基于Ethernet/IP综采机器人一体化智能控制平台设计  

Design on intelligent control platform of mechanized mining robot based on Ethernet/IP

作　　者：黄曾华[1,2] 南柄飞[1,2] 张科学[1,2] 冯银辉[1,2] 

机构地区：[1]煤炭科学研究总院智能控制技术研究分院,北京100013 [2]中国煤炭科工集团北京天地玛珂电液控制系统有限公司,北京100013

出　　处：《煤炭科学技术》2017年第5期9-15,共7页Coal Science and Technology

基　　金：国家安全生产监督管理总局2016年破解安全生产难题科技攻关资助项目(2016PJNT03);煤炭智能化无人开采技术研发中心建设资助项目(能源自主创新项目(发改投资(2015)1780号));天地科技股份有限公司科技发展基金资助项目(KJ-2016-TDMK-01);中国煤炭科工集团科技创新基金资助项目(2017QN010);煤炭科学研究总院科技创新基金资助项目(2016ZYQN004);煤炭资源与安全开采国家重点实验室开放基金资助项目(SKLCRSM16KFB08)

摘　　要：为提供煤矿综采装备成套解决方案,联合相关采、支、运等制造及控制厂家,集成综采工作面成套装备、技术和Ethernet/IP通信协议,设计了综采机器人一体化智能控制平台系统;研究了综采机器人控制技术,建立了三维环境复杂约束条件下的综采工作面控制模型,提出了综采工作面内"1人巡视、无人操作"的采煤模式;建立了综采一体化控制中心,设计了综采设备通信接口和协议标准方案,实现了综采机器人控制设备安全生产。最后,通过在煤矿综采过程中运行该系统平台,使基于Ethernet/IP综采机器人一体化智能控制平台较好地实现了安全、高效生产。In order to provide complete set of solution for fully mechanized coal mining equipment, this paper combines the related mining, branch, transportation and other manufacturing and control manufacturers,integrated fully mechanized coal mining face equipment, technol- ogy and Ethernet/IP communication protocol, designed a fully mechanized mining robot integrated intelligent control platform system ; stud- ies the control technology of fully mechanized coal mining robot, establishes the control model of fully mechanized coal mining face under the condition of complex environment of three-dimensional environment, and puts forward the coal mining mode of ＂ unmanned operation and one person inspection＂ in fully mechanized coal mining face ; the integrated control center of fully mechanized mining equipment is designed, and the communication interface and protocol standard of fully mechanized mining equipment are designed to realize the safe pro- duction of fully mechanized mining robot control equipment. Finally, through the operation of the system in the coal mining process of the system platform, so that based on Ethernet/IP integrated mining robot integrated intelligent control platform to achieve a safe and efficient oroduction.

关 键 词：综采机器人 通信协议 采煤智能化 智能矿井 

分 类 号：TD353[矿业工程—矿井建设]