基于加速度计的顶煤运移时间测量系统  

Top coal migration time measurement system based on accelerometer

作　　者：李增林 靳舒凯 刘安强 张权 员明涛 康俊瑄 杨克虎[3] LI Zenglin;JIN Shukai;LIU Anqiang;ZHANG Quan;YUN Mingtao;KANG Junxuan;YANG Kehu(Shaanxi Coal Caojiatan Mining Co.’Ltd.,Yulin 719001,China;Information Institute of Ministry of Emergency Management of the People's Republic of China,Beijing 100029,China;School of Mechanical Electronic and Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]陕西陕煤曹家滩矿业有限公司,陕西榆林719001 [2]应急管理部信息研究院,北京100029 [3]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《工矿自动化》2022年第7期73-80,共8页Journal Of Mine Automation

基　　金：国家自然科学基金项目(61936008,61973307).

摘　　要：多轮顺序记忆放煤工艺能够改善综采工作面的顶煤采出率和含矸率,但在现场应用中需要对每一轮放煤时间进行精确测定与控制。基于顶煤运移跟踪仪的自动化放煤技术在实际应用中顶煤运移跟踪仪仅作为标志点安置于顶煤中,无法获得更多的顶煤运移信息。针对上述问题,基于顶煤运移跟踪仪,设计了一种基于加速度计的顶煤运移时间测量系统,该系统包括标签、采集器及中心计算机3个部分。标签放置于顶煤内部,放煤过程中跟随顶煤运动,通过内置的加速度计实时采集比力值数据,并调用时间测量算法,实现顶煤运移情况监测,进而确定不同放煤阶段,计算得出不同阶段的顶煤运移时间信息;当标签从放煤口放出后,与刮板输送带产生碰撞,通过射频信号将顶煤运移时间信息向外发送给采集器,通过现场总线进一步传输至中心计算机,指导综采工作面现场实现多轮顺序放煤。详细介绍了顶煤运移时间测量标签的软硬件设计,实现了比力值实时采集、无线信号传输、数据存储等功能;搭建了以3D转台为核心,Gauss-Newton方法为标定算法的标定平台,完成了加速度计的标定工作,标定后的加速度计能够准确采集顶煤运移时间测量标签的比力值;根据顶煤在放煤过程中的运移特点,提出了基于阈值的时间测量算法及基于长短期记忆(LSTM)的时间测量算法。基于阈值的时间测量算法通过引入静态阈值、最大阈值实现运动阶段的时间识别;基于LSTM的时间测量算法通过识别时域下比力值矢量和的动态变化,寻找突变点,实现运动阶段的时间识别。通过标签的自由落体实验完成了2种时间测量算法的性能测试,其中时间测量方差分别为0.000 6、0.000 2,时间测量误差分别为13.07%、5.22%,满足现场顶煤运移时间测量需求,基于LSTM的时间测量算法在顶煤运移时间测量具有明显的应用优势。The multi-round sequential memory coal drawing technology can improve the recovery rate of top coal and gangue content in the fully mechanized working face.But it needs to accurately measure and control the time of each round of coal drawing in field application.In the practical application of the automatic coal drawing technology based on the top coal migration tracker,the top coal movement tracker is only used as a mark point and is arranged in the top coal.The top coal movement tracker can not obtain more top coal movement information.In view of the above problems,based on the top coal movement tracker,a top coal migration time measurement system based on accelerometer is designed.The system includes three parts:tag,collector and central computer.The label is placed inside the top coal,and moves along with the top coal in the coal drawing process.Through the built-in accelerometer,the specific force data is collected in real-time.The time measurement algorithm is called to realize the monitoring of top coal migration.Then the different coal drawing stages are determined.The top coal migration time information of different stages is calculated.When the tag is released from the coal chute,it collides with the scraper conveyor belt,and sends the top coal migration time information outward to the collector through the RF signal.The information is further transmitted to the central computer through the field bus to guide the fully mechanized working face to realize multi-round of sequential coal drawing on site.The hardware and software design of the time measurement label of top coal migration is introduced in detail.The functions of real-time acquisition of specific force value,wireless signal transmission and data storage are realized.A calibration platform with 3D turntable as the core and Gauss-Newton method as the calibration algorithm is built.The calibration of the accelerometer is completed.The calibrated accelerometer can accurately collect the specific force data of the top coal migration time measuremen

关 键 词：综采工作面 放顶煤开采 多轮顺序记忆放煤 顶煤运移时间 时间测量 加速度计 传感器标定 

分 类 号：TD67[矿业工程—矿山机电]