Research on the Attitude Detection of the Middle Slot of Scraper Conveyor

In view of the difficulty and low accuracy of attitude detection of scraper conveyor in fully mechanized mining face, a method of attitude detection of middle slot of scraper conveyor based on inertia unit is proposed in this paper. Firstly, the principle of middle slot attitude detection based on inertial measurement unit is studied, and the middle slot attitude detection model is established. Then, the attitude update and solution method of the middle trough based on quaternion is determined. Finally, a fusion detection method of middle slot attitude information based on UKF algorithm is designed. The experimental results show that this method can accurately measure the three-axis attitude angle of the middle slot of the scraper conveyor, and the maximum error of yaw angle, pitch angle and roll angle is $0.417^{\circ}, 0.023^{\circ}$ and 0.012° respectively.