Research On Design And Identification And Positioning Technology Of Coal Mine Auxiliary Transportation Reprint Container

Coal mine transportation includes main transportation and auxiliary transportation.Coal mine auxiliary transportation undertakes the important tasks of personnel,equipment and materials transportation.The roadway transportation route is complex,there are many slopes and turns.In the process of steel wire rope winch and monorail crane auxiliary transportation and transfer,the monorail crane reaches the target position for transfer,and the sizes and specifications of transfer containers containing different materials are not uniform,This makes the positioning and loading and unloading of transfer containers still need to be completed manually by workers,with high labor intensity,many links of material transportation and turnover,cumbersome process,which does not meet the development needs of standardized loading and automatic transfer,and does not meet the main flow direction of continuous,standardized and intelligent mine construction.In this paper,the robot technology is applied to the auxiliary transportation and transfer link of coal mine,and a scheme of using the auxiliary transportation and transfer robot to replace the workers to complete the material transfer is proposed.The locks for placing the standardized transfer containers of different materials and fixing the transfer containers are designed.The transfer containers with different materials are transported to the monorail crane through the four degree of freedom hydraulic manipulator on the top of the monorail crane,After the materials transported by monorail crane reach the designated position,the mechanical arm will transport the transfer container to the flat car to realize the transfer of materials.ANSYS Workbench finite element analysis software is used to analyze the stiffness and strength of the overall structure of the container under the condition that the manipulator grabs the transfer container and accelerates the lifting.The results show that the structural strength of the transfer container meets the requirements.The automatic control system for the cooperative work between flat car,lock,monorail crane and transfer robot in the transfer process is studied to realize the safe loading,transfer and transportation of transfer container.Based on the research of fast RCNN target detection,better a priori frame number is obtained with the help of K-means anchor frame in SSD,multi-resolution feature fusion is introduced,RPN network is improved,and ROI pooling is replaced by ROI align,which greatly improves the accuracy of identification and location of reprint container.On the basis of target detection,the coordinates of the center point of the reprinted container are obtained by graying the image,boundary detection and pixel center point extraction.The posture of the container relative to the reprinted robot is obtained according to boundary contour tracking and line fitting.Finally,the grasping posture of the gripper at the end of the manipulator is obtained by using the grasping parameter estimation algorithm,and then the type of pre grasping container is judged,The grasping posture of the corresponding container is transmitted to the manipulator to drive the manipulator to grasp the target container.Finally,the simulation experiments of six kinds of reprint container target detection,positioning and manipulator grasping are carried out.The experimental results show that the map value of the improved fast RCNN target detection model is increased to 95%,the average error of reprint container positioning is reduced to 2.8cm,the average error of attitude angle is reduced to 1.6 °,and the success rate of manipulator grasping the container is more than 80%.