CN104948187A - Infrared thermal imaging-based coal cutter automatic cutting system and method thereof - Google Patents
Infrared thermal imaging-based coal cutter automatic cutting system and method thereof Download PDFInfo
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Abstract
The invention relates to an infrared thermal imaging-based coal cutter automatic cutting system and a method thereof. A flame-proof infrared camera device (3) processes an acquired infrared radiation signal in coal cutter cutting condition environment to form an infrared temperature field signal when a coal cutter (4) automatically cuts, the infrared temperature field signal is sent to a coal cutter borne controller (2), the working state of the coal cutter is determined according to a temperature range, and bases are provided for traction speed adjustment and roller height adjustment when the coal cutter automatically cuts; the method can be used in practical production; and an infrared thermogram is sent to a road monitoring host (8), and a personnel in the road monitoring host can obtain the visual temperature information of the coal cutter cutting condition infrared thermogram, and regulates the coal cutter when the coal cutter is in an emergency. The efficient automatic working of the coal cutter is realized, and the real cutting state of the coal cutter can be effectively identified in dust and water mist initiated in the cutting process of the coal cutter, and other bad environment, thereby the automatic working of the coal cutter is facilitated.
Description
Technical field
The present invention relates to the automatic cut system and method for a kind of coal-winning machine, specifically the automatic cut system and method for a kind of coal-winning machine based on infrared thermal imaging, belongs to coal-winning machine cut control technology field, is applicable to the coal-winning machine with memory cut function.
Background technology
It is the key that coal-winning machine can realize Automated condtrol that coal rock for coal cutter interface identifies.Because Direct Recognition coal-rock interface has sizable difficulty, the requirement at coal work scene cannot be met, present stage many employings round-about way carries out Coal-Rock Interface Recognition, and the method for current indirect identification coal-rock interface mainly contains memory cut method and the large class of cut KLR signal approach two.
Memory cut method is applicable to top, the working face of coal seam that base plate is milder, the principle of this technology manipulates coal-winning machine by coal-winning machine operating personnel to work in advance one along work plane coal seam height fluctuation condition and circulate, coal-winning machine controller is sampled and is stored the running parameter of working cycles first, and in several limited cut circulation afterwards, coal-winning machine is according to the running parameter automatic operating of controller institute store-memory, roller height also will regulate automatically, but due to actual condition of coal seam occurrence more complicated, coal-rock interface change is violent, the cutting resistance curves remembered does not have generality, thus the simple effect of memory cut technology that uses on coal mine work area is unsatisfactory.
Cut KLR signal approach adopts the coal-winning machine with memory cut function automatically to carry out coal cutting, use sensor to gather coal-winning machine simultaneously and run the signal of generation as cylinder clipping force signal, pick stress signal, current signal, temperature signal etc., then some intelligent algorithms are used to be coal cutting and section rock two kinds of patterns by the cut state recognition of coal-winning machine, also have the result refinement more of coal-winning machine cut state recognition, press close to real coal-winning machine cut situation, recognition result is divided into the operating modes such as cut hard coal seam, cut top board, cut dirt band and cut tomography.Now along with the increase of coal-winning machine power and the improvement of pick material, for keeping the planarization of top, base plate, the dirt band less to hardness and tomography, generally take directly carry out powerful cut and no longer adjust roller height according to coal-rock interface.
Above cut KLR signal approach can identify the cut state of coal-winning machine when the overwhelming majority, such as when the cut state using intelligent algorithm to recognize coal-winning machine is tending towards abnormal, coal-winning machine is automatic or manual manually by regulating shearer haulage speed and adjustment coal mining machine roller height, and coal-winning machine cut state is returned to normally.But have the features such as uncertain and complexity due to condition of coal seam occurrence, intelligent algorithm accurately can not identify the cut state of coal-winning machine sometimes, can cause the erroneous judgement of cut state recognition result; And the sensor of some measurement cut signal is also easily subject to the interference of external factor, causes the inaccurate of cut signal measurement, thus also just accurately can not identify the cut state of coal-winning machine.
