CN106321098A - Automatic coal mining machine operation system and method based on machine vision and multi-sensor fusion - Google Patents
Automatic coal mining machine operation system and method based on machine vision and multi-sensor fusion Download PDFInfo
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- CN106321098A CN106321098A CN201611020422.0A CN201611020422A CN106321098A CN 106321098 A CN106321098 A CN 106321098A CN 201611020422 A CN201611020422 A CN 201611020422A CN 106321098 A CN106321098 A CN 106321098A
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- drilling rod
- stacks
- changed
- coal
- work
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/22—Mineral freed by means not involving slitting by rotary drills with breaking-down means, e.g. wedge-shaped drills, i.e. the rotary axis of the tool carrier being substantially perpendicular to the working face, e.g. MARIETTA-type
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Abstract
The invention discloses an automatic coal mining machine operation system and method based on machine vision and multi-sensor fusion. The automatic coal mining machine operation system comprises a coal mining machine main body, an automatic drill pipe conveying system and an automatic drill pipe butt-joint system; the automatic drill pipe conveying system pushes a drill pipe feeding platform to move along a roadway through a drill pipe feeding hydraulic cylinder, regulates the height of a drill pipe to be reconnected through a lifting hydraulic cylinder and achieve coaxial positioning of the drill pipe to be reconnected and a working drill pipe through a displacement sensor and a limit switch; the automatic drill pipe butt-joint system regulates the position and angle of a CCD binocular camera through a telescopic mechanical arm, regulates the circumferential position of the drill pipe to be reconnected relative to the working drill pipe through a rotating motor and achieves butt-joint of the drill pipe to be reconnected and the working drill pipe through vision positioning. According to the system and method, the high integration level and automation degree are achieved, automatic reconnection of the drill pipes and unattended operation in the working process can be achieved, the coal mining operation efficiency is effectively improved, working is reliable, and the cost is reduced.
Description
Technical field
The present invention relates to a kind of underground coal mine and bore formula coal-winning machine control system, be specifically related to one based on machine vision with many
The coal-winning machine automatic operating system of sensor fusion and method.
Background technology
China thin with ultra-thin coal seam rich reserves, widely distributed, but present stage is thin with ultra-thin coal seam mining machines degree
Relatively low, bore formula coal-winning machine be a kind of for thin with ultra-thin coal seam the special purpose machinery of exploitation, due to its short fuselage, the advantage such as high-power
It is used widely, and present stage bores formula coal-winning machine drilling rod and still uses monorail crane to lift by crane, and manually docks, and need to be by by ratchet
Being adjusted just completing docking of drilling rod with the micro-adjusting mechanism of hydraulic cylinder composition, control accuracy is low, and the handling drilling rod time is long, greatly
Reduce greatly coal mining efficiency.Additionally, the research to boring the control of formula coal-winning machine automated job is few both at home and abroad, adopt with underground coal mine
It is low that the equipment such as coal machine, development machine compare mechanization degree.In brill formula coal-winning machine work process, the recovery ratio of coal is low, energy expenditure
Greatly, to the thin significant wastage causing resource, personnel and equipment with ultra-thin coal seam exploitation.
Therefore, those skilled in the art are devoted to develop a kind of coal-winning machine based on machine vision and Multi-sensor Fusion certainly
Dynamic operating system, it is possible to realize the automatic changing-over of drilling rod in work process and unmanned operation, have higher integrated level and from
Dynamicization degree.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides one based on machine vision with many
The coal-winning machine automatic operating system of sensor fusion and method, have higher integrated level and automaticity, it is possible to realize work
The automatic changing-over of drilling rod and unmanned operation during work, be effectively improved coal mining activity efficiency, reliable operation and cost-effective.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion, including coal-winning machine main body,
Drilling rod automatic conveying system and drilling rod automatic butt system；
Wherein, described coal-winning machine main body includes that borer frame, collateral support mechanism, rig elevating mechanism, drilling rod rotate work
Industry platform, drilling rod advance platform, work drilling rod and work drill steel support part, and coal-winning machine main body moves in the tunnel of its work
Dynamic；
Borer frame is horizontally placed on rig elevating mechanism, and rig elevating mechanism is for supporting and adjusting borer frame
Highly；Collateral support mechanism includes that two constitute a telescopic support in two ends to survey supporting cylinder, every pair of survey supporting cylinder
Bar；Two support bars are horizontally placed on both sides before and after borer frame respectively, it is achieved the cross-brace of borer frame is fixed；Drilling rod
Advancing platform to be arranged on borer frame, drilling rod rotary operation platform is arranged at drilling rod and advances on platform；Work drilling rod level with
Drilling rod rotary operation platform is connected, and while drilling rod rotary operation platform drive work drilling rod rotates, drilling rod advances platform to drive
Drilling rod rotary operation platform laterally advances with work drilling rod and pierces in wall；Work drill steel support part is telescopically arranged in brill
In machine frame, for the support works drilling rod when changing-over drilling rod；
Described drilling rod automatic conveying system include sending brill hydraulic cylinder, send brill platform, stacks to be changed, lifting hydraulic cylinder and
Dsp processor (digital signal processor)；Brill platform is sent to be arranged at front side or the rear side of borer frame along tunnel length direction,
Send brill platform and send brill hydraulic cylinder to be connected and pass through to send brill Hydraulic Cylinder to send brill platform along roadway moving；Stacks to be changed passes through
Lifting hydraulic cylinder horizontal cross is arranged to be sent on brill platform, and is adjusted the height of stacks to be changed by lifting hydraulic cylinder；Work
It is provided with on displacement transducer, and borer frame on drill steel support part and lifting hydraulic cylinder and is provided with limit switch；Displacement passes
Sensor is all connected with dsp processor with limit switch, is realized the adjustment of stacks to be changed by displacement transducer and limit switch
Location is to coaxial with work drilling rod；
Described drilling rod automatic butt system includes scalable mechanical arm and CCD (charge-coupled image sensor) binocular camera, can
Telescopic machine mechanical arm is arranged on drilling rod rotary operation platform, and the top of scalable mechanical arm is clamped with CCD binocular camera；Pass through
Electric rotating machine adjust stacks to be changed relative to work drilling rod circumferential position, and by vision localization realize stacks to be changed and
The automatic butt of work drilling rod.
