| Coal is still the main energy source in China in the next few decades,and the degree of automation of fully mechanized mining face has been significantly developed in recent years.However,the positioning of roadheader body is still a difficult problem.The inaccurate positioning of roadheader seriously affects the tunneling efficiency and is prone to overbreak and underbreak.The accurate positioning of the roadheader is the basis of realizing rapid tunneling and automatic section forming.The positioning system with total station as the core needs frequent station building and moving.This paper takes the position and attitude measurement system of cantilever roadheader based on total station as the research object,and studies the problem of rapid station building and moving of the positioning system.In order to improve the positioning accuracy of the position and attitude positioning system of the roadheader,this paper proposes a method of rapid station building and moving.In the measurement of the positioning system,in order to have a good laser channel,the total station is generally suspended at the top of the roadway or installed at the appropriate position of the sidewall.In addition,the underground light is poor and the environment is complex,resulting in low manual leveling efficiency and potential safety hazard,which has become a bottleneck technical problem in the rapid station transfer of the underground positioning system.Therefore,this paper develops an automatic leveling device to realize rapid station building and station shifting,which is of great significance to realize the automation and intelligence of underground roadway positioning system.Aiming at the problems of slow speed and low efficiency of station shifting in coal mine positioning system based on total station,a fast station shifting method is proposed.Aiming at the problem of leveling difficulty in total station moving station,a leveling mechanism suitable for total station leveling is designed.According to the structure of leveling platform,the motion model of leveling process is established,and the leveling strategy is determined.The finite element analysis of the mechanical structure of the leveling platform is carried out by SIMULATION module of SOLIDWORKS software.Aiming at the problem of long adjustment time and overshoot in the leveling process,the mathematical model of the control system of the total station leveling device is constructed,and the simulation of the control system is realized by MATLAB/Simulink module.The system control performance of PID correction and fuzzy PID control is analyzed.The simulation results show that the fuzzy PID control has better stability and response characteristics than PID control.According to the control system scheme of the total station leveling device,the hardware selection of the system is completed,the communication between the various parts is realized,the control software and the human-computer interaction interface are designed,the fuzzy PID control is completed on the PLC,and the automatic control of the leveling device is realized,which lays a technical foundation for the automation of station transfer.Finally,the test platform for automatic leveling device of total station and the rapid transfer platform of total station are built to verify the research contents of each part of the paper.The experimental results show that the leveling device designed in this paper can meet the expected control requirements,and can accurately and stably realize the automatic leveling of the total station installation platform.The functional test is carried out combined with the fast stationbuilding and station-shifting strategy of the total station in the coal mine mentioned in this paper.The results show that the accuracy of the station-shifting method is in line with the actual application,which provides an effective path for the construction positioning of coal mine roadway. |
PDF Full Text Request