自移机尾控制系统设计及自动导航控制方法研究

Design of Control System and Research on Automatic Navigation Control Method of Self-moving Tail

针对目前自移机尾输送带跑偏量和自移机尾相对输送带架的位置无法精确检测、推移过程中仍然需要人为干预调整、无法真正实现无人化操作的问题,设计了一种电液控制系统,引入内置式位移传感器、双轴倾角传感器、行程传感器和视觉检测系统,用来检测自移机尾自身状态、输送带跑偏及与输送带架相对位置,实现了自移机尾的手动、遥控、远程及自动控制。同时提出了一种自动导航控制方法,并完成了初步的测试验证,促进了自移机尾自动化、无人化水平的提升。

Aiming at the problem that the deviation of the belt and the position of the self-moving tail relative to the belt holder cannot be accurately detected at present,human intervention and adjustment are still needed in the process of moving,and unmanned operation cannot be truly realized,an electrohydraulic control system was designed.Built-in displacement sensor,biaxial tilt sensor,stroke sensor and visual detection system were introduced to detect the self-moving tail itself,the belt deviation and the relative position data with the belt holder,and achieve the manual,remote control,remote and automatic control of the self-moving tail.At the same time,an automatic navigation control method was proposed,which has completed the preliminary test and verification,and promotes the upgrade of automatic and unmanned level of the self-moving tail.