液压支架护帮板与采煤机滚筒截割干涉监测技术研究.pdf

硕士学位论文 液压支架护帮板与采煤机滚筒 截割干涉监测技术研究 Research on the Monitoring Technology of Cutting Interference between Hydraulic Support Face Guard and Shearer Drum 作 者满溢桥 导 师谭超 副教授 中国矿业大学 二○一九年四月 万方数据 学位论文使用授权声明学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 万方数据 中图分类号 TD679 学校代码 10290 UDC 621 密 级 公开 中国矿业大学 硕士学位论文 液压支架护帮板与采煤机滚筒 截割干涉监测技术研究 Research on the Monitoring Technology of Cutting Interference between Hydraulic Support Face Guard and Shearer Drum 作 者 满溢桥 导 师 谭超 副教授 申请学位 工学硕士 培养单位 机电工程学院 学科专业 机械电子工程 研究方向 煤矿机电装备自动化 答辩委员会主席 韩正铜 教授 评 阅 人 二○一九年四月 万方数据 致谢致谢 三年时光在不知不觉中悄然而逝，意味着我的硕士生涯已渐至尾声。回首这段硕 士经历，给我留下了太多太多难以忘却的回忆，在此由衷地感谢那些曾出现在我学习 生活中的人们，是你们使我的人生经历变得丰富多彩 首先，感谢我的导师谭超副教授。本论文是在我的导师谭超副教授的殷切指导和 悉心关怀下撰写完成的。从论文选题、框架搭建，到算法研究、实验验证，每一步都 倾注着谭老师无数的心血，督促着我顺利完成论文写作。在这硕士三年中，谭老师的 博识， 睿智， 谦和， 严谨， 求知给我留下的深刻地印象， 是我这一生学习奋斗的榜样 感谢课题组王忠宾老师、刘新华老师、闫海峰老师、司垒老师、杨寅威老师、姚 新港老师等在论文选题和研究过程中的支持与指导， 在此送上诚挚的祝福与衷心的感 谢 感谢魏东、路绪良、樊凯、王坤、蒋干、刘婷、孙君令、熊祥祥、武子清、万淼、 赵鑫、李沛阳等课题组的师兄弟们对我的关心与帮助。 特别感谢我的父母，这么多年来一直对我默默地支持与鼓励。父母无私的爱一直 以来都是我前进的最大动力。 最后，感谢各位评审专家和学者老师能在百忙中审阅我的论文。 万方数据 I 摘 要 在智能化综采工作面中， 液压支架护帮板与采煤机滚筒截割干涉监测是保障综采 自动化系统安全运行的前提。 本文以液压支架护帮板与采煤机滚筒截割干涉监测为目 标，以液压支架护帮板监控图像作为信号源，研究了基于图像特征的液压支架护帮板 位姿解算和截割干涉监测方法，主要工作及研究内容如下 （1）在分析综采装备结构及协同工作过程基础上，对液压支架护帮板与采煤机 滚筒截割干涉发生机理进行了研究，结合截割干涉监测系统功能需求，搭建了液压支 架护帮板与采煤机滚筒截割干涉监测系统的总体架构， 并给出了截割干涉监测算法流 程。 （2）为增强液压支架护帮板监控图像，设计了一种基于同态滤波和对比度受限 双直方图均衡化的混合图像增强算法， 并通过实验给出了混合图像增强算法中关键参 数 c，RH，RL的最佳取值。实验表明，混合图像增强算法比直方图均衡化、同态滤波 等算法的增强效果更优，更适用于综采工作面液压支架护帮板监控图像增强。 （3）建立了基于图像特征的护帮板位姿解算模型，设计了护帮板图像位姿特征 提取算法，给出了护帮板与滚筒截割干涉状态的判定方法。仿真实验表明，截割干涉 状态识别准确率为 95.3， 证明了基于护帮板监控图像的截割干涉监测方法的可行性。 （4）搭建了液压支架护帮板位姿监测实验平台，开展了护帮板监控图像增强实 验与位姿解算实验。实验表明，混合图像增强算法能够对护帮板监控图像进行有效增 强，位姿解算的伸缩位移平均误差 0.037m，倾角平均误差 5.5，满足截割干涉监测要 求。 该论文有图 65 幅，表 12 个，参考文献 92 篇。 关键词关键词液压支架护帮板；采煤机滚筒；截割干涉；机器视觉 万方数据 III Abstract In the fully intelligent mechanized mining face, monitoring the cutting interference between the hydraulic support face guard and the shearer drum is the premise to ensure the safe operation of the automation system. In order to realize the monitoring of cutting interference between the hydraulic support face guard and the shearer drum, this paper takes the monitoring image of the hydraulic support face guard as the signal source, and studies the s of calculating the position and posture of the hydraulic support face guard based on image characteristics and monitoring the cutting interference. The main work and research contents are as follows 1 Based on the analysis of the structure of fully mechanized mining equipment and the cooperative working process, the mechanism of cutting interference between the hydraulic support face guard and the shearer drum is studied. According to the functional requirements of the cutting interference monitoring system, the overall structure of the cutting interference monitoring system of the hydraulic support face guard and the shearer drum is built, and the algorithm flow of the cutting interference monitoring is given. 2 To improve the effect of monitoring image of hydraulic support face guard, a hybrid image enhancement algorithm based on homomorphic filtering and contrast-constrained double histogram equalization is designed. The key parameters c, RH and RL of the hybrid image enhancement algorithm are optimized through many experiments. The experimental results show that the hybrid image enhancement algorithm has better effects than histogram equalization and homomorphic filtering, and it is more suitable for the image enhancement of hydraulic support face guard monitoring in fully mechanized mining face. 3 A for extracting image pose features of the face guard is designed, and a model for calculating the position and pose of the face guard is established, and a monitoring for the interference state between the face guard and the drum is given. The simulation results show that the recognition accuracy of cutting interference state is 95.3, which proves the feasibility of realizing the monitoring of cutting interference state through the monitoring image of face guard. 4 An experimental plat for position and posture monitoring of hydraulic support face guard is built, and the experiments of image enhancement and pose calculation of face guard are carried out. The results show that the hybrid image enhancement algorithm can effectively improve the monitoring image of the face guard. The average error of displacement and inclination is 0.037m and 5.5 degree, respectively, which meets the 万方数据 IV requirements of cutting interference monitoring. There are 65 figures, 12 tables and 92 references in this dissertation. Keywords hydraulic support face guard; shearer drum; cutting intervention; machine vision 万方数据 V 目目 录录 摘摘 要要 .................................................................................................................................... I 目目 录录 .................................................................................................................................. V 图清单图清单 ................................................................................................................................. IX 表清单表清单 .............................................................................................................................. XIII 变量注释表变量注释表 ....................................................................................................................... XV 1 绪论绪论 ................................................................................................................................... 1 1.1 课题来源及研究背景 .................................................................................................... 1 1.2 课题研究现状及存在问题 ............................................................................................ 2 1.3 课题研究内容与方法 .................................................................................................... 5 1.4 课题研究意义 ................................................................................................................ 6 2 液压支架护帮板与采煤机滚筒截割干涉监测系统总体设计液压支架护帮板与采煤机滚筒截割干涉监测系统总体设计 ....................................... 7 2.1 综采装备结构及协同工作过程 .................................................................................... 7 2.2 液压支架护帮板与采煤机滚筒截割干涉发生机理 .................................................. 12 2.3 液压支架护帮板与采煤机滚筒截割干涉监测系统设计 .......................................... 13 2.4 本章小结 ...................................................................................................................... 17 3 液压支架护帮板监控图像增强方法研究液压支架护帮板监控图像增强方法研究 ..................................................................... 18 3.1 液压支架护帮板监控图像特性 .................................................................................. 18 3.2 基于同态滤波与对比度受限双直方图均衡化的混合图像增强算法 ...................... 18 3.3 混合图像增强方法性能分析 ...................................................................................... 31 3.4 本章小结 ...................................................................................................................... 35 4 基于图像特征护帮板位姿解算与截割干涉监测方法研究基于图像特征护帮板位姿解算与截割干涉监测方法研究 ......................................... 36 4.1 基于图像特征的护帮板位姿解算模型 ...................................................................... 36 4.2 基于背景差分和霍夫直线检测的护帮板图像位姿特征提取方法 .......................... 42 4.3 护帮板与滚筒截割干涉监测方法研究 ...................................................................... 48 4.4 仿真实验 ...................................................................................................................... 52 4.5 本章小结 ...................................................................................................................... 57 5 实验实验研究研究 ......................................................................................................................... 58 5.1 实验总体设计与实验平台搭建 .................................................................................. 58 5.2 实验方案与实验结果分析 .......................................................................................... 60 万方数据 VI 5.3 本章小结 .......................................................................................................................66 6 结论与展望结论与展望 ......................................................................................................................67 6.1 结论 ...............................................................................................................................67 6.2 展望 ...............................................................................................................................67 参考文献参考文献 ..............................................................................................................................69 作者简历作者简历 ..............................................................................................................................75 万方数据 VII Contents Abstract .............................................................................................................................. III Contents ............................................................................................................................ VII List of Figures .................................................................................................................... IX List of Tables ................................................................................................................... XIII List of Variables ............................................................................................................... XV 1 Introduction ...................................................................................................................... 