井下带式运输机自动巡检装置设计与研究

发布时间：2018-06-24 05:00

本文选题：自动巡检 + STM32　；参考：《中国矿业大学》2017年硕士论文

【摘要】：井下带式运输机是煤炭生产的重要设备,承担着从采煤面到提升井口运输煤炭的工作。由于其连续运行时间长、工作负荷大等原因,以皮带跑偏为代表的机械故障时有发生,严重威胁到煤矿的生产安全。传统的井下带式运输机日常检查工作主要依靠人力巡视来完成,工作效率低下;皮带跑偏故障的检测过分依赖于机械式跑偏传感器,检测效果不佳。针对上述问题,本论文设计了一套井下带式运输机自动巡检装置方案,该装置能够在井下带式运输机巷道内自动运行。配备有多种传感器的移动巡检机构,能够完成对瓦斯气体浓度等日常工作参数的测定;并能够通过机器视觉系统完成皮带跑偏故障的判断,克服了传统检测方法的诸多弊端。本论文详细分析了皮带跑偏故障的原因和类型,对自动巡检装置的系统组成、实施方案、机械结构和巡检轨迹进行了设计。并完成了移动巡检机构控制系统的硬件设计,包括单片机部分的器件选型和基本硬件电路设计,以及机器视觉部分的器件选型。本论文分析了皮带跑偏故障图像的特点,并详细阐述了基于机器视觉的皮带跑偏故障检测方法的基本原理。本论文给出了皮带跑偏图像的预处理算法,并在此基础之上,设计了基于形态学处理的跑偏带面面积检测方法和基于跑偏皮带边缘检测的ROI像素灰度检测两种跑偏检测方法。应用上述检测方法,完成了基于机器视觉的皮带跑偏综合检测方法的设计,并对该综合检测方法的有效性进行了验证。最后,本论文运用Emgu CV机器视觉库和Win Form技术开发了一套上位机在线监控管理软件。
[Abstract]:The underground belt conveyor is an important equipment for coal production. It bears the work of transporting coal from coal mining surface to lifting wellhead. Because of its long continuous running time and heavy workload, the mechanical failure represented by belt deviation is a serious threat to the safety of coal mine production and production. The routine inspection of the traditional underground belt conveyor is a serious problem. The work mainly relies on the manpower inspection to complete, the work efficiency is low, the detection of the belt deviation fault is too dependent on the mechanical deviation sensor, and the detection effect is not good. In this paper, a set of automatic inspection device for underground belt conveyer is designed in this paper, which can be operated automatically in the roadway of the underground belt conveyor. The mobile inspection mechanism with various sensors can complete the determination of the gas concentration and other daily working parameters, and can judge the fault of the belt deviation through the machine vision system. It overcomes many disadvantages of the traditional detection method. This paper analyzes the causes and types of the belt deviation fault in detail and the automatic inspection device. The system composition, the implementation scheme, the mechanical structure and the inspection track are designed, and the hardware design of the control system of the mobile inspection mechanism is completed, including the selection of the device and the basic hardware circuit, and the device selection of the machine vision part. This paper analyzes the characteristics of the fault image of the belt deviation and explains in detail. The basic principle of the fault detection method of belt running deviation based on machine vision is described. In this paper, the preprocessing algorithm of the belt deviation image is given. On this basis, two kinds of deviation detection methods are designed based on morphological processing and two kinds of deviation detection methods based on the edge detection of deviation belt. With the above detection method, the design of the comprehensive detection method of belt deviation based on machine vision is completed, and the effectiveness of the comprehensive detection method is verified. Finally, a set of on-line monitoring and management software is developed by using Emgu CV machine visual library and Win Form technology.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD634.1;TP391.41

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