CN106321098B - A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion - Google Patents
A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion Download PDFInfo
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- CN106321098B CN106321098B CN201611020422.0A CN201611020422A CN106321098B CN 106321098 B CN106321098 B CN 106321098B CN 201611020422 A CN201611020422 A CN 201611020422A CN 106321098 B CN106321098 B CN 106321098B
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- 230000004927 fusion Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005553 drilling Methods 0.000 claims abstract description 156
- 239000003245 coal Substances 0.000 claims abstract description 26
- 241001074085 Scophthalmus aquosus Species 0.000 claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 238000005065 mining Methods 0.000 claims abstract description 13
- 238000003032 molecular docking Methods 0.000 claims description 42
- 230000007246 mechanism Effects 0.000 claims description 26
- 230000003028 elevating effect Effects 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 239000012530 fluid Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 3
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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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Abstract
The invention discloses a kind of coal-winning machine automatic operating system and method 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, drilling rod automatic conveying system bores platform along roadway moving by sending brill Hydraulic Cylinder to send, stacks to be changed is adjusted by lifting hydraulic cylinder and is sending the height bored on platform, the coaxial positioning of stacks to be changed and the drilling rod that works is realized by displacement transducer and limit switch；Drilling rod automatic butt system adjusts position and the angle of CCD binocular cameras by scalable mechanical arm, adjusts circumferential position of the stacks to be changed relative to work drilling rod by electric rotating machine, and realize that stacks to be changed docks with work drilling rod by vision positioning.The present invention has higher integrated level and automaticity, can realize the automatic changing-over of drilling rod and unattended operation in the course of work, effectively increases coal mining activity efficiency, reliable operation and cost-effective.
Description
Technical field
The present invention relates to a kind of underground coal mine to bore formula coal-winning machine control system, and in particular to a kind of based on machine vision and more
The coal-winning machine automatic operating system and method for sensor fusion.
Background technology
China it is thin with ultra-thin coal seam rich reserves, it is widely distributed but thin at this stage with ultra-thin coal seam mining machines degree
Relatively low, it is a kind of special purpose machinery for the thin exploitation with ultra-thin coal seam to bore formula coal-winning machine, due to its short fuselage, it is high-power the advantages that
It is used widely, and bores formula coal mining driver drilling rod at this stage and still lifted by crane using monorail crane, artificial docking, and need to be by by ratchet
Docking for drilling rod could be completed by being adjusted with the micro-adjusting mechanism of hydraulic cylinder composition, and control accuracy is low, handling drilling rod time length, greatly
Reduce coal mining efficiency greatly.In addition, the research both at home and abroad to boring the control of formula coal-winning machine automated job is few, adopted with underground coal mine
The equipment such as coal machine, development machine are low compared to mechanization degree.The recovery ratio of coal is low in the brill formula coal-winning machine course of work, energy expenditure
Greatly, to the thin significant wastage that resource, personnel and equipment are caused with ultra-thin coal seam exploitation.
Therefore, those skilled in the art are directed to developing a kind of coal-winning machine based on machine vision and Multi-sensor Fusion certainly
Dynamic operating system, can realize the automatic changing-over of drilling rod and unattended operation in the course of work, with higher integrated level and certainly
Dynamicization degree.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of based on machine vision and more
The coal-winning machine automatic operating system and method for sensor fusion, have higher integrated level and automaticity, can realize work
The automatic changing-over of drilling rod and unattended operation during work, effectively improve coal mining activity efficiency, reliable operation and cost-effective.
