:Research On The Meeting Technology Of The Longmen Type Drill-Anchor Robot And The Longitudinal Axis Roadheader Robot

Aiming at the difficult problem of roadway excavation in coal mines with complex geological conditions,our team has developed a set of "Longmen type drill-anchor robot+vertical axis roadheader " coal mine roadway excavation system,in order to further improve the performance and efficiency of the system,the "Longmen type drill-anchor robot+the"longitudinal axis roadheader robot" system scheme was proposed,in the process of roadway driving,the gantry drill-anchor robot and the longitudinal axis roadheader robot need to operate alternately,shifting back and forth,due to the limited space in the roadway,the drill-anchor robot may collide with the roadheader robot,as well as,the drill-anchor robot is prone to collision with the roadway,causing potential safety hazards.Therefore,this paper mainly studies the anti-collision problem between the gantry drill-anchor robot and the longitudinal axis roadheader robot.For the problem of easy collision between the drill-anchor robot and the roadheader robot,a collision avoidance early warning method based on the fusion of multiple ultrasonic sensors is proposed.The distance relationship with the excavating robot and the roadway realizes collision detection and early warning during the process of the two vehicles meeting.At the same time,in view of the problem that a single ultrasonic sensor has a large ranging error,which is likely to cause false alarms in the system,the D-S evidence theory is used to fuse the information of multiple ultrasonic sensors to improve the detection accuracy.In addition,according to the remote monitoring requirements of the drilling robot and the excavation robot,the configuration software is used to develop the monitoring software of the drilling robot,which realizes the functions of equipment accurate location service,anti-collision detection and alarm,environmental information monitoring and human-computer interaction.In allusion to the positioning problem of the roadheader robot in the process of retreating from the working position or advancing from the standby position,a positioning method of the roadheader robot body based on the combination of combined inertial navigation and ultrasonic sensors is proposed,the position and attitude information is solved.Aiming at the easy yaw problem of the roadheader robot during the movement process,a neural network PID excavation robot self-correction control method based on particle swarm optimization optimization is proposed,and its correction kinematics model is established.The controller and the particle swarm algorithm are used to optimize the neural network weights to achieve the best deviation correction effect.Finally,the roadheader robot can travel according to the predetermined trajectory,autonomously complete the task of meeting with the drill-anchor robot,and accurately reach the target position.Aiming at the positioning problem of the drill-anchor robot moving forward from the standby position or retreating from the working position,a positioning method of the drilling robot body based on the combination of lidar ranging sensor,ultrasonic sensor and incremental photoelectric encoder is proposed.information,establish the positioning model of the drill-anchor robot body,and solve its pose information.Aiming at the problem that the drill-anchor robot is easy to deviate from the centerline of the roadway due to the influence of the system and external factors during the driving process,a fuzzy PID drill-anchor robot autonomous rectification control method based on genetic algorithm optimization is proposed,and the fuzzy PID autonomous rectification control is designed.In addition,genetic algorithm is used to optimize the control parameters,so as to obtain a better deviation correction effect,and finally realize that the drill-anchor robot can drive according to the reference trajectory,autonomously complete the task of meeting with the roadheader robot,and accurately reach the target position.Finally,an experimental platform for meeting cars is built,and the method of meeting cars is experimentally verified.The experimental results show that the method of meeting the vehicle between the drill-anchor robot and the roadheader robot studied in this paper can effectively realize that when the roadheader robot is working,the drill-anchor robot is on standby.The robot’s meeting task will eventually reach its standby position;when the anchor drilling robot advances from the standby position to the working position,the roadheader robot waits,and when the drill-anchor robot completes the anchor drilling operation,it can retreat to its standby position according to the predetermined trajectory;the roadheader robot move forward autonomously and meet the drill-anchor robot,and finally advance to the excavation station.This cycle is repeated,alternating work.