基于工作面地质模型自适应开采的碰撞检测方法研究

Collision detection method based on adaptive mining of working face geological model

由于综采工作面生产过程中粉尘、水雾导致摄像头视频模糊,通过视频无法常态化实现采煤机和液压支架碰撞检测,使得智能开采技术的实用性受限,文章提出了基于综采工作面高精度地质模型自适应开采的采煤机和液压支架碰撞检测方法。基于综采工作面高精度地质模型的自适应开采系统下发采煤机规划采高数据,结合采煤机的采高传感器数据和液压支架的高度传感器数据,实时对采煤机滚筒和液压支架进行碰撞检测预警,触发预警后采煤机牵引停止,同时自适应开采系统弹出触发碰撞检测支架的视频窗口,待人工处理消警后采煤机继续自适应割煤。结果表明,该方法将综采工作面采煤机和液压支架的相对坐标与地质模型的绝对坐标建立关联,实现基于综采工作面液压支架高度传感器数据和规划的截割数据两种方式的预警,大大提高了综采工作面采煤机和液压支架碰撞检测预警的准确性。

Due to the blurred camera video caused by dust and water mist in the production process of fully mechanized working face,the collision detection of shearer and hydraulic support cannot be normalized through video,which limits the practicability of intelligent mining technology.Based on the high-precision geological model of the fully mechanized working face,the adaptive mining system issues the planned mining height data of the shearer,combines with the mining height sensor data of the shearer and the height sensor data of the hydraulic support,and carries out collision detection and early warning of the shearer drum and hydraulic support in real time,and the shearer traction stops after the early warning is triggered,and the adaptive mining system pops up a video window that triggers the collision detection support,and the shearer continues to adapt to cut coal after the alarm is manually processed and eliminated.The results show that the method correlates the relative coordinates of the shearer and the hydraulic support of the fully mechanized working face with the absolute coordinates of the geological model,and realizes the early warning based on the height sensor data of the hydraulic support of the fully mechanized working face and the planned cutting data,which greatly improves the accuracy of collision detection and early warning of the shearer and the hydraulic support of the fully mechanized working face.