Research on deviation correction control of coal mine roadheader based on digital twin

Abstract

In order to solve the problem of autonomous deviation control of roadheader in complex roadway environment, the paper analyzes the deviation reasons of roadheader, defines the functional requirements of deviation correction control of roadheader, proposes a deviation correction control system of coal mine roadheader based on digital twin, and introduces the system composition. Taking the roadheader central position control as an example, the system deviation correction control mechanism is analyzed, and a deviation correction control method of the roadheader based on binocular vision image information is proposed. Taking the roadway image detected by binocular vision as the basic data, by extracting the characteristics of the roadway image and analyzing the relationship between the roadway coordinate system and the roadheader coordinate system, the position and attitude parameters of the roadheader relative to the roadway space are calculated, and the deviation correction control of the roadheader is carried out according to the solution results. The digital model and the positioning and orientation parameter database of the roadheader and the roadway are constructed, and the virtual remote deviation correction control of the roadheader is realized through the virtual-real mapping relationship. The experimental results show that the deviation correction control system based on digital twin can compensate the yaw angle and offset distance of the roadheader under different working conditions effectively. The deviation correction process can be displayed on the monitoring interface in real time, and the simulation results of deviation correction path planning are consistent with the actual working conditions.

Keywords

• intelligent roadway heading
• roadheader
• deviation correction control
• virtual and real synchronous control
• digital twin
• virtual reality
• binocular vision