Real-time monitoring method for three-dimensional space operating posture position of scraper conveyer

Abstract

The invention discloses a real-time monitoring method for the three-dimensional space operating posture position of a scraper conveyer. The real-time monitoring method comprises the steps that under the condition of the complex working condition that bottom plates of coal mine down-hole fully mechanized mining faces are not flat, pitch angles and course angles of all middle grooves of the scraperconveyer are accurately detected through a morphological calculation method; and through the coal mining machine body pitch angles and course angles and coal mining machine position information whichare obtained during operating of a coal mining machine on the scraper conveyer through calculation, a mathematical model is calculated through the built three-dimensional morphology, the actual morphology of the scraper conveyer conduct fully mechanized mining on the horizontal working face and the vertical working face is obtained in a calculating system, and thus the three-dimensional space actual operating posture position of the scraper conveyer is displayed in a monitoring system. According to the real-time monitoring method, the dynamic fluctuant change of the scraper conveyer on the vertical working face and the horizontal working face can be monitored in real time, a large quantity of sensors do not need to be mounted, thus the situation that the scraper conveyer is damaged due tothe large bent angle can be avoided, normal work of the scraper conveyer is ensured, the information is provided for height adjusting of a lower roller of the coal mining machine and pushing of a hydraulic support, and operating reliability of the scraper conveyer for the fully mechanized mining faces is ensured.

Description

technical field [0001] The invention relates to a method for detecting the three-dimensional space shape of a scraper conveyor, in particular to a method for detecting the shape of a scraper conveyor on a fully mechanized mining horizontal working face and a vertical working face, which is applicable to the bottom plate of a fully mechanized mining face. Smooth complex working conditions. Background technique [0002] With the continuous advancement of "Industry 4.0" and "Made in China 2025", coal mining continues to develop in the direction of intelligence and unmanned. , scraper conveyor, and hydraulic support can work together to improve the automation level of fully mechanized mining work. Among them, realizing the real-time monitoring of the operation posture and position of fully mechanized mining equipment is a very key link. Real-time grasp of the operating status of fully mechanized mining face equipment The realization of remote control is directly related to whet...

AI Technical Summary

Problems solved by technology

[0007] The publication number is CN104058215A, which discloses a method called "Dynamic Straightening Method of Scraper Conveyor Based on the Absolute Motion Trajectory of Shearer", which utilizes the precise positioning track of the shearer to reverse the straightness of the scraper conveyor, etc. Analyze the trajectory of the shearer running along the scraper conveyor in the set space coordinate system, and calculate the moving distance of the hydraulic support, but only the straightness of the horizontal working surface of the scraper conveyor is calculated, and the vertical distance of the scraper conveyor is not obtained. The shape of the straight working face does not take into account the complex working conditions of the uneven floor of the fully mechanized mining face

Images