Vision-based navigation and directional heading control technologies of boom-type roadheader

The posture measurement of coal mine tunneling equipment is currently a hot topic at home and abroad.At present,different tunnel rapid tunneling systems are facing directional navigation problems.In order to solve the problem of automatic directional tunneling control of cantilever rough-riders in coal mines,a method for automatic directional tunneling control of boom-type roadmenders based on visual navigation is proposed,using monocular visual measurement technology to use the laser point and laser beam of the laser pointer in the roadway To construct a feature-based visual measurement model of the boring machine’s posture based on the portal structure,the posture of the fuselage in the roadway is solved by spatial matrix transformation.According to the motion characteristics of the boom-type redheader,the rectification control strategy of the boring machine is determined.Based on the kinematics of the boom-type redheader,the directional tunneling motion control model of the boring machine is established.The backstepping method is used to select a suitable Lyapunov function to design the trajectory tracking controller of the roadheader,which can effectively solve the trajectory tracking control problem of the roadheader.The experimental results show that the boom-type redheader boring machine body position and attitude visual measurement method can effectively achieve the boom-type redheader boring machine body position and attitude measurement in the underground working environment,and the boring machine body position measurement error is within ±40 mm,and the attitude angle measurement The error is within 0.3°;the trajectory tracking controller can realize the automatic directional driving function of the boom-type redheader,and its motion control accuracy is within ±20 mm,which meets the accuracy requirements of roadway construction.In this method,the industrial camera is fixedly installed on the body of the tunneling equipment,and the point-line feature of the laser pointer is utilized to construct the portal three-line model as the reference for posture measurement.Compared with related research,it has the advantages of not easy to miss the target and less target movement.The research results provide theoretical and technical support for the intelligent maneuvering control of coal mine roadway rapid tunneling equipment.