Research On Cutting Trajectory Planning Of Roadheader Based On Infrared Recognition

Tunnel driving is an important working procedure in the process of coal mining,the efficiency and quality of the project are directly affected by the optimization degree of tunneling construction technology.High efficiency Mechanized Driving is the necessary condition to ensure the high production and efficiency of the mine,and also affects the development direction of the tunneling technology.The body will produce huge vibration when the roadheader cuts the dirt band.If it can't decelerate or avoid in time,the pick will produce severe wear.Adopting effective coal rock identification technology and making the cutting trajectory avoid the big dirt band is the necessary measure to improve the tunneling efficiency.Therefore,this paper studies the methods of coal rock identification,cutting trajectory planning and control system of roadheader.The closed system including pick,rock sample and cuttings is analyzed by analytic method.The heat transfer model of the contact surface between the pick and the rock sample is established in the cutting process.The relationship between the compressive strength of rock sample and the change of cutting temperature is analyzed.Based on the coal and rock cutting experiment platform and four rock samples with different proportion,the cutting experiment is carried out,and the infrared image of the whole cutting process is obtained by using the infrared thermal imager.The obtained infrared image is processed and analyzed,and the flash temperature characteristic value in the cutting process is obtained.Through the analysis of the relationship between the flash temperature characteristic value and the compressive strength in the cutting process,it is concluded that different rock samples with different mechanical properties have different flash temperature characteristic values,and the flash temperature characteristic value is approximately proportional to the change of the compressive strength of rock samples.It is feasible to use the flash temperature characteristic value to distinguish the cuttings,and carry out experimental verification.The grid map with random position of gangue is established,the laneway section map is preprocessed,and the grid attribute is set.Based on the biological excitation neural network,all grids in the section map are given active values,and the motion trajectory of the cutting head is preliminarily planned.In view of the complex section map,the floating template method is used to help determine the direction of movement and making it more accurate.The simulation results show that the method can achieve the expected results when the coverage is more than 95% and the average repetition rate is about 10%.Through the geometric analysis of the cutting arm of the roadheader,the relationship between the expansion of the driving cylinder and the grid map coordinate is obtained.The hardware and software of the control system of the cutting arm are studied,the OPC communication mode between MATLAB,Win CC and PLC is established,The monitoring and control interface and control program are compiled,and the Simulink control model is built.The system determines the distribution of coal and rock on the cutting surface through the expansion of the driving cylinder and the flash temperature characteristic value in the last cutting process,and then obtains the next cutting track through the track planning program,and enables the cutting head to move according to the expected track through the control system.The experimental results show its feasibility and accuracy.This thesis has 45 pictures,6 tables,105 references.