Technical scheme：To achieve the above object, the technical solution adopted by 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, the coal-winning machine main body includes borer frame, collateral support mechanism, rig elevating mechanism, drilling rod rotation work
Industry platform, drilling rod promote platform, work drilling rod and work drill steel support part, and coal-winning machine main body moves in the tunnel of its work
It is dynamic；
Borer frame is horizontally placed on rig elevating mechanism, and rig elevating mechanism is used to support and adjust borer frame
Highly；Collateral support mechanism includes two offside supporting cylinders, and each pair side supporting cylinder forms a telescopic support in both ends
Bar；Two support bars are horizontally placed on the front and rear sides of borer frame respectively, realize that the cross-brace of borer frame is fixed；Drilling rod
Platform is promoted to be arranged on borer frame, drilling rod rotary operation platform is arranged at drilling rod and promoted on platform；The drilling rod that works it is horizontal with
Drilling rod rotary operation platform is connected, and drilling rod promotes platform to drive while drilling rod rotary operation platform drives the rotation of work drilling rod
Drilling rod rotary operation platform is laterally promoted with work drilling rod and pierced in wall；Work drill steel support part is telescopically arranged in brill
In machine frame, for the support works drilling rod in changing-over drilling rod；
The drilling rod automatic conveying system include send drilling fluid cylinder pressure, send bore platform, stacks to be changed, lifting hydraulic cylinder and
DSP Processor (digital signal processor)；Send and bore front side or rear side that platform is arranged at borer frame along tunnel length direction,
Send and bore platform with sending drilling fluid cylinder pressure to be connected and boring platform along roadway moving by sending brill Hydraulic Cylinder to send；Stacks to be changed passes through
Lifting hydraulic cylinder horizontal cross is arranged to send and bored on platform, and the height of stacks to be changed is adjusted by lifting hydraulic cylinder；Work
Displacement transducer is provided with drill steel support part and lifting hydraulic cylinder, and limit switches are set on borer frame；Displacement passes
Sensor is connected with limit switch with DSP Processor, and the adjustment of stacks to be changed is realized by displacement transducer and limit switch
Positioning is extremely coaxial with work drilling rod；
The drilling rod automatic butt system includes scalable mechanical arm and CCD (charge coupling device) binocular camera, can
Telescopic mechanical arm is arranged on drilling rod rotary operation platform, and the top of scalable mechanical arm is clamped with CCD binocular cameras；Pass through
Electric rotating machine adjusts the circumferential position of stacks to be changed relative to work drilling rod, and by vision positioning realize stacks to be changed with
The automatic butt of work drilling rod.
Preferably, the 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 at by skid on the crawler belt of track conveyor structure.
Preferably, the both ends of the borer frame left and right sides are provided with infrared sensor, pass through infrared sensor
Brill formula coal-winning machine and the distance of tunnel surrounding are obtained in real time, ensure that the security of coal-winning machine movement.
Preferably, the drilling rod rotary operation platform includes electric rotating machine and motor support base, and electric rotating machine passes through motor branch
Seat is installed on drilling rod and promoted on platform.
Preferably, the quantity of the electric rotating machine is identical with the quantity for the drilling rod that works, the quantity of scalable mechanical arm and rotation
The quantity of rotating motor is identical, corresponds each other.
Preferably, work the butt end of drilling rod and stacks to be changed is provided with the first docking close to one end of electric rotating machine
Device, the output end of electric rotating machine and stacks to be changed are provided with the second docking facilities close to one end of work drilling rod；It is described
First docking facilities and the second docking facilities are cylindrical, and its outer face is provided with three-jaw shaggy block；The three-jaw is recessed
Projection is adapted two-by-two, and be provided with the cylinder of the first docking facilities and the second docking facilities three it is along the circumferential direction uniform
Locating cylinder；The central axis of the central axis of locating cylinder and projection in its three-jaw shaggy block on first docking facilities
It is 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 both ends to be changed is parallel to each other.The docking facilities can realize that random working angle bores
The slitless connection of bar.
Preferably, the 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 horizontally rotating for scalable mechanical arm, and the second servomotor and the 3rd servomotor drive the upper and lower of scalable mechanical arm
Swing, the 4th servomotor drives circumferentially rotating for scalable mechanical arm, and the 5th servomotor drives stretching for scalable mechanical arm
Contracting, the 6th servomotor drive the rotation of CCD binocular cameras clamped by scalable mechanical arm.
Preferably, the CCD binocular cameras have blink function, and the ash in the course of work is avoided by discontinuity blink
Dirt blocks CCD binocular cameras.
