AU2017359769B2 - System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine - Google Patents
System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine Download PDFInfo
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- AU2017359769B2 AU2017359769B2 AU2017359769A AU2017359769A AU2017359769B2 AU 2017359769 B2 AU2017359769 B2 AU 2017359769B2 AU 2017359769 A AU2017359769 A AU 2017359769A AU 2017359769 A AU2017359769 A AU 2017359769A AU 2017359769 B2 AU2017359769 B2 AU 2017359769B2
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- 239000003245 coal Substances 0.000 title claims abstract description 30
- 230000004927 fusion Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005065 mining Methods 0.000 title claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 35
- 238000005553 drilling Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000001174 ascending effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/22—Mineral freed by means not involving slitting by rotary drills with breaking-down means, e.g. wedge-shaped drills, i.e. the rotary axis of the tool carrier being substantially perpendicular to the working face, e.g. MARIETTA-type
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Fluid Mechanics (AREA)
- Earth Drilling (AREA)
Abstract
Provided are a system and method, based on machine vision and multi-sensor fusion, for automatic operation of a coal mining machine. The system comprises a main machine body of a coal mining machine, an automatic drill rod conveying system, and an automatic drill rod abutting system, wherein the automatic drill rod conveying system pushes a drill feed platform (5) to move along a tunnel by means of a drill feed hydraulic cylinder (9), adjusts, by means of a lifting hydraulic cylinder (11), the height, on the drill feed platform (5), of a drill rod (13) to be swapped , and realises the coaxial positioning of the drill rod (13) to be swapped and a working drill rod (6) by means of a displacement sensor (12) and a limiting switch (10); and the automatic drill rod abutting system adjusts the position and angle of a CCD binocular camera (15) via a telescopic mechanical arm (14), adjusts, by means of a rotating electric motor, the circumferential position, relative to the working drill rod (6), of the drill rod (13) to be swapped, and realises the abutting of the drill rod (13) to be swapped and the working drill rod (6) by means of visual positioning. The invention has relatively high degrees of integration and automation, can realise the automatic swapping and unattended operation of the drill rod in a working process, effectively improves the operation efficiency of coal mining, operates reliably and reduces costs.
Description
TEXT OF THE ABSTRACT
The present invention discloses an automatic operation system of a shearer and method based on machine vision and multi-sensor fusion, including a shearer main body, an automatic drill shaft conveying system, and an automatic drill shaft connection system, where the automatic drill shaft conveying system pushes, by means of a drill shaft feeding hydraulic cylinder, a drill shaft feeding platform to move along a roadway, a height of a to-be-added drill shaft on the drill shaft feeding platform is adjusted by means of a lifting hydraulic cylinder, and achieves coaxial positioning of the to-be-added drill shaft relative to a working drill shaft by means of a displacement sensor and a limit switch; and the automatic drill shaft connection system adjusts a position and an angle of a CCD binocular camera by means of a telescopic robotic arm, adjusts a circumferential position of the to-be-added drill shaft relative to the working drill shaft by means of a rotary motor, and achieves connection between the to-be-added drill shaft and the working drill shaft by means of visual positioning. The present invention has a relatively high integration level and automation degree, can achieve automatic addition of a drill shaft and unattended operation in a working process, and effectively improves coal mining operation efficiency, thereby achieving reliable working and saving costs..
AUTOMATIC OPERATION SYSTEM AND METHOD OF SHEARER BASED
ON MACHINE VISION AND MULTI-SENSOR FUSION
BACKGROUND OF THE INVENTION
TECHNICAL FIELD
The present invention relates to a control system of an underground drill-type shearer used in a coal mine, and specifically, to an automatic operation system and method of a shearer based on machine vision and multi-sensor fusion.
BACKGROUND
In China, reserves of thin and extremely thin coal seams are rich and widely distributed. However, currently, a mechanization degree of thin and extremely thin coal seam mining is relatively low. A drill-type shearer is a dedicated machine for thin and extremely thin coal seam mining and is widely applied because of its advantages such as a short machine body and a large power. However, currently, a drill shaft of the drill-type shearer is still hoisted by using a single track hoist, connection is manually performed, and adjustments needs to be performed by using a fine-tuning mechanism constituted by a ratchet and a hydraulic cylinder to complete the connection of the drill shaft. Control precision is low, it takes a long time to unload the drill shaft, and coal mining efficiency is greatly reduced. In addition, in China and abroad, there are few researches on automated operation control of the drill-type shearer. Compared with devices, such as a coal mine underground shearer and a heading machine, the drill-type shearer has a relatively low mechanization degree. In a working process of the drill-type shearer, a recovery yield of coal is low, energy consumption is large, and resources, personnel, and devices are greatly wasted in thin and extremely thin coal seam mining.
Therefore, a person skilled in the art works on developing an automatic operation system of a shearer based on machine vision and multi-sensor fusion, so as to achieve automatic addition of a drill shaft and unattended operation in a working process, and a relatively high integration degree and automation degree.
i
SUMMARY OF THE INVENTION
Objectives of the invention: To overcome disadvantages existing in the prior art, the present invention provides an automatic operation system and method of a shearer based on machine vision and multi-sensor fusion, having a relatively high integration degree and automation degree, so as to achieve automatic addition of a drill shaft and unattended operation in a working process, and effectively improve coal mining operation efficiency, thereby achieving reliable working and saving costs.
