摘要
针对现有掘进机视频监控和遥测遥控等监控方式存在图像不清晰、无法真实反映掘进机位姿和工况状态等问题,提出了一种煤矿掘进机器人虚拟仿真与远程控制系统,介绍了系统方案设计,对掘进机器人改进设计、虚拟仿真远程监控平台、掘进机器人控制模型等关键技术进行了研究。该系统利用虚拟现实技术有机整合井下操作人员、掘进机器人和井下环境信息,以掘进机器人自动掘进和远程人工干预为目的,实现了掘进过程的运动控制和巷道成型掘进控制功能。实验结果验证了该系统的有效性和良好的控制性能。
For problems that existing roadheader monitoring methods of video monitoring and telemetering had unclear monitoring images and cannot show pose and working conditions of roadheader,a virtual simulation and remote control system for coal mine roadheader robot was proposed.Design scheme of the system was introduced,and key technologies were researched including improvement of roadheader robot,remote control platform based on virtual reality and control model of roadheader robot.The system integrates underground miners,roadheader robot and underground environment information by use of virtual reality technology,and realizes functions of motion control of excavation process and mine roadway excavation control,which takes automatic tunneling of roadheader and remote intervention by human.The experimental result shows validity and good control performance of the system.
出处
《工矿自动化》
北大核心
2016年第12期78-83,共6页
Journal Of Mine Automation
基金
中国博士后科学基金面上资助项目(2015M582692)
陕西省工业化信息化深度融合重点示范项目(2015KTCXSF-10-3)
西安市产学研协同创新计划资助项目(CXY1519-4)
关键词
煤炭开采
综掘工作面
掘进机器人
自动掘进
巷道自动成型控制
虚拟现实
coal mining
mechanized excavation face
roadheader robot
automatic tunneling
roadway excavation control
virtual reality
