WO2018090859A1 - 一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法 - Google Patents

一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法 Download PDF

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Publication number
WO2018090859A1
WO2018090859A1 PCT/CN2017/109928 CN2017109928W WO2018090859A1 WO 2018090859 A1 WO2018090859 A1 WO 2018090859A1 CN 2017109928 W CN2017109928 W CN 2017109928W WO 2018090859 A1 WO2018090859 A1 WO 2018090859A1
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WIPO (PCT)
Prior art keywords
drill pipe
drill
working
platform
automatic
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Application number
PCT/CN2017/109928
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English (en)
French (fr)
Inventor
刘送永
姬会福
江红祥
周公博
沈刚
王水林
李伟
唐玮
Original Assignee
中国矿业大学
徐州秩润矿山设备科技有限公司
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Application filed by 中国矿业大学, 徐州秩润矿山设备科技有限公司 filed Critical 中国矿业大学
Priority to AU2017359769A priority Critical patent/AU2017359769B2/en
Priority to DE112017000534.5T priority patent/DE112017000534B4/de
Priority to RU2018132819A priority patent/RU2681006C1/ru
Publication of WO2018090859A1 publication Critical patent/WO2018090859A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/18—Connecting or disconnecting drill bit and drilling pipe
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/22—Mineral freed by means not involving slitting by rotary drills with breaking-down means, e.g. wedge-shaped drills, i.e. the rotary axis of the tool carrier being substantially perpendicular to the working face, e.g. MARIETTA-type

Definitions

  • the invention relates to a coal mine downhole type shearer control system, in particular to a coal mining machine automatic operation system and method based on machine vision and multi-sensor fusion.
  • the drill-type shearer is a special machine for thin and very thin coal seam mining, due to its low-profile machine.
  • the advantages of body and high power are widely used.
  • the drill string of the driller is still slinged by a single rail, manually docked, and adjusted by a fine adjustment mechanism consisting of a ratchet and a hydraulic cylinder to complete the docking of the drill pipe.
  • the control precision is low, the time for loading and unloading the drill pipe is long, and the coal mining efficiency is greatly reduced.
  • the present invention provides a coal mining machine automatic operation system and method based on machine vision and multi-sensor fusion, which has high integration degree and automation degree, and can realize the working process.
  • the drill pipe is automatically switched and unattended, which effectively improves the efficiency of coal mining operations, and is reliable and cost-effective.
  • An automatic working system of shearer based on machine vision and multi-sensor fusion comprising a main body of a shearer, an automatic conveying system of the drill pipe and an automatic docking system of the drill pipe;
  • the main body of the shearer comprises a drill frame, a side support mechanism, a drill lifting mechanism, a drill rod rotating working platform, a drill rod propulsion platform, a working drill rod and a working drill rod support member, and the shearer main body is Moving within the lane of the work;
  • the rig frame is horizontally disposed on the rig lifting mechanism, and the rig lifting mechanism is used for supporting and adjusting the height of the rig frame;
  • the side supporting mechanism comprises two pairs of measuring support hydraulic cylinders, and each pair of supporting hydraulic cylinders constitutes a telescopic support at both ends Rods;
  • two support rods are horizontally disposed on the front and rear sides of the rig frame to realize lateral support of the rig frame;
  • the drill rod propulsion platform is disposed on the rig frame, and the drill rod rotation working platform is disposed on the drill rod propulsion platform
  • the working drill rod is connected to the drill rod rotating working platform, and the drill rod rotating platform drives the working rod to rotate while the drill rod rotating platform drives the drill rod rotating working platform and the working drill rod to laterally advance into the roadway wall;
  • the rod support is telescopically disposed on the rig frame for supporting the working drill rod when the drill pipe is changed;
  • the automatic drilling rod conveying system comprises a drilling hydraulic cylinder, a feeding drilling platform, a drill pipe to be exchanged, a lifting hydraulic cylinder and a DSP processor (digital signal processor); the drilling platform is arranged on the drilling machine frame along the length of the roadway. Front side or back side, The feeding platform is connected with the hydraulic cylinder for sending the drill and drives the drilling platform to move along the roadway by the hydraulic cylinder for feeding; the drill pipe to be connected is horizontally disposed on the feeding platform through the lifting hydraulic cylinder, and is adjusted by the lifting hydraulic cylinder.
  • the height of the drill pipe; the displacement rod is arranged on the working drill rod support and the lifting hydraulic cylinder, and the limit switch is arranged on the drill frame; the displacement sensor and the limit switch are connected with the DSP processor, and the displacement sensor and the limit are adopted.
  • the switch realizes the adjustment and positioning of the drill pipe to be connected to be coaxial with the working drill pipe;
  • the drill pipe automatic docking system comprises a retractable mechanical arm and a CCD (charge coupled device) binocular camera.
  • the retractable mechanical arm is disposed on the drill rod rotating working platform, and the top end of the retractable mechanical arm is clamped with a CCD binocular camera;
  • the circumferential position of the drill pipe to be exchanged relative to the working drill pipe is adjusted by the rotary motor, and the automatic docking of the drill pipe to be replaced with the work drill pipe is realized by visual positioning.
  • the main body of the shearer realizes movement in the roadway through the crawler conveying mechanism
  • the bottom of the lifting mechanism of the drilling machine is provided with a sliding raft
  • the rig frame is disposed on the crawler belt of the crawler conveying mechanism through the sliding raft.
  • infrared sensors are disposed at both ends of the left and right sides of the rig frame, and the distance between the driller and the roadway is obtained by the infrared sensor in real time, thereby ensuring the safety of the shearer moving.
  • the drill rod rotating working platform comprises a rotating electric machine and a motor support, and the rotating electric machine is mounted on the drill rod propulsion platform through the motor support.
  • the number of the rotating electric machines is the same as the number of the working drill rods, and the number of the retractable mechanical arms is the same as the number of the rotating electric machines, and corresponds to each other one by one.
  • the butt end of the working drill rod and the end of the drill pipe to be connected to the rotating motor are respectively provided with a first docking device, and the output end of the rotating motor and the end of the rotating drill rod adjacent to the working drill rod are provided with a second a docking device; the first docking device and the second docking device are both cylindrical, and the outer end faces thereof are all provided with three-claw bumps; the three-claw bumps are matched by two, and the first docking device and the second
  • the cylindrical surface of the docking device is provided with three positioning cylinders uniformly distributed in the circumferential direction; the central axis of the positioning cylinder on the first docking device is parallel to the central axis of the bump in the three-jaw concave and convex block, and is positioned on the second docking device
  • the central axis of the cylinder is parallel to the central axis of the concave block in the three-jaw embossed block, and the central axes of the positioning cylinders to be exchanged
  • the retractable mechanical arm is mounted on a motor support, and the retractable mechanical arm comprises a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor and a sixth servo motor.
