悬臂式掘进机的自动化、智能化程度低严重制约着煤矿巷道施工技术的发展,智能掘进技术成为目前国内外研究的热点。针对煤矿悬臂式掘进机自动截割控制问题,将视觉测量传感器应用于悬臂式掘进机截割头的控制系统中,提出了悬臂式掘进机视觉伺服截割控制系统。根据悬臂式掘进机的运动学,利用视觉测量系统有效实时反馈截割头位姿,融合惯性导航系统、超声波测距等传感器得到有效信息,采用PID控制方法建立悬臂式掘进机视觉伺服截割控制模型,可根据巷道断面截割施工工艺规划的截割轨迹实现巷道断面的截割成形。介绍了悬臂式掘进机视觉伺服截割控制系统的工作原理以及主要模块,工作人员在规划好截割头在巷道断面的截割轨迹后,系统根据各传感器的测量结果以及误差信息控制掘进机截割头按照规划的轨迹进行自动截割,保存并显示机身位姿及截割头的截割轨迹。试验结果表明:悬臂式掘进机视觉伺服截割控制试验中,掘进机截割头可按照规划的截割轨迹进行自动截割,并且截割头姿态角的变化在0.7°以内,截割头中心点位置误差在18 mm以内,满足巷道掘进的精度要求,并且截割运动过程具有较好的稳定性。

The low degree of automation and intelligence of cantilever roadheader severely restricts the construction of coal mine roadways, and the intelligent roadheading technology has become a hot topic for research at home and abroad. Aiming at the problem of automatic cutting control of cantilever roadheader in coal mines, and a visual servo cutting control system of cantilever roadheader is put forward in this paper. According to the kinematics of the cantilever roadheader, the vision measurement system is used to effectively feed back the position of the cutting head in real time, and the inertial navigation system, ultrasonic ranging and other sensors are integrated to obtain effective information. The PID servo control method is used to establish the visual servo cutting control model of the cantilever roadheader. The model can realize the cutting and shaping of the roadway section according to the cutting trajectory planned by the roadway section cutting construction process. The working principle and main modules of the visual servo cutting control system of the cantilever roadheader are introduced. After the staff has planned the cutting trajectory of the cutting head on the roadway section, the system controls the roadheader according to the measurement results and error information of each sensor. The cutting head automatically cuts according to the planned trajectory, saves and displays the position of the machine and the cutting trajectory of the cutting head. The experimental results show that in the visual servo cutting control experiment of the cantilever roadheader, the cutting head of roadheader can automatically cut according to the planned cutting trajectory, and the change of the attitude angle of the cutting head is within 0.7°, and the position error of the cutting head center point is within 18 mm, which meets the accuracy requirements of roadway excavation, and the cutting motion process has better stability.