液压支架直线度检测机器人激光定位矩阵研究
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摘要
针对煤矿井下无人工作面液压支架直线度检测问题,提出了液压支架姿态及直线度检测模型,重点对液压支架直线度检测机器人的激光定位矩阵进行了研究,阐述了激光定位矩阵的软硬件设计方案。通过分析实验结果,得出结论:对于采用直径12mm的光敏电阻制作的激光定位矩阵,当光斑直径为9~30mm时,其检测误差随光斑直径的增大而减小,最大检测误差为7.6mm;综合考虑检测精度和有效检测范围,选择最佳光斑直径为12~18mm;影响激光定位矩阵检测精度的因素主要包括系统误差和随机误差,可通过减小光敏电阻直径、在光敏电阻前增加小阻值电阻等方式来降低检测误差。
For straightness detection of hydraulic support in unmanned working face of coal mine underground,an attitude and straightness detection model of hydraulic support was proposed.Laser positioning matrix of straightness detection robot for hydraulic support was focused on,and software and hardware design schemes of the laser positioning matrix were expounded.Through analyzing experimental results,following conclusions are gotten:For laser positioning matrix made by photosensitive resistors with a diameter of 12 mm,when light spot diameter is from 9 mm to 30 mm,detection error decreases with the increase of light spot diameter,and the maximum detection error is 7.6 mm.Considering detection precision and effective detection range synthetically,the optimal light spot diameter is selected to be from 12 mm to 18 mm.Factors influencing detection precision of the laser positioning matrix are systematic error and random error mainly.Detection error can decrease by reducing diameter of photosensitive resistor,adding resistor with low resistivity before photosensitive resistor,etc.
For straightness detection of hydraulic support in unmanned working face of coal mine underground,an attitude and straightness detection model of hydraulic support was proposed.Laser positioning matrix of straightness detection robot for hydraulic support was focused on,and software and hardware design schemes of the laser positioning matrix were expounded.Through analyzing experimental results,following conclusions are gotten:For laser positioning matrix made by photosensitive resistors with a diameter of 12 mm,when light spot diameter is from 9 mm to 30 mm,detection error decreases with the increase of light spot diameter,and the maximum detection error is 7.6 mm.Considering detection precision and effective detection range synthetically,the optimal light spot diameter is selected to be from 12 mm to 18 mm.Factors influencing detection precision of the laser positioning matrix are systematic error and random error mainly.Detection error can decrease by reducing diameter of photosensitive resistor,adding resistor with low resistivity before photosensitive resistor,etc.
引文
[1]王国法.综采成套技术与装备系统集成[M].北京:煤炭工业出版社,2016.
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[12]杨曌.基于视觉测量的综采工作面直线度测量技术研究[J].煤炭工程,2016,48(9):134-136.YANG Zhao.Research on measurement technology of workingfacestraightnessbasedonvision measurement[J].Coal Engineering,2016,48(9):134-136.
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[14]牛剑峰.综采工作面直线度控制系统研究[J].工矿自动化,2015,41(5):5-8.NIU Jianfeng.Research of straightness control system of fully-mechanized coal mining face[J].Industry and Mine Automation,2015,41(5):5-8.
[2]张良,李首滨,黄曾华,等.煤矿综采工作面无人化开采的内涵与实现[J].煤炭科学技术,2014,42(9):26-29.ZHANG Liang,LI Shoubin,HUANG Zenghua,et al.Definition and realization of unmanned mining in fully-mechanized coal mining face[J].Coal Science and Technology,2014,42(9):26-29.
[3]郝尚清,王世博,谢贵君,等.长壁综采工作面采煤机定位定姿技术研究[J].工矿自动化,2014,40(6):21-25.HAO Shangqing,WANG Shibo,XIE Guijun,et al.Research of determination technologies of position and attitude of shearer on long-wall fully mechanized coal mining face[J].Industry and Mine Automation,2014,40(6):21-25.
[4]索智文.煤矿综采工作面无人化开采技术研究[J].工矿自动化,2017,43(1):22-26.SUO Zhiwen.Study on unmanned mining technology of fully mechanized coal mining face[J].Industry and Mine Automation,2017,43(1):22-26.
[5]沈庆华.试论煤矿无人工作面开采技术[J].能源技术与管理,2017,42(3):172-173.
[6]麻晓东.煤矿无人工作面开采技术探讨[J].能源与节能,2017(5):140-141.MA Xiaodong.Discussion on the mining technologies used at unmanned working face in coal mines[J].Energy and Energy Conservation,2017(5):140-141.
[7]么会争.综采工作面液压支架安装定位技术的研究[J].煤炭与化工,2016,39(2):119-121.YAOHuizheng.Researchonthepositioning technology of hydraulic support installation of fully mechanized working face[J].Coal and Chemical Industry,2016,39(2):119-121.
[8]孙丙科,何勇华.综采工作面自动化控制系统设计与应用[J].工矿自动化,2014,40(1):84-86.SUN Bingke,HE Yonghua.Design and application of automation control system of fully mechanized coal mining face[J].Industry and Mine Automation,2014,40(1):84-86.
[9]李俊士.一种基于多种传感器的工作面找直方法[J].煤矿机电,2014(6):11-12.LI Junshi.A straightness control technology based on multi-sensor of fully mechanized coal face[J].Colliery Mechanical&Electrical Technology,2014(6):11-12.
[10]郭华栋.浅析综采工作面保持“三直”的重要性和途径[J].科技信息,2012(22):423.
[11]朱真才.采掘机械与液压传动[M].徐州:中国矿业大学出版社,2011.
[12]杨曌.基于视觉测量的综采工作面直线度测量技术研究[J].煤炭工程,2016,48(9):134-136.YANG Zhao.Research on measurement technology of workingfacestraightnessbasedonvision measurement[J].Coal Engineering,2016,48(9):134-136.
[13]赵世民,刘清.用于工作面液压支架对齐的激光对位传感器设计[J].工矿自动化,2016,42(11):74-77.ZHAO Shimin,LIU Qing.Design of laser alignment sensor for alignment of hydraulic supports on working face[J].Industry and Mine Automation,2016,42(11):74-77.
[14]牛剑峰.综采工作面直线度控制系统研究[J].工矿自动化,2015,41(5):5-8.NIU Jianfeng.Research of straightness control system of fully-mechanized coal mining face[J].Industry and Mine Automation,2015,41(5):5-8.