CN108033203B - Fully mechanized coal face rear portion drag conveyor straightness determining device draws shifting system - Google Patents
Fully mechanized coal face rear portion drag conveyor straightness determining device draws shifting system Download PDFInfo
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- CN108033203B CN108033203B CN201711213615.2A CN201711213615A CN108033203B CN 108033203 B CN108033203 B CN 108033203B CN 201711213615 A CN201711213615 A CN 201711213615A CN 108033203 B CN108033203 B CN 108033203B
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- 239000003245 coal Substances 0.000 title claims abstract description 102
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 58
- 239000011435 rock Substances 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 230000017105 transposition Effects 0.000 claims description 7
- 238000003672 processing method Methods 0.000 abstract description 3
- 239000000700 radioactive tracer Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000005065 mining Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003610 charcoal Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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Abstract
The present invention provides a kind of fully mechanized coal face rear portion drag conveyor straightness determining device, draws shifting system, and straightness determining device therein includes processing module and multiple images identification tracing module.Pass through image recognition and tracer technique, the running track of setting target in the identification tracking each section squeegee unit of fully mechanized coal face rear portion drag conveyor, trajectory line description is carried out by image processing method, the running track of target is set as the line segment where squeegee unit, the line segment of multiple squeegee units is finally spliced to form to the trajectory line of fully mechanized coal face rear portion drag conveyor, the trajectory line of drag conveyor is compared with ideal trajectory line, determine fully mechanized coal face rear portion drag conveyor straightness, system is simple, good reliability, accuracy are high.
Description
Technical field
The present invention relates to coal mining equipment automation control technical fields, and in particular to a kind of fully mechanized coal face rear portion is scraped
Plate conveyer straightness determining device draws shifting system.
Background technique
Top-coal caving face is very widely used, and putting coal process is that top-coal caving face is different from common fully-mechanized mining working
Important feature, put coal work and rely on mine pressure pressure top coal be crushed, using manually putting coal or electro-hydraulic control puts coal, let-down
Top coal is transported by rear portion drag conveyor.It in order to guarantee that transportational process is efficiently and safely run, while being electrohydraulic control system
Subsequent drawing move program provide guidance, need to guarantee that the straightness of rear portion drag conveyor meets preset requirement.
Low caving coal technology is mostly used greatly at present, and rear portion drag conveyor present position is located at bracket rear portion, bracket tail
It below beam, is influenced by supporting structure, rear portion drag conveyor puts coal using the form that is flexible coupling of " round-link chain+telescopic oil cylinder "
Work is only capable of putting coal situation and the position of rear portion drag conveyor etc. from going between bracket, for the shape of rear portion drag conveyor
State can not be grasped accurately, also can not accurate description rear portion drag conveyor straightness, for increasing fully mechanized coal face
Fully mechanized mining automation require to be unable to satisfy, this problem of urgent need to resolve improves the transparency of fully mechanized coal face, promotes fully mechanized coal face
Automatic monitoring monitoring level.
Summary of the invention
The present invention is intended to provide a kind of fully mechanized coal face rear portion drag conveyor straightness determining device, drawing shifting system, with
Solution can not determine rear portion drag conveyor straightness in the prior art, and therefore lead to not accurately control subsequent hydraulic support
The technical problem for drawing transposition whole.