Summary of the invention
The object of this invention is to provide the automatic cut system and method for a kind of coal-winning machine based on infrared thermal imaging, cut state when this system adopts the principle of infrared thermal imaging effectively can identify coal-winning machine automatic cut, is thus conducive to the automatically working realizing coal-winning machine.
Technical scheme of the present invention is: comprise coal-winning machine, drag conveyor, hydraulic support, intrinsic safety type wireless Mesh switch, coal-winning machine on-board controller, intrinsic safety type switch, crossheading monitoring host computer, described coal-winning machine and drag conveyor, hydraulic support support the use, and the walking mechanism of coal-winning machine matches with drag conveyor;
Also comprise flame-proof type infrared eye, described flame-proof type infrared eye is arranged on the rocking arm of coal-winning machine, it is connected by fire-retardant netting twine with coal-winning machine on-board controller, coal-winning machine on-board controller is connected with intrinsic safety type wireless Mesh switch by fire-retardant netting twine, intrinsic safety type wireless Mesh switch is connected with intrinsic safety type switch by fire-retardant netting twine, and intrinsic safety type switch is connected with crossheading monitoring host computer by fire-retardant netting twine.
Further, the quantity of flame-proof type infrared eye is two, is arranged on respectively on the left and right rocking arm of coal-winning machine.
Further, flame-proof type infrared eye is arranged on 1/3rd places of rocking arm rear end, coal-winning machine left and right.
An automatic cutting process for coal-winning machine based on infrared thermal imaging automatic cut system, the automatic cutting process of described coal-winning machine realizes on the basis that coal-winning machine adopts memory cut technology, and its method is:
A., before coal-winning machine starts automatic cut, manipulate coal-winning machine by coal-winning machine operating personnel and work in advance one circulate along work plane coal seam height fluctuation condition;
B. coal-winning machine on-board controller is sampled and is stored the running parameter of working cycles first, in several limited cut circulation afterwards, the memory work parameter automatization that coal-winning machine stores according to coal-winning machine on-board controller runs, and roller height also will regulate automatically;
C. in the coal-winning machine automatic operation phase, flame-proof type infrared eye obtains the infrared radiation signal of coal-winning machine cutting drum top and rib contact area in real time, forms infrared temperature field signal;
D. the infrared temperature field signal in step C is through coal-winning machine on-board controller, after treatment the temperature information identification of the infrared temperature field of generation is divided into three kinds, the cut state recognition by coal-winning machine is three kinds: serious overtemperature cut, overtemperature cut, normal temperature cut;
E. judge the cut state of coal-winning machine according to kind of the temperature information of three in step D, its concrete determination methods is:
If 1.. Infrared Thermogram temperature exceedes the serious overtemperature cut limit value of setting, then coal-winning machine starts automatic defence program immediately;
If 2.. Infrared Thermogram temperature is within the scope of normal temperature cut, then crossheading monitoring host computer does not send the instruction of regulation and control coal-winning machine, and automatic cut normally followed the tracks of by coal-winning machine;
If 3.. within the scope of the overtemperature cut of Infrared Thermogram temperature between serious overtemperature cut and normal temperature cut, then coal-winning machine on-board controller sends the instruction reducing hauling speed to coal-winning machine, then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye is monitored, if normal, then the normal track path memory cut of coal-winning machine; If temperature is still within the scope of overtemperature cut, then coal-winning machine on-board controller sends the instruction turning down coal mining machine roller height, then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye is monitored, if normal, the then normal track path memory cut of coal-winning machine, if temperature is still large than the value of normal temperature cut, then coal-winning machine starts self-insurance program;
F. the infrared temperature field signal in step C is sent to crossheading monitoring host computer through intrinsic safety type wireless Mesh switch and intrinsic safety type switch again after the process of coal-winning machine on-board controller, crossheading monitoring host computer generates infrared thermal imaging figure by after the infrared temperature field signal process sent, now crossheading place monitor staff according to the temperature information directly perceived of coal-winning machine cut operating mode infrared thermal imaging figure, can regulate and control coal-winning machine when emergency appears in coal-winning machine.
