CN109754130A - Boom-type roadheader cutting track planing method based on topological map - Google Patents
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Abstract
The boom-type roadheader cutting track planing method based on topological map that the invention discloses a kind of.This method are as follows: according to drift section complicated structure identification model, cutting environment is differentiated, the cutting path and anchor point that planning development machine cantilever environment is explored；According to cutterhead positioning calculation model, position of the cutterhead in tunnel is resolved, using the neural gas network algorithm of growth, while constructing drift section topological environmental map；According to coal road cutting regulation, using improved ant group algorithm, planning obtains hiding the most short track of dirt band.In subsequent section cutting course, if more apparent variation occurs for section environment, drift section is carried out again to explore while constructing topological map, planning obtains new optimal cutting track.Using method of the invention, tunnel environment complicated and changeable can be coped with, obtains being suitable for the optimal trajectory tunneled, so that autonomous unmanned cutting be done step-by-step.
Description
Technical field
The invention belongs to underground coal mine digging device field of intelligent control, more particularly to a kind of outstanding based on topological map
Road headers cutting track planing method.
Background technique
In recent years, rapidly, restricting and tunneling intelligentized core problem is pick for the automation of coal mine work area, intelligent progress
It is difficult to obtain into the coal petrography character in operation process, equipment posture, working condition, manually can only feel and manipulate, automate
Level is low, operator is more, it is difficult to adapt to the demand of the unmanned driving of fully mechanized workface.Tunneling production process includes digging device
Walking and cutting tunnel cutting course by optimization section, obtain satisfied section molding, are the core for ensureing tunneling process quality
Heart problem.
Currently, cutting units movement relies primarily on the experience of operator, equipment failure rate is high, is easy to produce roof caving thing
Therefore driving cutting course optimization is low with the intelligence degree of decision.Research of the development machine in terms of autonomous environment sensing before, it is main
It concentrates in coal petrography identification or dirt band identification, the environmental map of foundation is also only the known map of rasterizing, does not mention systematically
Environment exploration and map constructing method out；Automatic cutting control track be only it is simple in a zigzag, discovery increases when practical application
The idle period of cutting units and cutting energy consumption, inefficiency, and cannot be adjusted with the variation of environment, generate biggish backbreak
Or (and) owe to dig area, influence section Forming Quality.
Drift section is traversed by self-contained sensor based on the high accuracy positioning of cutterhead as a result,
It establishes energy accurate description environment and is easy to tunnel the drift section topological map of cutting track planning and decision, be to realize cutting rail
Mark self-optimizing primarily solves the problems, such as, cooks up optimal cutting track using intelligent algorithm on this basis, instruct development machine into
The automatic cutting of row, finally realizes autonomous cutting operation.
Summary of the invention
For driving cutting course intelligent optimization problem, the object of the present invention is to provide a kind of cantilevers based on topological map
Formula tunneling machine cutting method for planning track proposes that drift section environment explores strategy and topological map construction method and based on changing
Into the cutting track planing method of ant group algorithm, with solution must not sense of autonomy roadway section environment, cutting track solidification it is constant,
The defects of cutting efficiency is low.
To achieve the above object, the boom-type roadheader cutting track planning based on topological map that the invention discloses a kind of
Method, comprising:
A, according to drift section complicated structure identification model, tunneling machine cutting environment is differentiated；
B, the cutting path and anchor point that planning development machine cantilever environment is explored；
C, according to cutterhead positioning calculation model, position of the cutterhead in tunnel is resolved, the neural gas net of growth is utilized
Network algorithm, while constructing drift section topological environmental map；
D, according to coal road cutting regulation, using improved ant group algorithm, planning obtains hiding the shortest path of dirt band.
Preferably, the A includes:
A1, drift section complicated structure identification model are
Wherein, N (I) indicates the active power of cutting motor, and I is cutting electric current, PFeIndicate core loss；PCu1Indicate fixed
Subcoil winding copper loss, PmIndicate that mechanical loss, P indicate cutting power；
PFe、PCu1And PmFor definite value, cutting power P is represented by P (f, n, v), wherein f is coal petrography hardness, and v is cutting arm
Slew rate, n are cutting motor revolving speed；
No matter development machine cantilever is doing horizontal, vertical or compound motion, and when encountering dirt band, f increases, and P increases, will be big
In rated power, N (I) becomes larger, is finally reflected I and accordingly becomes larger；
A2, within a certain period of time, if I is persistently greater than cutting motor rated current, that is, can determine that section is dirt band herein, into
And it can realize the exploration to cutting environment.
Preferably, the B includes:
Position where B1, cutterhead is initial exploration point, it is not necessary to set specific starting point, setting cantilever minimum is visited
Rope distance L；
B2, development machine be big mass body, for convenient for control, set probing direction as a left side, 45 degree of upper left, go up, 45 degree of upper right,
The right side, 45 degree of bottom right, under, 45 degree of lower-left；
B3, on candidate probing direction, the point with current point distance L be it is all it is candidate explore point, according to having visited
The environmental information of rope calculates the candidate information gain for exploring point, evaluates its degree of danger, information gain is maximum, and (degree of danger is most
It is low) be selected as target study point；
B4, driving cantilever make cutterhead cutting to target study point, if encountering dirt band during row to target study point,
Then stop motion, otherwise along target study direction travel distance L；
B5, B3, B4 are repeated, until boundary and within there is no candidate explore point.
Preferably, the cutterhead positioning calculation model be development machine suspending arm rotary/lifting rotation angle or revolution/liter
The resolving model of flexible stroke and the cutterhead coordinate position in drift section of oil cylinder drops.
