Research On Remote Control And Simulation System Of Boom Roadheader Based On VR

In the construction of the traditional tunneling working face,it is very difficult to implement the tunneling operations by the operator's experience and visual method.In recent years,the research of automatic control system is not enough.Underground drilling in the dust,ventilation and other problems,making the underground environment is harsh.It is difficult to obtain the position of tunnel boring machine and the information at driving face in coal tunnel,which leads to the labor intensity,and the tunnel is difficult to locate and the poor quality of cutting.It is of great research significance and application value to develop a virtual control system of tunnel boring machine with multi-dimensional information environment interaction ability.This paper proposes a tunneling remote control and simulation system based on VR,with roadheader as the research object,in order to realize the remote control of boom roadheader cutting section and trajectory planning for target,analyzing and modeling the kinematics of roadheader,cutting head trajectory generation theory,construct virtual function test a simulation experimental platform.This paper takes the boom roadheader as the research object,and the coordinate system of under the global is constructed accroding to the actual needs,the coordinate system of roadheader machine body is seted up on the basis of the geometric structure of roadheader,based on the kinematics knowledge of the robot,the kinematics of the cutting head and the kinematics model of the roadheader are established.The solution of the forward kinematics and inverse problem of the roadheader is calculated,and the control quantity of the roadheader and the position of the cutting head are obtained.According to the tunnel section size and the function of the cantilever boring machine,this paper gets the tunnel excavation technology suitable for this system through the research on the tunnel excavation method and technology.Based on the shape and structure of the cutting circle of the cutting head are established.The cutting section range of the different cuttings on the cutting head is cut,So as to determine the boundary point of the profile of the roadway,and finally obtain the trajectory of the center of the cutting head,which can provide important guarantee for the excavation machine to cut out the size and shape of the roadway.According to the analysis of excavation working face of fully mechanized roadheader work,a virtual simulation platform of roadheader had constructed in this paper,with display state and data tunneling machine works reproduced.The data acquisition and transmission of virtual control of roadheader is realized,according to the parameters of the underground boring machine,which is collected by the sensor,and the position of the virtual tunneling machine is correct dynamiclly,and reproducing boring machine more real working condition,and provide image and data support for remote operation of roadheader.