基于光纤光栅的刮板输送机直线度感知关键技术研究
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摘要
为了解决煤炭智能化开采进程中刮板输送机直线度感知手段缺失的关键技术问题,在研究光纤光栅曲率传感原理的基础上,设计并研发了光纤光栅三维曲率传感器。然后基于光纤光栅三维曲率传感器传感获得的正交方向上的离散点曲率信息,采用拟合递推的方法进行了三维算法推导,实现了刮板输送机三维弯曲形态拟合感知与重建。通过搭建刮板输送机三维弯曲测试试验平台,分别对刮板输送机三维直线状态及三维弯曲状态下感知形态与实际形态的测量效果进行了验证。试验结果表明:在刮板输送机三维弯曲形态布置情况下,实测曲线与感知曲线基本一致,各坐标轴方向误差不大于±15 mm,能够满足智能工作面对直线度的检测精度要求。
In order to solve the key technical problems of straightness perception of scraper conveyor in coal intelligent mining process,based on the research of curvature sensing principle of fiber grating,a three-dimensional curvature sensor of fiber grating is designed and developed. Then,based on the discrete point curvature information obtained by the three-dimensional curvature sensor of fiber grating,the 3 D algorithm is derived by using the method of fitting recursion,and the 3 D bending shape fitting perception and reconstruction of the scraper conveyor are realized. By setting up a test platform for three-dimensional bending of the scraper conveyor,the measuring effect of perceived and actual shape in the three-dimensional straight state and three-dimensional bending state of the scraper conveyor is verified.The test results show that the measured curve is basically the same as the perceptual curve in the three-dimensional bending configuration of the scraper conveyor,and the error of the direction of each coordinate axis is not more than ±15 mm,which can meet the requirements of the accuracy of detecting the straightness of the intelligent work.
In order to solve the key technical problems of straightness perception of scraper conveyor in coal intelligent mining process,based on the research of curvature sensing principle of fiber grating,a three-dimensional curvature sensor of fiber grating is designed and developed. Then,based on the discrete point curvature information obtained by the three-dimensional curvature sensor of fiber grating,the 3 D algorithm is derived by using the method of fitting recursion,and the 3 D bending shape fitting perception and reconstruction of the scraper conveyor are realized. By setting up a test platform for three-dimensional bending of the scraper conveyor,the measuring effect of perceived and actual shape in the three-dimensional straight state and three-dimensional bending state of the scraper conveyor is verified.The test results show that the measured curve is basically the same as the perceptual curve in the three-dimensional bending configuration of the scraper conveyor,and the error of the direction of each coordinate axis is not more than ±15 mm,which can meet the requirements of the accuracy of detecting the straightness of the intelligent work.
引文
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[2]黄乐亭,黄曾华,张科学.大采高综采智能化工作面开采关键技术研究[J].煤矿开采,2016,35(11):1769-1771.HUANG Leting,HUANG Zenghua,ZHANG Kexue. Research on key technologies for mining intelligent working face mining[J].Coal Mining Technology,2016,35(11):1769-1771.
[3]袁亮.开展基于人工智能的煤炭精准开采研究,为深地开发提供科技支撑[J].科技导报,2017,35(14):1-1.YUAN Liang.Carry out research on precision mining of coal based on artificial intelligence to provide scientific and technological support for deep development[J].Introduction to Science and Technology,2017,35(14):1-1.
[4]李明忠.中厚煤层智能化工作面无人高效开采关键技术研究与应用[J].煤矿开采,2016,21(3):31-35.LI Mingzhong.Research and application of key technologies for unmanned and high-efficiency mining of intelligent coal seam working face[J].Coal Mining Technology,2016,21(3):31-35.
[5]张科学.综掘工作面智能化开采技术研究[J].煤炭科学技术,2017,45(7):106-111.ZHANG Kexue.Research on intelligent mining technology for comprehensive excavation face[J]. Coal Science and Technology,2017,45(7):106-111.
[6]刘鹏坤,王聪.基于机器视觉的长壁工作面直线度测量算法研究[J].矿业科学学报,2017(3):267-273.LIU Pengkun,WANG Cong.Research on the straightness measurement algorithm of long wall work face based on machine vision[J].Journal of Mining Sciences,2017(3):267-273.
