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巷道掘进机智能化技术研究现状及展望
Research status and prospect of intelligentization technology of roadheader
【索引】刘送永,张德义.巷道掘进机智能化技术研究现状及展望[J].工矿自动化,2019,45(10):23-28.
【Reference】LIU Songyong,ZHANG Deyi.Research status and prospect of intelligentization technology of roadheader[J].Industry and Mine Automation,2019,45(10):23-28.
【DOI】10.13272/j.issn.1671-251x.2019030031
【作者】刘送永,张德义
【Author】 LIU Songyong,ZHANG Deyi
【作者机构】中国矿业大学 机电工程学院, 江苏 徐州221116
【Unit】School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
【摘要】基于巷道掘进机智能化的目标是结合智能感知技术与自适应作业实现巷道断面自动精确成形,从智能感知和自适应作业2个方面阐述了巷道掘进机智能化关键技术构架,其中智能感知包括位姿感知、成形感知、状态感知,自适应作业包括自适应纠偏、自适应截割、自适应诊断。总结了掘进机位姿检测与纠偏、巷道断面自动成形与自适应截割、掘进机安全运行保障等技术的研究现状:捷联惯导/UWB组合定位技术在井下受限空间中具有较强的适用性,目前掘进机俯仰位姿纠偏及定向行走等均已实现,但仍存在行走控制误差大、纠偏控制准确性差等问题;将大面积煤矸石带避开的截割方法为自适应截割提供了一种新的思路,但是煤矸石带位置的确定及该种方法在实践中的应用效果有待进一步研究;在故障对象确定、故障原因清晰的情况下,常用故障诊断方法具有一定适用性,但由于掘进机故障原因复杂多样,故障间相互影响,难以进行准确有效的故障诊断。指出研究检测精度高、干涉少、跟随适用性优的导航定位方法,实现掘进机机体位姿偏差动态补偿、煤岩特性与最佳截割参数匹配建模及掘进机全状态监测等是巷道掘进机智能化技术突破方向。
【Abstract】The goal of roadheader intelligentization is to realize automatic accurate forming of roadway section by combining intelligent perception technology and adaptive operation, the key technology framework of roadheader intelligentization was explained from two aspects of intelligent perception and adaptive operation. Intelligent perception includes pose perception, shape perception and state perception, and adaptive operation includes adaptive rectification, adaptive cutting and adaptive diagnosis. Research status of technologies were summarized such as pose detection and rectification of roadheader, automatic forming of roadway section and adaptive cutting, and safe operation guarantee of roadheader. Inertial navigation/UWB combined positioning technology has strong applicability in underground confined space. Pitch pose rectification and directional walking of roadheader have been realized, but there are still problems such as large control error and poor accuracy of rectification control. The cutting method of avoiding large-area coal gangue belt provides a new idea for adaptive cutting, but position determination of coal gangue belt and application effect of the method in practice need further study. Common fault diagnosis method has certain applicability in the case that fault object is determined and fault cause is clear, however, due to the complexity and variety of the faults of roadheader, and the faults interact with each other, it is difficult to perform accurate and effective fault diagnosis. Intelligent technology breakthrough direction of roadheader is pointed out: research on navigation and positioning method with high detection precision, less interference and excellent applicability, realizing of dynamic compensation of pose deviation of roadheader, matching model of coal rock properties and the best cutting parameters, and state monitoring of roadheader.
【关键词】 掘进机智能化; 智能感知; 自适应作业; 位姿检测纠偏; 断面自动成形; 自适应截割; 安全运行保障; 捷联惯导/UWB组合定位
【Keywords】roadheader intelligentization; intelligent perception; adaptive operation; pose detection and rectification; automatic forming of roadway section; adaptive cutting; safety operation; inertial navigation/UWB combined positioning
【文献出处】工矿自动化,2019年10期
【基金】国家自然科学基金面上项目(51975570)
【分类号】TD421.5
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