1 1.1 Origin and Background ................................................................................................... 1 1.2 Research Status and Problems ......................................................................................... 2 1.3 Research Contents and s ..................................................................................... 5 1.4 Research Significance ..................................................................................................... 6 2 Overall Design of Cutting Intervention Monitoring System between Hydraulic Support Face Guard and Shearer Drum ....................................................................... 7 2.1 Structure of Fully Mechanized Mining Equipment and Cooperative Work Process ...... 7 2.2 Mechanism of Cutting Interference between Hydraulic Support Face Guard and Shearer Drum .............................................................................................................................. 12 2.3 Design of Cutting Intervention Monitoring System between Hydraulic Support Face Guard and Shearer Drum .............................................................................................. 13 2.4 Summary........................................................................................................................ 17 3 Research on Monitoring Image Enhancement of Hydraulic Support Face Guard .............................................................................................................................. 18 3.1 Monitoring Image Characteristics of Hydraulic Support Face Guard ........................... 18 3.2 Image Enhancement Algorithm Based on Homomorphic Filtering and Contrast- constrained Double Histogram Equalization ................................................................ 18 3.3 Perance Analysis of Mixed Image Enhancement ..................................... 31 3.4 Summary........................................................................................................................ 35 4 Research on Position and Posture Solution of Face Guard Based on Image Characteristics and Cutting Interference Monitoring ................................. 36 4.1 Calculating Posture Model of Face Guard Based on Image Characteristics ................. 36 4.2 Feature Extraction of Face Guard Image Based on Background Difference and Hough Line Detection ................................................................................................... 42 4.3 Research on Cutting Intervention Monitoring of between Face Guard and Drum 万方数据 VIII .......................................................................................................................................48 4.4 Simulation Experiment ...................................................................................................52 4.5 Summary ........................................................................................................................57 5 Experimental Study ........................................................................................................58 5.1 General Design of Experiment and Construction of Experiment Plat ...................58 5.2 Analysis of Experimental Results ..................................................................................60 5.3 Summary ........................................................................................................................66 6 Conclusion and Prospect ................................................................................................67 6.1 Conclusion ......................................................................................................................67 6.2 Prospect ..........................................................................................................................67 References ...........................................................................................................................69 Author’s Resume ................................................................................................................75 万方数据 IX 图清单图清单 图序号 图名称 页码 图 1-1 护帮板表面截割痕迹 1 Figure 1-1 Cutting scar on the surface of face guard 1 图 1-2 护帮板与滚筒截割干涉监测技术路线 6 Figure 1-2 Technical route of cutting intervention monitoring between face guard and drum 6 图 2-1 综采“三机” 7 Figure 2-1 “Three main machines” on the fully mechanized mining face 7 图 2-2 掩护式液压支架 8 Figure 2-2 Shield hydraulic support 8 图 2-3 液压支架液压驱动原理图 9 Figure 2-3 Schematic diagram of hydraulic drive for hydraulic support 9 图 2-4 采煤机三维模型 10 Figure 2-4 Three-dimensional model of the shearer 10