CN-122023562-A - Space curve reconstruction method and system for scraper conveyor

CN122023562ACN 122023562 ACN122023562 ACN 122023562ACN-122023562-A

Abstract

The invention relates to the technical field of intelligent perception of fully mechanized coal mining equipment, and discloses a space curve reconstruction method and a space curve reconstruction system of a scraper conveyor, wherein the method utilizes a total station to calibrate a roadway floor base point to establish a global coordinate reference; the method comprises the steps of acquiring body attitude and inter-groove included angle data through deployment of a MEMSIMU inclinometer and an integrated miniature angular displacement sensor, carrying out bottom fusion, recursively calculating coordinates of a conveying unit along three paths of a forward direction, a reverse direction and a middle direction respectively to generate three initial fitting curves, classifying the curves based on deviation threshold values, carrying out three-way weighted fusion on a high deviation area, carrying out data homogenization treatment on a low deviation area, and finally reconstructing a space fitting curve of the scraper conveyor. According to the invention, through dual-sensor complementation and multipath closed check, accumulated errors of long-distance recursion are effectively eliminated, and high-precision and continuous space morphology monitoring of the scraper conveyor is realized.

Inventors

ZHAO TIELIN
HUANG ZIMING
JI LEI
YANG JIANWEI
QU QIUYANG
DU LONGFEI
ZHANG LIANG
Fan Zimo
ZHANG TONG
WANG QI

Assignees

中煤科工开采研究院有限公司
天地(榆林)开采工程技术有限公司

Dates

Publication Date: 20260512
Application Date: 20251229

Claims (10)

1. The space curve reconstruction method for the scraper conveyor is characterized by comprising the following steps of: Step S1, establishing a global coordinate reference in a roadway where the scraper conveyor is located, and acquiring absolute coordinates of the end head of the scraper conveyor; step S2, collecting inclination angle data of a scraper conveyor body and relative rotation angle data of the connecting positions of adjacent conveying units; Step S3, fusing the angle value calculated by the inclination angle data with the relative rotation angle data to obtain a horizontal included angle corrected by each conveying unit; step S4, based on the corrected horizontal included angle, the length of the conveying unit and the pitch angle in the pitch angle data, performing recursive calculation according to three paths of forward direction, reverse direction and middle direction and two ends respectively to obtain three initial space fitting curves; And S5, calculating deviation values of three initial space fitting curves at corresponding position points, taking a preset deviation threshold value as a boundary, reconstructing coordinates of a high deviation region with the deviation value larger than the preset deviation threshold value by adopting a weighted fusion strategy, reconstructing coordinates of a low deviation region with the deviation value smaller than or equal to the preset deviation threshold value by adopting a data homogenization strategy, and generating a final reconstructed fitting curve.
2. The method for reconstructing a space curve of a scraper conveyor according to claim 1, wherein said step S1 specifically comprises: after the ventilation system is formed on the working face, calibrating base points of the base plates of the two roadways by using the total station according to a preset interval; and measuring the three-dimensional coordinates of the base plate base points, establishing a global space coordinate system of the scraper conveyor based on the three-dimensional coordinates, and taking the base plate base points as reference end points for calculating the scraper conveyor curve.
3. The method for reconstructing a space curve of a scraper conveyor according to claim 1, wherein in the step S2, the data acquisition mode is as follows: coaxially arranging integrated miniature angular displacement sensors at the hinging positions of adjacent chute of the scraper conveyor, and directly measuring the mechanical horizontal included angle between the adjacent chute as the relative rotation angle data; And MEMSIMU inclinometers are distributed on the side surface of the scraper conveyor body at equal intervals in the longitudinal direction and are used for acquiring pitch angles and resolving inertial horizontal included angles to serve as the inclination angle data.
4. A method for reconstructing a space curve of a scraper conveyor according to claim 3, wherein in the step S3, the fusion process specifically comprises: calculating the difference value of the mechanical horizontal included angles of two adjacent sections of chute, and compensating the difference value of the mechanical horizontal included angles by using a correction coefficient to eliminate zero drift and vibration interference; Establishing a Kalman filtering model, respectively giving dynamic weights to the inertia horizontal included angle and the compensated mechanical horizontal included angle, wherein the sum of the dynamic weights is one; And carrying out weighted summation on the inertia horizontal included angle and the compensated mechanical horizontal included angle to obtain the corrected horizontal included angle.
5. The method for reconstructing a space curve of a scraper conveyor according to claim 1, wherein in the step S4, the recursive computation of three paths is specifically: A forward path, namely sequentially recursively calculating the coordinates of each conveying unit towards the tail direction by taking the coordinates of the machine head as an initial base point; A reverse path, namely sequentially recursively calculating the coordinates of each conveying unit in the machine head direction by taking the machine tail coordinates as initial base points; and (3) a path from the middle to the two ends, namely, recursively calculating the coordinates of each conveying unit in the two directions of the machine head and the machine tail by taking the coordinates of a set node in the middle of the machine body as a relative zero point.
6. The method for reconstructing a space curve of a scraper conveyor according to claim 1, wherein in the step S4, the coordinate recurrence logic of the single conveying unit is: simplifying a conveying unit into a line segment, and calculating projection components of the conveying unit in three directions of a three-dimensional space by utilizing a trigonometric function relation according to the length of the conveying unit, the corrected horizontal included angle and the pitch angle; And vector superposition is carried out on the projection component and the coordinates of the previous node, so that the space coordinates of the tail end of the current conveying unit are obtained.
7. The method for reconstructing a space curve of a scraper conveyor according to claim 1, wherein in the step S5, the calculating method of the deviation value is as follows: Determining space points of the three initial space fitting curves at the same position, and respectively obtaining coordinate values of the three initial space fitting curves at the space points; calculating the obtained polar modulus between the three coordinate values, or calculating the maximum deviation norm of the three coordinate values relative to the arithmetic mean value of the three coordinate values; And determining the calculated extremely poor modulus or the maximum deviation norm as the deviation value.
8. The method for reconstructing a spatial curve of a scraper conveyor according to claim 7, wherein in said step S5, the weighted fusion strategy for the high deviation zone comprises: respectively distributing data credibility to three initial space fitting curves, wherein the data credibility is inversely related to the deviation value of the initial space fitting curves at the space points; Calculating fusion weights corresponding to the curves based on the data credibility, wherein the sum of the fusion weights of all the curves is one; And carrying out weighted summation on the deviation values of the three initial space fitting curves at the space points by utilizing the fusion weights to obtain corrected coordinate variation, and reconstructing the space coordinates of the space points according to the corrected coordinate variation.
9. The method according to claim 1, wherein in the step S5, the data homogenizing strategy for the low deviation area comprises: the consistency of the three initial space fitting curves in the low deviation area is determined to meet the requirement; And directly carrying out arithmetic average calculation on coordinate values of the three initial space fitting curves corresponding to the space points, and taking the calculated average value as the space coordinates after the space points are reconstructed.
10. A scraper conveyor space curve reconstruction system, characterized in that a scraper conveyor space curve reconstruction method according to any one of claims 1-9 is performed, comprising: The detection assembly comprises MEMSIMU inclinometers longitudinally arranged along the scraper conveyor body and integrated micro-angle displacement sensors arranged at the connecting devices between grooves of adjacent conveying units of the scraper conveyor; The data acquisition assembly comprises a multi-channel data acquisition instrument and a communication line, wherein the multi-channel data acquisition instrument is connected with the detection assembly, and the data acquisition assembly is used for acquiring inclination angle data of the MEMSIMU inclinometer and relative rotation angle data of the integrated miniature angular displacement sensor in real time; a computing processing assembly comprising a processor and a memory, the memory storing a computer program, the processor implementing the one scraper conveyor space curve reconstruction method when executing the computer program.

