Study On Automatic Alignment Control System For Dump Arm Of Mobile Crushing Station Based On Binocular Vision

Mobile crushing station is one of the main equipment of the semi continuous open-pit mining system.The manual ways are applied widely for alignment between dump arm and material receiving equipment,which could waste time and cause large error.Based on key scientific research projects of Shanxi coal base,"Research on key technology of large mobile crushing station"(MJ2014-02),the automatic alignment system for dump arm of mobile crushing station is studied in this paper.The control deviation model of dump arm is established based on theories of kinematic analysis and visual measurement.The automatic control method of dump arm is designed.And the function of the system is verified by virtual prototype simulation and experimental bench test.Referring to the relevant literature of mobile crushing station,the background and significance of automatic alignment between dump arm and downstream equipment is expounded.According to the research and application of space rendezvous and docking technology through the world,advantages and disadvantages of different measuring methods are compared.And the method of binocular measurement technology is used in the auto control system.There are 3 degrees of freedom for the mechanical parts of the control system,including the rotary motion of the visual measuring mechanism,the horizontal rotation and expansion motion of the dump arm.Therefore,the kinematics model of the system is established according to the theory of robot kinematics analysis.The control model is designed for the automatic control mode of the dump arm on which a fuzzy controller is designed based.So the fuzzy algorithm is used to control the motion of the system.The multibody dynamics software RecurDyn has CoLink module,which can simulate and analyze the control part of multibody dynamics.Therefore,the dynamic model of the dump arm is established in RecurDyn and the control effect is showed by simulation.According to the simulation results,the control strategy is adjusted.Finally,the experiment platform for dump arm control system is built.The software part of the experiment platform is designed by programming software LabVIEW.The experimental results show that the length expansion and horizontal rotation of dump arm is auto controlled smoothly.The control system can read the target and align the arm terminal with it accurately in the normal range.The automatic alignment control system for dump arm,designed in this paper,provides a reference for remote control and automatic transformation of discharging device of mobile crusher station.