Preferably, the drilling rod automatic butt system also includes image pick-up card, industrial computer, PLC (Programmable logical controllers
Device) it can perform controller and electro-hydraulic proportional valve；The photo of CCD binocular cameras shooting is passed data to by image pick-up card
Industrial computer is handled, and industrial computer driving PLC can perform the aperture of controller control electro-hydraulic proportional valve, so as to drive electric rotating machine
Rotation, realize the output end of electric rotating machine and docking for 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 by operating position in tunnel by track conveyor structure, led in moving process
The infrared sensor crossed on borer frame obtains the distance of brill formula coal-winning machine and tunnel surrounding in real time, adjusts coal mining machine host in real time
Conveying direction and speed so as to realizing walking navigation of the brill formula coal-winning machine in tunnel；
Step B：Coal-winning machine main body reaches in tunnel and adjusts borer frame by rig elevating mechanism behind operating position
Height is to adapt to the exploitation of different coal；Borer frame controls collateral support mechanism to realize coal-winning machine main body after being increased to working face
Cross-brace fix, and then carry out seam mining；Drilling rod promotes platform while electric rotating machine drives the rotation of work drilling rod
Drive drilling rod rotary operation platform laterally to promote with work drilling rod to pierce in wall；Coal under drill bit is adopted is transported by drilling rod,
Backwardness is transported by conveyer under coal；
Step C：Electric rotating machine stalls after the drilling rod that works all creeps into coal seam, and work drill steel support part, which rises, supports work
Make drilling rod；The output end of electric rotating machine disengages with work drilling rod, and drilling rod promotes platform to drive drilling rod rotary operation platform to be retracted into
Original position, and then carry out changing-over drilling rod；
Step D：Stacks to be changed is lifted on lifting hydraulic cylinder by driving a vehicle, and send brill Hydraulic Cylinder to send brill platform will be to be changed
Stacks is transported on borer frame, and when sending brill platform to reach limit switch position, limit switch sends a signal to DSP
Processor is handled, and DSP Processor control send drilling fluid cylinder pressure that brill platform will be sent to be parked at limit switch, realizes stacks to be changed
Horizontal direction is accurately positioned；The height of stacks to be changed is adjusted by lifting hydraulic cylinder, it is 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, realizes being accurately positioned for stacks vertical direction to be changed；
Step E：After stacks to be changed completes coaxial positioning with work drilling rod, one group is shot by CCD binocular cameras
The photo of first docking facilities on stacks to be changed, industrial computer is passed data to by image pick-up card and handled, is obtained to be changed
The circumferential position information of locating cylinder on the docking facilities of stacks first, CCD binocular camera shootings are adjusted 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；Industrial computer drives after the completion of adjustment
Dynamic PLC can perform the rotation of the aperture drive electric rotating machine of controller control electro-hydraulic proportional valve, when CCD binocular cameras are revolved
The circumferential position of the circumferential position of locating cylinder and locating cylinder on the first docking facilities of stacks to be changed on rotating motor
When consistent, electric rotating machine stalls, now the three-jaw shaggy block on the docking facilities of stacks first to be changed and electric rotating machine output end
On three-jaw shaggy block be mutually matched in circumferencial direction, realize stacks to be changed being accurately positioned in circumferencial direction；Drilling rod promotes
Platform propulsion electric rotating machine completion stacks to be changed docks with electric rotating machine output end；
Step F：After the completion of the docking of stacks to be changed and electric rotating machine output end, the executable controls of industrial computer driving PLC
The aperture of device processed control electro-hydraulic proportional valve is so as to controlling electric rotating machine to rotate the angle opposite with step E to original position；Now treat
The central axis of the central axis of locating cylinder and locating cylinder on work drilling rod is on the docking facilities of changing-over drilling rod second
Parallel, realize stacks to be changed and drilling rod being accurately positioned in circumferencial direction that work；Drilling rod promotes platform to promote drilling rod rotation
Job platform completion stacks to be changed docks with work drilling rod, so as to be crept into coal mining next time.
Beneficial effect：A kind of coal-winning machine automatic job system based on machine vision and Multi-sensor Fusion provided by the invention
System and method, relative to prior art, have advantages below：1st, there is higher integrated level and automaticity, work safety
Reliable and saving manpower；2nd, using machine vision and multi-sensor fusion technology, realize brill formula coal-winning machine walk, creep into, change brill,
Operation integration, shorten brill formula coal-winning machine and change the time for boring operation, substantially increase thin and ultra-thin coal seam production efficiency, section
About cost.
Brief description of the drawings
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：1st, borer frame, 2, drilling rod rotary operation platform, 3, drilling rod promote platform, 4, rig elevating mechanism,
5th, brill platform is sent, 6, work drilling rod, 7, work drill steel support part, 8, side supporting cylinder, 9, send drilling fluid cylinder pressure, 10, spacing open
Close, 11, lifting hydraulic cylinder, 12, displacement transducer, 13, stacks to be changed, 14, scalable mechanical arm, 15, CCD binocular camera shootings
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.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the present invention.
