Key technology of drilling anchor robot with multi⁃manipulator and multi⁃rig cooperation in the coal mine roadway

For the problem of “fast tunneling and slow supporting” in the intelligent process of coal mine tunneling，the research status of domestic and foreign fast tunneling and drilling anchor technology and equipment and similar multi⁃tasking and multi⁃manipulator control technology are summarized and analyzed，It is concluded that the develop⁃ ment of coal mine tunneling drilling anchor robot with multi⁃manipulator and multi⁃rig cooperation is an important de⁃ velopment direction to solve the problem of permanent support. The basic plan of the drilling anchor robot with multi⁃manipulator and multi⁃rig cooperation is proposed，and the four key techniques of impacting the performance of drilling anchor robot are summarized. The solutions and methods of the four key technologies for layout optimization of multi manipulator and multi⁃rig in finite space and time， attitude control of manipulator for loading and unloading tasks， optimal trajectory planning of manipulator in complex confined space and intelligent cooperative control of multi⁃manipulator and multi⁃rig are presented. The problem of structure layout optimization of drilling anchor robot under finite space⁃time constraints，the configuration optimization model of drilling anchor robot is established and the spatiotemporal optimal layout scheme of drilling anchor robot with multi⁃manipulator and multi⁃ rig is proposed，in order to improve the efficiency of drilling anchor and obtain the optimal layout space. For pose con⁃ trol of multi⁃manipulator and multi⁃rig cooperation，the grasping and placement control method of manipulator based on machine vision and reinforcement learning is put forward to realize accurate material handling through raising the end attitude control accuracy of manipulator. Aiming to the problem of optimal trajectory planning for manipulator in a complex constrained space，the multi⁃objective trajectory optimization model of manipulator is established and an anti⁃collision trajectory optimization method based on random sampling and bounding box is presented，in order to en⁃ sure safe，reliable and efficient operation of manipulator in the handling process. For the problem of parallel coopera⁃ tive control of multi⁃manipulator and multi⁃rig，the time⁃coordinated task allocation model with the shortest process du⁃ ration as the goal is established and the optimal task assignment matrix and priority of intersecting task trajectories of multi⁃manipulator are obtained by solving the model，and a distributed adaptive control strategy converged to the de⁃ sired trajectory is proposed while all the manipulators move collision⁃free，in order to realize the intelligent coopera⁃ tive control and parallel operation of drilling anchor robot with multi⁃manipulator and multi⁃rig cooperation. The re⁃ search on drilling anchor robot with multi⁃manipulator and multi⁃rig and its key technologies are of great significance for innovating and developing intelligent drilling anchor robot with high quality，high efficiency，and high reliability and ensuring safe，efficient，green and intelligent tunneling of coal mine roadway.