煤矿综采工作面液压支架位置与姿态检测技术研究

Position and Posture Detection Technology of Hydraulic Support in Fully-mechanized Mining Face in Coal Mine

煤矿综采工作面智能协同技术亟须解决基于复杂井下条件的采煤机精准定位和自适应作业、刮板输送机自动调直、液压支架自动跟机等系统协同控制问题,其中,液压支架位置与姿态检测技术是实现智能协同的关键技术之一。提出了1种基于多维传感的液压支架姿态检测方案,其可以采用基准光电跟踪器、局部光电跟踪器、双轴水平仪等设备获取绝对坐标系下液压支架的绝对位置和姿态,为更加精准地实现综采工作面地理信息系统及液压支架的纠偏、调直、控制等奠定了基础。该方案已在综采工作面开展试运行,运行结果显示,其有效实现了综采工作面液压支架绝对位置的精准检测,而且综采工作面系统的协同精度和效率均得到了显著提升。

The intelligent cooperation technology of fully-mechanized mining face in coal mine urgently needs to solve the cooperative control problems of shearer precise positioning and adaptive operation,automatic straightening of scraper conveyor,automatic following of hydraulic support and other systems based on complex underground conditions.The position and posture detection technology of hydraulic support is one of the key technologies to realize intelligent cooperation.A posture detection scheme of hydraulic support based on multi-dimensional sensing was proposed,which can obtain the absolute position and posture of hydraulic support in absolute coordinate system by means of reference photoelectric tracker,local photoelectric tracker,biaxis level meter and other devices,laying a foundation for more accurate realization of fully-mechanized mining face geographic information system and correction,straightening and control of hydraulic support.The scheme has been tested at the fullymechanized mining face.The operation results showed that it effectively realized the accurate detection of the absolute position of the hydraulic support at the fully-mechanized mining face,and the collaborative accuracy and efficiency of the fully-mechanized mining face system was significantly improved.