Preferably, described coal-winning machine main body realizes the movement in tunnel, rig elevating mechanism by track conveyor structure
Bottom is provided with skid, and borer frame is arranged on the crawler belt of track conveyor structure by skid.
Preferably, the two ends on limit, the described borer frame left and right sides are provided with infrared sensor, pass through infrared sensor
Obtain the distance of brill formula coal-winning machine and tunnel surrounding in real time, it is ensured that the safety that coal-winning machine moves.
Preferably, described drilling rod rotary operation platform includes electric rotating machine and motor support base, and electric rotating machine is propped up by motor
Seat is installed on drilling rod and advances on platform.
Preferably, the quantity of described electric rotating machine is identical with the quantity of work drilling rod, the quantity of scalable mechanical arm and rotation
The quantity of rotating motor is identical, each other one_to_one corresponding.
Preferably, butt end and the stacks to be changed of work drilling rod is provided with the first docking near one end of electric rotating machine
Device, the outfan of electric rotating machine and stacks to be changed are provided with the second docking facilities near one end of work drilling rod；Described
First docking facilities and the second docking facilities are the most cylindrical, and its outer face is provided with three-jaw shaggy block；Described three-jaw is recessed
Projection is the most suitable, and be provided with on the cylinder of the first docking facilities and the second docking facilities three the most uniform
Locating cylinder；The central axis of locating cylinder and the central axis of projection in its three-jaw shaggy block on first docking facilities
Parallel, the central axis of locating cylinder and the centerline axis parallel of concave block in its three-jaw shaggy block on the second docking facilities, and
The central axis of the locating cylinder at stacks two ends to be changed is parallel to each other.Described docking facilities can realize random working angle and bore
The slitless connection of bar.
Preferably, described scalable mechanical arm is installed on motor support base, scalable mechanical arm include the first servomotor,
Second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor and the 6th servomotor, the first servo electricity
Machine drives the upper and lower of horizontally rotating of scalable mechanical arm, the second servomotor and the 3rd scalable mechanical arm of driven by servomotor
Swing, circumferentially rotating of the 4th scalable mechanical arm of driven by servomotor, stretching of the 5th scalable mechanical arm of driven by servomotor
Contract, the rotation of CCD binocular camera clamped by the 6th scalable mechanical arm of driven by servomotor.
Preferably, described CCD binocular camera has function nictation, avoids the ash in work process nictation by discontinuity
Dirt blocking CCD binocular camera.
Preferably, described drilling rod automatic butt system also includes image pick-up card, industrial computer, PLC (Programmable logical controller
Device) controller and electro-hydraulic proportional valve can be performed；The photo of CCD binocular camera shooting is passed data to by image pick-up card
Industrial computer processes, and industrial computer drives PLC can perform the aperture of controller control electro-hydraulic proportional valve, thus motor is rotated
Rotation, it is achieved the outfan of electric rotating machine docks with stacks to be changed.
