无反复支撑超前支护智能控制系统

韩哲; 徐元强; 张德生; 赵全文; 杜明; 李慧; 周杰; 张帅; 刘杰; 高健勋; 温存宝; 周翔; 赵凯

doi:10.13272/j.issn.1671-251x.2022090004

无反复支撑超前支护智能控制系统

doi: 10.13272/j.issn.1671-251x.2022090004

韩哲^1,,
徐元强²,
张德生¹,
赵全文³,
杜明¹,
李慧⁴,
周杰¹,
张帅¹,
刘杰⁵,
高健勋⁵,
温存宝⁶,
周翔⁷,
赵凯⁸

1.
中煤科工开采研究院有限公司, 北京　100013
2.
华能庆阳煤电有限责任公司, 甘肃庆阳　745002
3.
扎赉诺尔煤业有限责任公司, 内蒙古满洲里　021412
4.
华亭煤业集团有限责任公司, 甘肃华亭　744100
5.
华能煤炭技术研究有限公司, 北京　100070
6.
华能云南滇东能源有限责任公司, 云南曲靖　655000
7.
华能煤业有限公司陕西矿业分公司, 陕西西安　710032
8.
华能煤业有限公司, 北京　100070

基金项目: 国家自然科学基金面上项目（51974159）；国家自然科学基金重点项目（51834006）；山东省重点研发技术项目（2020CXGC011502）；中煤科工开采研究院有限公司“科技创新基金重点项目”（KJ-2021-KCZD-01）；天地科技开采设计事业部“科技创新基金项目”（KJ-2021-KCMS-05）；中国华能总部科技项目（HNKJ20-H48）。

详细信息

作者简介:
韩哲（1989—），男，吉林榆树人，助理研究员，硕士，研究方向为综采工作面智能控制理论与技术，E-mail：343108541@qq.com

中图分类号: TD634
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- 被引次数: 0
出版历程
- 收稿日期: 2022-09-02
- 修回日期: 2023-03-28
- 网络出版日期: 2022-11-16

Non-repeated support advanced support intelligent control system

1.
CCTEG Coal Mining Research Institute, Beijing 100013, China
2.
Huaneng Qingyang Coal Power Co., Ltd., Qingyang 745002, China
3.
Zalai Nur Coal Industry Co., Ltd., Manzhouli 021412, China
4.
Huating Coal Mining Group Co., Ltd., Huating 744100, China
5.
Huaneng Coal Technology Research Co., Ltd., Beijing 100070, China
6.
Huaneng Yunnan Diandong Energy Co. , Ltd. , Qujing 655000, China
7.
Shaanxi Mining Branch,Huaneng Coal Industry Co., Ltd., Xi'an 710032,China
8.
Huaneng Coal Industry Co., Ltd.,Beijing 100070, China

摘要

摘要: 针对无反复支撑超前支护装备在空间小、震动大、电磁干扰严重的环境下传感技术水平低、运动控制不精准、作业流程复杂的问题，提出一种无反复支撑超前支护智能控制系统。无反复支撑超前支护工艺的被控需求：具备姿态、障碍物、位置等周边环境信息检测技术手段；具备自适应、自调整、自决策的控制方法；具备快速、平稳、精准的执行部件。根据上述需求，提出智能控制系统的3项关键技术：智能感知、逻辑控制、执行。基于无反复支撑超前支护智能控制系统的控制功能和任务流程，提出了系统总体架构；基于姿态、障碍物识别、压力及位置和速度信息的多传感融合技术手段，提出了多工况运动控制策略。研制了运输巷超前支护“转−运−支”一体样机，并进行地面测试，测试结果表明：无反复支撑超前支护智能控制系统可实现支架中心点及障碍物视觉识别、支架搬运小车自动行走及行程判断、支架自动偏移及旋转、支架自动抓取及升降功能；视觉识别传感器可实现支架架号编码识别、支架姿态、支护区域决策功能；实现了“行—抓—降—转—行—转—升—松—降”自动化作业流程，能够达到应用要求。
- 综采工作面超前支护 /
- 无反复支撑 /
- 智能控制 /
- 多融合感知 /
- 智能感知
Abstract: The non-repeated support advanced support equipment in environments with small space, large vibration, and severe electromagnetic interference has problems of low sensing technology level, imprecise motion control, and complex operation process. In order to solve the above problems, a non-repeated support advanced support intelligent control system is proposed. According to the controlled requirements of the non-repeated support advanced support technology, it has the capability to detect surrounding environmental information such as posture, obstacles, and positions. It has control methods of adaptive, self- adjusting, and self -decision-making. It has fast, stable, and precise execution components. It is pointed out that this intelligent control system proposes three key technologies: intelligent perception, logical control and execution. Based on the control functions and task flow of the intelligent control system for non-repeated support advanced support, the overall architecture of the system is proposed. The multi-sensor fusion technology based on attitude, obstacle recognition, pressure, position, and velocity information is proposed to control and execute multi working condition motion control strategies. The integrated prototype of "turn-transport-support" for advanced support in transportation roadways is developed. And ground tests are conducted. The test results show that the intelligent control system for non-repeated support advanced support can achieve visual recognition of the center point and obstacles of the support, automatic walking and stroke judgment of the support handling trolley, automatic offset and rotation of the support, and automatic grasping and lifting functions of the support. The visual recognition sensor can achieve support frame number coding recognition, support posture, and support area decision-making functions. The automated operation process of "walk-grasp-lower-turn-walk-turn-lift-loose-lower" is implemented. It can meet the application requirements.
- advanced support in fully mechanized working face /
- non-repeated support /
- intelligent control /
- multi fusion perception /
- intelligent perception

HTML全文

图 1 智能控制系统架构

Figure 1. Intelligent control system architecture

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图 2 系统感知体系

Figure 2. System perception system

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图 3 系统控制和执行体系

Figure 3. System control and execution system

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图 4 超前支护“转−运−支”一体样机

Figure 4. Advance support of the "turn-transport-support" prototype

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图 5 ArUco Marker示例

Figure 5. ArUco Marker demonstration

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图 6 视觉摄像头及标记物位置

Figure 6. Locations of the visual camera and the markers

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图 7 基于YOLOv5的顶板区域托盘检测

Figure 7. Top plate area tray detection based on YOLOv5

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图 8 样机自动控制系统组成

Figure 8. Composition of the prototype automatic control system

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