  • the first servo motor drives the horizontal rotation of the retractable arm
  • the second servo motor and the third servo motor drive the up and down swing of the retractable arm
  • the fourth servo motor drives the circumferential rotation of the retractable arm
  • the fifth servo motor The telescopic mechanical arm is driven to expand and contract
  • the sixth servo motor drives the rotation of the CCD binocular camera held by the telescopic mechanical arm.
  • the CCD binocular camera has a blinking function, and the CCD binocular camera is blocked by dust during work by intermittent blinking.
  • the drill pipe automatic docking system further comprises an image acquisition card, an industrial computer, a PLC (programmable logic controller) executable controller and an electro-hydraulic proportional valve; the photo taken by the CCD binocular camera passes the data through the image acquisition card. It is transmitted to the industrial computer for processing, and the industrial computer drives the PLC to execute the controller to control the opening degree of the electro-hydraulic proportional valve, thereby driving the rotation of the rotating electric machine to realize the docking of the output end of the rotating electric machine and the drill pipe to be exchanged.
  • PLC programmable logic controller
  • An automatic coal mining machine operation method based on machine vision and multi-sensor fusion comprising the following steps:
  • Step A The main body of the shearer is transported to the working position in the roadway by the crawler conveying mechanism. During the moving process, the distance between the driller and the roadway is obtained by the infrared sensor on the rig frame in real time, and the coal mining machine host is adjusted in real time. The conveying direction and speed of the conveying machine enable the walking and guiding of the drilling shearer in the roadway;
  • Step B After the main body of the coal mining machine reaches the working position in the roadway, the height of the drilling machine frame is adjusted by the drilling machine lifting mechanism to adapt to the mining of different coal seams; after the drilling machine frame is raised to the working surface, the control side supporting mechanism realizes the main body of the coal mining machine The lateral support is fixed, and then the coal seam mining is carried out; while the rotary motor drives the working drill pipe to rotate, the drill pipe propulsion platform drives the drill pipe rotary working platform and the working drill pipe to laterally advance into the roadway wall; the coal collected by the drill bit passes through the drill pipe Shipped out, the coal is transported out through the conveyor after falling;
  • Step C When the working drill pipe is fully drilled into the coal seam, the rotating motor stops, the working drill pipe support rises and supports the working drill pipe; the output end of the rotating electrical machine is disconnected from the working drill pipe, and the drill pipe propulsion platform drives the drill pipe to rotate The platform is returned to the original position, and then the drill pipe is exchanged;
  • Step D The drill pipe to be changed is lifted by the driving to the lifting hydraulic cylinder, and the drilling hydraulic cylinder pushes the drilling platform to transport the drill pipe to the drilling machine frame, and the limit is when the drilling platform reaches the position of the limit switch.
  • the switch sends a signal to the DSP processor for processing, and the DSP processor controls the drilling hydraulic cylinder to stop the feeding platform at the limit switch, thereby realizing the precise positioning of the drill pipe to be changed in the horizontal direction; adjusting the drill to be exchanged by the lifting hydraulic cylinder
  • the height of the rod is controlled according to the vertical position information of the working drill rod recorded by the displacement sensor on the working drill rod support member, and the height of the drill pipe to be exchanged is controlled by the feedback of the displacement sensor through the DSP processor to control the lifting hydraulic cylinder Precise positioning of the drill pipe in the vertical direction;
  • Step E After the drill pipe and the working drill pipe are coaxially positioned, a photo of the first docking device on the drill pipe to be switched is taken by the CCD binocular camera, and the data is transmitted to the industrial computer through the image acquisition card. Processing, obtaining circumferential position information of the positioning cylinder on the first docking device of the drill pipe to be changed, adjusting the position and angle of the CCD binocular camera by the telescopic mechanical arm, so that the first docking device on the drill pipe to be replaced is in an image Center position; after the adjustment is completed, the industrial computer drives the PLC executable controller to control the opening of the electro-hydraulic proportional valve to drive the rotation of the rotating motor.
  • the rotating motor stops, and the three-jaw embossed block on the first docking device of the drill pipe and the three-claw embossed block on the output end of the rotating motor are The circumferential directions are matched with each other to realize precise positioning of the drill pipe to be exchanged in the circumferential direction; the drill pipe propulsion platform advances the rotary motor to complete the docking of the drill pipe to be exchanged with the output end of the rotary motor;
  • Step F After the docking of the drill pipe to be connected with the output end of the rotary motor is completed, the industrial computer drives the PLC to execute the controller to control the opening degree of the electro-hydraulic proportional valve to control the rotation of the rotary motor to be opposite to the position in the step E to the home position; At this time, the central axis of the positioning cylinder on the second docking device of the drill pipe to be connected is parallel with the central axis of the positioning cylinder on the working drill pipe, so as to accurately position the drill pipe and the working drill pipe in the circumferential direction; The drill pipe propulsion platform advances the drill pipe rotary working platform to complete the docking of the drill pipe to be exchanged with the working drill pipe, so as to carry out the next drilling coal mining.
  • the present invention provides a coal mining machine automatic working system and method based on machine vision and multi-sensor fusion, which has the following advantages over the prior art: 1. High integration degree and automation degree, work safety Reliable and manpower saving; 2. Using machine vision and multi-sensor fusion technology to realize the integration of drilling, drilling, drilling and operation of the driller, shortening the time for the driller to change the drilling operation, greatly improving the time The mining efficiency of thin and extremely thin coal seams saves costs.
  • Figure 1 is a plan view of the main body of the shearer of the present invention.
  • Figure 2 is a front elevational view of the main body of the shearer of the present invention.
  • Figure 3 is a left side view of the main body of the shearer of the present invention.
  • Figure 4 is a right side view of the main body of the shearer of the present invention.
  • Figure 5 is a structural view of a drill pipe to be exchanged in the present invention.
  • Figure 6 is a structural view of a first docking device in the present invention.
  • Figure 7 is a structural view of a second docking device in the present invention.
  • Figure 8 is a structural view of a telescopic mechanical arm of the present invention.
  • Figure 9 is a structural block diagram of an automatic drill pipe delivery system of the present invention.
  • Figure 10 is a control flow chart of the automatic drill pipe delivery system of the present invention.
  • Figure 11 is a block diagram showing the structure of an automatic docking system for a drill pipe according to the present invention.
  • Figure 12 is a control flow chart of the automatic docking system of the drill pipe in the present invention.
  • the figure includes: 1. Rig frame, 2. Drill rod rotating work platform, 3. Drill pipe propulsion platform, 4. Drill lifting mechanism, 5. Drilling platform, 6.
  • Working drill pipe 7.
  • Working drill pipe support 8 measuring support hydraulic cylinder, 9, sending drill hydraulic cylinder, 10, limit switch, 11, lifting hydraulic cylinder, 12, displacement sensor, 13, to be replaced with drill pipe, 14, retractable mechanical arm, 15, CCD Binocular camera, 16, infrared sensor, 17, first docking device, 18, second docking device, 19, three-jaw bump, 20, positioning cylinder, 2-1, rotating motor, 2-2, motor bearing , 14-1, first servo motor, 14-2, second servo motor, 14-3, third servo motor, 14-4, fourth servo motor, 14-5, fifth servo motor, 14-6, The sixth servo motor.
