基于智能感知的综采三机远程智能协同控制技术

Remote Intelligent Cooperative Control Technology of Three Machines in Fully Mechanized Mining Face Based on Intelligent Perception

针对目前煤矿综采三机难以实现远程智能协同控制的问题,构建了基于智能感知的综采三机远程智能协同控制系统并研究了智能协同控制关键技术。该系统主要包括执行层、感知层、顺槽集控中心和地面远程监控中心四部分。系统通过惯导、里程计、雷达、液压支架行程等先进传感器的多信息融合,以及云台视频跟踪技术、以太网通信技术和综采三机控制技术实现综采三机远程智能协同控制。该系统在煤矿进行了试验验证,结果表明,该系统通过智能感知信息融合实现了综采工作面采煤机位姿与刮板输送机直线度精确检测、液压支架自动跟机和自动调直控制,对煤矿安全、高效、智能生产具有重要意义。

Aiming at the problem that it is difficult to realize remote intelligent cooperative control of three machines in fully mechanized mining face, a remote intelligent cooperative control system of three machines in fully mechanized mining face based on intelligent perception was constructed and the key technologies of intelligent cooperative control were studied. The system mainly includes four parts of execution layer, perception layer, central control center along the slot and ground remote monitoring center. The system realizes the remote intelligent coordinated control of three machines in fully mechanized mining face by multi-information fusion of advanced sensors such as inertial navigation,odometer, radar, and hydraulic support stroke, pan-tilt video tracking technology, ethernet communication technology and control technology of three machines in fully mechanized mining face. The system has been verified by test in coal mines, and the results show that the system realizes accurate detection of shearer position and straightness of scraper conveyor, automatic follow-up of hydraulic support and automatic straightening control through the intelligent perception information fusion. It is of great significance to safety, high efficiency and intelligent production of coal mine.