| At present,coal mine drilling and bolting support is still based on manual operation,which has many problems,such as high labor intensity,poor working environment,low production efficiency,high safety risk and so on.In order to improve the safety and efficiency of tunnelling and supporting,improve the labor intensity of operators and liberate productivity,this paper mainly studies the accurate positioning of the body of the drill-anchor robot and the drilling rig based on the gantry drill-anchor robot developed by the team.Aiming at the positioning problem of drill-anchor robot body in complex working conditions of coal mine,a combined sensor positioning method based on radar ranging sensor and lidar is proposed.According to the process requirements of drill-anchor robot and tunneling machine,the position information between drill-anchor robot and heading face is measured by distributed radar ranging sensor,the "robot-working face" positioning model is established,and the position relationship between drill-anchor robot and tunneling machine is calculated during the forward movement of drill-anchor robot;taking the bolt at the top of the back end of the robot as the reference,the dynamic point map information of the bolt is obtained by laser radar scanning,and the "robot bolt" positioning model is established to solve the spatial position relationship between the bolt and the bolt during the backward movement of the drill-anchor robot.Finally,the position and posture of the drill-anchor robot in the coal mine roadway can be determined in real time.Aiming at the problems that the position and-posture of the drill-anchor robot in the coal mine roadway deviate from the roadway center line when walking autonomously,resulting in collision and unable to reach the target point to be worked,this paper proposes an autonomous deviation correction method of the drill-anchor robot in the coal mine roadway based on the improved artificial potential field algorithm.The repulsion field function and repulsion function based on the coal wall on both sides and the gravitational field function and gravitational function based on the target point are established,by introducing the influence factors of robot speed and safety boundary range,combining with the extension control principle,the robot can control and adjust the potential field force under different conditions.The resultant force and direction obtained from the artificial potential field are taken as the target input value of the drill-anchor robot controller.The transfer function of the hydraulic control system of the drill-anchor robot is analyzed,and the neural network architecture is constructed combined with the output and error,so as to realize the adaptive PID adjustment,to ensure that the drill-anchor robot can walk along the central axis of the roadway.Aiming at the problem of autonomous positioning of drill-anchor robot drilling rig in coal mine roadway,a positioning method of drill-anchor robot drilling rig based on visual calibration is proposed.According to the characteristics of the drill-anchor robot,the coordinate transformation relationship between the drill and the body is established,and the Euler angle representation is used to describe the position relationship between the drill and the camera.According to the obtained "fuselage-drill-camera" transformation relationship,the inverse kinematics problem is solved,and the motion control quantity of each part of the drill-anchor robot is obtained,which is the basis for the accurate alignment of the drilling rig.The camera is used to obtain the anchor mesh image corresponding to the current posture of the drill-anchor robot.The midpoint recognition algorithm is used to identify the mesh image and extract the appropriate pixel coordinate information.At the same time,combined with the binocular ranging algorithm,the depth information along the optical axis of the camera can be obtained,and the midpoint coordinate information of the anchor mesh from the pixel coordinate system to the camera coordinate system can be converted,so as to update and adjust the posture of the drilling machine.Finally,an experimental verification is made for the precise positioning method proposed by the drill-anchor robot,and the tracked mobile robot platform and three-axis vision positioning platform are used to analyze them respectively.The results prove the feasibility of the positioning method of the drill-anchor robot studied in this paper. |
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