A kind of coal-winning machine automatic job method based on machine vision and Multi-sensor Fusion, comprises the following steps:
Step A: coal-winning machine main body is delivered to operating position in tunnel by track conveyor structure, logical in moving process
Cross the infrared sensor on borer frame and obtain the distance of brill formula coal-winning machine and tunnel surrounding in real time, adjust coal-winning machine main frame in real time
Conveying direction and speed thus realize brill formula coal-winning machine walking navigation in tunnel；
Step B: adjust borer frame by rig elevating mechanism behind operating position in coal-winning machine main body arrival tunnel
Height is to adapt to the exploitation of different coal；Borer frame controls collateral support mechanism and realizes coal-winning machine main body after being increased to work surface
Cross-brace fix, and then carry out seam mining；While electric rotating machine drive work drilling rod rotates, drilling rod advances platform
Drive drilling rod rotary operation platform laterally to advance with work drilling rod to pierce in wall；Coal under drill bit is adopted is transported by drilling rod,
Fall behind under coal and transported by conveyer；
Step C: electric rotating machine stall after work drilling rod all creeps into coal seam, work drill steel support part upstroke props up work
Make drilling rod；The outfan of electric rotating machine disengages with work drilling rod, and drilling rod advances platform to drive drilling rod rotary operation platform to be retracted into
In situ, and then carry out changing-over drilling rod；
Step D: stacks to be changed is lifted on lifting hydraulic cylinder by driving, send brill Hydraulic Cylinder to send brill platform by be changed
Stacks is transported on borer frame, and when sending brill platform to arrive limit switch position, limit switch sends a signal to DSP
Processor processes, and dsp processor controls to send brill hydraulic cylinder that brill platform will be sent to be parked at limit switch, it is achieved stacks to be changed
Being accurately positioned of horizontal direction；The height of stacks to be changed is adjusted by lifting hydraulic cylinder, upper according to work drill steel support part
The work drilling rod vertical direction positional information of displacement sensor record, passes through while controlling lifting hydraulic cylinder by dsp processor
The height of the feedback control stacks to be changed of displacement transducer, it is achieved being accurately positioned of stacks vertical direction to be changed；
Step E: after stacks to be changed completes coaxially to position with work drilling rod, shoot one group by CCD binocular camera
The photo of the first docking facilities on stacks to be changed, passes data to industrial computer by image pick-up card and processes, it is thus achieved that be to be changed
The circumferential position information of locating cylinder on stacks the first docking facilities, adjusts CCD binocular camera shooting by scalable mechanical arm
The position of machine and angle make the first docking facilities on stacks to be changed be in the center position of image；After adjustment completes, industrial computer drives
Dynamic PLC can perform controller and control the aperture of electro-hydraulic proportional valve and the rotation of motor is rotated, when CCD binocular camera obtains rotation
The circumferential position of locating cylinder and the circumferential position of locating cylinder on the first docking facilities of stacks to be changed on rotating motor
Time consistent, electric rotating machine stall, the three-jaw shaggy block on stacks the first docking facilities the most to be changed and electric rotating machine outfan
On three-jaw shaggy block be mutually matched at circumferencial direction, it is achieved stacks being accurately positioned at circumferencial direction to be changed；Drilling rod advances
Platform advances electric rotating machine to complete docking of stacks to be changed and electric rotating machine outfan；
Step F: when, after having docked of stacks to be changed and electric rotating machine outfan, industrial computer drives PLC can perform control
Device processed controls the aperture of electro-hydraulic proportional valve thus controls electric rotating machine and rotate the angle contrary with step E in situ；Now treat
On changing-over drilling rod the second docking facilities, the central axis of locating cylinder with the central axis of locating cylinder on work drilling rod is
Parallel, it is achieved stacks to be changed and work drilling rod being accurately positioned at circumferencial direction；Drilling rod advances platform to advance drilling rod to rotate
Job platform completes stacks to be changed and work the docking of drilling rod, thus creeps into coal mining next time.
Beneficial effect: the present invention provides a kind of based on machine vision and Multi-sensor Fusion coal-winning machine automatic job system
System and method, relative to prior art, have the advantage that 1, have higher integrated level and automaticity, work safety
Reliable and save manpower；2, use machine vision and multi-sensor fusion technology, it is achieved bore formula coal-winning machine walk, creep into, change brill,
Operation integration, shortens brill formula coal-winning machine and changes the time boring operation, substantially increases thin and ultra-thin coal seam production efficiency, joint
About cost.
Accompanying drawing explanation
Fig. 1 is the top view of coal-winning machine main body in the present invention；
Fig. 2 is the front view of coal-winning machine main body in the present invention；
Fig. 3 is the left view of coal-winning machine main body in the present invention；
Fig. 4 is the right view of coal-winning machine main body in the present invention；
Fig. 5 is the structure chart of stacks to be changed in the present invention；
Fig. 6 is the structure chart of the first docking facilities in the present invention；
Fig. 7 is the structure chart of the second docking facilities in the present invention；
Fig. 8 is the structure chart of scalable mechanical arm in the present invention；
Fig. 9 is the structured flowchart of drilling rod automatic conveying system in the present invention；
Figure 10 is the control flow chart of drilling rod automatic conveying system in the present invention；
Figure 11 is the structured flowchart of drilling rod automatic butt system in the present invention；
Figure 12 is the control flow chart of drilling rod automatic butt system in the present invention；
Figure includes: 1, borer frame, 2, drilling rod rotary operation platform, 3, drilling rod advance platform, 4, rig elevating mechanism,
5, brill platform is sent, 6, work drilling rod, 7, work drill steel support part, 8, survey supporting cylinder, 9, send brill hydraulic cylinder, 10, spacing open
Close, 11, lifting hydraulic cylinder, 12, displacement transducer, 13, stacks to be changed, 14, scalable mechanical arm, 15, CCD binocular camera shooting
Machine, 16, infrared sensor, the 17, first docking facilities, the 18, second docking facilities, 19, three-jaw shaggy block, 20, locating cylinder,
2-1, electric rotating machine, 2-2, motor support base, 14-1, the first servomotor, 14-2, the second servomotor, 14-3, the 3rd servo electricity
Machine, 14-4, the 4th servomotor, 14-5, the 5th servomotor, 14-6, the 6th servomotor.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is further described by embodiment.