Technical solutions: To achieve the foregoing objectives, the present invention employs the following technical solutions:
An automatic operation system of a shearer based on machine vision and multi-sensor fusion includes a shearer main body, an automatic drill shaft conveying system, and an automatic drill shaft connection system, where the shearer main body includes a drill machine frame, a side support mechanism, a drill machine lifting mechanism, a drill shaft rotating platform, a drill shaft propelling platform, a working drill shaft, and a working drill shaft support, and the shearer main body is movable inside a roadway in which the shearer main body operates;
the drill machine frame is horizontally disposed on the drill machine lifting mechanism, the drill machine lifting mechanism is used for supporting the drill machine frame and adjusting a height of the drill machine frame; the side support mechanism includes two pairs of side support hydraulic cylinders, and each pair of side support hydraulic cylinders constitute a support rod including two telescopic ends; the two support rods are respectively horizontally disposed in front of and behind the drill machine frame, to transversely support and fix the drill machine frame; the drill shaft propelling platform is disposed on the drill machine frame, and the drill shaft rotating platform is disposed on the drill shaft propelling platform; the working drill shaft is horizontally connected to the drill shaft rotating platform, and while the drill shaft rotating platform actuates the working drill shaft to rotate, the drill shaft propelling platform actuates the drill shaft rotating platform and the working drill shaft to transversely drill into a roadway wall; and the working drill shaft support is telescopically disposed on the drill machine frame and used for supporting the working drill shaft during addition of a drill shaft;
the automatic drill shaft conveying system includes a drill shaft feeding hydraulic cylinder, a drill shaft feeding platform, a to-be-added drill shaft, a lifting hydraulic cylinder, and a digital signal processor (DSP) processor; the drill shaft feeding platform is disposed in front of or behind the drill machine frame along a length of the roadway, and the drill shaft feeding platform is connected to the drill shaft feeding hydraulic cylinder and the drill shaft feeding hydraulic cylinder drives the drill shaft feeding platform to move along the roadway; the to-be-added drill shaft is horizontally and transversely disposed on the drill shaft feeding platform by means of the lifting hydraulic cylinder, and a height of the to-be-added drill shaft is adjusted by means of the lifting hydraulic cylinder; the working drill shaft support and the lifting hydraulic cylinder are both provided with a displacement sensor, and the drill machine frame is provided with a limit switch; and the displacement sensors and the limit switch are all connected to the DSP processor, and the to-be-added drill shaft is adjusted and positioned by means of the displacement sensors and the limit switch to be coaxial with the working drill shaft; and the automatic drill shaft connection system includes a telescopic robotic arm and a charge-coupled device (CCD) binocular camera, the telescopic robotic arm is disposed on the drill shaft rotating platform, and the CCD binocular camera is clamped on a top end of the telescopic robotic arm; and a circumferential position of the to-be-added drill shaft relative to the working drill shaft is adjusted by using a rotary motor, and automatic connection between the to-be-added drill shaft and the working drill shaft is implemented by means of visual positioning.
Preferably, the shearer main body is movable inside the roadway by means of a crawler conveying mechanism, a sled is disposed at the bottom of the drill machine lifting mechanism, and the drill machine frame is disposed on crawler belts of the crawler conveying mechanism via the sled.
Preferably, both ends of each of left and right edges of the drill machine frame are provided with an infrared sensor, and a distance between the drill-type shearer and a circumference of the roadway is obtained by the infrared sensor in real time, thereby ensuring security of movement of the shearer.
Preferably, the drill shaft rotating platform includes a rotary motor and a motor stand, and the rotary motor is mounted on the drill shaft propelling platform via the motor stand.
Preferably, the number of the rotary motors is the same as the number of the working drill shafts, and the number of the telescopic robotic arms is the same as the number of the rotary motors correspondingly.
Preferably, a connection end of the working drill shaft and an end, proximal to the rotary motor, of the to-be-added drill shaft are both provided with a first connection apparatus, an output end of the rotary motor and an end, proximal to the working drill shaft, of the to-be-added drill shaft are both provided with a second connection apparatus; the first connection apparatus and the second connection apparatus are both cylindrical, and outer end surfaces thereof are both provided with a three-jaw concave-convex block; the opposing three-jaw concave-convex blocks fit with each other, and cylindrical surfaces of the first connection apparatus and the second connection apparatus are both provided with three positioning cylinders evenly distributed along a circumferential direction; a central axis of a positioning cylinder on the first connection apparatus is parallel to a central axis of a convex block in the three-jaw concave-convex block of the first connection apparatus, a central axis of a positioning cylinder on the second connection apparatus is parallel to a central axis of a concave block in the three-jaw concave-convex block of the second connection apparatus, and central axes of positioning cylinders on two ends of the to-be-added drill shaft are parallel to each other. The connection apparatus can implement seamless connection of a drill shaft at any working angle.
Preferably, the telescopic robotic arm is mounted on the motor stand, and the telescopic robotic arm includes 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; and the first servo motor drives the telescopic robotic arm to horizontally rotate, the second servo motor and the third servo motor drive the telescopic robotic arm to swing up and down, the fourth servo motor drives the telescopic robotic arm to circumferentially rotate, the fifth servo motor drives the telescopic robotic arm to extend and retract, and the sixth servo motor drives the CCD binocular camera clamped by the telescopic robotic arm to rotate.
Preferably, the CCD binocular camera has blink function, and by intermittently blinking, the CCD binocular camera is prevented from being blocked by dust in the working process.
Preferably, the automatic drill shaft connection system further includes an image acquisition card, an industrial personal computer, a programmable logic controller (PLC) executable controller, and an electro-hydraulic proportional valve; data acquired by the image acquisition card from a picture taken by the CCD binocular camera is transferred to the industrial personal computer for processing, the industrial personal computer drives the PLC executable controller to control an opening of the electro-hydraulic proportional valve, to actuate the rotary motor to rotate, thereby implementing connection between the output end of the rotary motor and the to-be-added drill shaft.