  • an automatic coal mining machine operating system based on machine vision and multi-sensor fusion including the main body of the shearer, the automatic conveying system of the drill pipe and the automatic docking system of the drill pipe;
  • the main body of the shearer comprises a drill frame 1, a side support mechanism, a drill lifting mechanism 4, a drill rod rotating working platform 2, a drill rod propulsion platform 3, three working drill rods 6 and three working drill rod supports. Item 7, and the shearer main body moves within the working lane;
  • the rig frame 1 is horizontally disposed on the rig lifting mechanism 4 for supporting and adjusting the height of the rig frame 1;
  • the side supporting mechanism includes two pairs of measuring support hydraulic cylinders 8, and each pair of measuring support hydraulic cylinders 8 constitutes one Retractable support rods at both ends;
  • two support rods are horizontally disposed on the front and rear sides of the rig frame 1, respectively, to realize lateral support of the rig frame 1;
  • the drill rod propulsion platform 3 is disposed on the rig frame 1, the drill rod
  • the rotary working platform 2 is disposed on the drill pipe propulsion platform 3;
  • the working drill pipe 6 is horizontally connected with the drill pipe rotary work platform 2, and the drill pipe rotation platform 2 drives the working drill pipe 6 to rotate while the drill pipe propulsion platform 3 drives the drill pipe
  • the working platform 2 and the working drill pipe 6 are laterally advanced into the roadway wall;
  • the working drill pipe support 7 is telescopically disposed on the rig frame 1 for supporting the working drill pipe 6 when the drill pipe is switched;
  • the drill pipe automatic conveying system comprises a drilling hydraulic cylinder 9, a feeding platform 5, a drill pipe 13 to be exchanged, a lifting hydraulic cylinder 11 and a DSP processor; and the drilling platform 5 is arranged on the drilling machine frame 1 along the length of the roadway.
  • the drill platform 5 is connected to the drill hydraulic cylinder 9 and is driven to move along the roadway by the drill hydraulic cylinder 9; the drill pipe 13 to be connected is horizontally and horizontally disposed on the drill platform 5 through the lift hydraulic cylinder 11 And adjusting the height of the drill pipe 13 to be exchanged by the lifting hydraulic cylinder 11; the working drill pipe support member 7 and the lifting hydraulic cylinder 11 are all provided with a displacement sensor 12, and the limiter switch 10 is arranged on the drilling machine frame 1; As shown, the displacement sensor 12 and the limit switch 10 are both connected to the DSP processor, and the coaxial positioning of the drill pipe 13 and the working drill pipe 6 to be exchanged is realized by the displacement sensor 12 and the limit switch 10;
  • the drill pipe automatic docking system comprises three telescopic mechanical arms 14 and three CCD binocular cameras 15 with blinking functions.
  • the telescopic mechanical arms 14 are arranged on the drill rotating platform 2, and the top end of the telescopic mechanical arms 14 Clamped
  • the CCD binocular camera 15 realizes automatic docking of the drill pipe 13 to be connected with the working drill pipe 6 by visual positioning.
  • the main body of the shearer realizes movement in the roadway through the crawler conveying mechanism, and the bottom of the drilling and hoisting mechanism 4 is provided with a sliding raft, and the rig frame 1 is disposed on the crawler belt of the crawler conveying mechanism through the sliding raft;
  • An infrared sensor 16 is disposed at both ends of the left and right sides of the rig frame 1.
  • the drill rod rotary working platform 2 includes three rotary electric machines 2-1 and three motor supports 2-2, and the rotary electric machine 2-1 is mounted on the drill rod propulsion platform 3 through the motor support 2-2. on.
  • the butt end of the working drill pipe 6 and the end of the drill pipe 13 to be switched close to the rotary electric machine 2-1 are each provided with a first docking device 19, an output end of the rotary motor 2-1 and A second docking device 18 is disposed at one end of the drill pipe 13 adjacent to the working drill pipe 6; the first docking device 19 and the second docking device 18 are both cylindrical, and the outer end faces thereof are provided with three-claw bumps 19; the three-jaw embossing block 19 is matched in two, and the cylindrical surfaces of the first docking device 19 and the second docking device 18 are uniformly disposed in the circumferential direction; the first docking device
  • the central axis of the positioning cylinder 20 on the 19 is parallel to the central axis of the projection in the three-jaw projection 19, and the central axis of the positioning cylinder 20 on the second docking device 18 is parallel to the central axis of the concave block in the three-jaw projection 19
  • the telescopic mechanical arm 14 is mounted on a motor support 2-2.
  • the telescopic mechanical arm 14 includes a first servo motor 14-1, a second servo motor 14-2, and a third servo motor 14. -3, fourth servo motor 14-4, fifth servo motor 14-5 and sixth servo motor 14-6, the first servo motor 14-1 drives the horizontal rotation of the retractable robot arm 14, and the second servo motor 14- 2 and the third servo motor 14-3 drive the up and down swing of the retractable robot arm 14, the fourth servo motor 14-4 drives the circumferential rotation of the retractable robot arm 14, and the fifth servo motor 14-5 drives the retractable robot arm 14
  • the telescoping, the sixth servo motor 14-6 drives the rotation of the CCD binocular camera 15 held by the telescopic robot arm 14.
  • the drill pipe automatic docking system further includes an image acquisition card, an industrial computer, a PLC executable controller, and an electro-hydraulic proportional valve; the photo taken by the CCD binocular camera 15 transmits data to the industrial control through the image acquisition card.
  • the machine performs processing, and the industrial computer drives the PLC to execute the controller to control the opening degree of the electro-hydraulic proportional valve, thereby driving the rotation of the rotary electric machine 2-1 to realize the docking of the output end of the rotary electric machine 2-1 and the drill pipe 13 to be exchanged.
  • An automatic coal mining machine operation method based on machine vision and multi-sensor fusion comprising the following steps:
  • Step A The main body of the shearer is transported to the working position in the roadway by the crawler conveying mechanism. During the moving process, the distance between the driller and the roadway is obtained by the infrared sensor 16 on the rig rack 1 in real time, and the coal mining is adjusted in real time. The conveying direction and speed of the main machine realize the walking navigation of the drilling shearer in the roadway;
  • Step B After the main body of the shearer reaches the working position in the roadway, the height of the drilling machine frame 1 is adjusted by the drilling machine lifting mechanism 4 to adapt to the mining of different coal seams; after the drilling machine frame 1 is raised to the working surface, the control side supporting mechanism realizes coal mining.