It is a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion as shown in Figure 1,2,3, 4,
Including coal-winning machine main body, drilling rod automatic conveying system and drilling rod automatic butt system；
Wherein, described coal-winning machine main body includes that borer frame 1, collateral support mechanism, rig elevating mechanism 4, drilling rod rotate
Job platform 2, drilling rod advance 3, three work drilling rods 6 of platform and three work drill steel support parts 7, and coal-winning machine main body is at it
Move in the tunnel of work；
Borer frame 1 is horizontally placed on rig elevating mechanism 4, and rig elevating mechanism 4 is used for supporting and adjust rig machine
The height of frame 1；Collateral support mechanism includes two to surveying supporting cylinder 8, surveys supporting cylinder 8 to constitute two ends scalable for every pair
Support bar；Two support bars are horizontally placed on both sides before and after borer frame 1 respectively, it is achieved the cross-brace of borer frame 1
Fixing；Drilling rod advances platform 3 to be arranged on borer frame 1, and drilling rod rotary operation platform 2 is arranged at drilling rod and advances on platform 3；Work
Make drilling rod 6 level to be connected with drilling rod rotary operation platform 2, while drilling rod rotary operation platform 2 drives work drilling rod 6 to rotate
Drilling rod advances platform 3 to drive drilling rod rotary operation platform 2 laterally to advance with work drilling rod 6 and pierces in wall；Work drilling rod props up
Support member 7 is telescopically arranged on borer frame 1, for being used for support works drilling rod 6 when changing-over drilling rod；
Described drilling rod automatic conveying system includes sending brill hydraulic cylinder 9, sending brill platform 5, stacks to be changed 13, lifting hydraulic cylinder
11 and dsp processor；Send brill platform 5 to be arranged at the rear side of borer frame 1 along tunnel length direction, send brill platform 5 and send brill liquid
Cylinder pressure 9 is connected and passes through to send brill hydraulic cylinder 9 to promote and send brill platform 5 along roadway moving；Stacks 13 to be changed passes through lifting hydraulic cylinder
11 horizontal cross are arranged to be sent on brill platform 5, and is adjusted the height of stacks 13 to be changed by lifting hydraulic cylinder 11；Work drilling rod
It is provided with displacement transducer 12 on support member 7 and lifting hydraulic cylinder 11, borer frame 1 is provided with limit switch 10；Such as Fig. 9
Shown in, displacement transducer 12 is all connected with dsp processor with limit switch 10, real by displacement transducer 12 and limit switch 10
Show the coaxial location of stacks 13 to be changed and work drilling rod 6；
Described drilling rod automatic butt system includes three scalable mechanical arms 14 and three CCD binoculars with function nictation
Video camera 15, scalable mechanical arm 14 is arranged on drilling rod rotary operation platform 2, and the top of scalable mechanical arm 14 is clamped with
CCD binocular camera 15, realizes the automatic butt of stacks 13 to be changed and work drilling rod 6 by vision localization.
In the present embodiment, described coal-winning machine main body realizes the movement in tunnel by track conveyor structure, and rig lifts
Being provided with skid bottom mechanism 4, borer frame 1 is arranged on the crawler belt of track conveyor structure by skid；Described borer frame 1
The two ends on limit, the left and right sides are provided with infrared sensor 16.
In the present embodiment, described drilling rod rotary operation platform 2 includes three electric rotating machine 2-1 and three motor support base 2-2,
Electric rotating machine 2-1 is installed on drilling rod by motor support base 2-2 and advances on platform 3.
As shown in Fig. 5,6,7, butt end and the stacks to be changed 13 of work drilling rod 6 are equal near one end of electric rotating machine 2-1
Being provided with the first docking facilities 19, outfan and the stacks to be changed 13 of electric rotating machine 2-1 are all provided with near one end of work drilling rod 6
It is equipped with the second docking facilities 18；Described first docking facilities 19 and the second docking facilities 18 are the most cylindrical, and its outer face is equal
It is provided with three-jaw shaggy block 19；Described three-jaw shaggy block 19 is the most suitable, and the first docking facilities 19 and the second docking facilities
Three locating cylinder 20 the most uniform it are provided with on the cylinder of 18；Locating cylinder on first docking facilities 19
The central axis of 20 and the centerline axis parallel of projection, locating cylinder 20 on the second docking facilities 18 in its three-jaw shaggy block 19
Central axis and its three-jaw shaggy block 19 in the centerline axis parallel of concave block, and the locating cylinder at stacks to be changed 13 two ends
The central axis of 20 is parallel to each other.
