SYSTEM AND METHOD, BASED ON MACHINE VISION AND MULTI-SENSOR FUSION, FOR AUTOMATIC OPERATION OF COAL MINING MACHINE

摘要

Provided are a system and method, based on machine vision and multi-sensor fusion, for automatic operation of a coal mining machine. The system comprises a main machine body of a coal mining machine, an automatic drill rod conveying system, and an automatic drill rod abutting system, wherein the automatic drill rod conveying system pushes a drill feed platform (5) to move along a tunnel by means of a drill feed hydraulic cylinder (9), adjusts, by means of a lifting hydraulic cylinder (11), the height, on the drill feed platform (5), of a drill rod (13) to be swapped , and realises the coaxial positioning of the drill rod (13) to be swapped and a working drill rod (6) by means of a displacement sensor (12) and a limiting switch (10); and the automatic drill rod abutting system adjusts the position and angle of a CCD binocular camera (15) via a telescopic mechanical arm (14), adjusts, by means of a rotating electric motor, the circumferential position, relative to the working drill rod (6), of the drill rod (13) to be swapped, and realises the abutting of the drill rod (13) to be swapped and the working drill rod (6) by means of visual positioning. The invention has relatively high degrees of integration and automation, can realise the automatic swapping and unattended operation of the drill rod in a working process, effectively improves the operation efficiency of coal mining, operates reliably and reduces costs.