<p>单轨吊作为煤矿辅助运输装备之一，承担着煤矿采掘工作面物料、人员和设备的运输任务。近年来，随着快速掘进系统智能化水平的提高，对辅助运输系统安全性和高效性提出了更高要求。由于掘进工作面空间小、设备多，传统辅助运输装备难以将物料近距离输送到掘进工作面前端，影响了巷道掘进效率。</p> <p>针对团队研发&ldquo;护盾式煤矿巷道掘进机器人系统&rdquo;物料运输时存在运输不连续、作业人员多和智能化水平低等问题，提出了一种煤矿掘进巷道智能单轨吊物料运输系统总体方案，研究了单轨吊精准定位、自适应速度控制和高效电池管理等关键技术。</p> <p>针对掘进巷道单轨吊无法进行准确定位问题，提出了单轨吊行驶全局定位方案，建立了&ldquo;捷联惯导+里程计&rdquo;组合定位模型，将里程计短程高精定位数据融合到惯导定位数据中，以惯导和里程计位置推算之差作为观测量，提出了一种改进自适应卡尔曼滤波算法，实现单轨吊全局高精定位。</p> <p>针对&ldquo;捷联惯导+里程计&rdquo;在长距离定位时精度变低，无法准确检测装/卸料点位置问题，提出了掘进巷道单轨吊端头定位方案，建立了一种&ldquo;双目视觉+激光靶标&rdquo;组合定位模型，通过在装/卸料点安装激光靶标，采用双目视觉获取激光靶标实际位置，提出了一种改进区域生长的图像分割算法，采用圆拟合法解算激光光斑图像中心点坐标，利用三角测量法获取激光靶标的实际距离，实现单轨吊端头高精定位。</p> <p>针对传统单轨吊运行速度恒定，难以根据不同工况进行自适应调节问题，提出了一种基于坡度和负载的自适应速度控制方法，建立了单轨吊动力学模型和速度控制模型，研究了不同工况条件下单轨吊驱动力和加速度之间的关系，提出了永磁同步电机模糊PID矢量控制方法，自适应设定单轨吊运行速度，实现单轨吊智能调速。</p> <p>针对掘进巷道单轨吊充电安全问题，提出了单轨吊侧置式防爆充电方案，设计了防爆充电装置；针对单轨吊充电时的均衡管理问题，提出了动力电池组被动均衡控制方法，保证单轨吊安全充电和长久续航。</p>

<p>As one of the auxiliary transportation equipment of coal mine, monorail crane undertakes the transportation of materials, personnel and equipment in the coal mining face. In recent years, with the improvement of the intelligence level of the rapid tunneling system, higher requirements have been put forward for the safety and efficiency of the auxiliary transportation system. Due to the small space and many equipment in the excavation face, it is difficult for the traditional auxiliary transportation equipment to transport materials to the front end of the excavation work in close proximity, which affects the roadway excavation efficiency.</p> <p>In view of the problems of discontinuity, large number of operators and low level of intelligence in the material transportation of the &quot;shield coal mine roadway excavation robot system&quot; developed by the team, an overall scheme of the intelligent monorail crane material transportation system for coal mine roadway was proposed, and the key technologies such as precise positioning, adaptive speed control and efficient battery management of the monorail crane were studied.</p> <p>In order to solve the problem that the monorail crane in the roadway cannot be accurately positioned, a global positioning scheme for monorail crane driving was proposed, a combined positioning model of &quot;strapdown inertial navigation + odometer&quot; was established, the odometer short-range high-precision positioning data was fused into the inertial navigation positioning data, and an improved adaptive Kalman filtering algorithm was proposed to realize the global high-precision positioning of the monorail crane by taking the difference between the position estimation of inertial navigation and odometer as the observation measurement.</p> <p>In order to solve the problem that the accuracy of &quot;strapdown inertial navigation + odometer&quot; becomes low during long-distance positioning and the position of loading/unloading point cannot be accurately detected, a positioning scheme of monorail crane end in tunneling roadway is proposed, and a combined positioning model of &quot;binocular vision + laser target&quot; is established, through the installation of laser targets at the loading/unloading points, the actual position of the laser target is obtained by binocular vision, an image segmentation algorithm to improve regional growth is proposed, and the center point coordinates of the laser spot image are solved by circular fitting method. Triangulation is used to obtain the actual distance of the laser target to achieve high-precision positioning of the monorail crane end.</p> <p>In view of the problem that the running speed of the traditional monorail crane is constant and it is difficult to adapt to adjust according to different working conditions, an adaptive speed control method based on slope and load is proposed, the dynamic model and speed control model of the monorail crane are established, the relationship between the driving force and acceleration of the monorail crane under different working conditions is studied, and the fuzzy PID vector control method of permanent magnet synchronous motor is proposed to adaptively set the running speed of the monorail crane and realize the intelligent speed regulation of the monorail crane.</p> <p>In view of the safety of monorail crane charging in the tunneling roadway, a side-mounted explosion-proof charging scheme for monorail crane was proposed, and an explosion-proof charging device was designed. In order to solve the problem of balance management during the charging of the monorail crane, a passive balancing control method of the power battery pack was proposed to ensure the safe charging and long battery life of the monorail crane.</p>

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