As shown in Figure 8, described scalable mechanical arm 14 is installed on motor support base 2-2, and scalable mechanical arm 14 includes
One servomotor 14-1, the second servomotor 14-2, the 3rd servomotor 14-3, the 4th servomotor 14-4, the 5th servo electricity
Machine 14-5 and the 6th servomotor 14-6, the first servomotor 14-1 drive horizontally rotating of scalable mechanical arm 14, and second watches
Taking motor 14-2 and the 3rd servomotor 14-3 drives swinging up and down of scalable mechanical arm 14, the 4th servomotor 14-4 to drive
Circumferentially rotating of scalable mechanical arm 14, the 5th servomotor 14-5 drives the flexible of scalable mechanical arm 14, the 6th servo electricity
Machine 14-6 drives the rotation of CCD binocular camera 15 clamped by scalable mechanical arm 14.
As shown in figure 11, described drilling rod automatic butt system also includes that image pick-up card, industrial computer, PLC can perform control
Device and electro-hydraulic proportional valve；The photo of CCD binocular camera 15 shooting passes data to industrial computer by image pick-up card to be carried out
Processing, industrial computer drives PLC can perform the aperture of controller control electro-hydraulic proportional valve, thus the rotation of motor 2-1 is rotated,
Realize the outfan of electric rotating machine 2-1 and docking of stacks 13 to be changed.
A kind of coal-winning machine automatic job method based on machine vision and Multi-sensor Fusion, comprises the following steps:
Step A: coal-winning machine main body is delivered to operating position in tunnel by track conveyor structure, logical in moving process
Cross the infrared sensor 16 on borer frame 1 and obtain the distance of brill formula coal-winning machine and tunnel surrounding in real time, adjust coal-winning machine in real time
Conveying direction and the speed of main frame thus realize brill formula coal-winning machine walking navigation in tunnel；
Step B: adjust borer frame 1 by rig elevating mechanism 4 behind operating position in coal-winning machine main body arrival tunnel
Height to adapt to the exploitation of different coal；Borer frame 1 controls collateral support mechanism and realizes coal mining owner after being increased to work surface
The cross-brace of body is fixed, and then carries out seam mining；Drilling rod while electric rotating machine 2-1 drives work drilling rod 6 to rotate
Advance platform 3 to drive drilling rod rotary operation platform 2 laterally to advance with work drilling rod 6 to pierce in wall (coal seam)；Drill bit is adopted down
Coal transported by drilling rod, under coal fall behind transported by conveyer；
Step C: electric rotating machine 2-1 stall after work drilling rod 6 all creeps into coal seam, work drill steel support part 7 upstroke
Prop up work drilling rod 6；The outfan of electric rotating machine 2-1 disengages with work drilling rod 6, and drilling rod advances platform 3 to drive drilling rod to rotate work
Industry platform 2 is retracted in situ, and then carries out changing-over drilling rod；
Step D: the automatic transport of stacks 13 to be changed and the coaxial location with work drilling rod 6 thereof
As shown in Figure 10, stacks 13 to be changed is lifted on lifting hydraulic cylinder 11 by driving, send brill hydraulic cylinder 9 to promote and send brill
Stacks 13 to be changed is transported on borer frame 1 by platform 5, spacing when sending brill platform 5 to arrive limit switch 10 position
Switch 10 sends a signal to dsp processor and processes, and dsp processor controls to send brill hydraulic cylinder 9 that brill platform 5 will be sent to be parked in spacing
Switch at 10, it is achieved being accurately positioned of stacks 13 horizontal direction to be changed；Stacks 13 to be changed is adjusted by lifting hydraulic cylinder 11
Height, according to work drill steel support part 7 top offset sensor 12 record work drilling rod 6 vertical direction positional information, pass through
Dsp processor passes through the height of the feedback control stacks to be changed 13 of displacement transducer 12 while controlling lifting hydraulic cylinder 11,
Realize being accurately positioned of stacks 13 vertical direction to be changed；
Step E: stacks 13 to be changed docks with electric rotating machine 2-1 outfan
As shown in figure 12, after stacks 13 to be changed completes coaxially to position with work drilling rod 6, by CCD binocular camera
On 15 one group of stacks 13 to be changed of shooting, the photo of the first docking facilities 19, passes data to industrial computer by image pick-up card
Process, it is thus achieved that the circumferential position information of locating cylinder 20 on the first docking facilities 19 of stacks 13 to be changed, by scalable
Mechanical arm 14 adjusts the position of CCD binocular camera 15 and angle makes the first docking facilities 19 of stacks 13 to be changed be in image
Center position；Adjusted rear industrial computer drive PLC can perform controller control electro-hydraulic proportional valve aperture electricity is rotated
The rotation of machine 2-1, when CCD binocular camera 15 obtains on electric rotating machine 2-1 the circumferential position of locating cylinder 20 and treats changing-over
