Research On Tunneling Path Design And Obstacle Avoidance Of Ionic Type Rare-earth Ore Tunneling And Ore-dressing Device

Ionic type rare earth ore tunneling and ore.dressing device had certain drilling capacity, it can be better able to complete the work on rare earth mining. In the course of tunneling process, the certain tunneling process route methods can be divided into two categories: firstly, according to the existing geological exploration data to analyze the distribution of needed ore deposit, and determined the tunneling process route from geological map beforehand, and then it was used to guide the tunneling process which adopted the tunneling and ore.dressing composite device.Secondly, under the circumstance of unclear geological exploration data, the preliminary tunneling route should be confirmed through insufficient geological data, and then according to the airborne radar data to correct the tunneling process route in the actual tunneling process. In the tunneling process which based on the tunneling process route, it often encounter hard boulder body(platts hardness 7), which easily led to uneven stress of excavation mechanism, serious wear of cutting tool and the destruction of main bearing sealing, and then led to cutter dish jam, load increased and motor burned problems, eventually led to the device stuck in the mine, and it can’t be able to keep working, thereby increased a number of cost and time during the tunneling process, and lowered the efficiency of excavation process. So it was of great significance to study the obstacle avoidance and path planning in the tunneling process.This paper start from the detection of the mine environment, adopting geophysical detection method of geological radar to detect the obstacles. Through the analysis of the properties of obstacles in the mine to accurately set geological radar parameters, for example center frequency,and then identify the size and specific location of the obstacles in the mine environment. Then applied the method of relative positioning, through the linear displacement, pressure, tilt sensors and detection system composed of electronic compass to accurately position the spatial position and posture of the device, and then completed the motion control.The principle of grid method was used to model obstacle environment, and then using ant colony algorithm to have path planning simulation for the already established lattice matrix, which can verified that the ant colony algorithm used in the obstacle avoidance and path planning of the device was feasible. According to the different grid models, the optimal parameters values of ant colony algorithm were different, with three steps mode as a guide and multiple simulation experiments, the optimal parameters value of ant colony algorithm were obtained.This paper designed the following improvement scheme on account of it had problems such as: slow convergence speed and poor ability of global optimization when the ant colony algorithm was applied to the obstacle avoidance and path planning. when in the process of grid initialization,managed the concave obstacles as convex obstacles; when in the process of distributing initial pheromone and transferring probability formula, the node to the target point distance information was imported. Finally, the optimal simulation results of the improved ant colony algorithm and basic ant colony algorithm were compared, and it verified that the improved ant colony algorithm had a great increase in optimization ability and convergence speed.