摘要
掘进机是煤矿井下巷道掘进的主要设备,其控制方式的自动化、智能化,是实现巷道掘进无人化的关键,是未来的发展方向。为了真正将人从环境恶劣、危险性高的生产现场解放出来,打造智能安全高效的井下作业环境,首先要实现掘进机的机器人化。机器人必须准确地知道自己的坐标位置、姿态参数及目标模型才能准确地执行命令,因此掘进机机器人化的前提需要解决以下关键技术:在大地坐标系下,实时追踪掘进机车体的坐标,检测掘进机车体的航向和姿态,快速建立要掘进的巷道断面三维模型。基于这种认识,研究了一种基于自动全站仪和陀螺寻北仪设计的定位装置及方法,用于在大地坐标系下实时追踪掘进机车体的坐标;介绍了一种惯性导航系统的优化方法,用于在大地坐标系下实时检测掘进机车体的航向和姿态;提出了一种在大地坐标系下快速建立待掘进工作面巷道断面的三维模型方法。在山东能源新汶矿业集团翟镇煤矿六采四层西翼集中回风巷进行了为期8个月的测试,按照上述方法,建立好待掘进巷道断面的三维模型后,在距离掘进工作面200 m以外的操作台处,按照三维模型远程遥控操作掘进机截割断面。结果表明:定位装置在30 m可视范围内满足掘进机定位监测精度的要求,优化后的惯性导航系统解决了误差随时间发散、成本高、初始对准时间长等缺点,人工远程遥控操作掘进机截割后的断面满足《煤炭井巷工程质量验收规范》要求。
Roadheader is main equipment of roadway driving in mine.The control mode of automation,intelligent,and even to achieve unmanned roadway excavation is the future development direction.In order to liberate workers from production site with bad environment and high risk,and create an intelligent,safe and efficient underground working environment,it is necessary to realize robotization of roadheader.The robot must know its coordinate position,attitude parameters and target model accurately in order to execute the command correctly and accurately.Therefore,premise of roadheader to realize roboticization is to solve the following key technologies:in geodetic coordinate system,real-time tracking coordinates of body of roadheader,detecting the heading and posture of body of roadheader,and quickly establishing the 3 D model of tunnel section to be excavated.Based on recognition,this paper discusses and studies a positioning device and method based on automatic total station and gyroscopic north finder,which is used to track real-time coordinates of body of roadheader in geodetic coordinate system;introduces an optimization method of inertial navigation system,which is used to detect the heading and attitude of body of roadheader in geodetic coordinate system;puts forward a method to quickly establish the 3 D model of tunnel section to be excavated in geodetic coordinate system.The technicians tested for 8 months in the tunnel with centralized return air in West Wing of the fourth floor of the sixth mining area in Zhaizhen Coal Mine of Shandong Energy Xinwen Mining Group Co.,Ltd.After the 3 D model of tunnel section to be excavated is established in geodetic coordinate system according to above method,the roadheader driver remotely operates roadheader to cut tunnel section according to 3 D model at the operating platform 200 meters away from the heading face.The results show that the positioning device can meet requirements of positioning detection accuracy of roadheader within 30 meters visual range;the optimized inertial navigation system solves problems of error divergence with time,high cost and long initial alignment time;the tunnel section cut by manual remote operation of roadheader meets the requirements of Code for Acceptance of Shaft Sinking and Drifting of Coal Mine.
作者
石泉
孙常军
郑洪涛
魏民
卢新明
SHI Quan;SUN Changjun;ZHENG Hongtao;WEI Min;LU Xinming(Shandong Xinkuang Information Technology Co.,Ltd.,Taian 271219,China;Shandong Lionking Software Co.,Ltd.,Taian 271039,China)
出处
《煤炭科学技术》
CAS
CSCD
北大核心
2020年第S02期199-204,共6页
Coal Science and Technology
基金
山东省重大科技创新工程资助项目(2019SDZY03)
关键词
掘进机
机器人化
定位装置
惯性导航
快速建模
roadheader
robotization
positioning device
inertial navigation
fast modeling