When on first docking facilities 19 of drilling rod 13, the circumferential position of locating cylinder 20 is consistent, electric rotating machine 2-1 stall, the most to be changed
Three-jaw shaggy block 19 on stacks 13 and the three-jaw shaggy block 19 on electric rotating machine 2-1 outfan are mutual of circumferencial direction
Join, it is achieved stacks 13 being accurately positioned at circumferencial direction to be changed；It is to be changed that drilling rod advances platform 3 to advance electric rotating machine 2-1 to complete
Stacks 13 docks with electric rotating machine 2-1 outfan；
Step F: stacks 13 to be changed docks with work drilling rod 6
When, after having docked of stacks 13 to be changed and electric rotating machine 2-1 outfan, industrial computer drives PLC can perform control
Device controls the aperture of electro-hydraulic proportional valve thus controls electric rotating machine 2-1 and rotate the angle contrary with step E in situ；Now treat
The central axis of locating cylinder 20 and the center of locating cylinder on work drilling rod 6 on changing-over drilling rod 13 second docking facilities 18
Axis is parallel, it is achieved stacks 13 to be changed and work drilling rod 6 being accurately positioned at circumferencial direction；Drilling rod advances platform 3 to push away
Enter drilling rod rotary operation platform 2 and complete stacks 13 to be changed and work the docking of drilling rod 6, thus creep into coal mining next time.
In the present invention, three-jaw shaggy block 19 docks the contact surface of fitting part and contacts distance relatively greatly, and run of steel is relatively
Short, rigidity is big, and real work will not occur to skid and depart from.Relying on during work and advance platform to provide thrust, docking facilities is all the time
Keep preferably docking.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion, it is characterised in that include mining
Owner's body, drilling rod automatic conveying system and drilling rod automatic butt system；
Wherein, described coal-winning machine main body includes that borer frame (1), collateral support mechanism, rig elevating mechanism (4), drilling rod rotate
Job platform (2), drilling rod advance platform (3), work drilling rod (6) and work drill steel support part (7), and coal-winning machine main body is at it
Move in the tunnel of work；
Borer frame (1) is arranged on rig elevating mechanism (4), and rig elevating mechanism (4) is used for supporting and adjusting borer frame
(1) height；Collateral support mechanism include two to survey supporting cylinder (8), every pair survey supporting cylinder (8) constitute two ends can
Flexible support bar；Two support bars are horizontally placed on both sides before and after borer frame (1) respectively, it is achieved borer frame (1)
Cross-brace is fixed；Drilling rod advances platform (3) to be arranged on borer frame (1), and drilling rod rotary operation platform (2) is arranged at drilling rod
Advance on platform (3)；Work drilling rod (6) level is connected with drilling rod rotary operation platform (2), at drilling rod rotary operation platform (2)
While driving work drilling rod (6) to rotate, drilling rod advances platform (3) to drive drilling rod rotary operation platform (2) and work drilling rod (6)
Laterally advance and pierce in wall；Work drill steel support part (7) is telescopically arranged on borer frame (1), in changing-over
Support works drilling rod (6) during drilling rod；
Described drilling rod automatic conveying system includes sending brill hydraulic cylinder (9), sending brill platform (5), stacks to be changed (13), raise-lower hydraulic
Cylinder (11) and dsp processor；Send brill platform (5) to be arranged at front side or the rear side of borer frame (1) along tunnel length direction, send
Bore platform (5) and send brill hydraulic cylinder (9) to be connected and send brill platform (5) along roadway moving by sending brill hydraulic cylinder (9) to promote；To be changed
Stacks (13) is arranged at by lifting hydraulic cylinder (11) horizontal cross and send on brill platform (5), and by lifting hydraulic cylinder (11)
Adjust the height of stacks to be changed (13)；It is provided with displacement sensing in work drill steel support part (7) and lifting hydraulic cylinder (11)
Device (12), borer frame (1) is provided with limit switch (10)；Displacement transducer (12) and limit switch (10) all with DSP at
Reason device is connected, and realizes stacks to be changed (13) and the same of drilling rod (6) that work by displacement transducer (12) and limit switch (10)
Axle positions；
Described drilling rod automatic butt system includes scalable mechanical arm (14) and CCD binocular camera (15), scalable mechanical arm
(14) being arranged on drilling rod rotary operation platform (2), the top of scalable mechanical arm (14) is clamped with CCD binocular camera
(15) automatic butt of stacks to be changed (13) and work drilling rod (6), is realized by vision localization.
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 1,
It is characterized in that, described coal-winning machine main body realizes the movement in tunnel, rig elevating mechanism (4) end by track conveyor structure
Portion is provided with skid, and borer frame (1) is arranged on the crawler belt of track conveyor structure by skid.
