基于采煤机运动轨迹的刮板输送机布置形态检测研究
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摘要
为了准确检测采煤工作面中刮板输送机的布置形状,提出了基于采煤机运动轨迹的刮板输送机布置形态检测方法。根据工作面中采煤机与刮板输送机之间的几何空间位置关系,建立以采煤机运行轨迹反演刮板输送机形状数学模型,并搭建刮板输送机布置形态检测试验平台进行试验验证。在刮板输送机轨道模型分别直线、水平曲线、垂直曲线布置形状下,通过刮板输送机形状反演模型获得刮板输送机布置形态;在该试验条件下,通过试验表明:刮板输送机轨道模型的检测形态与实际布置形态的测量误差为±18 mm,满足工作面刮板输送机弯曲检测精度要求。该刮板输送机形态检测模型可实现在线监测,取代人工测量的方法,为实现工作面自动化弯曲检测和校直提供理论基础。
In order to accurately detect the shape of scraper conveyor at longwall face,this paper proposed a shape detection method of scraper conveyor based on the trajectory of shearer. According to the geometric spatial relationship between shearer and scraper conveyor at longwall face,a mathematical model was established,which the shearer trajectory retrieved the shape of scraper conveyor. An experimental verification was also made through building an experimental platform for detecting the shape of scraper conveyor track model. When the scraper conveyor track model was in straight,horizontal curve and vertical curve,the arrangement shape of scraper conveyor track was obtained through the scraper conveyor shape inversion model. The experiment shows that the measurement accuracy through comparing the measured shape and the actual arranged shape of scraper conveyor track model could reach ±18 mm,which met the scraper conveyor bending detection accuracy. The method of scraper conveyor shape detection model could achieve online monitoring,replace the manual measurement method,and provide a theoretical basis for achieving bending detection and alignment on longwall face.
In order to accurately detect the shape of scraper conveyor at longwall face,this paper proposed a shape detection method of scraper conveyor based on the trajectory of shearer. According to the geometric spatial relationship between shearer and scraper conveyor at longwall face,a mathematical model was established,which the shearer trajectory retrieved the shape of scraper conveyor. An experimental verification was also made through building an experimental platform for detecting the shape of scraper conveyor track model. When the scraper conveyor track model was in straight,horizontal curve and vertical curve,the arrangement shape of scraper conveyor track was obtained through the scraper conveyor shape inversion model. The experiment shows that the measurement accuracy through comparing the measured shape and the actual arranged shape of scraper conveyor track model could reach ±18 mm,which met the scraper conveyor bending detection accuracy. The method of scraper conveyor shape detection model could achieve online monitoring,replace the manual measurement method,and provide a theoretical basis for achieving bending detection and alignment on longwall face.
引文
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[2]李守滨,韦文术,牛剑峰.液压支架电液控制及工作面自动化技术综述[J].煤炭科学技术,2007,35(11):1-5.Li Shoubin,Wei Wenshu,Niu Jianfeng.Statement on electric and hydraulic control of hydraulic powered support and mining face automation technology[J].Coal Science and Technology,2007,35(11):1-5.
[3]翟清波.基于CAN总线液压支架控制系统的设计[D].南昌:南昌大学,2008.
[4]郭猛.内置磁滞伸缩位移传感器的推移油缸设计[J].煤矿机械,2014,35(4):30-31.Guo Meng.Design for pushing oil cylinder of built-in magnetostrictive displacement sensor[J].Coal Mine Machinery,2014,35(4):30-31.
[5]黄曾华.综采工作面综合自动化控制技术综述[J].煤炭科学技术,2013,41(S):282-284.Huang Zenghua.Statement on integrated automation and controltechnology in fully mechanized coal face[J].Coal Science and Technology,2013,41(S):282-284.
[6]代刚,左海军,牛剑锋,等.一种用于液压油缸的行程传感器[P].中国专利:CN201120486883.3,2011-11-30.
[7]李威,周广新,杨雪峰,等.综采面刮板输送机机身调直装置及其控制方法[P].中国专利:CN 20111005324.8,2011-03-07.
[8]余佳鑫,马鹏宇,郭伟文,等.综采工作面液压支架和刮板输送机自动调直方法及系统[P].中国专利:CN201310058049.8,2013-02-22.
