Intelligent parallel cooperative control method of coal mine excavation robot system

The persistent problems of “mining fast and heading slow” and “heading fast and supporting slow” in coal mine roadway drivage still exist currently,especially the problems of low degree of equipment complete set,automation,and intelligence,and backward sequential operation technology,which seriously affect the production continuity,and safe and efficient mining.To overcome the problems,this study had developed a complete set of shield pushing robot system for coal mine roadway drivage,and puts forward an intelligent parallel cooperative control method for coal mine roadway drivage robot system.Firstly,the correlation between the subsystems of the drivage robot system and the interaction mechanism between multiple tasks were analyzed based on the coupling relationship between the drivage robot system and the roadway.It was concluded that the key factor to determine the drivage efficiency is the parallel cooperative control of the cutting robot and the anchor drilling robot.Secondly,according to the space-time relationship between each drilling rig,a mathematical model of multi-rig and multi-task cooperative drilling and anchoring operation was built to obtain the row spacing,row number and the number of each row's drilling and anchoring tasks.At the same time,the optimal combination method was used to solve the problem,and the calculation results were optimized according to the maximum safety distance principle so as to obtain the optimal space-time matching strategy of each row of drilling rigs.Finally,the effectiveness of the proposed method was proved by the simulation and experiment of parallel cooperative control of drilling and anchoring robot system.The timing analysis of cutting robot and drilling and anchoring robot when drivage robot works shows that the working time of optimized drilling and anchoring robot can effectively match the working time of cutting robot,and they can complete the cutting and drilling and anchoring tasks in parallel and cooperation.The method has been applied to the intelligent drivage robot system developed by the team,and the intelligent parallel cooperative control of multi-robot system has been realized.The drivage robot system with intelligent parallel cooperative control has been operating for nearly 10 months in the roadway with large section (6.5 m×4.25 m),dirt band and rib spalling co-existing,and has withstood the severe test of 2.1 m thick dirt band and f=5-7 hardness,and the drill footage per day has exceeded 50 meters.