  • the lateral support of the main body of the machine is fixed, and then the coal seam mining is carried out; while the rotating electric machine 2-1 drives the working drill pipe 6 to rotate, the drill pipe propulsion platform 3 drives the drill pipe rotary working platform 2 and the working drill pipe 6 to laterally advance into the roadway wall. (coal layer); the coal collected by the drill bit is transported out through the drill pipe, and the coal is transported out through the conveyor after falling;
  • Step C After the working drill pipe 6 is fully drilled into the coal seam, the rotary motor 2-1 stops, the working drill pipe support 7 rises and supports the working drill pipe 6; the output end of the rotary electric machine 2-1 is disengaged from the working drill pipe 6.
  • the drill pipe propulsion platform 3 drives the drill pipe rotating work platform 2 to return to the original position, thereby performing the change of the drill pipe;
  • Step D automatic conveying of the drill pipe 13 to be exchanged and its coaxial positioning with the working drill pipe 6
  • the drill pipe 13 to be exchanged is lifted to the lift hydraulic cylinder 11, and the drill hydraulic cylinder 9 pushes the drill platform 5 to transport the drill pipe 13 to be transferred to the drill frame 1, when the drill is drilled.
  • Limit when the platform 5 reaches the position of the limit switch 10
  • the switch 10 sends a signal to the DSP processor for processing, and the DSP processor controls the drill-drilling hydraulic cylinder 9 to stop the drill-drilling platform 5 at the limit switch 10, thereby realizing precise positioning of the drill pipe 13 to be changed in the horizontal direction;
  • 11 adjusting the height of the drill pipe 13 to be exchanged, according to the vertical position information of the working drill pipe 6 recorded by the displacement sensor 12 on the working drill pipe support 7, and controlling the lifting hydraulic cylinder 11 through the DSP processor while passing the feedback of the displacement sensor 12 Controlling the height of the drill pipe 13 to be exchanged, and achieving precise positioning of the drill pipe 13 to be changed in the vertical direction;
  • Step E docking the output of the drill pipe 13 and the rotary motor 2-1
  • a photo of the first docking device 19 on the drill pipe 13 to be switched is taken by the CCD binocular camera 15 through the image.
  • the acquisition card transmits the data to the industrial computer for processing, obtains the circumferential position information of the positioning cylinder 20 on the first docking device 19 of the drill pipe 13 to be exchanged, and adjusts the position and angle of the CCD binocular camera 15 through the telescopic mechanical arm 14.
  • the first docking device 19 of the drill pipe 13 to be switched is placed in the center of the image; after the adjustment is completed, the industrial computer drives the PLC to execute the controller to control the opening of the electro-hydraulic proportional valve to drive the rotation of the rotary motor 2-1, when the CCD double
  • the rotary electric machine 2-1 stops.