[9]黄曾华,王旭鸣,张炳权,等.一种使用编码器校正工作面液压支架组直线度的系统[P].中国专利:CN201410103860.8,2014-03-19.
[10]张守祥,冯银辉,李重重,等.一种使用光纤的工作面液压支架组直线度控制方法[P].中国专利:CN201410103904.7,2014-03-19.
[11]杨士军,李昊,李旭,等.一种使用张力传感器校正工作面液压支架组直线度的系统[P].中国专利:CN201410103877.3,2014-03-19.
[12]张守祥,冯银辉,李重重,等.一种使用激光测距仪的液压支架推移行程测量系统[P].中国专利:CN201420125265.X,2014-03-19.
[13]牛剑锋,魏文艳,赵文生.一种采煤工作面直线度控制方法[P].中国专利:CN201210142362.5,2012-05-10.
[14]张永亮,曲天智,丁秀兵,等.综采工作面弯曲检测和矫直方法及其系统[P].中国专利:CN 200910215616.X,2009-12-22.
[15]Reid D C,Hainsworth D W,Ralston J C,et al.Inertial navigation:enabling technology for longwall mining automation[A].Computer Applications in Minerals Industries[C].2003.
[16]Kelly M S,Hainsworth D W,Reid D C,et al.The landmark longwall automation project[R].ACARP Project,Report C10100A,2005.
[17]王世博,张智喆,葛世荣,等.基于采煤机绝对运动轨迹的刮板输送机动态校直方法[P].中国专利:CN201410246517.9,2014-06-05.
[18]Bocciolone M,Caprioli A,Cigada A,et al.A measurement system for quick rail inspection and effective track maintenance strategy[J].Mechanical Systems and Signal Processing,2007,21(3):1242-1254.
[19]Glaus R.Kinematic track surveying by means of a multi-sensor platform[D].Diss.,Eidgenssische Technische Hochschule ETH Zürich,Nr.16547,2006.
[20]魏世斌,刘伶萍,赵延峰,等.高速轨道检测系统[J].铁路技术创新,2012(1):29-32.
[21]李昂,郝尚清,王世博,等.SINS/轴编码器组合采煤机定位方法及其试验研究[J].煤炭科学技术,(已录用)。
[22]赵高长,张磊,武风波.改进的中值滤波算法在图像去噪中的应用[J].应用光学,2011,32(4):678-682.Zhao Gaochang,Zhang Lei,Wu Fengbo.Application of improved median filtering algorithm to image de-noising[J].Journal of Applied Optics,2011,32(4):678-682.
[23]王旺华,毛庆洲,熊智敏.钢轨几何尺寸自动测量系统研究[J].中国铁道科学,2012,33(S1):117-121.Wang Wanghua,Mao Qingzhou,Xiong Zhimin.research on the automatic measurement system for rail physical dimension[J].China Railway Science,2012,33(S1):117-121.
[24]Akpnar B,Gülal E.Railway track geometry determination using adaptive Kalman filtering model[J].Measurement,2013,46(1):639-645.
[25]Tsai C C.A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements[A].Instrumentation and Measurement Technology Conference,1998.IMTC/98.Conference Proceedings[C].IEEE,1998:144-149.
[26]白亮,秦永元,严恭敏,等.车载航位推算组合导航算法研究[J].计算机测量与控制,2010,18(10):2379-2381.Bai Liang,Qin Yongyuan,Yan Gongmin,et al.On integrated navigation for vehicle dead reckoning[J].Computer Measurement&Control,2010,18(10):2379-2381.
[27]Cai W,Lee F,Chen L.An auto-adaptive dead reckoning algorithm for distributed interactive simulation[A].Proceedings of the Thirteenth Workshop on Parallel and Distributed Simulation[C].IEEE Computer Society,1999:82-89.
[28]葛世荣,苏忠水,王世博,等.基于地理信息系统(GIS)的采煤机定位定姿技术研究[J].煤炭学报,2015,40(11):2503-2508.Ge Shirong,Su Zhongshui,Wang Shibo,et al.Study on positioning and orientation of a shearer based on geographic information system[J].Journal of China Coal Society,2015,40(11):2503-2508.
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