Coal-winning machine in steps A to work a circulation time in advance along work plane coal seam height fluctuation condition, and position, described work plane coal seam should ensure picture quality by the impact of dust and spraying.
Compared with prior art, the present invention can not only realize coal-winning machine automatically working object more efficiently, also effectively can identify the real cut state of coal-winning machine under the adverse circumstances such as the dust caused when coal-winning machine cut and water smoke, advantageously in realizing coal-winning machine automatically working; Infrared imaging principle is adopted to be that three kinds of cut states of foundation effectively can evaluate the current cut state of coal-winning machine with temperature by cut state demarcation, also be coal-winning machine duty, can take appropriate measures in time when coal-winning machine cut abnormal state; The present invention makes the coal-winning machine with memory cut function operationally can automatically to coal varitation, hard coal seam, top board, and the cut such as dirt band and tomography mixture condition identifies automatically, and picking up signal is easy, and coal-rock Interface Identification result more comprehensively, accurately; Adopt this recognition methods to realize horizon control, and avoid the frequent adjustment of roller height as much as possible, ensure that the planarization of roof and floor.
Accompanying drawing explanation
Fig. 1 is workflow diagram of the present invention;
Fig. 2 is principle schematic of the present invention.
In figure: 1, intrinsic safety type wireless Mesh switch, 2, coal-winning machine on-board controller, 3, flame-proof type infrared eye, 4, coal-winning machine, 5, drag conveyor, 6, hydraulic support, 7, intrinsic safety type switch, 8, crossheading monitoring host computer.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1 and Figure 2, the automatic cut system of a kind of coal-winning machine based on infrared thermal imaging, comprise coal-winning machine 4, drag conveyor 5, hydraulic support 6, intrinsic safety type wireless Mesh switch 1, coal-winning machine on-board controller 2, intrinsic safety type switch 7, crossheading monitoring host computer 8, described coal-winning machine 4 supports the use with drag conveyor 5, hydraulic support 6, and the walking mechanism of coal-winning machine 4 matches with drag conveyor 5;
Also comprise flame-proof type infrared eye 3, described flame-proof type infrared eye 3 is arranged on the rocking arm of coal-winning machine 4, it is connected by fire-retardant netting twine with coal-winning machine on-board controller 2, coal-winning machine on-board controller 2 is connected with intrinsic safety type wireless Mesh switch 1 by fire-retardant netting twine, intrinsic safety type wireless Mesh switch 1 is connected with intrinsic safety type switch 7 by fire-retardant netting twine, and intrinsic safety type switch 7 is connected with crossheading monitoring host computer 8 by fire-retardant netting twine.
The quantity of flame-proof type infrared eye 3 is two, is arranged on respectively on the left and right rocking arm of coal-winning machine 4.
Flame-proof type infrared eye is arranged on 1/3rd places of rocking arm rear end, coal-winning machine left and right.
