掘进机远程控制技术及监测系统研究与应用

Research and application of remote control techniques and monitoring system for roadheader

综合应用自动化、智能化和信息化等高新技术研制开发了适合煤矿综掘工作面地质与环境条件的掘进机远程控制技术及监测系统,实现了掘进机工作过程的定向、定位和定形的自动化远程控制。实现了掘进机位姿参数在线自动检测、自动定向掘进、断面自动截割成形和截割臂摆速自适应控制,首次在我国井下煤巷掘进工况中实现悬臂式掘进机机身位姿误差的绝对法测量,避免了相对法测量过程中误差积累的问题,保证了高精度定向掘进;在井下实现了远程监控、无线遥控和视频监控,实现了在多尘、振动条件下掘进机工况多角度可视化一键式遥控;在井下环网或地面任何网络接入点,实现了掘进机运行状态参数包括位姿参数等信息的实时监测与显示,并具有远程故障诊断和报警等功能。

With comprehensive application of automation, intellectualization, informatization and other high technologies, the remote control techniques and monitoring system for roadheader was developed which was suitable for geological and environmental conditions of fully mechanized excavation face. The system has realized automated remote control of orientation, localization and formalization in working process. In roadheader local place, it realized automatic position and pose online detection, automatic orientation tunneling, automatic section cutting and forming and adaptive control of cutting arm swaying speed. It was the first time to realize absolute measuring of roadheader frame position and pose error under coal mine working condition in our country which could avoid error accumulation in relative measuring and guarantee the high precision of o- rientation tunneling. For underground remote, it realized remote monitoring, wireless remote control and video surveillance, thus realized multi-angle visualized one-touch remote control in the condition of dustiness and vibration. In underground ring network or arbitrary network access point on ground, it realized real-time monitoring and displaying of roadheader running state parameters, such as position and pose message, and realized the functions of remote fault diagnosis and alarming.