For this purpose, the present invention provides a kind of fully mechanized coal face rear portion drag conveyor straightness determining device, wherein after described
Portion's drag conveyor includes multiple squeegee units, and each squeegee unit is located at below the tail boom of a hydraulic support, the dress
It sets including processing module and multiple images identification tracing module；Wherein:
Each described image identifies tracing module, is set on the caving shield of the hydraulic support, obtains setting target and exists
Motion profile in the corresponding squeegee unit；
The processing module receives motion profile of each setting target in the squeegee unit, according to described
The motion profile of setting target obtains the line segment where each squeegee unit, splices the line where each squeegee unit
Section obtains the drag conveyor along the trajectory line of chute center line；By the drag conveyor along the trajectory line of chute center line
It is compared with ideal trajectory line, fully mechanized coal face rear portion drag conveyor straightness, the ideal is determined according to comparison result
Trajectory line is the trajectory line in fully mechanized coal face exploitation process where coal wall.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, described image identification is chased after
Track module obtains first position of the setting target in the squeegee unit at the first moment, obtains institute at the second moment
The second position of the setting target in the squeegee unit is stated, the line between the first position and the second position is made
For the motion profile of the setting target, wherein the time interval at second moment and first moment is less than coal from institute
State the time needed for squeegee unit starting point is transported to the squeegee unit terminal.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, second moment with
When the time interval at first moment is that coal is transported to needed for the squeegee unit terminal from the squeegee unit starting point
Between 0.5-0.8 times.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, described image identification is chased after
Track module, is built-in with the recognition methods for different spoil types, and the recognition methods includes: the ash suitable for white rocks
It spends recognition methods, be suitable for rock density greater than 2t/m3Black rocks radiographic density method of identification and be suitable for rock
Density is greater than 1.6t/m3And it is less than or equal to 2t/m3Black rocks light reflect gray scale recognition methods.
It optionally, further include multiple communications in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device
And locating module:
Each communication and locating module are set on the hydraulic support, are tracked with a described image identification
Module communication connection；
The communication and locating module receive the motion profile of the setting target of described image identification tracing module output,
And forward it to the processing module；The communication and locating module are also used to obtain described image identification tracing module
Position signal simultaneously forwards it to the processing module；
The processing module, according to the motion profile of setting target in each squeegee unit and in conjunction with the scraper plate list
The position signal of the corresponding described image identification tracing module of member, obtains the line segment where each squeegee unit.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, the processing module,
Inside prestores the theoretical position signal of each described image identification tracing module；If received a certain described image identification
The position signal of tracing module and its theoretical position signal mismatch, then according to the position signal of the image recognition tracing module with
Deviation between its theoretical position signal, the motion profile for translating its corresponding setting target obtain its corresponding scraper plate list
Line segment where first.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, the processing module,
Before the fully mechanized coal face back production, initial position, the communication and the locating module of described image identification tracing module are obtained
Initial position；In the fully mechanized coal face exploitation process, the initial position, described of tracing module is identified according to described image
The initial position and back production process of communication and locating module obtain the theoretical position signal of described image identification tracing module and deposit
Storage.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, the communication and positioning
Module, obtained by the way of laser ranging described image identification tracing module with itself between positional relationship, in conjunction with it
Position information itself obtains the position signal of described image identification tracing module.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, it is each it is described communication and
Locating module is also used to obtain its positional relationship signal between adjacent communication and locating module, and the position is closed
It is that signal is sent to the processing module；
The processing module, inside prestore each communication and locating module and communication and positioning adjacent thereto
Theoretical position bearing signal between module；If the received a certain communication and locating module and communication adjacent thereto
And the positional relationship signal between locating module, it is mismatched with its theoretical position bearing signal, then according to the positional relationship signal
Deviation between theoretical position bearing signal, the motion profile for translating the communication and the corresponding setting target of locating module obtain
Line segment where its corresponding described squeegee unit.
Optionally, in above-mentioned fully mechanized coal face rear portion drag conveyor straightness determining device, it is each it is described communication and
Locating module obtains the distance between itself and adjacent communication and locating module signal, in conjunction with it by the way of laser ranging
Position information itself obtains its positional relationship signal between adjacent communication and locating module.
The present invention also provides a kind of drawings of hydraulic support of top-coal saving face to move system, including above-described fully mechanized coal face
Rear portion drag conveyor straightness determining device and hydraulic support control device, in which:
The hydraulic support control device includes multiple bracket controllers, and it is hydraulic that each bracket controller is set to one
For controlling the hydraulic support movement on bracket；
The straightness determining device, processing module, which determines to draw according to the straightness of rear portion drag conveyor, moves control letter
Number, it includes that the hydraulic support for carrying out drawing transposition whole and drawing move adjustment amount that the drawing, which moves control signal,；
The hydraulic support control device receives the drawing that the straightness determining device is sent and moves control signal, root
The hydraulic support for drawing transposition whole, which is carried out, according to the drawing shifting control signal control draws movement according to drawing shifting adjustment amount execution
Make.
