Gong-kuang zidonghua (Apr 2023)

Non-repeated support advanced support intelligent control system

  • HAN Zhe,
  • XU Yuanqiang,
  • ZHANG Desheng,
  • ZHAO Quanwen,
  • DU Ming,
  • LI Hui,
  • ZHOU Jie,
  • ZHANG Shuai,
  • LIU Jie,
  • GAO Jianxun,
  • WEN Cunbao,
  • ZHOU Xiang,
  • ZHAO Kai

DOI
https://doi.org/10.13272/j.issn.1671-251x.2022090004
Journal volume & issue
Vol. 49, no. 4
pp. 141 – 146, 152

Abstract

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The non-repeated support advanced support equipment in environments with small space, large vibration, and severe electromagnetic interference has problems of low sensing technology level, imprecise motion control, and complex operation process. In order to solve the above problems, a non-repeated support advanced support intelligent control system is proposed. According to the controlled requirements of the non-repeated support advanced support technology, it has the capability to detect surrounding environmental information such as posture, obstacles, and positions. It has control methods of adaptive, self- adjusting, and self -decision-making. It has fast, stable, and precise execution components. It is pointed out that this intelligent control system proposes three key technologies: intelligent perception, logical control and execution. Based on the control functions and task flow of the intelligent control system for non-repeated support advanced support, the overall architecture of the system is proposed. The multi-sensor fusion technology based on attitude, obstacle recognition, pressure, position, and velocity information is proposed to control and execute multi working condition motion control strategies. The integrated prototype of 'turn-transport-support' for advanced support in transportation roadways is developed. And ground tests are conducted. The test results show that the intelligent control system for non-repeated support advanced support can achieve visual recognition of the center point and obstacles of the support, automatic walking and stroke judgment of the support handling trolley, automatic offset and rotation of the support, and automatic grasping and lifting functions of the support. The visual recognition sensor can achieve support frame number coding recognition, support posture, and support area decision-making functions. The automated operation process of 'walk-grasp-lower-turn-walk-turn-lift-loose-lower' is implemented. It can meet the application requirements.

Keywords