采煤机技术发展历程(九)——环境感知技术  

The development of coal shearer technology(Part nine)——environment sensing technology

作　　者：葛世荣 GE Shirong(School of Mechanical, Electrical & Information Engineering, China University of Mining and Technology-Beijing, Haidian, Beijing 100083, China;Institute of Intelligent Mines & Robotics, China University of Mining and Technology-Beijing, Haidian, Beijing 100083, China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京市海淀区100083 [2]中国矿业大学(北京)智慧矿山与机器人研究院,北京市海淀区100083

出　　处：《中国煤炭》2021年第2期1-17,共17页China Coal

摘　　要：采煤机实现自动化或智能化运行,必须能够准确获取作业位置、周围环境、煤层状态等信息。重点介绍了采煤机运行过程中的空间障碍、瓦斯浓度、行走位置、轨迹直线度等感知技术发展。在采煤机空间避障和防撞保护方面,基于毫米波雷达、激光雷达、图像识别的机器视觉感知技术具有优势,但目前在采煤机上尚未成熟应用,亟需深入研究。在机载瓦斯监测方面,差分吸收激光雷达探测技术和可调谐二极管激光吸收光谱探测技术是具有应用前景的瓦斯探测技术,目前尚少相关研究报道。在采煤机行进轨迹定位和直线度检测方面,基于捷联惯导的多传感器定位技术成为研究和应用热点,国内技术已渐进成熟和实用化。此外,基于激光雷达的SLAM机器视觉技术值得关注,可以把空间建模、避障防撞、行走定位、轨迹跟踪、姿态监测等多项任务融为一体,为构建采煤机数字孪生运行模型奠定感知技术基础。In order to realize the automatic or intelligent operation of coal shearer,it is necessary to accurately detect the information of shearer's working position,surrounding environment,coal seam state,etc.The development of sensing technology of space obstacle detection,gas concentration monitoring,cutting drum position and moving track straightness during shearer operation was mainly introduced,it was concluded that the machine vision technology based on the millimeter-wave radar,laser radar and image recognition had advantages in the space obstacle avoidance and collision protection for coal shearer.However,this technology had not been fully applied in coal shearer at present,and further study was necessary.In the aspect of onboard gas monitoring,differential absorption lidar detection technology and tunable diode laser absorption spectrum detection technology were the promising detection methods for coal shearer,but there was few relevant research reported.It was pointed out that shearer moving track positioning and straightness detection were very important for shearer's smart cutting,so the multi-sensor positioning technology based on strapdown inertial navigation system(SINS)had been a research and application hotspot,and the domestic technology in this field had been gradually mature and practical.It was suggested that more attention should be paid to the SLAM machine vision technology based on lidar,which could integrate multiple tasks such as space modeling,obstacle avoidance,shearer positioning,moving tracking and posture monitoring,and lay a foundation of sensing technology for constructing digital twin operation model of a smart shearer.

关 键 词：采煤机技术 环境感知技术 避障技术 瓦斯检测 井下定位 

分 类 号：TD632.1[矿业工程—矿山机电]