摘要
为实现无人化掘进装备自主作业、完成既定任务,开展了截割轨迹规划及边界控制方法研究。通过分析煤岩硬度与截割臂摆速、截割电动机转速之间的数学关系模型,提出了基于多传感器参数判断的煤岩硬度环境信息描述方法;采用栅格法对环境模型进行建模,构建了栅格地图;针对截割的扫底、自动截割及自动扩帮3个过程,分别规划了截割轨迹;并提出边界控制方法,对规划后的轨迹进行精准自动控制。研究结果表明:提出的截割轨迹规划方法,可使截割头从任意起点躲避夹矸所在位置截割完整个断面,经过试验验证,设计的边界控制方法控制精度较高,可保证巷道边界成形质量,为实现整条巷道的自主定向掘进提供了重要技术基础。
In order to realize an autonomous operation of the unmanned heading equipment and to complete the established tasks,a study was conducted on the planning of the cutting trace and the boundary control method. With the analysis on the model of the mathematic relationship between the coal and rock hardness and the swaying speed of the cutting boom,the revolution of the cutting motor,environment information description method of the coal and rock hardness was provided based on the judgment of the multi sensor parameters. A grid method was applied to establish the environment model and a grid map was prepared. According to the three processes of the bottom cutting,automatic cutting and automatic expanding cutting,the cutting traces were individually planned. A boundary control method was provided and a fine automatic control was conducted on the trace after the planning. The study results showed that the planning method of the cutting traces provided could make the cutting head to avoid the parting location at any point and to fully cut the completed cross section.With the experimental verification,the designed boundary control method could have a high control accuracy,could ensure the profile quality of the roadway boundary and could provide important technical base to realize the autonomous directional heading of the mine completed roadway.
出处
《煤炭科学技术》
CAS
北大核心
2016年第4期89-94,118,共7页
Coal Science and Technology
基金
国家重点基础研究发展计划(973计划)资助项目(2014CB046306)
关键词
截割轨迹规划
夹矸判定
栅格地图
边界控制
无人化掘进
planning on cutting trace
parting judgment
grid map
boundary control
unmanned heading