An automatic cutting process for coal-winning machine based on infrared thermal imaging automatic cut system, described coal-winning machine 4 automatically cutting process realizes on the basis that coal-winning machine 4 adopts memory cut technology, and its method is:
A., before coal-winning machine 4 starts automatic cut, manipulate coal-winning machine 4 by coal-winning machine operating personnel and work in advance one circulate along work plane coal seam height fluctuation condition;
B. coal-winning machine on-board controller 2 is sampled and is stored the running parameter of working cycles first, in several limited cut circulation afterwards, the memory work parameter automatization that coal-winning machine 4 stores according to coal-winning machine on-board controller 2 runs, and roller height also will regulate automatically;
C., in the coal-winning machine 4 automatic operation phase, flame-proof type infrared eye 3 obtains the infrared radiation signal of coal-winning machine 4 cutting drum top and rib contact area in real time, forms infrared temperature field signal;
D. the infrared temperature field signal in step C is through coal-winning machine on-board controller 2, after treatment the temperature information identification of the infrared temperature field of generation is divided into three kinds, the cut state recognition by coal-winning machine 4 is three kinds: serious overtemperature cut, overtemperature cut, normal temperature cut;
E. judge the cut state of coal-winning machine 4 according to kind of the temperature information of three in step D, its concrete determination methods is:
If 1.. Infrared Thermogram temperature exceedes the serious overtemperature cut limit value of setting, then coal-winning machine 4 starts automatic defence program immediately;
If 2.. infrared imaging temperature is within the scope of normal temperature cut, then crossheading monitoring host computer 8 does not send the instruction of regulation and control coal-winning machine 4, and coal-winning machine 4 normally follows the tracks of automatic cut;
If 3.. within the scope of the overtemperature cut of Infrared Thermogram temperature between serious overtemperature cut and normal temperature cut, then coal-winning machine on-board controller 2 sends the instruction reducing hauling speed to coal-winning machine 4, then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye 3 is monitored, if normal, then the normal track path memory cut of coal-winning machine 4; If temperature is still within the scope of overtemperature cut, then coal-winning machine on-board controller 2 sends the instruction turning down coal-winning machine 4 roller height, then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye 3 is monitored, if normal, the then normal track path memory cut of coal-winning machine 4, if temperature is still large than the value of normal temperature cut, then coal-winning machine 4 starts self-insurance program;
F. the infrared temperature field signal in step C is sent to crossheading monitoring host computer 8 through intrinsic safety type wireless Mesh switch 1 and intrinsic safety type switch 7 again after coal-winning machine on-board controller 2 processes, crossheading monitoring host computer 8 generates infrared thermal imaging figure by after the infrared temperature field signal process sent, now crossheading place monitor staff according to the temperature information directly perceived of coal-winning machine cut operating mode infrared thermal imaging figure, can regulate and control coal-winning machine when emergency appears in coal-winning machine 4.
Coal-winning machine 4 in steps A to work a circulation time in advance along work plane coal seam height fluctuation condition; Position, described work plane coal seam should ensure that picture quality is not subject to the impact of dust and spraying,
Operating principle: when the automatic cut of coal-winning machine 4, the infrared radiation signal under the coal-winning machine 4 cut work condition environment collected is formed infrared temperature field signal by flame proof infrared eye 3.Infrared temperature field signal is sent to coal-winning machine on-board controller 2, described coal-winning machine on-board controller 2 judges according to the scope of temperature in infrared temperature field the duty that coal-winning machine 4 is current, and during cut automatic for coal-winning machine 4, hauling speed adjustment and Roller shear provide foundation; Coal-winning machine 4 automatically cut time, the temperature information of the infrared temperature field of generation is divided into three kinds by coal-winning machine on-board controller 2, and the cut state recognition also by coal-winning machine 4 is three kinds: serious overtemperature cut, overtemperature cut, normal temperature cut.Automatically cut is to any one in the materials such as hard coal seam, dirt band and tomography for coal-winning machine 4, and the pick temperature conditions that it shows is exactly that the temperature of pick and coal petrography contact position rises or declines; And the variations in temperature at pick place is not only relevant to by the physical characteristic of cut thing, also heighten speed with the hauling speed of coal-winning machine 4 and rocking arm relevant, thus infrared imaging principle is adopted to be that three kinds of cut states of foundation effectively can evaluate the current cut state of coal-winning machine 4 with temperature by cut state demarcation, also be the duty of coal-winning machine 4, can take appropriate measures in time when coal-winning machine 4 cut abnormal state, the method can be used in actual production; The infrared temperature field signal of coal-winning machine 4 cut state is by after coal-winning machine on-board controller 2 process, crossheading monitoring host computer 8 is sent to through described intrinsic safety type wireless Mesh switch 1 and described intrinsic safety type switch 7, generate the Infrared Thermogram of coal-winning machine cut operating mode, crossheading place monitor staff can obtain the temperature information directly perceived of coal-winning machine cut operating mode infrared thermal imaging figure, regulates and controls coal-winning machine when emergency appears in coal-winning machine.When coal-winning machine 4 starts automatic cut program, can judge according to the infrared temperature field signal being sent to described coal-winning machine on-board controller 2 the cut state that coal-winning machine is current, automatically regulate coal-winning machine 4 hauling speed and adjustment coal-winning machine 4 roller height; On further coal-winning machine 4, the quantity of flame-proof type infrared eye 3 is two, is arranged on respectively on coal-winning machine about 4 rocking arm.