An automatic operation method of a shearer based on machine vision and multi-sensor fusion includes the following steps:
step A: conveying a shearer main body to a working position inside a roadway by using a crawler conveying mechanism, during a moving process, obtaining distances between a drill-type shearer and the surrounding roadway by using an infrared sensor on a drill machine frame, and adjusting a conveying direction and a conveying speed of the shearer main body in real time, to implement traveling navigation of the drill-type shearer inside the roadway;
step B: after the shearer main body arrives at the working position inside the roadway, adjusting a height of the drill machine frame by using a drill machine lifting mechanism to adapt to mining of different coal seams; after the drill machine frame is lifted up to a working face, controlling a side support mechanism to transversely support and fix the shearer main body, to further perform coal seam mining; while a rotary motor actuates a working drill shaft to rotate, actuating, by a drill shaft propelling platform, a drill shaft rotating platform and the working drill shaft to transversely drill into a roadway wall; and conveying out, by using the drill shaft, coal cut by a drill bit, and after the coal drops, conveying out the coal by using a conveyor;
step C: after the working drill shaft completely drills into a coal seam, stopping the rotary motor, where a working drill shaft support supports the working drill shaft in an ascending manner; disconnecting an output end of the rotary motor from the working drill shaft, and actuating, by the drill shaft propelling platform, the drill shaft rotating platform to return to an original position, to perform addition of a drill shaft;
step D: hoisting, by a bridge crane, a to-be-added drill shaft to a lifting hydraulic cylinder, and propelling, by a drill shaft feeding hydraulic cylinder, a drill shaft feeding platform to convey the to-be-added drill shaft onto the drill machine frame; when the drill shaft feeding platform arrives at a position of a limit switch, sending, by the limit switch, a signal to a DSP processor for processing, and controlling, by the DSP processor, the drill shaft feeding hydraulic cylinder to stop the drill shaft feeding platform at the position of the limit switch, to implement accurate positioning of the to-be-added drill shaft in a horizontal direction; adjusting a height of the to-be-added drill shaft by using the lifting hydraulic cylinder, and while controlling the lifting hydraulic cylinder by using the DSP processor according to vertical position information of the working drill shaft recorded by a displacement sensor on the working drill shaft support, controlling the height of the to-be-added drill shaft by using feedback of the displacement sensor, to implement accurate positioning of the to-be-added drill shaft in a vertical direction;
step E: after coaxial positioning of the to-be-added drill shaft relative to the working drill shaft is completed, taking, by using a CCD binocular camera, a set of pictures of a first connection apparatus on the to-be-added drill shaft, transferring data acquired by an image acquisition card to an industrial personal computer for processing, obtaining circumferential position information of a positioning cylinder on the first connection apparatus of the to-be-added drill shaft, adjusting, by means of a telescopic robotic arm, a position and an angle of the CCD binocular camera to locate the first connection apparatus of the to-be-added drill shaft in the middle of the image; after the adjusting is completed, driving, by the industrial personal computer, a PLC executable controller to control an opening of an electro-hydraulic proportional valve to actuate the rotary motor to rotate, when a circumferential position of a positioning cylinder on the rotary motor obtained by the CCD binocular camera is consistent with a circumferential position of the positioning cylinder on the first connection apparatus of the to-be-added drill shaft, stopping the rotary motor, where a three-jaw concave-convex block on the first connection apparatus of the to-be-added drill shaft and a three-jaw concave-convex block on the output end of the rotary motor fit with each other in a circumferential direction, to implement accurate positioning of the to-be-added drill shaft in the circumferential direction; and propelling, by the drill shaft propelling platform, the rotary motor to complete connection between the to-be-added drill shaft and the output end of the rotary motor; and step F: after the connection between the to-be-added drill shaft and the output end of the rotary motor is completed, driving, by the industrial personal computer, the PLC executable controller to control the opening of the electro-hydraulic proportional valve, so as to control the rotary motor to rotate by an angle opposite to that in step E to its original position, where in this case, a central axis of a positioning cylinder on a second connection apparatus of the to-be-added drill shaft is parallel to a central axis of a positioning cylinder on the working drill shaft, so that accurate positioning of the to-be-added drill shaft and the working drill shaft is implemented in the circumferential direction; and propelling, by the drill shaft propelling platform, the drill shaft rotating platform to complete connection between the to-be-added drill shaft and the working drill shaft, so as to perform drilling and mining next time.
Beneficial effects: The present invention provides an automatic operation system and method of a shearer based on machine vision and multi-sensor fusion that, compared with the prior art, has the following advantages: 1. having a relatively high integration degree and automation degree, working safely and reliably, and saving manpower; and 2. using a machine vision and multi-sensor fusion technology, integrating traveling, drilling, drill shaft addition, and operation of a drill-type shearer, shortening an operation time of drill shaft addition of the drill-type shearer, greatly improving mining efficiency of thin and extremely thin coal seams, and saving costs.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a top view of a shearer main body in the present invention;
FIG. 2 is a main view of a shearer main body in the present invention;
FIG. 3 is a left view of a shearer main body in the present invention;
FIG. 4 is a right view of a shearer main body in the present invention;
FIG. 5 is a structural diagram of a to-be-added drill shaft in the present invention;
FIG. 6 is a structural diagram of a first connection apparatus in the present invention;
FIG. 7 is a structural diagram of a second connection apparatus in the present invention;
FIG. 8 is a structural diagram of a telescopic robotic arm in the present invention;
FIG. 9 is a structural block diagram of an automatic drill shaft conveying system in the present invention;
FIG. 10 is a control flowchart of automatic drill shaft conveying system in the present invention;
FIG. 11 is a structural block diagram of an automatic drill shaft connection system in the present invention; and
FIG. 12 is a control flowchart of an automatic drill shaft connection system in the present invention.
