Research And Development On The Section Automatic Precision Forming System Of Boom-type Roadheader

The automation and few-on-duty or non-attended, information, intelligence, digital research of full-mechanized excavation face has always been the goal pursued by domestic and international coal mine industry. The working environments and conditions of coal road way are extremely bad. The working load of roadheader is extremely complicated, and the vision field of driver is narrow. So it is very difficult to excavate coal roadway by manual manipulation of roadheader driver. This kind of method cannot control the operating position of roadheader exactly. Therefore, the quality and safety of construction depend on the artificial factor in a great measure. Under this condition, the construction quality of section forming is bad. And the production efficiency is low. The utilizable efficiency of electromotor is not high. The physical intensity for workers is large, and personal health and security of construction cannot be effectively protected.The main goal of this paper is to achieve the roadheader automatic precision forming, which has important theoretical value and practical significance for roadheader section cutting automation. Firstly, the establishment of the relationship between the roadheader cutting head and coordinate system and the construction of the global coordinate system and the kinematics equation of roadheader through the robot kinematics and homogeneous coordinate transformation theory. Secondly, the analysis of roadheader operation process and using different trajectory planning algorithm to the different paths get the time optimal trajectory planning, and reduce the amount of calculation of PC and increases tunneling efficiency; position relationship through the study of the cutting head and the cross section of roadway and to determine the location of the inflection point of the process, greatly improving the forming accuracy of section, and simulation using MATLAB. Determination of the position of the inflection point in the process through research the position relationship between the cutting head and the tunnel section greatly improving the section forming accuracy, and use MATLAB to simulation. Finally, the human-machine interface was developed through the VC++and MATLAB mixed programming, and through the programming port communication protocol of the MITSUBISHI PLC to realize the communication between PC and PLC, and complete read and write for the FX2N data register, and set the communication format.The innovation points of this article are as follows:Firstly, process route was determined through the analysis of several common standards of roadway section form, and divides the types of cutting path. For the horizontal line, linear interpolation of higher order polynomial transition was used for the trajectory planning. For non-horizontal line segment, combined sine curve was used for the trajectory planning, and by using the polyfit function to achieve five polynomial fitting to get the the position, velocity and acceleration curve in drive space.Secondly, the cutting precision model was set up for the first time to trapezoidal section and circular arch section. Taking the cutting precision as the objective function "approximate iterative method" was used to find inflection point to trapezoidal section and circular arch section in automatic forming process path. The algorithm is implemented by using MATLAB, and proved to be correct through the simulation on trapezoidal cross section and circular arch section. This method is applicable not only to trapezoidal section and circular arch section, but also can be extended to non-rectangular section, and has a certain universal.Thirdly, we use VC++ to write visualization software of the method. In order to reduce development effort and shorten the development cycle, full MATLAB and VC++language to their strengths. We implement complex algorithms in MATLAB and write interface in VC++. To achieve the process of program development efficiently and the speed of program execution effectively through MATLAB and VC++mixed programming.