基于自动化采煤设备定位系统应用研究

Application Research of coal mining equipment positioning system based on Automation

摘要:

介绍了一种基于雷达的长壁采煤机械定位系统,该系统基于雷达测距传感器,用于确定采矿设备相对于矿山煤巷基础设施的位置,通过试验验证了使用雷达传感器进行定位的合理性。为了从单个雷达信号中估计两个关键的定位参数,即沿轨位置和跨轨位置,研究了几种概率数据处理技术,对于跨轨位置,传统的卡尔曼滤波方法足以实现可靠的估计,对于沿轨位置估计,必须通过跟踪算法来识别煤巷肋墙上的特定基础设施元素,我们在三维交互显示中探索了一种新的可视化分析方法以方便识别重要特征用于分类器算法,基于分类器的输出,使用已识别的元素作为位置路径点,可以提供一个稳定和准确的采矿设备定位估计。

Abstract:

a long wall coal mining machinery positioning system based on radar is introduced. The system is based on radar ranging sensor to determine the position of mining equipment relative to mine coal roadway infrastructure. The rationality of positioning using radar sensor is verified by experiments. In order to estimate two key positioning parameters from a single radar signal, i.e. along track position and cross track position, several probabilistic data processing technologies are studied. For cross track position, the traditional Kalman filter method is enough to achieve reliable estimation. For along track position estimation, the specific infrastructure elements on the rib wall of coal roadway must be identified by tracking algorithm, We explore a new visual analysis method in 3D interactive display to facilitate the identification of important features for classifier algorithm. Based on the output of classifier, using the identified elements as location path points can provide a stable and accurate location estimation of mining equipment.