The figures include: 1. drill machine frame, 2. drill shaft rotating platform, 3. drill shaft propelling platform, 4. drill machine lifting mechanism, 5. drill shaft feeding platform, 6. working drill shaft, 7. working drill shaft support, 8. side support hydraulic cylinder, 9. drill shaft feeding hydraulic cylinder, 10. limit switch, 11. lifting hydraulic cylinder, 12. displacement sensor, 13. to-be-added drill shaft, 14. telescopic robotic arm, 15. CCD binocular camera, 16. infrared sensor, 17. first connection apparatus, 18. second connection apparatus, 19. three-jaw concave-convex block, 20. positioning cylinder, 2-1. rotary motor, 2-2. motor stand, 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. sixth servo motor.
DETAILED DESCRIPTION OF THE INVENTION
The present invention is further described with reference to the accompanying drawings and embodiments.
FIG. 1, FIG. 2, FIG. 3, and FIG. 4 show an automatic operation system of a shearer based on machine vision and multi-sensor fusion, including a shearer main body, an automatic drill shaft conveying system, and an automatic drill shaft connection system.
The shearer main body includes a drill machine frame 1, a side support mechanism, a drill machine lifting mechanism 4, a drill shaft rotating platform 2, a drill shaft propelling platform 3, three working drill shafts 6, and three working drill shaft supports 7, and the shearer main body is movable inside a roadway in which the shearer main body operates.
The drill machine frame 1 is horizontally disposed on the drill machine lifting mechanism 4, the drill machine lifting mechanism 4 is used for supporting the drill machine frame 1 and adjusting a height of the drill machine frame 1; the side support mechanism includes two pairs of side support hydraulic cylinders 8, and each pair of side support hydraulic cylinders 8 constitute a support rod including two telescopic ends; the two support rods are respectively horizontally disposed in front of and behind the drill machine frame 1, to transversely support and fix the drill machine frame 1; the drill shaft propelling platform 3 is disposed on the drill machine frame 1, and the drill shaft rotating platform 2 is disposed on the drill shaft propelling platform 3; the working drill shaft 6 is horizontally connected to the drill shaft rotating platform 2, and while the drill shaft rotating platform 2 actuates the working drill shaft 6 to rotate, the drill shaft propelling platform 3 actuates the drill shaft rotating platform 2 and the working drill shaft 6 to transversely drill into a roadway wall; and the working drill shaft support 7 is telescopically disposed on the drill machine frame 1 and used for supporting the working drill shaft 6 during addition of a drill shaft.
The automatic drill shaft conveying system includes a drill shaft feeding hydraulic cylinder 9, a drill shaft feeding platform 5, a to-be-added drill shaft 13, a lifting hydraulic cylinder 11, and a DSP processor; the drill shaft feeding platform 5 is disposed on a rear side of the drill machine frame 1 along a length of the roadway, and the drill shaft feeding platform 5 is connected to the drill shaft feeding hydraulic cylinder 9 and the drill shaft feeding hydraulic cylinder 9 drives the drill shaft feeding platform 5 to move along the roadway; the to-be-added drill shaft 13 is horizontally and transversely disposed on the drill shaft feeding platform 5 by means of the lifting hydraulic cylinder 11, and a height of the to-be-added drill shaft 13 is adjusted by means of the lifting hydraulic cylinder 11; the working drill shaft support 7 and the lifting hydraulic cylinder 11 are both provided with a displacement sensor 12, and the drill machine frame 1 is provided with a limit switch 10; and as shown in FIG. 9, the displacement sensors 12 and the limit switch 10 are all connected to the DSP processor, and axial positioning of the to-be-added drill shaft 13 and the working drill shaft 6 is implemented by means of the displacement sensors 12 and the limit switch 10.
The automatic drill shaft connection system includes three telescopic robotic arm and three CCD binocular cameras 15 having a blink function, the telescopic robotic arm 14 is disposed on the drill shaft rotating platform 2, and the CCD binocular camera 15 is clamped on a top end of the telescopic robotic arm 14; and automatic connection between the to-be-added drill shaft 13 and the working drill shaft 6 is implemented by means of visual positioning.
In this embodiment, the shearer main body is movable inside the roadway by means of a crawler conveying mechanism, a sled is disposed at the bottom of the drill machine lifting mechanism 4, and the drill machine frame 1 is disposed on crawler belts of the crawler conveying mechanism via the sled. Both ends of each of left and right edges of the drill machine frame 1 are provided with an infrared sensor 16.
In this embodiment, the drill shaft rotating platform 2 includes three rotary motors 2-1 and three motor stands 2-2, and the rotary motor 2-1 is mounted on the drill shaft propelling platform 3 via the motor stand 2-2.
As shown in FIG. 5, FIG. 6, and FIG. 7, a connection end of the working drill shaft 6 and an end, proximal to the rotary motor 2-1, of the to-be-added drill shaft 13 are both provided with a first connection apparatus 19, an output end of the rotary motor 2-1 and an end, proximal to the working drill shaft 6, of the to-be-added drill shaft 13 are both provided with a second connection apparatus 18; the first connection apparatus 19 and the second connection apparatus 18 are both cylindrical, and outer end surfaces thereof are both provided with a three-jaw concave-convex block 19; the opposing three-jaw concave-convex blocks 19 fit with each other, and cylindrical surfaces of the first connection apparatus 19 and the second connection apparatus 18 are both provided with three positioning cylinders 20 evenly distributed along a circumferential direction; a central axis of a positioning cylinder 20 on the first connection apparatus 19 is parallel to a central axis of a convex block in the three-jaw concave-convex block 19 of the first connection apparatus 19, a central axis of a positioning cylinder 20 on the second connection apparatus 18 is parallel to a central axis of a concave block in the three-jaw concave-convex block 19 of the second connection apparatus 20, and central axes of positioning cylinders 20 on two ends of the to-be-added drill shaft 13 are parallel to each other.
