智能工作面刮板输送机形态三维重构关键技术研究  

Research on Key Technology for Three-dimensional Reconstruction of Scraper Conveyor Morphology in Intelligent Working Face

作　　者：郎瑞峰 张宁波 王振刚 杨文帅 陈宁宁 Lang Ruifeng;Zhang Ningbo;Wang Zhengang;Yang Wenshuai;Cheng Ningning(China Coal Huajin Group Co.,Ltd.,Yuncheng 043300,China;China Coal Mine Machinery Equipment Co.,Ltd.,Beijing 100011,China;School of Mines,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中煤华晋集团有限公司,山西运城043300 [2]中国煤矿机械装备有限责任公司,北京100011 [3]中国矿业大学矿业工程学院,江苏徐州221116

出　　处：《煤矿机械》2025年第2期207-212,共6页Coal Mine Machinery

基　　金：江苏省研究生科研与实践创新计划项目(KYCX23_2775);中国矿业大学研究生创新计划项目(2023WLKXJ016)。

摘　　要：为解决煤炭智能化开采过程中刮板输送机形态精准感知问题,以光纤光栅(FBG)三维曲率传感器为感知手段,开发了基于Frenet运动标架的曲线重构算法,以此实现刮板输送机形态曲线的重构。首先推导出FBG中心波长变化量与曲率之间的数学关系,利用三次B样条插值方法对所获得的离散曲率进行连续化插值;然后推导出基于Frenet运动标架的空间曲线重构算法,搭建了基于门控循环单元(GRU)模型的形态曲线预测插补模型;最后在王家岭煤矿12307智能化工作面进行现场实践。结果表明,FBG三维曲率传感器获得的刮板输送机水平弯曲形态,与实际形态前后方向在300 m工作面范围内误差不大于5 cm,证明了该重构算法在工程应用中的可行性。To solve the problem of precise perception of scraper conveyor morphology during intelligent coal mining,a curve reconstruction algorithm based on the Frenet motion frame was developed by taking fiber Bragg grating(FBG)three-dimensional curvature sensor as the sensing mean,so as to achieve the reconstruction of the scraper conveyor morphology curve.Firstly,the mathematical relationship between the variation in the central wavelength of the FBG and curvature was derived,and a cubic B-spline interpolation method was employed to continuously interpolate the obtained discrete curvature data.Then,a spatial curve reconstruction algorithm grounded in the Frenet motion frame was derived,and a morphology curve prediction and interpolation model based on the gated recurrent unit(GRU)model was constructed.Finally,field experiments were conducted on the 12307 intelligent working face at Wangjialing coal mine.The results show that the horizontal bending morphology of the scraper conveyor obtained by the FBG three-dimensional curvature sensors exhibits an error of no more than 5 cm in the longitudinal direction within a 300 m working face,which verifies the feasibility of this reconstruction algorithm in engineering applications.

关 键 词：刮板输送机 曲线重构方法 三次B样条插值 Frenet运动标架 曲线预测插补 

分 类 号：TD528.3[矿业工程—矿山机电]