  • the three-jaw concave and convex block 19 on the drill pipe 13 to be exchanged and the three-jaw concave and convex block 19 on the output end of the rotary electric machine 2-1 are matched in the circumferential direction, so as to accurately position the drill pipe 13 to be exchanged in the circumferential direction.
  • Drill pipe propulsion platform 3 propulsion rotary motor 2-1 completed to be exchanged Butt rod 13 and the output terminal 2-1 of the rotary electric machine;
  • Step F docking of the drill pipe 13 to be connected with the working drill pipe 6
  • the industrial computer drives the PLC to execute the controller to control the opening degree of the electro-hydraulic proportional valve to control the rotation of the rotary electric machine 2-1 to be opposite to the angle in the step E.
  • the central axis of the positioning cylinder 20 on the second docking device 18 of the drill pipe 13 to be exchanged is parallel with the central axis of the positioning cylinder on the working drill pipe 6, so that the drill pipe 13 to be exchanged and the work is realized.
  • the precise positioning of the drill pipe 6 in the circumferential direction; the drill pipe propulsion platform 3 advances the drill pipe rotary work platform 2 to complete the docking of the drill pipe 13 to be connected with the working drill pipe 6, so as to carry out the next drilling coal mining.
  • the contact surface and the contact distance of the butt fitting portion of the three-jaw concave-convex block 19 are large, and the length of the drill pipe is short, the rigidity is large, and the actual work does not slip and detach.
  • the work relies on the propulsion platform to provide thrust, and the docking device always maintains a good docking.

Abstract

一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法，包括采煤机主机体、钻杆自动输送系统和钻杆自动对接系统；其中，钻杆自动输送系统通过送钻液压缸（9）推动送钻平台（5）沿巷道移动，通过升降液压缸（11）调整待换接钻杆（13）在送钻平台（5）上的高度，通过位移传感器（12）及限位开关（10）实现待换接钻杆（13）与工作钻杆（6）的同轴定位；钻杆自动对接系统通过可伸缩机械臂（14）调整CCD双目摄像机（15）的位置及角度，通过旋转电机调整待换接钻杆（13）相对于工作钻杆（6）的周向位置，并通过视觉定位实现待换接钻杆（13）与工作钻杆（6）的对接。具有较高的集成度及自动化程度，能够实现工作过程中钻杆自动换接及无人值守作业，有效提高了采煤作业效率，工作可靠且节约成本。

Description

一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法 技术领域
本发明涉及一种煤矿井下钻式采煤机控制系统，具体涉及一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法。
背景技术
我国薄与极薄煤层储量丰富、分布广泛，但现阶段薄与极薄煤层开采机械化程度较低，钻式采煤机是一种用于薄与极薄煤层开采的专用机器，由于其矮机身、大功率等优点得到广泛应用，而现阶段钻式采煤机钻杆依然采用单轨吊起吊，人工对接，且需通过由棘轮与液压缸组成的微调机构进行调整才能完成钻杆的对接，控制精度低，装卸钻杆时间长，大大降低了采煤效率。此外，国内外对钻式采煤机自动化作业控制的研究极少，与煤矿井下采煤机、掘进机等设备相比机械化程度低。钻式采煤机工作过程中煤的采出率低，能量消耗大，对薄与极薄煤层的开采造成资源、人员和设备的极大浪费。
因此，本领域技术人员致力于开发一种基于机器视觉和多传感器融合的采煤机自动作业系统，能够实现工作过程中钻杆自动换接及无人值守作业，具有较高的集成度及自动化程度。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法，具有较高的集成度及自动化程度，能够实现工作过程中钻杆自动换接及无人值守作业，有效提高采煤作业效率，工作可靠且节约成本。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种基于机器视觉和多传感器融合的采煤机自动作业系统，包括采煤机主机体、钻杆自动输送系统和钻杆自动对接系统；
其中，所述采煤机主机体包括钻机机架、侧支撑机构、钻机升降机构、钻杆旋转作业平台、钻杆推进平台、工作钻杆和工作钻杆支撑件，且采煤机主机体在其工作的巷道内移动；
钻机机架水平设置于钻机升降机构上，钻机升降机构用于支撑并调整钻机机架的高度；侧支撑机构包括两对测支撑液压缸，每对测支撑液压缸构成一个两端可伸缩的支撑杆；两个支撑杆分别水平设置于钻机机架的前后两侧，实现钻机机架的横向支撑固定；钻杆推进平台设置于钻机机架上，钻杆旋转作业平台设置于钻杆推进平台上；工作钻杆水平与钻杆旋转作业平台相连，在钻杆旋转作业平台带动工作钻杆旋转的同时钻杆推进平台带动钻杆旋转作业平台与工作钻杆横向推进钻入巷道壁中；工作钻杆支撑件可伸缩地设置于钻机机架上，用于在换接钻杆时支撑工作钻杆；
所述钻杆自动输送系统包括送钻液压缸、送钻平台、待换接钻杆、升降液压缸和DSP处理器(数字信号处理器)；送钻平台沿巷道长度方向设置于钻机机架的前侧或者后侧， 送钻平台与送钻液压缸相连并通过送钻液压缸推动送钻平台沿巷道移动；待换接钻杆通过升降液压缸水平横向设置于送钻平台上，并通过升降液压缸调整待换接钻杆的高度；工作钻杆支撑件及升降液压缸上均设置有位移传感器，且钻机机架上设置有限位开关；位移传感器与限位开关均与DSP处理器相连，通过位移传感器及限位开关实现待换接钻杆的调整定位至与工作钻杆同轴；
