Automatic height adjusting method for rotary drum of coal mining machine on basis of image identification
A technology of shearer drum and image recognition, which is applied in the direction of earthwork drilling, slitting machinery, etc., can solve the problems of increasing the danger of spontaneous combustion in goafs, waste of resources, etc.
Active Publication Date: 2014-12-10
CHINA UNIV OF MINING & TECH (BEIJING)
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Problems solved by technology
If the remaining coal seam on the roof and floor is too thick, it will cause waste of resources and increase the risk of spontaneous combustion in the goaf
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[0051] Firstly, the working principle of the automatic height adjustment method of the shearer drum based on image recognition is described. refer to figure 1, at the coal mining face, the shearer drum 7 cuts the coal wall formed by the rock formation 4 and the coal seam 5 under the control of the shearer controller 10 . Ideally, the shearer drum should avoid cutting the rock formation while leaving as little coal seam as possible, so the shearer controller should adjust the height of the drum in real time according to the change of the medium cut by the drum. Since coal and rock have obvious differences in texture features and their respective texture features have self-stability, the present invention uses an image recognition method to detect the type of medium cut by the shearer drum. In order to make the acquired image objectively reflect the cutting situation of the current drum, three specific locations are selected as image collection points, namely: the coal wall 1 c...
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The invention discloses an automatic height adjusting method for a rotary drum of a coal mining machine on the basis of image identification. The automatic height adjusting method includes the steps of simultaneously acquiring images of a coal wall cut by the rotary drum of the coal mining machine, air dropped coal right below the rotary drum and a coal pile on a groove in the middle of a scraper by a digital camera at the same time intervals; analyzing and computing the component ratio of coal in each image by using an image identifying technology; utilizing the average value and the average value increment of component ratios of coal in three images as input quantities; utilizing a height adjusting quantity of the rotary drum as an output quantity to perform fuzzy control; and automatically adjusting the height of the rotary drum of the coal mining machine. Human vision of a driver of the coal mining machine is replaced by using a non-contact machine vision method, the automatic height adjusting method has the advantages of simple structure, easiness in arrangement, high adaptability and the like, the operation experiences of the driver of the coal mining machine are combined with a fuzzy controller, and accordingly the height of the rotary drum of the coal mining machine is adjusted intelligently.
Description
technical field [0001] The invention relates to an image recognition-based automatic height adjustment method for a shearer drum, which is especially suitable for thick coal seam mining and belongs to the technical field of coal mining equipment. Background technique [0002] The automatic height adjustment technology of the shearer drum is the core technology of the automatic control system of the shearer. The key to realizing the automatic height adjustment of the shearer drum is the automatic recognition of the coal-rock interface, that is, to adopt a method to automatically identify whether the medium cut by the shearer drum is coal or rock. Research institutions at home and abroad have successively proposed more than 20 kinds of coal-rock interface recognition sensing mechanisms, including natural gamma ray detection method, radar detection method, stress pick method, infrared detection method, active power monitoring method, vibration detection method, sound detection ...
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IPC IPC(8): E21C35/24
Inventor 孙继平苏波
Owner CHINA UNIV OF MINING & TECH (BEIJING)