综放工作面液压支架直线度调整技术研究与实践  

Research and Practice of Straightness Adjustment Technology of Hydraulic Support in Fully Mechanized Caving Face

作　　者：何勇华 He Yonghua(Beijing Tianma Intelligent Control Technology Co.,Ltd.,Beijing 101399,China)

机构地区：[1]北京天玛智控科技股份有限公司,北京101399

出　　处：《煤矿机械》2025年第2期153-157,共5页Coal Mine Machinery

基　　金：国家重点研发计划项目(2023YFC2907504)。

摘　　要：综放工作面过度弯曲的后部刮板输送机会影响其运行效率,对放煤工艺生产效率也有很大的影响。借鉴前部刮板输送机的直线度检测技术,研究后部刮板输送机的直线度检测和控制。采用惯性导航技术控制前部刮板输送机和液压支架的直线度,采用安装在每台液压支架的3D高清相机或巡检机器人机载激光雷达,通过图像边缘检测和链位中继全局算法实现后部刮板输送机的直线度检测和智能控制。现场试验表明,通过前部刮板输送机直线检测辅以3D激光雷达与机器视觉融合测量前、后部刮板输送机距离的方法,可以实现放顶煤工作面后部刮板输送机的直线度检测问题。The excessively curved rear scraper conveyor of the fully mechanized caving face will affect its operating efficiency,and also have a significant impact on the production efficiency of the coal caving process.Drawing on the straightness detection technology of the front scraper conveyor,studied the straightness detection and control of the rear scraper conveyor.Inertial navigation technology was used to control the straightness of the front scraper conveyor and hydraulic support.A 3D high-definition camera installed on each hydraulic support or inspection robot mounted LiDAR was used,the straightness detection and intelligent control of the rear scraper conveyor was achieved through image edge detection and chain position relay global algorithm.Experiments on site show that the straightness detection of the rear scraper conveyor at the top coal caving face can be achieved by using the method of straightness detection of the front scraper conveyor combining 3D LiDAR and machine vision to measure the distance between the front and rear scraper conveyor.

关 键 词：放顶煤工作面 后部刮板输送机 直线度检测 激光雷达 视觉融合测量 巡检机器人 

分 类 号：TD355.4[矿业工程—矿井建设]