综采工作面自动巡检机器人系统设计

Design of automatic inspection robot system for fully-mechanized coal mining face

为解决综采工作面巡视作业空间狭小、设备间配合动作复杂、作业环境恶劣导致的人工巡检困难,巡检人员安全无法保障的问题,设计了一种占用空间小,适应三大设备相互动作,可以实现自动化巡检,集视频监控、数据融合、数据上传、温度异常报警等功能为一体的综采工作面巡检机器人系统。自动巡检机器人系统包括自动巡检系统、机器人本体、电气控制系统、通信网络系统和集控室集控系统。其自动巡检系统采用吊缆机构与悬轨支撑机构相结合的方式实现了综采工作面液压支架拉架动作后机器人巡检路径轨道的自适应;机器人本体上装载的可见光相机和红外热成像仪采集的工作面作业数据可通过通信网络系统实现与控制主机间的双向信息交互,采集的作业数据通过集控室集控系统实现可见光和红外数据的实时融合,为进一步通过智能分析算法实现更高级识别奠定基础;集控室系统可以对采集数据进行可视化处理,对巡检机器人工作状态进行实时智能控制,并在综采设备工作异常时报警。自动巡检机器人在中煤张家口煤矿机械有限责任公司综采工作面实验室进行了试验性研究,研究结果表明:在综采工作面的狭小设备空间中,液压支架经常性会进行拉架操作,现有的固定轨道的巡检机器人无法进行巡检,自适应轨道系统可以吸收拉架产生的设备位置变化,保证巡检轨道的畅通,实现了巡检机器人的无障碍通过;机器人本体采用高精度可见光传感器和热成像传感器,可以获取高精度的可视化图像信息,相较于现有人工目测或手持仪表测量,数据真实可靠,并可实时反馈现场环境状况。集控室系统可视化处理后的数据能直观反映出设备运作时的工作状况,提高了巡检人员对工作设备操控的准确度,其报警功能可以在工作异常时及时告知巡检人员作业异常原因及异常区域,提高巡检作业的安全可靠性。此综采工作面自动巡检机器人站地空间小,可代替人工实现对综采工作面的巡检作业,巡检作业安全可靠。

In order to solve the problems of narrow inspection operation space in complex mining face,complicated coordination between equipmentand difficult manual inspection caused by poor working environment as well as the safety of inspection personnel can not be guaranteed,this paper has designed a kind of small space occupation,adapting to the interaction of three major equipment,which can realize automatic inspection and gather video surveillance.The system integrates data fusion,data upload,abnormal temperature alarm and other functions.The automatic inspection robot system includes an automatic inspection system,a robot body,an electrical control system,a communication network system and a centralized control room system.The automatic inspection system adopts the method of combining the suspension cable mechanism with the suspension rail support mechanism to realize the adaptation of the robot inspection path and track of the robot after the pulling of the hydraulic support in the fully mechanized mining face.The working data collected by the visible light camera and infrared thermal imager loaded on the robot body can be realized by two-way information interaction with the control host through the communication network system.The collected working data can realize the real-time fusion with visible and infrared data through the centralized control system of the centralized control room,which lays the foundation for further advanced recognition through intelligent analysis algorithm.The centralized control room system can perform visual processing on the collected data,real-time intelligent control of the working status of the inspection robot,and alarm when the comprehensive mining equipment works abnormally.The automatic inspection robot conducts experimental research in the laboratory of the fully-mechanized coal mining face of the coal mining machine.The results show that in the narrow equipment space of fully-mechanized mining face,the hydraulic support often carries out the pulling operation,and the existing fixed-track inspection robot can not carry out the inspection.The adaptive rail system designed in this paper can absorb the equipment position changes caused by the pulling frame to ensure the smooth inspection track and realize the barrier-free passage of the inspection robot.The robot body adopts high-precision visible light sensor and thermal imaging sensor to obtain high-precision visual image information.Compared with the existing manual visual measurement or hand-held instrument measurement,the data are true,reliable and real-time feedback on-site environmental conditions.The data processed by the visualization of the centralized control room system can directly reflect the working status of the equipment during operation,improve the accuracy of the inspection personnel’s control of the work equipment.Its alarm function can timely inform the inspection personnel of the abnormal cause abnormality of the operation when the work is abnormal,so as to improve the safety and reliability of the inspection operations.The station space of the automatic inspection robot for fully-mechanized mining face is small,which can replace manual implementation of the inspection work on the fullymechanized mining face and collect data accurately and reliably.