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煤矿智能单轨吊研究进展与关键技术

马宏伟 段优优 薛旭升 孙思雅 张烨 王川伟 郭逸风 崔闻达

马宏伟,段优优,薛旭升,等. 煤矿智能单轨吊研究进展与关键技术[J]. 工矿自动化,2023,49(6):57-67.  doi: 10.13272/j.issn.1671-251x.2023050001
引用本文: 马宏伟,段优优,薛旭升,等. 煤矿智能单轨吊研究进展与关键技术[J]. 工矿自动化,2023,49(6):57-67.  doi: 10.13272/j.issn.1671-251x.2023050001
MA Hongwei, DUAN Youyou, XUE Xusheng, et al. Research progress and key technologies of intelligent monorail cranes in coal mines[J]. Journal of Mine Automation,2023,49(6):57-67.  doi: 10.13272/j.issn.1671-251x.2023050001
Citation: MA Hongwei, DUAN Youyou, XUE Xusheng, et al. Research progress and key technologies of intelligent monorail cranes in coal mines[J]. Journal of Mine Automation,2023,49(6):57-67.  doi: 10.13272/j.issn.1671-251x.2023050001

煤矿智能单轨吊研究进展与关键技术

doi: 10.13272/j.issn.1671-251x.2023050001
基金项目: 国家自然科学基金面上项目(51975468,52174150);国家重点研发计划项目(2022YFF0605300);西安市科技计划项目(22GXFW0067)。
详细信息
    作者简介:

    马宏伟(1957—),男,陕西兴平人,教授,博士,博士研究生导师,研究方向为智能检测与控制、机器人技术、现代无损检测与评价等,E-mail:mahw@xust.edu.cn

    通讯作者:

    薛旭升(1987—),男,陕西兴平人,副教授,博士,硕士研究生导师,研究方向为智能检测与控制、煤矿机器人关键技术等,E-mail:xuexsh@xust.edu.cn

  • 中图分类号: TD634

Research progress and key technologies of intelligent monorail cranes in coal mines

  • 摘要: 分析了目前常用的5种矿用单轨吊(即防爆柴油机单轨吊、防爆蓄电池单轨吊、气动单轨吊、绳牵引单轨吊和电缆拖挂单轨吊)的优缺点,指出防爆柴油机单轨吊和防爆蓄电池单轨吊因运输能力强,已广泛应用于煤矿井下设备及物料运输,防爆蓄电池单轨吊因其绿色清洁的特点,逐渐成为煤矿井下辅助运输的重点研发装备。从电池驱动、定位、测控、信息传输4个方面分析了矿用单轨吊系统的研究现状,指出目前的矿用单轨吊系统存在自动化、智能化水平低等问题,要实现单轨吊智能化运输,需研究单轨吊锂电池防爆及电池管理、全局与局部融合精确定位、多传感器信息融合智能测控、边缘计算信息传输等关键技术。针对锂电池防爆及电池管理技术,提出了基于变密度法的防爆大容量锂电池结构拓扑优化设计方法,及基于改进麻雀搜索算法/遗传算法的均衡管理方案;针对精确定位技术,提出了惯导+里程计融合的全局定位方法,及基于视觉+UWB组合的局部定位方法;针对智能测控技术,提出了基于递推最小二乘算法/二阶近似扩展卡尔曼滤波的智能检测方法、随动电子围栏实时构建方法和基于模糊规则的矢量控制方法;针对信息传输技术,提出了基于融合5G网络的“本地−近程−地面”通信系统架构,及基于边缘计算的分布式数据计算及传输方法。煤矿智能单轨吊关键技术问题和解决方案的提出,为加快煤矿智能单轨吊发展提供了一种新思路。

     

  • 图  1  矿用防爆单轨吊

    Figure  1.  Mining explosion-proof monorail cranes

    图  2  智能单轨吊关键技术逻辑关系

    Figure  2.  Logic relationship of the key technology of intelligent monorail crane

    图  3  基于变密度法的防爆外壳结构拓扑优化方法

    Figure  3.  Topology optimization method of explosion proof enclosure structure based on variable density method

    图  4  基于改进麻雀种群算法的煤矿智能单轨吊锂电池均衡管理方法

    Figure  4.  A balanced management method for lithium battery of intelligent monorail crane in coal mines based on improved sparrow population algorithm

    图  5  基于多传感器组合的煤矿智能单轨吊全局定位方法

    Figure  5.  Global positioning method for intelligent monorail crane in coal mines based on multi-sensor combination

    图  6  基于多传感器融合的煤矿智能单轨吊局部定位方法

    Figure  6.  Local positioning method for intelligent monorail crane in coal mines based on multi-sensor fusion

    图  7  煤矿单轨吊多传感器智能检测方法

    Figure  7.  Intelligent detection scheme for multi sensor of coal mine monorail crane

    图  8  煤矿智能单轨吊随动电子围栏与预警方法

    Figure  8.  Technical scheme for intelligent monorail crane follow-up electronic fence and warning in coal mines

    图  9  煤矿单轨吊智能控制方法

    Figure  9.  Intelligent control technology scheme for coal mine monorail crane

    图  10  单轨吊通信系统架构

    Figure  10.  Monorail crane communication system architecture

    图  11  基于边缘计算的分布式数据计算及传输方法

    Figure  11.  Distributed data computing and transmission method based on edge computing

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出版历程
  • 收稿日期:  2023-05-03
  • 修回日期:  2023-05-15
  • 网络出版日期:  2023-05-26

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