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 1,
It is characterized in that, the two ends on described borer frame (1) limit, the left and right sides are provided with infrared sensor (16).
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 1,
It is characterized in that, described drilling rod rotary operation platform (2) includes electric rotating machine (2-1) and motor support base (2-2), electric rotating machine
(2-1) it is installed on drilling rod by motor support base (2-2) to advance on platform (3).
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 4,
It is characterized in that, the quantity of described electric rotating machine (2-1) is identical with the quantity of work drilling rod (6), scalable mechanical arm (14)
Quantity is identical with the quantity of electric rotating machine (2-1).
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 4,
It is characterized in that, the butt end of described work drilling rod (6) and stacks to be changed (13) are all provided with near one end of electric rotating machine (2-1)
Being equipped with the first docking facilities (17), the outfan of electric rotating machine (2-1) and stacks to be changed (13) are near the one of work drilling rod (6)
End is provided with the second docking facilities (18)；Described first docking facilities (17) and the second docking facilities (18) are the most cylindrical,
And its outer face is provided with three-jaw shaggy block (19)；Described three-jaw shaggy block (19) is the most suitable, and the first docking facilities
And on the cylinder of the second docking facilities (18), be provided with three the most uniform locating cylinder (20) (17)；First
The central axis of the upper locating cylinder (20) of docking facilities (17) and the centerline axis parallel of projection in its three-jaw shaggy block (19),
The central axis of the upper locating cylinder (20) of the second docking facilities (18) and the central axis of concave block in its three-jaw shaggy block (19)
Parallel, and the central axis of the locating cylinder (20) at stacks to be changed (13) two ends is parallel to each other.
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 4,
It is characterized in that, described scalable mechanical arm (14) is installed on motor support base (2-2), and scalable mechanical arm (14) includes first
Servomotor (14-1), the second servomotor (14-2), the 3rd servomotor (14-3), the 4th servomotor (14-4), the 5th
Servomotor (14-5) and the 6th servomotor (14-6), the first servomotor (14-1) drives the water of scalable mechanical arm (14)
Flat turn is moved, and the second servomotor (14-2) and the 3rd servomotor (14-3) drive swinging up and down of scalable mechanical arm (14),
4th servomotor (14-4) drives circumferentially rotating of scalable mechanical arm (14), and the 5th servomotor (14-5) drives scalable
Stretching of mechanical arm (14), the 6th servomotor (14-6) drives CCD binocular camera clamped by scalable mechanical arm (14)
(15) rotation.
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 1,
It is characterized in that, described CCD binocular camera (15) has function nictation.
A kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion the most according to claim 4,
It is characterized in that, described drilling rod automatic butt system also includes that image pick-up card, industrial computer, PLC can perform controller and electro-hydraulic
Proportioning valve；The photo that CCD binocular camera (15) shoots passes data to industrial computer by image pick-up card and processes, work
Control machine drives PLC can perform the aperture of controller control electro-hydraulic proportional valve, thus the rotation of motor (2-1) is rotated, it is achieved
Electric rotating machine (2-1) outfan docks with stacks to be changed (13).
10. a coal-winning machine automatic job method based on machine vision and Multi-sensor Fusion, it is characterised in that include following
Step:
Step A: by track conveyor structure, coal-winning machine main body is delivered to operating position in tunnel, by boring in moving process
Infrared sensor (16) in machine frame (1) obtains the distance of brill formula coal-winning machine and tunnel surrounding, adjusts coal-winning machine main frame in real time
Conveying direction and speed thus realize brill formula coal-winning machine walking navigation in tunnel；
Step B: adjust borer frame (1) by rig elevating mechanism (4) behind operating position in coal-winning machine main body arrival tunnel
Height；Borer frame (1) controls collateral support mechanism and realizes the cross-brace of coal-winning machine main body and fix after rising to work surface, enter
And carry out seam mining；While electric rotating machine (2-1) drives work drilling rod (6) to rotate, drilling rod advances platform (3) to drive brill
Bar rotary operation platform (2) laterally advances with work drilling rod (6) and pierces in wall；
Step C: electric rotating machine (2-1) stall after coal seam is all crept in work drilling rod (6), by work drill steel support part (7)
Support work drilling rod (6)；The outfan of electric rotating machine (2-1) disengages with work drilling rod (6), and drilling rod advances platform (3) to drive drilling rod
Rotary operation platform (2) is retracted in situ, and then carries out changing-over drilling rod；
Step D: stacks to be changed (13) is lifted on lifting hydraulic cylinder (11) by driving, send brill hydraulic cylinder (9) to promote and send brill flat
Stacks to be changed (13) is transported on borer frame (1) by platform (5), in place when sending brill platform (5) to arrive limit switch (10) institute