所述钻杆自动对接系统包括可伸缩机械臂及CCD(电荷耦合器件)双目摄像机，可伸缩机械臂设置于钻杆旋转作业平台上，可伸缩机械臂的顶端夹持有CCD双目摄像机；通过旋转电机调整待换接钻杆相对于工作钻杆的周向位置，并通过视觉定位实现待换接钻杆与工作钻杆的自动对接。
优选的，所述采煤机主机体通过履带输送机构实现巷道内的移动，钻机升降机构底部设置有滑撬，钻机机架通过滑撬设置于履带输送机构的履带上。
优选的，所述钻机机架左右两侧边的两端均设置有红外传感器，通过红外传感器实时获得钻式采煤机与巷道四周的距离，保证了采煤机移动的安全性。
优选的，所述钻杆旋转作业平台包括旋转电机及电机支座，旋转电机通过电机支座安装于钻杆推进平台上。
优选的，所述旋转电机的数量与工作钻杆的数量相同，可伸缩机械臂的数量与旋转电机的数量相同，彼此一一对应。
优选的，工作钻杆的对接端及待换接钻杆靠近旋转电机的一端均设置有第一对接装置，旋转电机的输出端及待换接钻杆靠近工作钻杆的一端均设置有第二对接装置；所述第一对接装置及第二对接装置均呈圆柱状，且其外端面均设置有三爪凹凸块；所述三爪凹凸块两两相适配，且第一对接装置及第二对接装置的柱面上均设置有三个沿圆周方向均布的定位圆柱体；第一对接装置上定位圆柱体的中心轴线与其三爪凹凸块中凸块的中心轴线平行，第二对接装置上定位圆柱体的中心轴线与其三爪凹凸块中凹块的中心轴线平行，且待换接钻杆两端的定位圆柱体的中心轴线相互平行。所述对接装置可实现任意工作角度钻杆的无缝对接。
优选的，所述可伸缩机械臂安装于电机支座上，可伸缩机械臂包括第一伺服电机、第二伺服电机、第三伺服电机、第四伺服电机、第五伺服电机及第六伺服电机，第一伺服电机驱动可伸缩机械臂的水平转动，第二伺服电机和第三伺服电机驱动可伸缩机械臂的上下摆动，第四伺服电机驱动可伸缩机械臂的周向转动，第五伺服电机驱动可伸缩机械臂的伸缩，第六伺服电机驱动可伸缩机械臂所夹持CCD双目摄像机的转动。
优选的，所述CCD双目摄像机具有眨眼功能，通过间断性眨眼避免工作过程中的灰尘堵塞CCD双目摄像机。
优选的，所述钻杆自动对接系统还包括图像采集卡、工控机、PLC(可编程逻辑控制器)可执行控制器和电液比例阀；CCD双目摄像机拍摄的照片通过图像采集卡将数据传递到工控机进行处理，工控机驱动PLC可执行控制器控制电液比例阀的开度，从而带动旋转电机的转动，实现旋转电机的输出端与待换接钻杆的对接。
一种基于机器视觉和多传感器融合的采煤机自动作业方法，包括以下步骤：
步骤A：通过履带输送机构将采煤机主机体输送至巷道内工作位置，移动过程中通过钻机机架上的红外传感器实时获得钻式采煤机与巷道四周的距离，实时调整采煤机主机 的输送方向和速度从而实现钻式采煤机在巷道内的行走导航；
步骤B：采煤机主机体到达巷道内工作位置后通过钻机升降机构调整钻机机架的高度以适应不同煤层的开采；钻机机架升高至工作面后控制侧支撑机构实现采煤机主机体的横向支撑固定，进而进行煤层开采；在旋转电机带动工作钻杆旋转的同时钻杆推进平台带动钻杆旋转作业平台与工作钻杆横向推进钻入巷道壁中；钻头采下的煤通过钻杆运出，煤下落后通过输送机运出；
步骤C：当工作钻杆全部钻进煤层后旋转电机停转，工作钻杆支撑件上升支撑住工作钻杆；旋转电机的输出端与工作钻杆脱开，钻杆推进平台带动钻杆旋转作业平台退回至原位，进而进行换接钻杆；
步骤D：待换接钻杆由行车起吊至升降液压缸上，送钻液压缸推动送钻平台将待换接钻杆运送至钻机机架上，当送钻平台到达限位开关所在位置时限位开关发送信号给DSP处理器进行处理，DSP处理器控制送钻液压缸将送钻平台停在限位开关处，实现待换接钻杆水平方向的精确定位；通过升降液压缸调整待换接钻杆的高度，根据工作钻杆支撑件上位移传感器记录的工作钻杆垂直方向位置信息，通过DSP处理器控制升降液压缸的同时通过位移传感器的反馈控制待换接钻杆的高度，实现待换接钻杆垂直方向的精确定位；
步骤E：当待换接钻杆与工作钻杆完成同轴定位后，通过CCD双目摄像机拍摄一组待换接钻杆上第一对接装置的照片，通过图像采集卡将数据传递到工控机处理，获得待换接钻杆第一对接装置上定位圆柱体的周向位置信息，通过可伸缩机械臂调整CCD双目摄像机的位置及角度使待换接钻杆上第一对接装置处于图像的正中位置；调整完成后工控机驱动PLC可执行控制器控制电液比例阀的开度带动旋转电机的转动，当CCD双目摄像机获得旋转电机上定位圆柱体的周向位置与待换接钻杆的第一对接装置上定位圆柱体的周向位置一致时，旋转电机停转，此时待换接钻杆第一对接装置上的三爪凹凸块与旋转电机输出端上的三爪凹凸块在圆周方向相互匹配，实现待换接钻杆在圆周方向的精确定位；钻杆推进平台推进旋转电机完成待换接钻杆与旋转电机输出端的对接；
步骤F：当待换接钻杆与旋转电机输出端的对接完成后，工控机驱动PLC可执行控制器控制电液比例阀的开度从而控制旋转电机转动与步骤E中相反的角度至原位；此时待换接钻杆第二对接装置上定位圆柱体的中心轴线与工作钻杆上定位圆柱体的中心轴线是平行的，实现待换接钻杆与工作钻杆在圆周方向的精确定位；钻杆推进平台推进钻杆旋转作业平台完成待换接钻杆与工作钻杆的对接，从而进行下一次钻进采煤。
有益效果：本发明提供的一种基于机器视觉和多传感器融合的采煤机自动作业系统及方法，相对于现有技术，具有以下优点：1、具有较高的集成度及自动化程度，工作安全可靠且节省人力；2、采用机器视觉和多传感器融合技术，实现钻式采煤机行走、钻进、换钻、作业一体化，缩短了钻式采煤机换钻作业的时间，大大提高了薄与极薄煤层的开采效率，节约成本。
附图说明
图1是本发明中采煤机主机体的俯视图；
图2是本发明中采煤机主机体的主视图；
图3是本发明中采煤机主机体的左视图；
图4是本发明中采煤机主机体的右视图；
图5是本发明中待换接钻杆的结构图；
图6是本发明中第一对接装置的结构图；
图7是本发明中第二对接装置的结构图；
图8是本发明中可伸缩机械臂的结构图；
图9是本发明中钻杆自动输送系统的结构框图；
图10是本发明中钻杆自动输送系统的控制流程图；
图11是本发明中钻杆自动对接系统的结构框图；
图12是本发明中钻杆自动对接系统的控制流程图；
图中包括：1、钻机机架，2、钻杆旋转作业平台，3、钻杆推进平台，4、钻机升降机构，5、送钻平台，6、工作钻杆，7、工作钻杆支撑件，8、测支撑液压缸，9、送钻液压缸，10、限位开关，11、升降液压缸，12、位移传感器，13、待换接钻杆，14、可伸缩机械臂，15、CCD双目摄像机，16、红外传感器，17、第一对接装置，18、第二对接装置，19、三爪凹凸块，20、定位圆柱体，2-1、旋转电机，2-2、电机支座，14-1、第一伺服电机，14-2、第二伺服电机，14-3、第三伺服电机，14-4、第四伺服电机，14-5、第五伺服电机，14-6、第六伺服电机。
具体实施方式
下面结合附图及实施例对本发明作更进一步的说明。
如图1、2、3、4所示为一种基于机器视觉和多传感器融合的采煤机自动作业系统，包括采煤机主机体、钻杆自动输送系统和钻杆自动对接系统；
其中，所述采煤机主机体包括钻机机架1、侧支撑机构、钻机升降机构4、钻杆旋转作业平台2、钻杆推进平台3、三个工作钻杆6和三个工作钻杆支撑件7，且采煤机主机体在其工作的巷道内移动；
钻机机架1水平设置于钻机升降机构4上，钻机升降机构4用于支撑并调整钻机机架1的高度；侧支撑机构包括两对测支撑液压缸8，每对测支撑液压缸8构成一个两端可伸缩的支撑杆；两个支撑杆分别水平设置于钻机机架1的前后两侧，实现钻机机架1的横向支撑固定；钻杆推进平台3设置于钻机机架1上，钻杆旋转作业平台2设置于钻杆推进平台3上；工作钻杆6水平与钻杆旋转作业平台2相连，在钻杆旋转作业平台2带动工作钻杆6旋转的同时钻杆推进平台3带动钻杆旋转作业平台2与工作钻杆6横向推进钻入巷道壁中；工作钻杆支撑件7可伸缩地设置于钻机机架1上，用于在换接钻杆时用于支撑工作钻杆6；