As shown in FIG. 8, the telescopic robotic arm 14 is mounted on the motor stand 2-2, and the telescopic robotic arm 14 includes a first servo motor 14-1, a second io servo motor 14-2, a third servo motor 14-3, a fourth servo motor 14-4, a fifth servo motor 14-5, and a sixth servo motor 14-6; and the first servo motor 14-1 drives the telescopic robotic arm 14 to horizontally rotate, the second servo motor 14-2 and the third servo motor 14-3 drive the telescopic robotic arm 14 to swing up and down, the fourth servo motor 14-4 drives the telescopic robotic arm 14 to circumferentially rotate, the fifth servo motor 14-5 drives the telescopic robotic arm 14 to extend and retract, and the sixth servo motor 14-6 drives the CCD binocular camera 15 clamped by the telescopic robotic arm 14 to rotate.
As shown in FIG. 11, the automatic drill shaft connection system further includes an image acquisition card, an industrial personal computer, a PLC executable controller, and an electro-hydraulic proportional valve; data acquired by the image acquisition card from a picture taken by the CCD binocular camera 15 is transferred to the industrial personal computer for processing, the industrial personal computer drives the PLC executable controller to control an opening of the electro-hydraulic proportional valve, to actuate the rotary motor 2-1 to rotate, thereby implementing connection between the output end of the rotary motor 2-1 and the to-be-added drill shaft 13.
An automatic operation method of a shearer based on machine vision and multi-sensor fusion includes the following steps:
Step A: Convey a shearer main body to a working position inside a roadway by using a crawler conveying mechanism, during a moving process, obtain a distance between a drill-type shearer and the surrounding roadway by using an infrared sensor 16 on a drill machine frame 1, and adjust a conveying direction and a conveying speed of the shearer main body in real time, to implement traveling navigation of the drill-type shearer inside the roadway.
Step B: After the shearer main body arrives at the working position inside the roadway, adjust a height of the drill machine frame 1 by using a drill machine lifting mechanism 4 to adapt to mining of different coal seams; after the drill machine frame 1 is lifted up to a working face, control a side support mechanism to transversely support and fix the shearer main body, to further perform coal seam mining; while a rotary motor 2-1 actuates a working drill shaft 6 to rotate, a drill shaft propelling platform 3 actuates a drill shaft rotating platform 2 and the working drill shaft 6 to transversely drill into a roadway wall (a coal seam); and convey out, by using the drill shaft, coal cut by a drill bit, and after the coal drops, convey out the coal by using a conveyor.
Step C: After the working drill shaft 6 completely drills into a coal seam, the rotary motor 2-1 stops rotating, where a working drill shaft support 7 supports the working drill shaft 6 in an ascending manner; disconnect an output end of the rotary motor 2-1 from the working drill shaft 6, and the drill shaft propelling platform actuates the drill shaft rotating platform 2 to return to an original position, to perform addition of a drill shaft;
Step D: Automatic conveying of a to-be-added drill shaft 13 and coaxial positioning of the to-be-added drill shaft 13 relative to the working drill shaft 6.
As shown in FIG. 10, the to-be-added drill shaft 13 is hoisted by a bridge crane to a lifting hydraulic cylinder 11, and a drill shaft feeding hydraulic cylinder 9 pushes a drill shaft feeding platform 5 to convey the to-be-added drill shaft 13 onto the drill machine frame 1; when the drill shaft feeding platform 5 arrives at a position of a limit switch 10, the limit switch 10 sends a signal to a DSP processor for processing, and the DSP processor controls the drill shaft feeding hydraulic cylinder 9 to stop the drill shaft feeding platform 5 at the position of the limit switch 10, to implement accurate positioning of the to-be-added drill shaft 13 in a horizontal direction; a height of the to-be-added drill shaft 13 is adjusted by using the lifting hydraulic cylinder 11, and while the lifting hydraulic cylinder 11 is controlled by using the DSP processor, the height of the to-be-added drill shaft 13 is controlled, according to vertical position information of the working drill shaft 6 recorded by a displacement sensor 12 on the working drill shaft support 7, by using feedback of the displacement sensor 12, to implement accurate positioning of the to-be-added drill shaft 12 in a vertical direction.
Step E: Connection between the to-be-added drill shaft 13 and the rotary motor 2-1.