When putting, limit switch (10) sends a signal to dsp processor and processes, and dsp processor controls to send brill hydraulic cylinder (9) will send brill
Platform (5) is parked in limit switch (10) place, it is achieved being accurately positioned of stacks to be changed (13) horizontal direction；Pass through lifting hydraulic cylinder
(11) height of stacks to be changed (13) is adjusted, the work recorded according to work drill steel support part (7) top offset sensor (12)
Drilling rod (6) vertical direction positional information, passes through displacement transducer while controlling lifting hydraulic cylinder (11) by dsp processor
(12) height of feedback control stacks to be changed (13), it is achieved being accurately positioned of stacks to be changed (13) vertical direction；
Step E: after stacks to be changed (13) completes coaxially to position with work drilling rod (6), is clapped by CCD binocular camera (15)
Take the photograph the photo of one group of upper first docking facilities of stacks to be changed (13) (17), pass data to industrial computer by image pick-up card
Process, it is thus achieved that the circumferential position information of the upper locating cylinder (20) of first docking facilities (17) of stacks to be changed (13), pass through
Scalable mechanical arm (14) adjusts the position of CCD binocular camera (15) and angle makes the first of stacks to be changed (13) to tipping
Put (17) and be in the center position of image；Having adjusted rear industrial computer drives PLC can perform controller control electro-hydraulic proportional valve
Aperture is rotated the rotation of motor (2-1), when CCD binocular camera (15) obtains the upper locating cylinder of electric rotating machine (2-1)
(20) circumferential position of circumferential position locating cylinder (20) upper with stacks (13) first docking facilities (17) to be changed is consistent
Time, electric rotating machine (2-1) stall, drilling rod advances platform (3) to advance electric rotating machine (2-1) to complete stacks to be changed (13) and rotate
The docking of motor (2-1) outfan；
Step F: when, after having docked of stacks to be changed (13) and electric rotating machine (2-1) outfan, industrial computer drives PLC to hold
Line control unit controls the aperture of electro-hydraulic proportional valve thus controls electric rotating machine (2-1) and rotate the angle contrary with step E to former
Position；The central axis of the upper locating cylinder (20) of stacks (13) second docking facilities (18) the most to be changed and work drilling rod (6)
The central axis of upper locating cylinder is parallel, it is achieved stacks to be changed (13) and the drilling rod (6) essence at circumferencial direction that works
Determine position；Drilling rod advances platform (3) to advance drilling rod rotary operation platform (2) to complete stacks to be changed (13) and work drilling rod (6)
Docking, thus creep into coal mining next time.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020422.0A CN106321098B (en) | 2016-11-18 | 2016-11-18 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
| AU2017359769A AU2017359769B2 (en) | 2016-11-18 | 2017-11-08 | System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine |
| PCT/CN2017/109928 WO2018090859A1 (en) | 2016-11-18 | 2017-11-08 | System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine |
| RU2018132819A RU2681006C1 (en) | 2016-11-18 | 2017-11-08 | Automatic control system of a cutting machine and control method based on machine vision and sensors interaction |
| DE112017000534.5T DE112017000534B4 (en) | 2016-11-18 | 2017-11-08 | Machine vision and multi-sensor fusion based automatic operation method for a coal mining machine and associated process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020422.0A CN106321098B (en) | 2016-11-18 | 2016-11-18 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
Publications (2)
| Publication Number | Publication Date |
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| CN106321098A true CN106321098A (en) | 2017-01-11 |
| CN106321098B CN106321098B (en) | 2018-03-16 |
Family
ID=57816691
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611020422.0A Active CN106321098B (en) | 2016-11-18 | 2016-11-18 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN106321098B (en) |
| AU (1) | AU2017359769B2 (en) |
| DE (1) | DE112017000534B4 (en) |
| RU (1) | RU2681006C1 (en) |
| WO (1) | WO2018090859A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018090859A1 (en) * | 2016-11-18 | 2018-05-24 | 中国矿业大学 | System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine |
| CN109598710A (en) * | 2018-11-29 | 2019-04-09 | 中国科学院重庆绿色智能技术研究院 | A kind of coal mine drill pipe automatic counting method and system |
| CN110718136A (en) * | 2017-09-20 | 2020-01-21 | 李敏 | Industrial robot's teaching device |
| CN112855142A (en) * | 2021-01-20 | 2021-05-28 | 山东科技大学 | Mobile inspection type float coal cleaning system and working method thereof |
| CN113753504A (en) * | 2021-09-28 | 2021-12-07 | 中国矿业大学 | Spiral coal conveying device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110513059A (en) * | 2019-10-08 | 2019-11-29 | 安徽理工大学 | A kind of all-hydraulic coal mine drilling machine lever apparatus and method up and down automatically |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106321098B (en) | 2018-03-16 |
| AU2017359769A1 (en) | 2018-08-23 |
| DE112017000534T5 (en) | 2018-10-18 |
| DE112017000534B4 (en) | 2021-02-04 |
| AU2017359769B2 (en) | 2019-11-21 |
| RU2681006C1 (en) | 2019-03-01 |
| WO2018090859A1 (en) | 2018-05-24 |
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