矿用电缆卷放车智能追踪系统设计

电缆卷放车是露天煤矿中匹配电铲作业的一种供电辅助设备，为了实现电缆卷放车自动追踪电铲的目标，设计一种专用于露天矿山的电缆卷放车智能追踪系统。该系统包括图像采集与处理模块、智能追踪控制策略模块、执行模块。其中，图像采集与处理模块以FPGA芯片EP4CE6F17C8为核心，采用HSV颜色空间转换算法提取目标电铲特征；智能追踪控制策略模块以DSP芯片TMS320F2812为核心，通过DSP外部接口与FPGA通信，采用偏移量和车距估计方法获取目标电铲相对于电缆卷放车的方向和距离；执行模块以PLC芯片S7-1200为核心，采用MAX485与DSP通信，控制电缆卷放车的前进、后退、调速、停止，实现对目标电铲的智能追踪。在电铲的静态和动态运动下，通过实验对模型进行了验证。结果表明，该系统能够快速识别与追踪目标电铲，验证了提出方法的可行性和有效性。

Design of intelligent tracking system for mine-used cable roll-up vehicle

Cable rewind car is a kind of power supply auxiliary equipment matching electric shovel operation in open-pit coal mine.In order to achieve the goal of automatic tracking electric shovel，an intelligent tracking system of cable rewind car was designed for open-pit mine.The system included image acquisition and processing module，intelligent tracking control strategy module and execution module.The image acquisition and processing module took FPGA chip EP4CE6F17C8 as the core，and used HSV color space conversion algorithm to extract target shovel features.The intelligent tracking control strategy module used DSP chip TMS320F2812 as the core，communicates with FPGA through DSP external interface，and used offset and vehicle distance estimation method to obtain the direction and distance of the target shovel relative to the cable winding car.The core of the execution module was PLC chip S7-1200.MAX485 was used to communicate with DSP to control the forward，backward，speed regulation and stop of the cable winding car，so as to realize the intelligent tracking of the target shovel.The model was verified by experiments under the static and dynamic motion of electric shovel.The results showed that the system can quickly identify and track the target shovel，and to verify the feasibility and effectiveness of the proposed method.