Description

Space curve reconstruction method and system for scraper conveyor Technical Field The invention relates to the technical field of intelligent sensing of fully mechanized coal mining equipment, in particular to a space curve reconstruction method and a space curve reconstruction system for a scraper conveyor. Background Along with the promotion of intelligent construction of the fully mechanized coal mining face, the scraper conveyor is used as a running track of the coal mining machine and a pushing fulcrum of the hydraulic support, and the perception precision of the space form directly determines the effects of automatic alignment (LASC) and automatic coal cutting of the face. Currently, for monitoring the straightness or space morphology of a scraper conveyor, the main stream technology mainly relies on an inertial navigation technology, and attitude angle data are acquired by arranging a MEMSIMU (micro-electromechanical inertial measurement unit) on a conveyor chute, so that a machine body track is estimated through an integral algorithm. In actual underground fully-mechanized mining conditions, the existing monitoring means have technical limitations. Firstly, the scraper conveyor is accompanied by intense mechanical vibration in the process of pushing and sliding and coal conveying, and the high-strength non-stationary vibration noise is extremely easy to interfere an accelerometer and a gyroscope in the MEMSIMU, so that zero drift and random walk of a measurement signal occur. The data of the inertial sensor is simply relied on for calculation, and along with the lapse of running time, the measurement error of the attitude angle can show nonlinear divergence trend, so that the stability of long-term monitoring is difficult to ensure. The existing space curve reconstruction algorithm mostly adopts a single-path recursion mode, namely, a nose is usually used as a coordinate origin, and the calculation is carried out to the tail section by section along the direction of the machine body. Because the fully mechanized coal face length often reaches two hundred meters or more, the recurrence mode of the unidirectional open loop faces serious long-distance accumulated error. The small angle measurement error in the initial stage is obviously amplified after hundreds of iterations, so that the calculated tail coordinates have huge deviation from the actual positions, and a single path lacks a closed loop verification mechanism, so that the systematic divergence error cannot be identified and corrected. The prior art often lacks an effective fusion and fault tolerance mechanism when processing multi-sensor data. When the local sensor has data jump or abnormality due to severe working conditions, the traditional algorithm is difficult to distinguish whether the airframe has real severe deformation or the measurement noise of the sensor, so that the fitted space curve has abrupt change or artifact which does not accord with the mechanical motion rule, and the accuracy of the following automatic hydraulic support cutting path planning of the coal mining machine and the following automatic hydraulic support cutting path planning of the coal mining machine is seriously influenced. Therefore, there is a need for a spatial curve reconstruction method for a scraper conveyor that can effectively resist environmental vibration interference, suppress long-distance recursive accumulated errors, and has multi-source data self-calibration capability. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a space curve reconstruction method and a space curve reconstruction system for a scraper conveyor, and solves the problems. In order to achieve the above purpose, the invention is realized by the following technical scheme: the invention provides a space curve reconstruction method of a scraper conveyor, which is characterized in that a multi-source data system perceived by a global reference and a double-sensor local posture of a total station is constructed, and the digital reconstruction of the full-length space form of the scraper conveyor is realized by utilizing a multi-path resolving and self-adaptive deviation processing strategy. The method comprises the steps of firstly establishing a unified measurement reference in a physical space, and determining absolute coordinates of the end head of the scraper conveyor by using a total station so as to establish a global coordinate system. On the basis, inertial attitude data and mechanical relative angle data of the scraper conveyor body are synchronously acquired through inclination angle detection equipment arranged at the machine body of the scraper conveyor and relative angle detection equipment arranged at the joint of the adjacent conveying units. In order to eliminate drift and measurement errors of a single sensor, the method does not directly use original data, but inputs an angle value calculated by the inclination angle data an