Above-mentioned technical proposal provided by the invention at least has the following beneficial effects: compared with prior art and passes through image
The fortune of the setting target in each section squeegee unit of fully mechanized coal face rear portion drag conveyor is tracked in identification and tracer technique, identification
Row track carries out trajectory line description by image processing method, sets the running track of target as the line where squeegee unit
The line segment of multiple squeegee units is finally spliced to form the trajectory line of fully mechanized coal face rear portion drag conveyor, and then determined by section
The straightness of fully mechanized coal face rear portion drag conveyor, system is simple, good reliability, and accuracy is high.It works suitable for Sub-Level Caving
Straightness under the drag conveyor working environment mal-condition of face rear portion determines problem, realizes the straight line to rear portion drag conveyor
State determines, is conducive to the transparency for improving fully mechanized coal face, creates necessity for the promotion of fully mechanized coal face automatization level
Condition.
Detailed description of the invention
Fig. 1 is that fully mechanized coal face rear portion drag conveyor straightness determining device described in one embodiment of the invention is installed on
Structural schematic diagram on single hydraulic support；
Fig. 2 is a kind of structural schematic diagram of fully mechanized coal face rear portion drag conveyor straightness determining device of the present invention；
Fig. 3 is that fully mechanized coal face rear portion drag conveyor straightness determining device described in another embodiment of the present invention is installed on
Structural schematic diagram on single hydraulic support；
Fig. 4 is the structure of drag conveyor straightness determining device in fully mechanized coal face rear portion described in another embodiment of the present invention
Schematic diagram；
Fig. 5 is the functional block diagram that shifting system is drawn described in one embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing in the present embodiment, example description is carried out to the technical solution in the present invention.Of the invention
In description, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing letter of the invention
Change description, rather than the device or component of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used for description mesh
, it is not understood to indicate or imply relative importance.Wherein, term " first position " is two different with " second position "
Position.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
The connection of two component internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment 1
The present embodiment provides a kind of fully mechanized coal face rear portion drag conveyor straightness determining devices, such as Fig. 1 and Fig. 2 institute
Show, wherein the rear portion drag conveyor includes multiple squeegee units 3, each squeegee unit 3 is located at a hydraulic support 1
Below tail boom, the straightness determining device includes processing mould, and 5 and multiple images identify tracing module 4；Wherein: such as Fig. 1 institute
Show:
Each described image identifies tracing module 4, is set on the caving shield of the hydraulic support 1, obtains setting target
Motion profile in the corresponding squeegee unit 3；Because the caving shield of the hydraulic support 1 is for tail boom
With stable characteristic, tail boom is movable, and caving shield is theoretically fixed before once putting coal and completing.
So described image identification tracing module 4 is set on caving shield, so as to obtain accurately setting target
With the motion profile in the squeegee unit 3.The setting target selection spoil, by image recognition mode determine be suitable for
The spoil of track is as setting target.In the actual implementation process, this can be tracked during squeegee unit 3 transports coal to set
The motion feature to set the goal, to obtain its motion profile.Also it can choose another way: because coal is transported in squeegee unit 3
It when defeated, substantially moves along a straight line, therefore after obtaining setting target, setting can be determined using any two moment
The straight line that the two positions connect should be exactly straight line where the squeegee unit by target position.That is,
Can obtain the motion profile of setting target in the following way: described image identifies tracing module 4, obtains institute at the first moment
First position of the setting target in the squeegee unit 3 is stated, obtains the setting target in the scraper plate list at the second moment
The second position in member 3, using the line between the first position and the second position as the movement of the setting target
Track conveys wherein the time interval at second moment and first moment is less than coal from 3 starting point of squeegee unit
To the time needed for the squeegee unit terminal, it is preferable that the time interval at second moment and first moment is coal
Charcoal from the squeegee unit starting point be transported to the squeegee unit terminal needed for 0.5-0.8 times of the time.Because coal is being scraped
Transport has certain speed in plate unit, and corresponding coal is from when having corresponding between the origin-to-destination of squeegee unit
It is long, setting target is obtained in the position at two moment, then the time interval between the two moment cannot be too long.