所述钻杆自动输送系统包括送钻液压缸9、送钻平台5、待换接钻杆13、升降液压缸11和DSP处理器；送钻平台5沿巷道长度方向设置于钻机机架1的后侧，送钻平台5与送钻液压缸9相连并通过送钻液压缸9推动送钻平台5沿巷道移动；待换接钻杆13通过升降液压缸11水平横向设置于送钻平台5上，并通过升降液压缸11调整待换接钻杆13的高度；工作钻杆支撑件7及升降液压缸11上均设置有位移传感器12，钻机机架1上设置有限位开关10；如图9所示，位移传感器12与限位开关10均与DSP处理器相连，通过位移传感器12及限位开关10实现待换接钻杆13与工作钻杆6的同轴定位；
所述钻杆自动对接系统包括三个可伸缩机械臂14及三个具有眨眼功能的CCD双目摄像机15，可伸缩机械臂14设置于钻杆旋转作业平台2上，可伸缩机械臂14的顶端夹持有 CCD双目摄像机15，通过视觉定位实现待换接钻杆13与工作钻杆6的自动对接。
本实施例中，所述采煤机主机体通过履带输送机构实现巷道内的移动，钻机升降机构4底部设置有滑撬，钻机机架1通过滑撬设置于履带输送机构的履带上；所述钻机机架1左右两侧边的两端均设置有红外传感器16。
本实施例中，所述钻杆旋转作业平台2包括三个旋转电机2-1及三个电机支座2-2，旋转电机2-1通过电机支座2-2安装于钻杆推进平台3上。
如图5、6、7所示，工作钻杆6的对接端及待换接钻杆13靠近旋转电机2-1的一端均设置有第一对接装置19，旋转电机2-1的输出端及待换接钻杆13靠近工作钻杆6的一端均设置有第二对接装置18；所述第一对接装置19及第二对接装置18均呈圆柱状，且其外端面均设置有三爪凹凸块19；所述三爪凹凸块19两两相适配，且第一对接装置19及第二对接装置18的柱面上均设置有三个沿圆周方向均布的定位圆柱体20；第一对接装置19上定位圆柱体20的中心轴线与其三爪凹凸块19中凸块的中心轴线平行，第二对接装置18上定位圆柱体20的中心轴线与其三爪凹凸块19中凹块的中心轴线平行，且待换接钻杆13两端的定位圆柱体20的中心轴线相互平行。
如图8所示，所述可伸缩机械臂14安装于电机支座2-2上，可伸缩机械臂14包括第一伺服电机14-1、第二伺服电机14-2、第三伺服电机14-3、第四伺服电机14-4、第五伺服电机14-5及第六伺服电机14-6，第一伺服电机14-1驱动可伸缩机械臂14的水平转动，第二伺服电机14-2和第三伺服电机14-3驱动可伸缩机械臂14的上下摆动，第四伺服电机14-4驱动可伸缩机械臂14的周向转动，第五伺服电机14-5驱动可伸缩机械臂14的伸缩，第六伺服电机14-6驱动可伸缩机械臂14所夹持CCD双目摄像机15的转动。
如图11所示，所述钻杆自动对接系统还包括图像采集卡、工控机、PLC可执行控制器和电液比例阀；CCD双目摄像机15拍摄的照片通过图像采集卡将数据传递到工控机进行处理，工控机驱动PLC可执行控制器控制电液比例阀的开度，从而带动旋转电机2-1的转动，实现旋转电机2-1的输出端与待换接钻杆13的对接。
一种基于机器视觉和多传感器融合的采煤机自动作业方法，包括以下步骤：
步骤A：通过履带输送机构将采煤机主机体输送至巷道内工作位置，移动过程中通过钻机机架1上的红外传感器16实时获得钻式采煤机与巷道四周的距离，实时调整采煤机主机的输送方向和速度从而实现钻式采煤机在巷道内的行走导航；
步骤B：采煤机主机体到达巷道内工作位置后通过钻机升降机构4调整钻机机架1的高度以适应不同煤层的开采；钻机机架1升高至工作面后控制侧支撑机构实现采煤机主机体的横向支撑固定，进而进行煤层开采；在旋转电机2-1带动工作钻杆6旋转的同时钻杆推进平台3带动钻杆旋转作业平台2与工作钻杆6横向推进钻入巷道壁(煤层)中；钻头采下的煤通过钻杆运出，煤下落后通过输送机运出；
步骤C：当工作钻杆6全部钻进煤层后旋转电机2-1停转，工作钻杆支撑件7上升支撑住工作钻杆6；旋转电机2-1的输出端与工作钻杆6脱开，钻杆推进平台3带动钻杆旋转作业平台2退回至原位，进而进行换接钻杆；
步骤D：待换接钻杆13的自动输送及其与工作钻杆6的同轴定位
如图10所示，待换接钻杆13由行车起吊至升降液压缸11上，送钻液压缸9推动送钻平台5将待换接钻杆13运送至钻机机架1上，当送钻平台5到达限位开关10所在位置时限位 开关10发送信号给DSP处理器进行处理，DSP处理器控制送钻液压缸9将送钻平台5停在限位开关10处，实现待换接钻杆13水平方向的精确定位；通过升降液压缸11调整待换接钻杆13的高度，根据工作钻杆支撑件7上位移传感器12记录的工作钻杆6垂直方向位置信息，通过DSP处理器控制升降液压缸11的同时通过位移传感器12的反馈控制待换接钻杆13的高度，实现待换接钻杆13垂直方向的精确定位；
步骤E：待换接钻杆13与旋转电机2-1输出端的对接
如图12所示，当待换接钻杆13与工作钻杆6完成同轴定位后，通过CCD双目摄像机15拍摄一组待换接钻杆13上第一对接装置19的照片，通过图像采集卡将数据传递到工控机处理，获得待换接钻杆13的第一对接装置19上定位圆柱体20的周向位置信息，通过可伸缩机械臂14调整CCD双目摄像机15的位置及角度使待换接钻杆13的第一对接装置19处于图像的正中位置；调整完成后工控机驱动PLC可执行控制器控制电液比例阀的开度带动旋转电机2-1的转动，当CCD双目摄像机15获得旋转电机2-1上定位圆柱体20的周向位置与待换接钻杆13的第一对接装置19上定位圆柱体20的周向位置一致时，旋转电机2-1停转，此时待换接钻杆13上的三爪凹凸块19与旋转电机2-1输出端上的三爪凹凸块19在圆周方向相互匹配，实现待换接钻杆13在圆周方向的精确定位；钻杆推进平台3推进旋转电机2-1完成待换接钻杆13与旋转电机2-1输出端的对接；
步骤F：待换接钻杆13与工作钻杆6的对接
当待换接钻杆13与旋转电机2-1输出端的对接完成后，工控机驱动PLC可执行控制器控制电液比例阀的开度从而控制旋转电机2-1转动与步骤E中相反的角度至原位；此时待换接钻杆13第二对接装置18上定位圆柱体20的中心轴线与工作钻杆6上定位圆柱体的中心轴线是平行的，实现待换接钻杆13与工作钻杆6在圆周方向的精确定位；钻杆推进平台3推进钻杆旋转作业平台2完成待换接钻杆13与工作钻杆6的对接，从而进行下一次钻进采煤。
本发明中三爪凹凸块19对接贴合部分的接触面及接触距离较大，且钻杆长度较短，刚性大，实际工作不会发生打滑和脱离。工作时依靠推进平台提供推力，对接装置始终保持较好的对接。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，包括采煤机主机体、钻杆自动输送系统和钻杆自动对接系统；
    其中，所述采煤机主机体包括钻机机架(1)、侧支撑机构、钻机升降机构(4)、钻杆旋转作业平台(2)、钻杆推进平台(3)、工作钻杆(6)和工作钻杆支撑件(7)，且采煤机主机体在其工作的巷道内移动；
    钻机机架(1)设置于钻机升降机构(4)上，钻机升降机构(4)用于支撑并调整钻机机架(1)的高度；侧支撑机构包括两对测支撑液压缸(8)，每对测支撑液压缸(8)构成一个两端可伸缩的支撑杆；两个支撑杆分别水平设置于钻机机架(1)的前后两侧，实现钻机机架(1)的横向支撑固定；钻杆推进平台(3)设置于钻机机架(1)上，钻杆旋转作业平台(2)设置于钻杆推进平台(3)上；工作钻杆(6)水平与钻杆旋转作业平台(2)相连，在钻杆旋转作业平台(2)带动工作钻杆(6)旋转的同时钻杆推进平台(3)带动钻杆旋转作业平台(2)与工作钻杆(6)横向推进钻入巷道壁中；工作钻杆支撑件(7)可伸缩地设置于钻机机架(1)上，用于在换接钻杆时支撑工作钻杆(6)；