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, the coal-winning machine main body includes borer frame 1, collateral support mechanism, rig elevating mechanism 4, drilling rod rotation
Job platform 2, drilling rod promote 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
Moved in the tunnel of work；
Borer frame 1 is horizontally placed on rig elevating mechanism 4, and rig elevating mechanism 4 is used to support and adjust rig machine
The height of frame 1；Collateral support mechanism includes two offside supporting cylinders 8, and it is scalable that each pair side supporting cylinder 8 forms a both ends
Support bar；Two support bars are horizontally placed on the front and rear sides of borer frame 1 respectively, realize the cross-brace of borer frame 1
It is fixed；Drilling rod promotes platform 3 to be arranged on borer frame 1, and drilling rod rotary operation platform 2 is arranged at drilling rod and promoted on platform 3；Work
Make the level of drilling rod 6 with drilling rod rotary operation platform 2 to be connected, while drilling rod rotary operation platform 2 drives work drilling rod 6 to rotate
Drilling rod promotes platform 3 to drive drilling rod rotary operation platform 2 laterally to be promoted with work drilling rod 6 and pierced in wall；Work drilling rod branch
Support member 7 is telescopically arranged on borer frame 1, for being used for support works drilling rod 6 in changing-over drilling rod；
The drilling rod automatic conveying system includes sending drilling fluid cylinder pressure 9, send and bore platform 5, stacks to be changed 13, lifting hydraulic cylinder
11 and DSP Processor；Send and bore the rear side that platform 5 is arranged at borer frame 1 along tunnel length direction, send and bore platform 5 and send drilling fluid
Cylinder pressure 9 is connected and send brill platform 5 along roadway moving by sending drilling fluid cylinder pressure 9 to promote；Stacks 13 to be changed passes through lifting hydraulic cylinder
11 horizontal cross are arranged to send and bored on platform 5, and the height of stacks 13 to be changed is adjusted by lifting hydraulic cylinder 11；Work drilling rod
Displacement transducer 12 is provided with support member 7 and lifting hydraulic cylinder 11, limit switches 10 are set on borer frame 1；Such as Fig. 9
Shown, displacement transducer 12 is connected with limit switch 10 with DSP Processor, real by displacement transducer 12 and limit switch 10
The coaxial positioning of existing stacks 13 to be changed and the drilling rod 6 that works；
The drilling rod automatic butt system includes three scalable mechanical arms 14 and three CCD binoculars with blink function
Video camera 15, scalable mechanical arm 14 are arranged on drilling rod rotary operation platform 2, and the top of scalable mechanical arm 14 is clamped with
CCD binocular cameras 15, the automatic butt of stacks 13 to be changed and the drilling rod 6 that works is realized by vision positioning.
In the present embodiment, the coal-winning machine main body realizes the movement in tunnel, rig lifting by track conveyor structure
The bottom of mechanism 4 is provided with skid, and borer frame 1 is arranged at by skid on the crawler belt of track conveyor structure；The borer frame 1
The both ends of left and right sides are provided with infrared sensor 16.
In the present embodiment, the 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 promoted on platform 3.
As shown in Fig. 5,6,7, the butt end for the drilling rod 6 that works and stacks to be changed 13 are equal close to electric rotating machine 2-1 one end
The first docking facilities 19, electric rotating machine 2-1 output end and stacks to be changed 13 is provided with to be all provided with close to one end of work drilling rod 6
It is equipped with the second docking facilities 18；The docking facilities 18 of first docking facilities 19 and second are cylindrical, and its outer face is equal
It is provided with three-jaw shaggy block 19；The three-jaw shaggy block 19 is adapted two-by-two, and the first docking facilities 19 and the second docking facilities
Three along the circumferential direction uniform locating cylinders 20 are provided with 18 cylinder；Locating cylinder on first docking facilities 19
The centerline axis parallel of projection in 20 central axis and its three-jaw shaggy block 19, locating cylinder 20 on the second docking facilities 18
Central axis and its three-jaw shaggy block 19 in concave block centerline axis parallel, and the locating cylinder at the both ends of stacks to be changed 13
20 central axis is parallel to each other.
As shown in figure 8, the scalable mechanical arm 14 is installed on motor support base 2-2, scalable mechanical arm 14 includes the
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 for scalable mechanical arm 14, and second watches
Take motor 14-2 and the 3rd servomotor 14-3 and drive swinging up and down for scalable mechanical arm 14, the 4th servomotor 14-4 drivings
Scalable mechanical arm 14 circumferentially rotates, and 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 cameras 15 clamped by scalable mechanical arm 14.