The processing module 5 receives motion profile of each setting target in the squeegee unit 3, according to institute
The motion profile for stating setting target obtains the line segment where each squeegee unit 3, splices each 3 place of the squeegee unit
Line segment obtain the drag conveyor along the trajectory line of chute center line；By the drag conveyor along the rail of chute center line
Trace is compared with ideal trajectory line, determines fully mechanized coal face rear portion drag conveyor straightness according to comparison result, described
Ideal trajectory line is the trajectory line in fully mechanized coal face exploitation process where coal wall.
As shown in Fig. 2, the coal stream that working face puts the generation of coal process is needed in the drag conveyor of rear portion by k scraper plate list
Member 3, since the transport of coal stream is unidirectional in squeegee unit 3, it is believed that the coal stream approximation in every section squeegee unit presses linear running,
For the coal stream in each squeegee unit 3, tracking setting mesh after the setting target for meeting image recognition processing technical requirements is captured
Target motion profile.As figure sets target institute when obtaining the first moment t11 and the second moment t22 in first segment squeegee unit
Position, straight line t11-t22 is obtained after line；In kth section squeegee unit, the first moment tk1 and the second moment are obtained
The position where target is set when tk2, obtains straight line tk1-tk2 after line.The corresponding image recognition of first segment squeegee unit
The information of straight line t11-t22 is sent to processing module by tracing module 4, and the corresponding image recognition of kth section squeegee unit tracks mould
The information of straight line tk1-tk2 is sent to processing module, identical principle by block 4, and intermediate each corresponding image of squeegee unit that saves is known
The motion profile of its collected setting target is sent to processing module by other tracing module 4.Processing module 5 is automatically according to every
The motion profile of one setting target obtains line segment where each squeegee unit, and different line segments are carried out being spliced to form entire rear portion and are scraped
The splicing curve of plate conveyer, can be on the basis of the line segment of first segment squeegee unit, to form finally comprehensive put in splicing
Working face rear portion drag conveyor trajectory line, by actual tests, actual measurement track line precision reaches ± 10mm, last processing module
5 compare and analyze the trajectory line that the splicing obtains with built-in ideal trajectory line, and fully mechanized coal face rear portion scraper plate can be obtained
Conveyer straightness.
In the above scheme, described image identification tracing module is built-in with the recognition methods for different spoil types, institute
Stating recognition methods includes: to be greater than 2t/m suitable for the gray scale recognition methods of white rocks, suitable for rock density3Black class
The radiographic density method of identification of rock and be suitable for rock density be greater than 1.6t/m3And it is less than or equal to 2t/m3Black rocks
Light reflect gray scale recognition methods.In practical application, according to actual conditions in fully mechanized coal face to image-recognizing method into
Row supplement or adjustment.It can be suitable for the target identification of various spoils.
In the above scheme of the present embodiment, by image recognition and tracer technique, identification tracking fully mechanized coal face rear portion is scraped
The running track of setting target in each section squeegee unit of plate conveyer carries out trajectory line description by image processing method,
The running track of target is set as the line segment where squeegee unit, the line segment of multiple squeegee units is finally spliced to form comprehensive put
The trajectory line of working face rear portion drag conveyor, and then determine the straightness of fully mechanized coal face rear portion drag conveyor, system letter
It is single, good reliability, accuracy height.Suitable for the straight line under the drag conveyor working environment mal-condition of top-coal caving face rear portion
The problem of determination is spent, realizes and the linear state of rear portion drag conveyor is determined, is conducive to the transparency for improving fully mechanized coal face, is
The promotion of fully mechanized coal face automatization level creates necessary condition.