[7]高小强.综采工作面自动化系统研究及在神东的应用[J].煤矿机械,2017,38(3):118-120.GAO Xiaoqiang. Research on the automation system of integrated mining face and its application in Shendong[J]. Coal Mine Machinery,2017,38(3):118-120.
[8]卢进南,沈志诚,穆润青,等.刮板输送机中部槽姿态检测方法研究[J].煤矿机械,2017,28(10):45-47.LU Jinnan,SHEN Zhicheng,MU Runqing,et al. Study on the attitude detection method of central slot of scraper conveyor[J]. Coal Mine Machinery,2017,28(10):45-47.
[9]牛剑锋,魏文艳,赵文生.一种采煤机工作面直线度控制方法:CN201210142362.5[P].2012-05-10.
[10]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:CN201310058049. 8[P]. 2013-02-22.
[11]李伟,张行,朱真才,等.综采工作面刮板输送机机身自动调直装置及方法:CN201510370025.1[P].2015-07-01.
[12] KELLY M S,HAINSWORTH D W,Reid D C,et al.The landmark longwall automation proj-ect[R]. Brisbane:ACARP Project,Report C10100A,2005.
[13]张斌,方新秋,邹永洺,等.基于陀螺仪和里程计的无人工作面采煤机自主定位系统[J].矿山机械,2010,38(9):10-12.ZHANG Bin,FANG Xinqiu,ZOU Yongming,et al. Autonomous positioning system of coal mining machine based on gyroscope and odometer[J].Mining Machinery,2010,38(9):10-12.
[14]方新秋,何杰,张斌,等.无人工作面采煤机自主定位系统[J].西安科技大学学报,2008,28(2):349-353.FANG Xinqiu,HE Jie,ZHANG Bin,et al. Unmanned face coal mining machine autonomous positioning system[J]. Journal of the Xian University of Science and Technology,2008,28(2):349-353.
[15]樊启高,李威,王禹桥,等.一种采用捷联惯导的采煤机动态定位方法[J].煤炭学报,2011,36(10):1758-1761.FAN Qigao,LI Wei,WANG Yuqiao,et al. A dynamic positioning method for coal mining machines using Jiefang inertial guidance[J].Journal of China Coal Society,2011,36(10):1758-1761.
[16]张智喆,王世博,张博渊.基于采煤机运动轨迹的刮板输送机布置形态检测研究[J].煤炭学报,2015,40(11):2514-2521.ZHANG Zhizhe,WANG Shibo,ZHANG Boyuan. Study on the layout of scraper conveyor based on the movement trajectory of coal miner[J]. Journal of China Coal Society,2015,40(11):2514-2521.
[17]孙诗晴,初凤红,卢家焱.光纤布拉格光栅传感器交叉敏感问题的研究进展[J].激光与光电子学进展,2017(4):76-85.SUN Shiqing,CHU Fenghong,LU Jiayan. Research progress on cross-sensitivity of fiber Bragg grating sensors[J]. Advances in Laser and Optoelectronics,2017(4):76-85.
[18]张伦伟,钱晋武,章亚男,等.基于FBG传感网络的新型内窥镜形状实时检测系统[J].机械工程学报,2006,42(2):177-182.ZHANG Lunwei,QIAN Jinwu,ZHANG Yanan,et al. New endoscopic shape real-time detection system based on FBG sensor network[J]. Journal of Mechanical Engineering,2006,42(2):177-182.
[19]刘刚,柯映林.管道机器人全程定位理论和方法研究:基于光纤光栅空间曲率传感器[J].浙江大学学报:工学版,2004,38(6):687-690.LIU Gang,KE Yinglin. Study on the whole course positioning theory and method of the pipeline robot-based on the fiber grating space curvature sensor[J]. Journal of Zhejiang University:Engineering Edition,2004,38(6):687-690.
[20]沈林勇.非开挖地下信息管线的三维曲线探测新技术研究[D].上海:上海大学,2011.