As shown in FIG. 12, after coaxial positioning of the to-be-added drill shaft 13 relative to the working drill shaft 6 is completed, a set of pictures of a first connection apparatus 19 on the to-be-added drill shaft 13 are taken by using a CCD binocular camera 15, data is transferred by means of to an image acquisition card to an industrial personal computer for processing, circumferential position information of a positioning cylinder 20 on the first connection apparatus 19 of the to-be-added drill shaft 13 is obtained, and a position and an angle of the CCD binocular camera 15 are adjusted to by means of a telescopic robotic arm 14 locate the first connection apparatus 19 of the to-be-added drill shaft 13 in the middle of the image. After the adjusting is completed, the industrial personal computer drives a PLC executable controller to control an opening of an electro-hydraulic proportional valve to actuate the rotary motor 2-1 to rotate, and when a circumferential position of a positioning cylinder 20 on the rotary motor 2-1 obtained by the CCD binocular camera 15 is consistent with a circumferential position of the positioning cylinder 20 on the first connection apparatus 19 of the to-be-added drill shaft 13, the rotary motor 2-1 stops rotating. In this case, a three-jaw concave-convex block 19 on the to-be-added drill shaft 13 and a three-jaw concave-convex block on the output end of the rotary motor 2-1 fit with each other in a circumferential direction, to implement accurate positioning of the to-be-added drill shaft 13 in the circumferential direction. The drill shaft propelling platform 3 pushes the rotary motor 2-1 to complete connection between the to-be-added drill shaft 13 and the output end of the rotary motor 2-1.
Step F: Connection between the to-be-added drill shaft 13 and the working drill shaft 6.
After the connection between the to-be-added drill shaft 13 and the output end of the rotary motor 2-1 is completed, the industrial personal computer drives the PLC executable controller to control the opening of the electro-hydraulic proportional valve, so as to control the rotary motor 2-1 to rotate by an angle opposite to that in step E to its original position. In this case, a central axis of a positioning cylinder 20 on a second connection apparatus 18 of the to-be-added drill shaft 13 is parallel to a central axis of a positioning cylinder on the working drill shaft 6, so that accurate positioning of the to-be-added drill shaft 13 and the working drill shaft 6 is implemented in the circumferential direction. The drill shaft propelling platform 3 pushes the drill shaft rotating platform 2 to complete connection between the to-be-added drill shaft 13 and the working drill shaft 6, so as to perform drilling and mining next time.
In the present invention, a connection and adhesion portion of the three-jaw concave-convex block 19 has a relatively large contact surface and contact distance, and the drill shaft has a relatively short length and high rigidity, so that during actual
2017359769 06 Nov 2019 working, slipping and detachment would not occur. During working, depending on a propelling force provided by the propelling platform, the connection apparatus maintains good connection.
The foregoing are merely preferred embodiments of the present invention. It should be noted that for a person of ordinary skill in the art, several improvements and modifications can be made without departing from the spirit of the present invention. The improvements and modifications should also be considered to fall within the protection scope of the present invention.
The reference to any prior art in this specification is not, and should not be taken 10 as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.
It will be understood that the term “comprise” and any of its derivatives (eg comprises, comprising) as used in this specification is to be taken to be inclusive of features to which it refers, and is not meant to exclude the presence of any additional 15 features unless otherwise stated or implied.
Claims (10)
1. An automatic operation system of a shearer based on a fusion of sensors and machine vision, characterized in that, comprising a shearer main body, an automatic drill shaft conveying system, and an automatic drill shaft connection system, wherein the shearer main body comprises a drill machine frame (1), a side support mechanism, a drill machine lifting mechanism (4), a drill shaft rotating platform (2), a drill shaft propelling platform (3), a working drill shaft (6), and a working drill shaft support (7), and the shearer main body is movable inside a roadway in which the shearer main body operates;
the drill machine frame (1) is disposed on the drill machine lifting mechanism (4), the drill machine lifting mechanism (4) is used for supporting the drill machine frame (1) and adjusting a height of the drill machine frame (1); the side support mechanism comprises two pairs of side support hydraulic cylinders (8), and each pair of side support hydraulic cylinders (8) constitute a support rod comprising two telescopic ends; the two support rods are respectively horizontally disposed in front of and behind the drill machine frame (1), to transversely support and fix the drill machine frame (1); the drill shaft propelling platform (3) is disposed on the drill machine frame (1), and the drill shaft rotating platform (2) is disposed on the drill shaft propelling platform (3); the working drill shaft (6) is horizontally connected to the drill shaft rotating platform (2), and while the drill shaft rotating platform (2) actuates the working drill shaft (6) to rotate, the drill shaft propelling platform (3) actuates the drill shaft rotating platform (2) and the working drill shaft (6) to transversely drill into a roadway wall; and the working drill shaft support (7) is telescopically disposed on the drill machine frame (1) and used for supporting the working drill shaft (6) during addition of a drill shaft;
the automatic drill shaft conveying system includes a drill shaft feeding hydraulic cylinder (9), a drill shaft feeding platform (5), a to-be-added drill shaft (13), a lifting hydraulic cylinder (11), and a DSP processor; the drill shaft feeding platform (5) is disposed in front of or behind the drill machine frame (1) along a length of the roadway, and the drill shaft feeding platform (5) is connected to the drill shaft feeding hydraulic cylinder (9) and the drill shaft feeding hydraulic cylinder (9) drives the drill shaft feeding platform (5) to move along the roadway; the to-be-added drill shaft (13) is horizontally and transversely disposed on the drill shaft feeding platform (5) by means
2017359769 06 Nov 2019 of the lifting hydraulic cylinder (11), and a height of the to-be-added drill shaft (13) is adjusted by means of the lifting hydraulic cylinder (11); the working drill shaft support (7) and the lifting hydraulic cylinder (11) are both provided with a displacement sensor (12), and the drill machine frame (1) is provided with a limit switch (10); and the displacement sensors (12) and the limit switch (10) are all connected to the DSP processor, and coaxial positioning of the to-be-added drill shaft (13) relative to the working drill shaft (6) is implemented by the displacement sensors (12) and the limit switch (10); and the automatic drill shaft connection system comprises a telescopic robotic arm (14) and a CCD binocular camera (15), the telescopic robotic arm (14) is disposed on the drill shaft rotating platform (2), the CCD binocular camera (15) is clamped on a top end of the telescopic robotic arm (14), and automatic connection between the to-be-added drill shaft (13) and the working drill shaft (6) is implemented by a visual positioning.
2. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 1, characterized in that, the shearer main body is movable inside the roadway by means of a crawler conveying mechanism, a sled is disposed at a bottom of the drill machine lifting mechanism (4), and the drill machine frame (1) is disposed on crawler belts of the crawler conveying mechanism via the sled.
3. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 1, characterized in that, both ends of each of left and right edges of the drill machine frame (1) are provided with an infrared sensor (16).
4. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 1, characterized in that, the drill shaft rotating platform (2) includes a rotary motor (2-1) and a motor stand (2-2), and the rotary motor (2-1) is mounted on the drill shaft propelling platform (3) via the motor stand (2-2).
5. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 4, characterized in that, a number of the rotary motors (2-1) is the same as a number of the working drill shafts (6), and a number of the telescopic robotic arms (14) is the same as the number of the rotary motors (2-1).
6. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 4, characterized in that, a connection end of the working drill shaft (6) and an end, proximal to the rotary motor (2-1), of the to-be-added
2017359769 06 Nov 2019 drill shaft (13) are both provided with a first connection apparatus (17), an output end of the rotary motor (2-1) and an end, proximal to the working drill shaft (6), of the to-beadded drill shaft (13) are both provided with a second connection apparatus (18); the first connection apparatus (17) and the second connection apparatus (18) are both cylindrical, and outer end surfaces thereof are both provided with a three-jaw concaveconvex block (19); the opposing three-jaw concave-convex blocks (19) fit with each other, and cylindrical surfaces of the first connection apparatus (17) and the second connection apparatus (18) are both provided with three positioning cylinders (20) evenly distributed along a circumferential direction; a central axis of the positioning cylinder (20) on the first connection apparatus (17) is parallel to a central axis of a convex block in the three-jaw concave-convex block (19) of the first connection apparatus (17), a central axis of the positioning cylinder (20) on the second connection apparatus (18) is parallel to a central axis of a concave block in the three-jaw concaveconvex block (19) of the second connection apparatus (18), and central axes of positioning cylinders (20) on two ends of the to-be-added drill shaft (13) are parallel to each other.
7. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 4, characterized in that, the telescopic robotic arm (14) is mounted on the motor stand (2-2), and the telescopic robotic arm (14) comprises a first servo motor (14-1), a second servo motor (14-2), a third servo motor (14-3), a fourth servo motor (14-4), a fifth servo motor (14-5), and a sixth servo motor (14-6); and the first servo motor (14-1) drives the telescopic robotic arm (14) to horizontally rotate, the second servo motor (14-2) and the third servo motor (14-3) drive the telescopic robotic arm (14) to swing up and down, the fourth servo motor (14-4) drives the telescopic robotic arm (14) to circumferentially rotate, the fifth servo motor (14-5) drives the telescopic robotic arm (14) to extend and retract, and the sixth servo motor (14-6) drives the CCD binocular camera (15) clamped by the telescopic robotic arm (14) to rotate.
8. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 1, characterized in that, the CCD binocular camera (15) has a blink function.
9. The automatic operation system of a shearer based on a fusion of sensors and machine vision according to claim 4, characterized in that, the automatic drill shaft
2017359769 06 Nov 2019 connection system further comprises an image acquisition card, an industrial personal computer, a PLC executable controller, and an electro-hydraulic proportional valve; data acquired by the image acquisition card from a picture taken by the CCD binocular camera (15) is transferred to the industrial personal computer for processing, the industrial personal computer drives the PLC executable controller to control an opening of the electro-hydraulic proportional valve, to actuate the rotary motor (2-1) to rotate, thereby implementing connection between the output end of the rotary motor (2-1) and the to-be-added drill shaft (13).
10. An automatic operation method of a shearer based on a fusion of sensors and machine vision, characterized in that, comprising the following steps:
step A: conveying a shearer main body to a working position inside a roadway by using a crawler conveying mechanism, during a moving process, obtaining distances between the shearer and the surrounding roadway by using an infrared sensor (16) on a drill machine frame (1), and adjusting a conveying direction and a conveying speed of the shearer main body in real time, to implement traveling navigation of a drill-type shearer inside the roadway;
step B: after the shearer main body arrives at the working position inside the roadway, adjusting a height of the drill machine frame (1) by using a drill machine lifting mechanism (4); after the drill machine frame (1) is lifted up to a working face, controlling a side support mechanism to transversely support and fix the shearer main body, then performing coal seam mining; and while a rotary motor (2-1) actuates a working drill shaft (6) to rotate, actuating, by a drill shaft propelling platform (3), a drill shaft rotating platform (2) and the working drill shaft (6) to transversely drill into a roadway wall;
step C: after the working drill shaft (6) completely drills into a coal seam, stopping the rotary motor (2-1), wherein a working drill shaft support (7) supports the working drill shaft (6); disconnecting an output end of the rotary motor (2-1) from the working drill shaft (6), and actuating, by the drill shaft propelling platform (3), the drill shaft rotating platform (2) to return to an original position, to perform addition of a drill shaft;
step D: hoisting, by a bridge crane, a to-be-added drill shaft (13) to a lifting hydraulic cylinder (11), and propelling, by a drill shaft feeding hydraulic cylinder (9), a drill shaft feeding platform (5) to convey the to-be-added drill shaft (13) onto the drill machine