As shown in figure 11, the drilling rod automatic butt system also includes the executable control of image pick-up card, industrial computer, PLC
Device and electro-hydraulic proportional valve；The photo that CCD binocular cameras 15 are shot passes data to industrial computer by image pick-up card and carried out
Processing, industrial computer driving PLC can perform the aperture of controller control electro-hydraulic proportional valve, so as to drive electric rotating machine 2-1 rotation,
Realize electric rotating machine 2-1 output end and docking for 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 by operating position in tunnel by track conveyor structure, led in moving process
The infrared sensor 16 crossed on borer frame 1 obtains the distance of brill formula coal-winning machine and tunnel surrounding in real time, adjusts coal-winning machine in real time
The conveying direction of main frame and speed are so as to realizing walking navigation of the brill formula coal-winning machine in tunnel；
Step B：Coal-winning machine main body reaches in tunnel and adjusts borer frame 1 by rig elevating mechanism 4 behind operating position
Height to adapt to the exploitation of different coal；Borer frame 1 controls collateral support mechanism to realize coal mining owner after being increased to working face
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
Promote platform 3 to drive drilling rod rotary operation platform 2 laterally to promote with work drilling rod 6 to pierce in wall (coal seam)；Drill bit is adopted down
Coal transported by drilling rod, under coal backwardness transported by conveyer；
Step C：The electric rotating machine 2-1 stallings after drilling rod 6 that works all creeps into coal seam, the ascending branch of work drill steel support part 7
Prop up work drilling rod 6；Electric rotating machine 2-1 output end disengages with work drilling rod 6, and drilling rod promotes platform 3 to drive drilling rod rotation to make
Industry platform 2 is retracted into original position, and then carries out changing-over drilling rod；
Step D：The automatic transport of stacks 13 to be changed and its coaxial positioning with the drilling rod 6 that works
As shown in Figure 10, stacks 13 to be changed is lifted on lifting hydraulic cylinder 11 by driving, is sent drilling fluid cylinder pressure 9 to promote and is sent brill
Stacks 13 to be changed is transported on borer frame 1 by platform 5, spacing when sending brill platform 5 to reach 10 position of limit switch
Switch 10 sends a signal to DSP Processor and handled, and it is spacing that DSP Processor control send drilling fluid cylinder pressure 9 that brill platform 5 will be sent to be parked in
Switch at 10, realize being accurately positioned for the horizontal direction of stacks 13 to be changed；Stacks 13 to be changed is adjusted by lifting hydraulic cylinder 11
Height, the vertical direction positional information of work drilling rod 6 recorded according to the upper displacement sensor 12 of work drill steel support part 7, pass through
By the height of the feedback control stacks 13 to be changed of displacement transducer 12 while DSP Processor controls lifting hydraulic cylinder 11,
Realize being accurately positioned for the vertical direction of stacks 13 to be changed；
Step E：Stacks 13 to be changed docks with electric rotating machine 2-1 output ends
As shown in figure 12, after stacks 13 to be changed completes coaxial positioning with work drilling rod 6, CCD binocular cameras are passed through
The photo of the first docking facilities 19, industrial computer is passed data to by image pick-up card on 15 one group of stacks 13 to be changed of shooting
Processing, the circumferential position information of locating cylinder 20 on the first docking facilities 19 of stacks 13 to be changed is obtained, by scalable
Mechanical arm 14, which adjusts the position of CCD binocular cameras 15 and angle, makes the first docking facilities 19 of stacks 13 to be changed be in image
Center position；Industrial computer driving PLC can perform the aperture drive electric rotating of controller control electro-hydraulic proportional valve after the completion of adjustment
Machine 2-1 rotation, when CCD binocular cameras 15 obtain the circumferential position of locating cylinder 20 on electric rotating machine 2-1 and treat changing-over
When the circumferential position of locating cylinder 20 is consistent on first docking facilities 19 of drilling rod 13, electric rotating machine 2-1 stallings are now to be changed
Three-jaw shaggy block 19 on stacks 13 and the three-jaw shaggy block 19 in electric rotating machine 2-1 output ends are in mutual of circumferencial direction
Match somebody with somebody, realize being accurately positioned in circumferencial direction of stacks 13 to be changed；It is to be changed that drilling rod promotes platform 3 to promote electric rotating machine 2-1 to complete
Stacks 13 docks with electric rotating machine 2-1 output ends；
Step F：Stacks 13 to be changed docks with work drilling rod 6
After the completion of the docking of stacks 13 to be changed and electric rotating machine 2-1 output ends, the executable controls of industrial computer driving PLC
The aperture of device control electro-hydraulic proportional valve is so as to controlling electric rotating machine 2-1 to rotate the angle opposite with step E to original position；Now treat
The center of the central axis of locating cylinder 20 and locating cylinder on work drilling rod 6 on the docking facilities 18 of changing-over drilling rod 13 second
Axis is parallel, realizes stacks 13 to be changed and being accurately positioned in circumferencial direction of drilling rod 6 that work；Drilling rod promotes platform 3 to push away
Enter drilling rod rotary operation platform 2 and complete stacks 13 to be changed and docked with the drilling rod 6 that works, so as to being crept into coal mining next time.