Claims (5)
1. the automatic cut of the coal-winning machine based on an infrared thermal imaging system, comprise coal-winning machine (4), drag conveyor (5), hydraulic support (6), intrinsic safety type wireless Mesh switch (1), coal-winning machine on-board controller (2), intrinsic safety type switch (7), crossheading monitoring host computer (8), described coal-winning machine (4) and drag conveyor (5), hydraulic support (6) support the use, and the walking mechanism of coal-winning machine (4) matches with drag conveyor (5);
It is characterized in that, also comprise flame-proof type infrared eye (3), described flame-proof type infrared eye (3) is arranged on the rocking arm of coal-winning machine (4), it is connected by fire-retardant netting twine with coal-winning machine on-board controller (2), coal-winning machine on-board controller (2) is connected with intrinsic safety type wireless Mesh switch (1) by fire-retardant netting twine, intrinsic safety type wireless Mesh switch (1) is connected with intrinsic safety type switch (7) by fire-retardant netting twine, and intrinsic safety type switch (7) is connected with crossheading monitoring host computer (8) by fire-retardant netting twine.
2. the automatic cut system of a kind of coal-winning machine based on infrared thermal imaging according to claim 1, it is characterized in that, the quantity of described flame-proof type infrared eye (3) is two, is arranged on respectively on the left and right rocking arm of coal-winning machine (4).
3. the automatic cut system of a kind of coal-winning machine based on infrared thermal imaging according to claim 2, is characterized in that, described flame-proof type infrared eye (3) is arranged on 1/3rd places of rocking arm rear end, coal-winning machine left and right.
4. the automatic cutting process of the automatic cut of the coal-winning machine based on an infrared thermal imaging system, it is characterized in that, described coal-winning machine (4) automatically cutting process realizes on the basis that coal-winning machine (4) adopts memory cut technology, and its method is:
A., before coal-winning machine (4) starts automatic cut, manipulate coal-winning machine (4) by coal-winning machine operating personnel and work in advance one circulate along work plane coal seam height fluctuation condition;
B. coal-winning machine on-board controller (2) is sampled and is stored the running parameter of working cycles first, in several limited cut circulation afterwards, the memory work parameter automatization that coal-winning machine (4) stores according to coal-winning machine on-board controller (2) runs, and roller height also will regulate automatically;
C., in coal-winning machine (4) the automatic operation phase, flame-proof type infrared eye (3) obtains the infrared radiation signal of coal-winning machine (4) cutting drum top and rib contact area in real time, forms infrared temperature field signal;
D. the infrared temperature field signal in step C is through coal-winning machine on-board controller (2), after treatment the temperature information identification of the infrared temperature field of generation is divided into three kinds, the cut state recognition by coal-winning machine (4) is three kinds: serious overtemperature cut, overtemperature cut, normal temperature cut;
E. judge the cut state of coal-winning machine (4) according to kind of the temperature information of three in step D, its concrete determination methods is:
If 1.. Infrared Thermogram temperature exceedes the serious overtemperature cut limit value of setting, then coal-winning machine (4) starts automatic defence program immediately;
If 2.. Infrared Thermogram temperature is within the scope of normal temperature cut, then crossheading monitoring host computer (8) does not send the instruction of regulation and control coal-winning machine (4), and coal-winning machine (4) normally follows the tracks of automatic cut;
If 3.. within the scope of the overtemperature cut of Infrared Thermogram temperature between serious overtemperature cut and normal temperature cut, then coal-winning machine on-board controller (2) sends the instruction reducing hauling speed to coal-winning machine (4), then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye (3) is monitored, if normal, then the normal track path memory cut of coal-winning machine (4); If temperature is still within the scope of overtemperature cut, then coal-winning machine on-board controller (2) sends the instruction turning down coal-winning machine (4) roller height, then the temperature range of the infrared temperature field sended over from flame-proof type infrared eye (3) is monitored, if normal, the then normal track path memory cut of coal-winning machine (4), if temperature is still large than the value of normal temperature cut, then coal-winning machine (4) starts self-insurance program;
F. the infrared temperature field signal in step C is sent to crossheading monitoring host computer (8) through intrinsic safety type wireless Mesh switch (1) and intrinsic safety type switch (7) again after coal-winning machine on-board controller (2) process, crossheading monitoring host computer (8) generates infrared thermal imaging figure by after the infrared temperature field signal process sent, now crossheading place monitor staff according to the temperature information directly perceived of coal-winning machine cut operating mode infrared thermal imaging figure, can regulate and control coal-winning machine when emergency appears in coal-winning machine (4).