Embodiment 2
The present embodiment provides a kind of fully mechanized coal face rear portion drag conveyor straightness determining devices, such as Fig. 3 and Fig. 4 institute
Show, including processing mould, 5 and multiple images identify tracing module 4, further include it is multiple communication and locating module 2, each communication
And locating module 2 is set on the hydraulic support 1, is communicated to connect with a described image identification tracing module 4；It is described
Communication and locating module 2, receive the motion profile for the setting target that described image identification tracing module 4 exports, and are forwarded
To the processing module 5；The communication and locating module 2 are also used to obtain the position signal of described image identification tracing module 4
And forward it to the processing module 5；The processing module 5, according to the movement for setting target in each squeegee unit 3
Track and the position signal that tracing module 4 is identified in conjunction with the corresponding described image of the squeegee unit 3, obtain each scraper plate
Line segment where unit 3.
Preferably, the processing module 5, inside prestore the theoretical position of each described image identification tracing module 4
Signal；If the position signal and its theoretical position signal of received a certain described image identification tracing module 4 mismatch,
According to the deviation between the position signal of the image recognition tracing module 4 and its theoretical position signal, its corresponding setting is translated
The motion profile of target obtains the line segment where its corresponding described squeegee unit 3.
Caving shield is a part of hydraulic support, is connect by four-bar mechanism with hydraulic support foundation, caving shield is energy
It is enough moved with hydraulic support column lifting, only motion range is limited by four-bar mechanism.If ocurrence of coal seam is steady
Fixed, back production height difference is little, and caving shield position should be not much different, i.e., the position of image recognition tracing module 4 should be relatively steady
Fixed, fluctuation range generally can control within 500mm.And communication and locating module 2 are fixed on hydraulic support foundation, position exists
Theoretically opposing hydraulic bracket base is constant.That is theoretically the position of the hydraulic support shield beam is once being put
Coal is completed preceding be fixed for hydraulic support.
But it after once putting coal, needs to carry out drawing shifting to hydraulic support, at this time the position of caving shield will also be sent out
Changing may be exactly that relative to the position of hydraulic support some offsets can occur for the position of caving shield there are a kind of, therefore
Before a progress new round puts coal operation, need to re-scale the accurate location of image recognition tracing module 4.It at this moment can be by setting
The positioning and communication module 2 set on hydraulic support determine image recognition tracing module 4 and hydraulic support positioning and communication module 2
Between relative positional relationship whether change to determine whether the position of 4 place caving shield of image recognition tracing module has occurred partially
It moves.Through the above scheme, whether the position for capableing of 4 place of monitoring image identification tracing module is deviated, once discovery figure
As there is positional shift in identification tracing module 4, then can according to the case where its actual shifts to its collected setting mesh of institute
Target motion profile is translated, thus the result of line segment where obtaining accurate squeegee unit.For example, it is complete once to put coal
After the Forward of, bracket, detect image recognition tracing module 4 relative to positioning and 2 biased forwards of communication module 200mm,
After the line segment for then obtaining image recognition tracing module 4, its testing result is deviated after 200mm backward in adjacent thereto other
Line segment is spliced.
And described image identifies the theoretical position of installation point on the theoretical position namely caving shield of tracing module 4, Ke Yitong
The modes such as simulation in advance, the estimation of historical experience value are crossed to determine.It can also be determined in the following way:
The processing module 5 obtains the first of described image identification tracing module 4 before the fully mechanized coal face back production
Beginning position, it is described communication and locating module 2 initial position；In the fully mechanized coal face exploitation process, according to described image
Identify initial position, the communication and initial position and back production process the acquisition described image knowledge of locating module 2 of tracing module 4
The theoretical position signal of other tracing module 4 simultaneously stores.Because processing module 5 can easily obtain hydraulic branch in back production process
The moving direction and moving distance of frame, thus can according to the data combination described image identify tracing module 4 initial position,
The initial position of the communication and locating module 2 can extrapolate the theoretical position signal of described image identification tracing module 4.
