Instrumentation for Detecting Translation and Rotation of Mining Equipments during their Movements

摘要

The present paper describes new sensory systems and algorithms for an underground mining machine to be located when it moves along an arbitrary path. Two sensory systems were devised using commercially available sensors which are highly reliable and hold stable performance : one consists of a gyroscopic angular velocity sensor and two servo-accelerometers, and the other replaces accelerometers by a couple of clinometers. The calculating method for locating the position of a mining machine comprises two consecutive procedures. The first part determines the attitude of the machine from the outputs from three sensors. The attitude is first derived from the generalized rotation matrix, then represented in terms of roll, pitch and yaw. The following part estimates the location of the machine step by step using its attitude and incremental distance.A laboratory experiment showed that the location of a mini-vehicle which was measured by means of new sensory systems coincided with its position which was located by a reckoning method using a couple of wire-displacement transducers. This implys that the new sensory systems and related algorithms should have potential use for instrumentation of underground mining equipments.