Research On Integrated Positioning Technology Of Boom-type Roadheader Cutting Part Based On Magnetic Field And Binocular Vision

Coal is the most abundant and widely distributed conventional energy source in the world.It is an important strategic resource and is widely used in steel,electric power,chemical industry and other industrial production and residential fields.A mine is an area where people mine coal in rich coal mines.The environment of coal mines is harsh,especially in coal mines,and safety accidents occur frequently.Therefore,it is an inevitable trend to improve the utilization rate of coal mining and intelligent coal mining.Among them,the accurate positioning of the cutting part of the roadheader is the premise to ensure the normal construction of the mine.Therefore,in order to realize the intelligent excavation of the roadheader,the first problem to be solved is the precise positioning of the cutting part of the roadheader.The main research contents of this thesis are as follows:(1)Aiming at the difficulty of one method to achieve accurate positioning of the cutting part of the roadheader,an overall scheme of binocular vision positioning and magnetic field combined positioning system is proposed.Firstly,according to the structure of the roadheader itself and roadway conditions,a combined positioning system of binocular vision and magnetic field is built,and then the three-dimensional coordinates of the cutting part are obtained based on the dual objects placed on the cutting part of the roadheader and the connecting rod of the fuselage.When the cutting part of the roadheader runs to the bottom and is buried by the slag,and the binocular vision positioning method cannot be applied at this time,the magnetic field positioning method introduced by the adaptive neural network is used to locate the cutting part of the roadheader.(2)In view of the large volume of the cutting part of the roadheader,there will be a large error in identifying and positioning the cutting part of the roadheader directly,and the accuracy is low.Therefore,the target is introduced to assist in the identification.According to the movement mode of the cutting part of the roadheader,if the target is placed behind the cutting part,the geometric relationship between the target and the cutting part is related to the driving arm behind the cutting part of the roadheader,and the direction of the driving arm cannot be determined by a single target.it is impossible to determine the precise position of the cutting part through the target.Therefore,dual objects with a fixed distance and parallel to the excavation arm are introduced on the upper surface of the excavation arm behind the cutting part.After obtaining the threedimensional coordinates of the two objects by the binocular positioning method,the direction of the excavation arm can be determined,and then the direction of the excavation arm can be determined according to the geometric relationship between the two objects and the cutting part of the roadheader determines the position of the cutting part.(3)In view of the problem that the binocular vision cannot locate when the cutting part of the roadheader runs to the bottom and is buried by slag,it is proposed to use the magnetic field positioning method to locate the cutting part of the roadheader.In order to avoid the change of the geomagnetic environment and the influence of the iron body of the roadheader on the magnetic field positioning,an adaptive neural network algorithm is introduced.Through the position data of the cutting part of the roadheader and the magnetic field strength of the magnetic source when the infrared thermal imager is working,the real-time detection is performed.The magnetic field positioning model is calibrated to ensure that the positioning accuracy of the magnetic field positioning model does not decrease with the change of the working environment.In this thesis,by using binocular vision technology and magnetic field positioning technology to realize the position and orientation perception and positioning of the cantilever roadheader,the real-time positioning and positioning accuracy of the cutting part of the coal mine roadheader are improved,which is beneficial to improving the efficiency of underground excavation and reducing safety risks.The realization of intelligent unmanned excavation has important theoretical significance and application value.