2017359769 06 Nov 2019 frame (1); when the drill shaft feeding platform (5) arrives at a position of a limit switch (10), sending, by the limit switch (10), a signal to a DSP processor for processing, and controlling, by the DSP processor, the drill shaft feeding hydraulic cylinder (9) to stop the drill shaft feeding platform (5) at the position of the limit switch (10), to implement accurate positioning of the to-be-added drill shaft (13) in a horizontal direction; adjusting a height of the to-be-added drill shaft (13) by using the lifting hydraulic cylinder (11), and while controlling the lifting hydraulic cylinder (11) by using the DSP processor according to vertical position information of the working drill shaft (6) recorded by a displacement sensor (12) on the working drill shaft support (7), controlling the height of the to-be-added drill shaft (13) by using feedback of the displacement sensor (12), to implement accurate positioning of the to-be-added drill shaft (13) in a vertical direction;
step E: after coaxial positioning of the to-be-added drill shaft (13) relative to the working drill shaft (6) is completed, taking, by using a CCD binocular camera (15), a set of pictures of a first connection apparatus (17) on the to-be-added drill shaft (13), transferring data acquired by an image acquisition card to an industrial personal computer for processing, obtaining circumferential position information of a positioning cylinder (20) on the first connection apparatus (17) of the to-be-added drill shaft (13), adjusting, by means of a telescopic robotic arm (14), a position and an angle of the CCD binocular camera (15) to position the first connection apparatus (17) of the to-be-added drill shaft (13) in the middle of the image; after the adjusting is completed, driving, by the industrial personal computer, a PLC executable controller to control an opening of an electro-hydraulic proportional valve to actuate the rotary motor (2-1) to rotate, when a circumferential position of a positioning cylinder (20) on the rotary motor (2-1) obtained by the CCD binocular camera (15) is consistent with a circumferential position of the positioning cylinder (20) on the first connection apparatus (17) of the to-be-added drill shaft (13), stopping the rotary motor (2-1), and propelling, by the drill shaft propelling platform (3), the rotary motor (2-1) to complete connection between the tobe-added drill shaft (13) and the output end of the rotary motor (2-1); and step F: after the connection between the to-be-added drill shaft (13) and the output end of the rotary motor (2-1) is completed, driving, by the industrial personal computer, the PLC executable controller to control the opening of the electro-hydraulic proportional valve, so as to control the rotary motor (2-1) to rotate by an angle opposite to that in
2017359769 06 Nov 2019 step E to its original position, wherein in this case, a central axis of a positioning cylinder (20) on a second connection apparatus (18) of the to-be-added drill shaft (13) is parallel to a central axis of a positioning cylinder on the working drill shaft (6), so that accurate positioning of the to-be-added drill shaft (13) and the working drill shaft (6) is implemented in a circumferential direction; and propelling, by the drill shaft propelling platform (3), the drill shaft rotating platform (2) to complete connection between the tobe-added drill shaft (13) and the working drill shaft (6), so as to perform drilling and mining again.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020422.0 | 2016-11-18 | ||
| CN201611020422.0A CN106321098B (en) | 2016-11-18 | 2016-11-18 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
| PCT/CN2017/109928 WO2018090859A1 (en) | 2016-11-18 | 2017-11-08 | System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2017359769A1 AU2017359769A1 (en) | 2018-08-23 |
| AU2017359769B2 true AU2017359769B2 (en) | 2019-11-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| AU2017359769A Ceased AU2017359769B2 (en) | 2016-11-18 | 2017-11-08 | System and method, based on machine vision and multi-sensor fusion, for automatic operation of coal mining machine |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN106321098B (en) |
| AU (1) | AU2017359769B2 (en) |
| DE (1) | DE112017000534B4 (en) |
| RU (1) | RU2681006C1 (en) |
| WO (1) | WO2018090859A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106321098B (en) * | 2016-11-18 | 2018-03-16 | 中国矿业大学 | A kind of coal-winning machine automatic operating system and method based on machine vision and Multi-sensor Fusion |
| CN110738918A (en) * | 2017-09-20 | 2020-01-31 | 李敏 | Teaching device for industrial robots |
| CN109598710B (en) * | 2018-11-29 | 2023-04-11 | 中国科学院重庆绿色智能技术研究院 | Automatic counting method and system for coal mine drill rods |
| CN110513059A (en) * | 2019-10-08 | 2019-11-29 | 安徽理工大学 | A kind of all-hydraulic coal mine drilling machine lever apparatus and method up and down automatically |
| CN112855142B (en) * | 2021-01-20 | 2022-09-16 | 山东科技大学 | Mobile inspection type float coal cleaning system and working method thereof |
| CN113753504B (en) * | 2021-09-28 | 2022-09-09 | 中国矿业大学 | Spiral coal conveying device |
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2016
- 2016-11-18 CN CN201611020422.0A patent/CN106321098B/en active Active
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2017
- 2017-11-08 RU RU2018132819A patent/RU2681006C1/en active
- 2017-11-08 DE DE112017000534.5T patent/DE112017000534B4/en not_active Expired - Fee Related
- 2017-11-08 WO PCT/CN2017/109928 patent/WO2018090859A1/en active Application Filing
- 2017-11-08 AU AU2017359769A patent/AU2017359769B2/en not_active Ceased
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| US5695016A (en) * | 1995-09-26 | 1997-12-09 | Brydet Development Corp. | Auger telescoping hoist assembly and holding fork mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106321098B (en) | 2018-03-16 |
| DE112017000534B4 (en) | 2021-02-04 |
| DE112017000534T5 (en) | 2018-10-18 |
| AU2017359769A1 (en) | 2018-08-23 |
| CN106321098A (en) | 2017-01-11 |
| RU2681006C1 (en) | 2019-03-01 |
| WO2018090859A1 (en) | 2018-05-24 |
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