Gong-kuang zidonghua (Oct 2019)
Research status and prospect of intelligentization technology of roadheader
Abstract
The goal of roadheader intelligentization is to realize automatic accurate forming of roadway section by combining intelligent perception technology and adaptive operation, the key technology framework of roadheader intelligentization was explained from two aspects of intelligent perception and adaptive operation. Intelligent perception includes pose perception, shape perception and state perception, and adaptive operation includes adaptive rectification, adaptive cutting and adaptive diagnosis. Research status of technologies were summarized such as pose detection and rectification of roadheader, automatic forming of roadway section and adaptive cutting, and safe operation guarantee of roadheader. Inertial navigation/UWB combined positioning technology has strong applicability in underground confined space. Pitch pose rectification and directional walking of roadheader have been realized, but there are still problems such as large control error and poor accuracy of rectification control. The cutting method of avoiding large-area coal gangue belt provides a new idea for adaptive cutting, but position determination of coal gangue belt and application effect of the method in practice need further study. Common fault diagnosis method has certain applicability in the case that fault object is determined and fault cause is clear, however, due to the complexity and variety of the faults of roadheader, and the faults interact with each other, it is difficult to perform accurate and effective fault diagnosis. Intelligent technology breakthrough direction of roadheader is pointed out: research on navigation and positioning method with high detection precision, less interference and excellent applicability, realizing of dynamic compensation of pose deviation of roadheader, matching model of coal rock properties and the best cutting parameters, and state monitoring of roadheader.
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