groove of the first section is in a standard straight state;
s32: assuming the face conveyor is in a flat coal seam floor, there is only a bend parallel to the coal seam floor.
3. A scraper conveyor position and posture model establishing system is characterized by comprising:
defining a coordinate system module: the system is used for establishing a reference coordinate system OXYZ, sequentially connecting the reference coordinate system OXYZ into a plurality of middle grooves, and defining the vertex of one side of a gap formed by the first section of middle groove and the second section of middle groove as a coordinate origin O, wherein the length direction of the first section of middle groove is an X axis, the width direction of the first section of middle groove is a Y axis, and the direction vertical to the plane of the middle groove is a Z axis;
a parameter defining module: the pose model is used for defining all parameters of the pose model, and the length of a middle groove of the scraper conveyor is defined as L, and the width of the middle groove of the scraper conveyor is defined as H; taking the central point of the middle groove of the scraper conveyor as a position standard point, and defining each position standard point as (x) under a coordinate system1，y1)···(xn，yn)···(xn+m，yn+m) (ii) a The included angle formed between two adjacent middle grooves of the middle groove of the scraper conveyor in a bending state is defined as alphaiThe distance between the middle grooves of the two scraper conveyors is defined as a due to the included angle; the included angle between the middle groove of each scraper conveyor and the horizontal plane is defined as theta in the whole bending statei；
A pose model establishing module: according to the sensing requirement of the scraper conveyor, carrying out simplified analysis on the complex operation condition of the scraper conveyor to deduce and form a lower posture model of the scraper conveyor under the bending working condition;
the derivation of the lower posture model of the scraper conveyor under the bending working condition comprises the following steps:
the first calculation unit: the included angle theta between the middle groove of the second section of scraper conveyer and the horizontal plane is used for assuming that only the front two sections of the middle groove of the scraper conveyer are bent1An included angle alpha formed between the middle grooves of the front two sections of scraper conveyors1Equal, i.e. theta1＝α1Calculating (x)1,y1) Position coordinates of (2):
Figure FDA0003571699540000031
Figure FDA0003571699540000032
a second calculation unit: when the middle groove of the scraper conveyor is bent by n + m +1 sections, calculating (x)n,yn) The included angle theta between the middle groove of the scraper conveyer of the (n + 1) th section and the horizontal plane belongs to the bending accumulation stage before the (n + 1) th sectionnIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiCumulative sum, i.e. thetan＝α1+α2+…+αnAt this time, the state of the (n + 1) th section is:
Figure FDA0003571699540000033
Figure FDA0003571699540000034
a third calculation unit: for calculating (x) belonging to the bending recovery stage after section n +1n+1,yn+1) The included angle theta between the middle groove of the (n + 2) th section of scraper conveyer and the horizontal planen+1Is an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle grooves of the n +2 th section and the n +1 th section of scraper conveyern+1A difference of (d); i.e. thetan+1＝α1+α2+…+αn-αn+1(ii) a At this time, the state of section n +2 is:
Figure FDA0003571699540000041
Figure FDA0003571699540000042
a fourth calculation unit: for calculating (x) after section n +2n+m,yn+m) The included angle theta between the middle groove of the (n + m + 1) th section of scraper conveyer and the horizontal planen+mIs an included angle alpha formed between middle grooves of adjacent front n +1 sections of scraper conveyorsiThe included angle alpha formed between the accumulated sum and the middle groove of the adjacent scraper conveyors from the (n + 2) th section to the (n + m + 1) th sectioniDifference of cumulative sum, i.e. thetan+m＝α1+α2+…+αn-αn+1-αn+2-…-αn+m(ii) a At this time, the state of section n + m +1 is:
Figure FDA0003571699540000043
Figure FDA0003571699540000044
a fifth calculation unit: the lower attitude model of the scraper conveyor under the bending condition is obtained according to the first calculating unit, the second calculating unit, the third calculating unit and the fourth calculating unit:
Figure FDA0003571699540000045
Figure FDA0003571699540000046
Figure FDA0003571699540000047
4. the scraper conveyor posture model building system according to claim 3,
the pose model building module further comprises:
a first defining unit: used for defining the first section middle groove as a standard straight state;
a second defining unit: for defining scraper conveyors in flat coal seam floors, only curves parallel to the coal seam floor exist.
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