In the present invention three-jaw shaggy block 19 dock fitting part contact surface and contact it is in larger distance, and run of steel compared with
Short, rigidity is big, and real work will not skid and depart from.By promoting platform to provide thrust during work, docking facilities are all the time
Keep preferably docking.
Described 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 member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion, it is characterised in that including mining
Owner's body, drilling rod automatic conveying system and drilling rod automatic butt system；
Wherein, the coal-winning machine main body includes borer frame (1), collateral support mechanism, rig elevating mechanism (4), drilling rod rotation
Job platform (2), drilling rod promote platform (3), work drilling rod (6) and work drill steel support part (7), and coal-winning machine main body is at it
Moved in the tunnel of work；
Borer frame (1) is arranged on rig elevating mechanism (4), and rig elevating mechanism (4) is used to support and adjust borer frame
(1) height；Collateral support mechanism includes two offside supporting cylinders (8), and each pair side supporting cylinder (8) forms a both ends can
Flexible support bar；Two support bars are horizontally placed on the front and rear sides of borer frame (1) respectively, realize borer frame (1)
Cross-brace is fixed；Drilling rod promotes platform (3) to be arranged on borer frame (1), and drilling rod rotary operation platform (2) is arranged at drilling rod
Promote on platform (3)；Work drilling rod (6) is horizontal to be connected with drilling rod rotary operation platform (2), in drilling rod rotary operation platform (2)
Drilling rod promotes platform (3) to drive drilling rod rotary operation platform (2) and work drilling rod (6) while driving work drilling rod (6) rotation
Laterally promote 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；
The drilling rod automatic conveying system includes sending drilling fluid cylinder pressure (9), send and bore platform (5), stacks to be changed (13), raise-lower hydraulic
Cylinder (11) and DSP Processor；Send and bore front side or rear side that platform (5) is arranged at borer frame (1) along tunnel length direction, send
Platform (5) is bored with sending drilling fluid cylinder pressure (9) to be connected and sending brill platform (5) along roadway moving by sending drilling fluid cylinder pressure (9) to promote；It is to be changed
Stacks (13) is arranged to send by lifting hydraulic cylinder (11) horizontal cross and bored on platform (5), and passes through lifting hydraulic cylinder (11)
Adjust the height of stacks to be changed (13)；Displacement sensing is provided with work drill steel support part (7) and lifting hydraulic cylinder (11)
Device (12), limit switches (10) are set on borer frame (1)；Displacement transducer (12) and limit switch (10) with DSP
Reason device is connected, and stacks to be changed (13) and the same of drilling rod (6) that work are realized by displacement transducer (12) and limit switch (10)
Axle positions；
The drilling rod automatic butt system includes scalable mechanical arm (14) and CCD binocular cameras (15), scalable mechanical arm
(14) it is arranged on drilling rod rotary operation platform (2), the top of scalable mechanical arm (14) is clamped with CCD binocular cameras
(15) automatic butt of stacks to be changed (13) and the drilling rod (6) that works, is realized by vision positioning.
2. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 1,
Characterized in that, the coal-winning machine main body realizes the movement in tunnel, rig elevating mechanism (4) bottom by track conveyor structure
Portion is provided with skid, and borer frame (1) is arranged at by skid on the crawler belt of track conveyor structure.
3. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 1,
Characterized in that, the both ends of borer frame (1) left and right sides are provided with infrared sensor (16).
4. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 1,
Characterized in that, the drilling rod rotary operation platform (2) includes electric rotating machine (2-1) and motor support base (2-2), electric rotating machine
(2-1) is installed on drilling rod by motor support base (2-2) and promoted on platform (3).
5. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 4,
Characterized in that, the quantity of the 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).
6. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 4,
Characterized in that, the butt end of the work drilling rod (6) and stacks to be changed (13) are all provided with close to one end of electric rotating machine (2-1)
The first docking facilities (17) are equipped with, the output end and stacks to be changed (13) of electric rotating machine (2-1) are close to the one of work drilling rod (6)
End is provided with the second docking facilities (18)；First docking facilities (17) and the second docking facilities (18) are cylindrical,
And its outer face is provided with three-jaw shaggy block (19)；The three-jaw shaggy block (19) is adapted two-by-two, and the first docking facilities
(17) three along the circumferential direction uniform locating cylinders (20) and on the cylinder of the second docking facilities (18) are provided with；First
The centerline axis parallel of the central axis of locating cylinder (20) and projection in its three-jaw shaggy block (19) on docking facilities (17),
The central axis of locating cylinder (20) and the central axis of concave block in its three-jaw shaggy block (19) on second docking facilities (18)
It is parallel, and the central axis of the locating cylinder (20) at stacks to be changed (13) both ends is parallel to each other.
7. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 4,
Characterized in that, the scalable mechanical arm (14) is installed on motor support base (2-2), 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) drive 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 for scalable mechanical arm (14),
4th servomotor (14-4) drives circumferentially rotating for scalable mechanical arm (14), and the 5th servomotor (14-5) drives scalable
Flexible, the CCD binocular cameras clamped by the scalable mechanical arm (14) of the 6th servomotor (14-6) driving of mechanical arm (14)
(15) rotation.
8. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 1,
Characterized in that, the CCD binocular cameras (15) have blink function.
9. a kind of coal-winning machine automatic operating system based on machine vision and Multi-sensor Fusion according to claim 4,
Characterized in that, the drilling rod automatic butt system, which also includes image pick-up card, industrial computer, PLC, can perform controller and electro-hydraulic
Proportioning valve；The photo of CCD binocular cameras (15) shooting passes data to industrial computer by image pick-up card and handled, work
Control machine driving PLC can perform the aperture of controller control electro-hydraulic proportional valve, so as to drive electric rotating machine (2-1) rotation, realize
Electric rotating machine (2-1) output end is docked with stacks to be changed (13).
A kind of 10. coal-winning machine automatic job method based on machine vision and Multi-sensor Fusion, it is characterised in that including following
Step：
Step A：Coal-winning machine main body is delivered to by operating position in tunnel by track conveyor structure, passes through brill in moving process
Infrared sensor (16) in machine frame (1) obtains brill formula coal-winning machine and the distance of tunnel surrounding, adjusts coal mining machine host in real time
Conveying direction and speed so as to realizing walking navigation of the brill formula coal-winning machine in tunnel；
Step B：Coal-winning machine main body reaches in tunnel and adjusts borer frame (1) by rig elevating mechanism (4) behind operating position
Height；Borer frame (1) controls collateral support mechanism to realize that the cross-brace of coal-winning machine main body is fixed after rising to working face, enters
And carry out seam mining；Drilling rod promotes platform (3) to drive and bored while electric rotating machine (2-1) drives work drilling rod (6) rotation
Bar rotary operation platform (2) is laterally promoted with work drilling rod (6) and pierced in wall；
Step C：Electric rotating machine (2-1) stalling, is propped up by work drill steel support part (7) after the drilling rod (6) that works all creeps into coal seam
Support work drilling rod (6)；The output end of electric rotating machine (2-1) disengages with work drilling rod (6), and drilling rod promotes platform (3) to drive drilling rod
Rotary operation platform (2) is retracted into original position, and then carries out changing-over drilling rod；
Step D：Stacks (13) to be changed is lifted on lifting hydraulic cylinder (11) by driving, is sent drilling fluid cylinder pressure (9) to promote and is sent brill flat
Stacks to be changed (13) is transported on borer frame (1) by platform (5), and platform (5) arrival limit switch (10) institute is bored in place when sending
