Research on intelligent cutting control system for roadway forming of boom-type tunneling robot

Abstract

In view of problems such as low automation degree, low tunneling efficiency and poor roadway forming quality in the tunneling process of underground coal mining, an intelligent cutting control system for roadway forming of boom-type tunneling robot was proposed.According to the size of roadway and the cutting process requirement, based on the joint space trajectory planning method of boom-type tunneling robot based on cubic polynomial smooth function, the system determines the smooth function parameters of trajectory planning by establishing the boom-type tunneling robot coordinate system and solving forward and inverse kinematics problems of boom-type tunneling robot. After planning cutting trajectory, taking the pose data of cutting head of boom-type tunneling robot obtained by visual positioning method as feedback quantity, the cutting trajectory control quantity was calculated in real time by cutting trajectory control algorithm based on feedback linearized integral sliding mode controller. A feedback control system based on the planning track points and visual measurement position point was built to realize dynamic control of cutting process of roadway forming of boom-type tunneling robot. The experimental results show that the system can realize intelligent control of cutting process of roadway forming of boom-type tunneling robot, and has high positioning accuracy and good stability, and trajectory tracking error is less than 25.61 mm, can meet the demand of roadway forming quality.

Keywords

• boom-type tunneling robot
• roadway forming
• cutting trajectory planning
• inverse kinematics
• visual positioning
• sliding mode controller