5. the automatic cutting process of a kind of coal-winning machine based on infrared thermal imaging according to claim 4 automatic cut system, it is characterized in that, coal-winning machine (4) in steps A to work a circulation time in advance along work plane coal seam height fluctuation condition, and position, described work plane coal seam should ensure picture quality by the impact of dust and spraying.
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| CN104948186A (en) * | 2015-05-29 | 2015-09-30 | 中国矿业大学 | Temperature-based coal rock interface identification apparatus and identification method thereof |
| CN105971604A (en) * | 2016-06-21 | 2016-09-28 | 孙峰 | Far-infrared thermal imaging tracking virtual simulation remote control device for cutting head of tunneling machine |
| CN106679964A (en) * | 2017-03-14 | 2017-05-17 | 辽宁工程技术大学 | Simulation test device for cutting of spiral drum of thin-coal-seam coal mining machine |
| CN106761738A (en) * | 2016-12-15 | 2017-05-31 | 中国矿业大学 | The boom-type roadheader and method in cut path can be automatically planned based on machine vision |
| CN106958445A (en) * | 2015-12-02 | 2017-07-18 | 乔伊·姆·特拉华公司 | Longwell optimal control |
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| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
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| CN104948186B (en) * | 2015-05-29 | 2017-04-26 | 中国矿业大学 | Temperature-based coal rock interface identification method |
| CN106958445A (en) * | 2015-12-02 | 2017-07-18 | 乔伊·姆·特拉华公司 | Longwell optimal control |
| CN105971604A (en) * | 2016-06-21 | 2016-09-28 | 孙峰 | Far-infrared thermal imaging tracking virtual simulation remote control device for cutting head of tunneling machine |
| CN106761738A (en) * | 2016-12-15 | 2017-05-31 | 中国矿业大学 | The boom-type roadheader and method in cut path can be automatically planned based on machine vision |
| CN106679964A (en) * | 2017-03-14 | 2017-05-17 | 辽宁工程技术大学 | Simulation test device for cutting of spiral drum of thin-coal-seam coal mining machine |
| CN107507290A (en) * | 2017-09-25 | 2017-12-22 | 泸州老窖集团有限责任公司 | One kind patrol device and spray system |
| CN107725050A (en) * | 2017-11-27 | 2018-02-23 | 宁夏广天夏电子科技有限公司 | Coal-winning machine video analysis control system |
| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
| CN110861875A (en) * | 2019-11-22 | 2020-03-06 | 常州联力自动化科技有限公司 | Multi-camera scraper conveyor chute position correction method and system |
| CN110861875B (en) * | 2019-11-22 | 2021-05-04 | 常州联力自动化科技有限公司 | Multi-camera scraper conveyor chute position correction method and system |
| CN112415945A (en) * | 2020-11-27 | 2021-02-26 | 大唐陕西发电有限公司 | Control system and control method for automobile coal sampler |
| CN114216931A (en) * | 2021-11-05 | 2022-03-22 | 中国矿业大学 | Belt conveyor coal spontaneous combustion detection method based on infrared image |
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