Further, in above scheme, each communication and locating module are also used to obtain itself and adjacent communication
And the positional relationship signal between locating module, and the positional relationship signal is sent to the processing module 5；The processing
Module 5, inside prestore it is each it is described communication and the theory between locating module and communication adjacent thereto and locating module
Positional relationship signal；If between the received a certain communication and locating module and communication adjacent thereto and locating module
Positional relationship signal, with its theoretical position bearing signal mismatch, then according to the positional relationship signal and theoretical position relationship
Deviation between signal, the motion profile for translating the communication and the corresponding setting target of locating module obtain its and corresponding described scrape
Line segment where plate unit.By above-mentioned improvement, can be avoided since the position of hydraulic support communication and locating module occurs partially
Testing result error caused by moving.
In above scheme, the communication and locating module 2 obtain described image identification tracking by the way of laser ranging
Module 4 with itself between positional relationship, obtain described image identification tracing module 4 in conjunction with itself position information
Position signal.The distance between itself and adjacent communication and locating module signal are obtained by the way of laser ranging, in conjunction with it
Position information itself obtains its positional relationship signal between adjacent communication and locating module.
In addition, being that its configuration explosion-proof casing makes it meet well since above-mentioned apparatus is set in working face in the pit
Requirement of explosion proof in lower working face.
Embodiment 3
The present embodiment provides a kind of drawings of hydraulic support of top-coal saving face to move system, as shown in figure 5, including above embodiments
In fully mechanized coal face rear portion drag conveyor straightness determining device 100 and hydraulic support control device described in any scheme
200, in which:
The hydraulic support control device 200 includes multiple bracket controllers 201, and each bracket controller 201 is set
It is placed on a hydraulic support for controlling the hydraulic support movement；The straightness determining device 100, processing module 5
It determines to draw according to the straightness of rear portion drag conveyor and moves control signal, it includes carrying out drawing transposition whole that the drawing, which moves control signal,
Hydraulic support and draw move adjustment amount；The hydraulic support control device 200 receives the institute that the straightness determining device is sent
It states drawing and moves control signal, moved according to the hydraulic support for drawing shifting control signal control to carry out drawing transposition whole according to the drawing
Adjustment amount, which executes, draws mobile make.
Using the above scheme, straightness determining device 100 surveys and draws rear portion drag conveyor straightness, and then passes through
Hydraulic support control device 200 etc. is adjusted hydraulic support and rear portion drag conveyor state, will not be to working face just
It often promotes and generates interference, be conducive to quickly propelling for working face.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of fully mechanized coal face rear portion drag conveyor straightness determining device, wherein the rear portion drag conveyor includes more
A squeegee unit, each squeegee unit are located at below the tail boom of a hydraulic support, which is characterized in that the straightness determines
Device includes processing module and multiple images identification tracing module；Wherein:
Each described image identifies tracing module, is set on the caving shield of the hydraulic support, obtain setting target with its
Motion profile in the corresponding squeegee unit；
The processing module receives motion profile of each setting target in the squeegee unit, according to the setting
The motion profile of target obtains the line segment where each squeegee unit, and the line segment where splicing each squeegee unit obtains
To the drag conveyor along the trajectory line of chute center line；By the drag conveyor along the trajectory line and reason of chute center line
Think that trajectory line is compared, fully mechanized coal face rear portion drag conveyor straightness, the ideal trajectory are determined according to comparison result
Line is the trajectory line in fully mechanized coal face exploitation process where coal wall；
Described image identifies tracing module, obtains first of the setting target in the squeegee unit at the first moment
It sets, obtains the second position of the setting target in the squeegee unit at the second moment, by the first position and described
Motion profile of the line as the setting target between the second position, wherein second moment and first moment
Time interval be less than coal from the squeegee unit starting point be transported to the squeegee unit terminal needed for the time.
2. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 1, it is characterised in that:
The time interval at second moment and first moment is transported to described scrape from the squeegee unit starting point for coal
0.5-0.8 times of time needed for plate unit terminal.
3. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 1, it is characterised in that:
Described image identifies tracing module, is built-in with the recognition methods for different spoil types, the recognition methods includes: suitable
It is greater than 2t/m for the gray scale recognition methods of white rocks, suitable for rock density3Black rocks radiographic density know
Other method and be suitable for rock density be greater than 1.6t/m3And it is less than or equal to 2t/m3Black rocks light reflection gray scale know
Other method.
4. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 1-3, special
Sign is, further includes multiple communications and locating module:
Each communication and locating module are set on the hydraulic support, identify tracing module with a described image
Communication connection；
The communication and locating module receive the motion profile of the setting target of described image identification tracing module output, and will
It is forwarded to the processing module；The communication and locating module are also used to obtain the position of described image identification tracing module
Signal simultaneously forwards it to the processing module；
The processing module, according to the motion profile of setting target in each squeegee unit and in conjunction with the squeegee unit pair
The position signal for the described image identification tracing module answered, obtains the line segment where each squeegee unit.
5. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 4, it is characterised in that:
The processing module, inside prestore the theoretical position signal of each described image identification tracing module；If it is received
The position signal and its theoretical position signal of a certain described image identification tracing module arrived mismatch, then according to the image recognition
Deviation between the position signal of tracing module and its theoretical position signal, the motion profile for translating its corresponding setting target obtain
Line segment to where its corresponding described squeegee unit.
6. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 5, it is characterised in that:
The processing module, before the fully mechanized coal face back production, the initial position of acquisition described image identification tracing module,
The initial position of the communication and locating module；In the fully mechanized coal face exploitation process, is identified and tracked according to described image
The initial position and back production process of the initial position of module, the communication and locating module obtain described image and identify tracing module
Theoretical position signal and store.
7. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 6, it is characterised in that:
The communication and locating module, obtained by the way of laser ranging described image identification tracing module with itself between
Positional relationship, in conjunction with itself position information obtain described image identification tracing module position signal.
8. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 7, it is characterised in that:
Each communication and locating module are also used to obtain its positional relationship letter between adjacent communication and locating module
Number, and the positional relationship signal is sent to the processing module；
The processing module, inside prestore each communication and locating module and communication adjacent thereto and locating module
Between theoretical position bearing signal；If the received a certain communication and locating module and communication adjacent thereto and fixed
Positional relationship signal between the module of position, mismatches with its theoretical position bearing signal, then according to the positional relationship signal and reason
By the deviation between positional relationship signal, translating the motion profile of the communication and the corresponding setting target of locating module, to obtain its right
Line segment where the squeegee unit answered.
9. drag conveyor straightness determining device in fully mechanized coal face rear portion according to claim 8, it is characterised in that:
Each communication and locating module obtain it between adjacent communication and locating module by the way of laser ranging
Distance signal, in conjunction with itself position information obtain its between adjacent communication and locating module positional relationship letter
Number.
10. a kind of drawing of hydraulic support of top-coal saving face moves system, which is characterized in that including described in claim any one of 1-9
Fully mechanized coal face rear portion drag conveyor straightness determining device and hydraulic support control device, in which:
The hydraulic support control device includes multiple bracket controllers, and each bracket controller is set to a hydraulic support
On for controlling hydraulic support movement；
The straightness determining device, processing module, which determines to draw according to the straightness of rear portion drag conveyor, moves control signal,
It includes that the hydraulic support for carrying out drawing transposition whole and drawing move adjustment amount that the drawing, which moves control signal,；
The hydraulic support control device receives the drawing that the straightness determining device is sent and moves control signal, according to institute
It states to draw to move control signal control the whole hydraulic support of transposition draw according to drawings to move adjustment amount and execute and draws movement work.
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| CN113029046B (en) * | 2021-03-11 | 2021-12-14 | 精英数智科技股份有限公司 | Method and device for detecting straightness of scraper conveyor based on video identification |
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