    所述钻杆自动输送系统包括送钻液压缸(9)、送钻平台(5)、待换接钻杆(13)、升降液压缸(11)和DSP处理器；送钻平台(5)沿巷道长度方向设置于钻机机架(1)的前侧或者后侧，送钻平台(5)与送钻液压缸(9)相连并通过送钻液压缸(9)推动送钻平台(5)沿巷道移动；待换接钻杆(13)通过升降液压缸(11)水平横向设置于送钻平台(5)上，并通过升降液压缸(11)调整待换接钻杆(13)的高度；工作钻杆支撑件(7)及升降液压缸(11)上均设置有位移传感器(12)，钻机机架(1)上设置有限位开关(10)；位移传感器(12)与限位开关(10)均与DSP处理器相连，通过位移传感器(12)及限位开关(10)实现待换接钻杆(13)与工作钻杆(6)的同轴定位；
    所述钻杆自动对接系统包括可伸缩机械臂(14)及CCD双目摄像机(15)，可伸缩机械臂(14)设置于钻杆旋转作业平台(2)上，可伸缩机械臂(14)的顶端夹持有CCD双目摄像机(15)，通过视觉定位实现待换接钻杆(13)与工作钻杆(6)的自动对接。
  2. 根据权利要求1所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述采煤机主机体通过履带输送机构实现巷道内的移动，钻机升降机构(4)底部设置有滑撬，钻机机架(1)通过滑撬设置于履带输送机构的履带上。
  3. 根据权利要求1所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述钻机机架(1)左右两侧边的两端均设置有红外传感器(16)。
  4. 根据权利要求1所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述钻杆旋转作业平台(2)包括旋转电机(2-1)及电机支座(2-2)，旋转电机(2-1)通过电机支座(2-2)安装于钻杆推进平台(3)上。
  5. 根据权利要求4所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述旋转电机(2-1)的数量与工作钻杆(6)的数量相同，可伸缩机械臂(14)的数量与旋转电机(2-1)的数量相同。
  6. 根据权利要求4所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述工作钻杆(6)的对接端及待换接钻杆(13)靠近旋转电机(2-1)的一端均设置有第一对接装置(17)，旋转电机(2-1)的输出端及待换接钻杆(13)靠近工作钻杆(6)的一端均设置有第二对接装置(18)；所述第一对接装置(17)及第二对接装置(18)均呈圆柱状， 且其外端面均设置有三爪凹凸块(19)；所述三爪凹凸块(19)两两相适配，且第一对接装置(17)及第二对接装置(18)的柱面上均设置有三个沿圆周方向均布的定位圆柱体(20)；第一对接装置(17)上定位圆柱体(20)的中心轴线与其三爪凹凸块(19)中凸块的中心轴线平行，第二对接装置(18)上定位圆柱体(20)的中心轴线与其三爪凹凸块(19)中凹块的中心轴线平行，且待换接钻杆(13)两端的定位圆柱体(20)的中心轴线相互平行。
  7. 根据权利要求4所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述可伸缩机械臂(14)安装于电机支座(2-2)上，可伸缩机械臂(14)包括第一伺服电机(14-1)、第二伺服电机(14-2)、第三伺服电机(14-3)、第四伺服电机(14-4)、第五伺服电机(14-5)及第六伺服电机(14-6)，第一伺服电机(14-1)驱动可伸缩机械臂(14)的水平转动，第二伺服电机(14-2)和第三伺服电机(14-3)驱动可伸缩机械臂(14)的上下摆动，第四伺服电机(14-4)驱动可伸缩机械臂(14)的周向转动，第五伺服电机(14-5)驱动可伸缩机械臂(14)的伸缩，第六伺服电机(14-6)驱动可伸缩机械臂(14)所夹持CCD双目摄像机(15)的转动。
  8. 根据权利要求1所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述CCD双目摄像机(15)具有眨眼功能。
  9. 根据权利要求4所述的一种基于机器视觉和多传感器融合的采煤机自动作业系统，其特征在于，所述钻杆自动对接系统还包括图像采集卡、工控机、PLC可执行控制器和电液比例阀；CCD双目摄像机(15)拍摄的照片通过图像采集卡将数据传递到工控机进行处理，工控机驱动PLC可执行控制器控制电液比例阀的开度，从而带动旋转电机(2-1)的转动，实现旋转电机(2-1)输出端与待换接钻杆(13)的对接。
  10. 一种基于机器视觉和多传感器融合的采煤机自动作业方法，其特征在于，包括以下步骤：
    步骤A：通过履带输送机构将采煤机主机体输送至巷道内工作位置，移动过程中通过钻机机架(1)上的红外传感器(16)获得钻式采煤机与巷道四周的距离，实时调整采煤机主机的输送方向和速度从而实现钻式采煤机在巷道内的行走导航；
    步骤B：采煤机主机体到达巷道内工作位置后通过钻机升降机构(4)调整钻机机架(1)的高度；钻机机架(1)升至工作面后控制侧支撑机构实现采煤机主机体的横向支撑固定，进而进行煤层开采；在旋转电机(2-1)带动工作钻杆(6)旋转的同时钻杆推进平台(3)带动钻杆旋转作业平台(2)与工作钻杆(6)横向推进钻入巷道壁中；
    步骤C：当工作钻杆(6)全部钻进煤层后旋转电机(2-1)停转，由工作钻杆支撑件(7)支撑工作钻杆(6)；旋转电机(2-1)的输出端与工作钻杆(6)脱开，钻杆推进平台(3)带动钻杆旋转作业平台(2)退回至原位，进而进行换接钻杆；
    步骤D：待换接钻杆(13)由行车起吊至升降液压缸(11)上，送钻液压缸(9)推动送钻平台(5)将待换接钻杆(13)运送至钻机机架(1)上，当送钻平台(5)到达限位开关(10)所在位置时限位开关(10)发送信号给DSP处理器进行处理，DSP处理器控制送钻液压缸(9)将送钻平台(5)停在限位开关(10)处，实现待换接钻杆(13)水平方向的精确定位；通过升降液压缸(11)调整待换接钻杆(13)的高度，根据工作钻杆支撑件(7)上位移传感器(12)记录的工作钻杆(6)垂直方向位置信息，通过DSP处理器控制升降液压缸(11)的同时通过位移传感器(12)的反馈控制待换接钻杆(13)的高度，实现待换接钻杆(13)垂直方向的精确定位；
    步骤E：当待换接钻杆(13)与工作钻杆(6)完成同轴定位后，通过CCD双目摄像机(15)拍摄一组待换接钻杆(13)上第一对接装置(17)的照片，通过图像采集卡将数据传递到工控机处理，获得待换接钻杆(13)的第一对接装置(17)上定位圆柱体(20)的周向位置信息，通过可伸缩机械臂(14)调整CCD双目摄像机(15)的位置及角度使待换接钻杆(13)的第一对接装置(17)处于图像的正中位置；调整完成后工控机驱动PLC可执行控制器控制电液比例阀的开度带动旋转电机(2-1)的转动，当CCD双目摄像机(15)获得旋转电机(2-1)上定位圆柱体(20)的周向位置与待换接钻杆(13)第一对接装置(17)上定位圆柱体(20)的周向位置一致时，旋转电机(2-1)停转，钻杆推进平台(3)推进旋转电机(2-1)完成待换接钻杆(13)与旋转电机(2-1)输出端的对接；
    步骤F：当待换接钻杆(13)与旋转电机(2-1)输出端的对接完成后，工控机驱动PLC可执行控制器控制电液比例阀的开度从而控制旋转电机(2-1)转动与步骤E中相反的角度至原位；此时待换接钻杆(13)第二对接装置(18)上定位圆柱体(20)的中心轴线与工作钻杆(6)上定位圆柱体的中心轴线是平行的，实现待换接钻杆(13)与工作钻杆(6)在圆周方向的精确定位；钻杆推进平台(3)推进钻杆旋转作业平台(2)完成待换接钻杆(13)与工作钻杆(6)的对接，从而进行下一次钻进采煤。
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