Limit switch (10) sends a signal to DSP Processor and handled when putting, and DSP Processor control send drilling fluid cylinder pressure (9) to send brill
Platform (5) is parked in limit switch (10) place, realizes being accurately positioned for stacks to be changed (13) horizontal direction；Pass through lifting hydraulic cylinder
(11) height of stacks (13) to be changed, the work recorded according to work drill steel support part (7) upper displacement sensor (12) are adjusted
Drilling rod (6) vertical direction positional information, pass through displacement transducer while controlling lifting hydraulic cylinder (11) by DSP Processor
(12) height of feedback control stacks to be changed (13), realizes being accurately positioned for stacks to be changed (13) vertical direction；
Step E：After stacks to be changed (13) completes coaxial positioning with work drilling rod (6), clapped by CCD binocular cameras (15)
The photo of the first docking facilities (17) on one group of stacks (13) to be changed is taken the photograph, industrial computer is passed data to by image pick-up card
Processing, obtains the circumferential position information of locating cylinder (20) on the first docking facilities (17) of stacks to be changed (13), passes through
The position of scalable mechanical arm (14) adjustment CCD binocular cameras (15) and angle are hinged with the first couple of stacks to be changed (13)
Put the center position that (17) are in image；Industrial computer driving PLC can perform controller control electro-hydraulic proportional valve after the completion of adjustment
Aperture drives the rotation of electric rotating machine (2-1), when CCD binocular cameras (15) obtain locating cylinder on electric rotating machine (2-1)
(20) circumferential position is consistent with the circumferential position of locating cylinder (20) on the docking facilities (17) of stacks (13) first to be changed
When, electric rotating machine (2-1) stalling, drilling rod promotes platform (3) to promote electric rotating machine (2-1) to complete stacks (13) to be changed and rotation
The docking of motor (2-1) output end；
Step F：After the completion of the docking of stacks to be changed (13) and electric rotating machine (2-1) output end, industrial computer driving PLC can be held
The aperture of line control unit control electro-hydraulic proportional valve is so as to controlling electric rotating machine (2-1) to rotate the angle opposite with step E to original
Position；The now central axis of locating cylinder (20) and work drilling rod (6) on the docking facilities (18) of stacks (13) second to be changed
The central axis of upper locating cylinder is parallel, realizes stacks to be changed (13) and essence of the drilling rod (6) in circumferencial direction that work
It is determined that position；Drilling rod promotes platform (3) to promote drilling rod rotary operation platform (2) to complete stacks (13) to be changed and work drilling rod (6)
Docking, so as to be crept 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 |
| 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 |
| 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 |
| 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 |
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| Publication Number | Publication Date |
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| CN106321098A CN106321098A (en) | 2017-01-11 |
| CN106321098B true CN106321098B (en) | 2018-03-16 |
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| 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 |
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| Country | Link |
|---|---|
| CN (1) | CN106321098B (en) |
| AU (1) | AU2017359769B2 (en) |
| DE (1) | DE112017000534B4 (en) |
| RU (1) | RU2681006C1 (en) |
| WO (1) | WO2018090859A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106321098B (en) * | 2016-11-18 | 2018-03-16 | 中国矿业大学 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
| CN110728898A (en) * | 2017-09-20 | 2020-01-24 | 李敏 | Industrial robot's teaching device |
| CN109598710B (en) * | 2018-11-29 | 2023-04-11 | 中国科学院重庆绿色智能技术研究院 | Automatic counting method and system for coal mine drill rods |
| CN109944560A (en) * | 2019-04-29 | 2019-06-28 | 中煤科工集团重庆研究院有限公司 | Drill rod thread centralising device and centering adjusting method for automatic drilling machine |
| 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 |
| CN112855142B (en) * | 2021-01-20 | 2022-09-16 | 山东科技大学 | Mobile inspection type float coal cleaning system and working method thereof |
| CN113753504B (en) * | 2021-09-28 | 2022-09-09 | 中国矿业大学 | Spiral coal conveying device |
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2016
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- 2017-11-08 WO PCT/CN2017/109928 patent/WO2018090859A1/en active Application Filing
- 2017-11-08 AU AU2017359769A patent/AU2017359769B2/en not_active Ceased
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018090859A1 (en) | 2018-05-24 |
| RU2681006C1 (en) | 2019-03-01 |
| DE112017000534B4 (en) | 2021-02-04 |
| AU2017359769B2 (en) | 2019-11-21 |
| DE112017000534T5 (en) | 2018-10-18 |
| AU2017359769A1 (en) | 2018-08-23 |
| CN106321098A (en) | 2017-01-11 |
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