Digital twin driven remote automatic cutting control technology of roadheader

Abstract

Existing remote cutting control methods of roadheader are mostly based on video monitoring and planar information, and roadway section forming quality depends on manual operation experience with low reliability. For the above problems, digital twin driven remote automatic cutting control technology of roadheader was researched, and implementation process of digital twin driven automatic cutting of roadheader was introduced from aspects of data sensing, data driving, data transmission and remote automatic cutting control. Position and attitude data of roadheader is obtained by use of vision measurement technology and tunneling environment data is gathered by gas and other sensors, which form data source of data twin driving. Vitual model of roadheader and virtual scene are established, and action programming and coupling between the virtual model and virtual scene are finished. Interaction between roadheader and the virtual model is realized by normal and inverse kinematics of roadheader. 'S' shape cutting trajectory of roadway section is planned based on cubic polynomial method, and linear integral feedback sliding mode controller is designed to control cutting trajectory. MySQL database is taken as medium of data interaction, and remote data transmission is realized through underground industrial ethernet ring network and mine-used 5G technology. The experimental results show that the cutting head of roadheader can stably follow the planed trajectory, and position and attitude of cutting head of roadheader in virtual interface is accordant with the actual ones at the same moment.

Keywords

• fully-mechanized heading face intelligence
• roadheader intelligence
• digital twin
• position and attitude measurement of roadheader
• automatic cutting control
• cutting trajectory planning