| The research content in the thesis is a sub-project of "Intelligent coal mining technology and equipment(one)"(No:2012AA06A405), which is an important part of the projects national863plan for field of resources environment technology. With the emergence of high yield and efficiency of large modern coal mine, the size of coal mines, the distance of roadway, the load capacity and the cable types are increasing. Typically, the cable hanging in coal mine underground roadway mainly relies on human traction. By this method to install mining cables, there are many conspicuous shortcomings, such as high labor intensity, serious cable wearing, lower work efficiency and so on. The work is proposed in accordance with these problems. There are large numbers of large coal mines and extra large modernized coal mines having been put into use one after another in china, which greatly has been presented higher demands of mining equipment. However, it needs a lot of manpower and has low cable hanging efficiency for human traction, which seriously restrict the development of the coal industry. It is of high practical value and great significance to develop the adaptive cable hanging control system (ACHCS) of cable installation truck used in coal mine underground roadway. Due to the fact that the cable installation truck being quite large and the price being too high, linear slide is used to replace cable hanging cylinder for research in this thesis. The main focus committed to the control strategy, control method, hardware structure of the control circuit and software. The investigation lays a solid foundation for the development of the ACHCS used in cable installation truck and it gains practical experience. To solve the above problems, referring to the environment of underground roadway and the structure of the cable installation truck used in coal mine, deep research on identification and location technology of target hook is conducted, and the ACHCS used in cable installation truck was designed based on a large number of relevant literatures. Main contents of the thesis are as follows.Structure and working principle of the cable installation truck used in coal mine underground roadway are illustrated. According to cable installation both at home and abroad, states of techniques of cable installation underground roadway are analyzed. Functional requirements and technical indexes of the ACHCS used in cable installation truck are advanced. On this basis, overall scheme is formulated. Tests results show that the scheme with proper design and definite target is able to conduct develop of the system.Identification and location technology of cable hook underground roadway is studied based on binocular vision stereoscopic system. Coordinate system transformation and calibration of the binocular vision stereoscopic system are introduced. Images of cable hook underground roadway are collected by binocular camera and stored in the computer. Target hook underground roadway is recognized through image pre-processing, color space selection, image segmentation and features extraction by the computer. On this basis, spatial location of target hook underground roadway can be calculated accurately so as to provide a basis for controlling the ACHCS used in cable installation truck.The hardware circuits of the ACHCS of cable installation truck used in coal mine underground roadway of which includes upper computer and lower computer motion control system are designed. The upper computer includes binocular camera, image acquisition card and industrial computer. The lower computer which served C8051F020chip as core is composed of minimum system, input signal process circuit, output signal process circuit, serial communication interface circuit, display circuit, keyboard scanning circuit, power circuit etc. Anti-interference measures of hardware were enhanced and stability of system was advanced. Proper design, stable action and powerful anti-interference of hardware circuits were showed by tests.Software of the ACHCS of cable installation truck used in coal mine underground roadway is developed in C, including main program, A/D sampling subprogram, output driver subprogram, serial communication subprogram, keyboard scanning subprogram, LCD subprogram, emergency stop and lockout subprogram etc. Software of the electronic-hydraulic controller main control system was programmed in modularization, readable and good portability. The debugging and upgrade of the system were more convenient and the running efficiency of the system was promoted.Hardware and software for the ACHCS used in cable installation truck which consist of power performance, signal acquisition, LCD display, driving control, control functions and serial communications functions have been debugged. Tests show that lower computer motion control system is accurate and reliable, signals of displacement transducers are acquired accurately and actions of motion control system are controlled stably. Action responses are in time and there is no sign of mis-operation, no action and out of control. The system lays the foundations for the realization of digital coal mine. |
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