Meitan kexue jishu (Jan 2023)
Research on key generic technology of multi-arm intelligent coal gangue sorting robot
Abstract
According to the intelligent green development strategy of coal mine in our country, the research status of intelligent coal gangue sorting system at home and abroad is deeply analyzed. It is pointed out that the development of multi-arm coal gangue intelligent sorting robot suitable for underground is an important development direction to solve the problem of coal gangue sorting. The three key common technical problems of “accurate recognition, accurate tracking and reliable grasp of coal gangue, multi-target task and multi-arm collaborative sorting” which directly affect and restrict the high quality development of intelligent sorting of coal gangue in China have been condensed, and the solutions are given. For the problem that coal gangue is badly encapsulated by coal slime in underground coal mine, the method of “X-ray and visual” recognition and matching of coal gangue, the method of extracting feature of coal gangue based on point cloud data are put forward to realize fast recognition and optimal feature extraction of target gangue. An efficient FLANN dynamic target matching method based on the fusion of ORB and BEBLID features, an accurate dynamic target tracking method based on FDSST, and a synchronous tracking trajectory planning method for manipulator based on three-loop PID are proposed to realize the stable grasping of dynamic gangstone with high-speed transmission by manipulator. For the random distribution of coal gangue and difficult task allocation of multi-manipulators with obstacles, a dynamic space cooperative sorting method of multi-manipulators based on improved Hungarian algorithm was proposed, which realized efficient cooperative work of multi-manipulators in dynamic space on the premise of ensuring system revenue. The results of field industrial experiment show that the proposed method for the three key common technologies can effectively solve the problems of efficient recognition and grasping feature extraction of coal gangue, synchronous tracking and stable grasping of dynamic targets of manipulators, efficient cooperative sorting of multi-manipulators, and construct a complete multi-manipulator intelligent sorting robot system for coal gangue. It improves the reliability and efficiency of the gangue intelligent sorting system.
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