Preferably, the C includes:
C1, initialization node space N, there are two nodes for tool, initial to explore point N0Point N is explored with first object1, in tunnel
N is assigned according to cutterhead positioning calculation model in section coordinate system0And N1Corresponding vector isWith
C2, cutterhead to next target study point during advancing, the position of cutterhead of every acquisition, as one
A input signal s, corresponding vector are
C3, s is calculated separately at a distance from each node, to find closest approach (it is assumed that point of winning is Na) and time near point Nb；
If C4, NaAnd NbBetween without connection side, then create connection side, be arranged the side Degree of Ageing be 0；
C5, winning node N is updatedaCumulative errors:
C6, winning node N is updatedaAnd there is the position vector of the node of connection therewith:
C7, winning node NaConnection side Degree of Ageing add 1, if Degree of Ageing > agemax, delete the connection side, simultaneously
Delete the node without connecting side；
If C8, input signal number are the integral multiple of λ, and current network node is not up to the maximum network node set
Number, then be inserted into new node Nr, new node NrSteps are as follows for generation:
1. finding the node N with largest cumulative errorp；
2. finding and node NpWith the node N of largest cumulative error in the node of connectionq；
3. being inserted into new node, vector isCumulative errors are Er=(Ep+Eq)/2；
4. deletion of node NpWith node NqConnection side, be separately connected node NpWith Nr, NrWith Nq；
5. updating the cumulative errors E of all nodes in node space NN=EN-β×EN, 0 < β < 1；
If C9, number of network node not up to set number, returns to C2 and continue to execute, otherwise algorithm terminates.
Preferably, the coal road cutting regulation is the excavation operation cutting process according to as defined in coal petrography soft or hard degree.
Preferably, the D includes:
D1, according to excavation operation cutting process, in drift section topological map, determine cutting track planning starting point and
Terminal；
It D2, is to guarantee that section cutting is complete, the track boundary point number planned should be greater than being equal to boundary length divided by most
Small exploration distance L；
D3, the track for initializing every ant are starting point, remaining topological node, terminal, are worked as using k-nearest neighbor setting
The optimal trajectory that preceding ant is found accelerates search process；
D4, strategy of dying young is added in basic ant group algorithm, needs to find track to ant after each iteration and sentences
Disconnected, the track for being unsatisfactory for D2 condition cannot be adopted, and can cook up after successive ignition can hide dirt band and section all standing
Most short track.
In subsequent section cutting course, if more apparent variation occurs for section environment, drift section is carried out again
Topological map is explored while constructing, planning obtains new optimal cutting track.
Compared with tunneling machine cutting method for planning track compare, advantage of the invention is as follows:
1, the present invention constructs drift section topological map using the neural gas network algorithm increased, has self-organizing, learns by oneself
The advantages that habit, can accurate description drift section environment, be easy to plan cutting track.
2, the present invention carries out map structuring while exploring to drift section environment, and real-time to map carries out environment more
Newly.
3, the present invention is according to coal road cutting regulation, and using improved ant group algorithm, planning obtains suitable cutting and hide to touch
The shortest path hit.
Detailed description of the invention
Fig. 1 is boom-type roadheader cutting track planing method overall flow of the embodiment of the present invention based on topological map
Figure；
Fig. 2 is the cutting path and anchor point schematic diagram that development machine of embodiment of the present invention cantilever environment is explored；
Fig. 3 is that the drift section topological map of neural gas network algorithm of the embodiment of the present invention based on growth constructs process
Figure；
Fig. 4 is the complete trajectory planning schematic diagram of section of embodiment of the present invention cutting；
Fig. 5 is the cutting track planing method flow chart of environmental renewal of the embodiment of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Fig. 1 is boom-type roadheader cutting track planing method overall flow of the embodiment of the present invention based on topological map
Figure.As shown in Figure 1, the boom-type roadheader cutting track planing method based on topological map, will carry out environment to drift section
It explores while constructing topological map, which comprises
Step 101: according to drift section complicated structure identification model, tunneling machine cutting environment being differentiated；
Drift section complicated structure identification model is
Wherein, N (I) indicates the active power of cutting motor, and I is cutting electric current, PFeIndicate core loss；PCu1Indicate fixed
Subcoil winding copper loss, PmIndicate that mechanical loss, P indicate cutting power；
PFe、PCu1And PmFor definite value, cutting power P is represented by P (f, n, v), wherein f is coal petrography hardness, and v is cutting arm
Slew rate, n are cutting motor revolving speed；
No matter development machine cantilever is doing horizontal, vertical or compound motion, and when encountering dirt band, f increases, and P increases, will be big
In rated power, N (I) becomes larger, is finally reflected I and accordingly becomes larger；
Within a certain period of time, if I is persistently greater than cutting motor rated current, that is, it can determine that section is dirt band herein, in turn
The exploration to cutting environment can be achieved.
Step 102: the cutting path and anchor point that planning development machine cantilever environment is explored.
Step 103: according to cutterhead positioning calculation model, resolving position of the cutterhead in tunnel, utilize the mind of growth
Through gas network algorithm, while constructing drift section topological environmental map.
Development machine suspending arm rotary/lifting rotation angle can be detected by mounted angle sensor or cylinder displacement sensor
Or the flexible stroke of revolution/lifting cylinder, cutterhead positioning calculation model is substituted into, position of the cutterhead in drift section is obtained
Coordinate.
Step 104: according to coal road cutting regulation, using improved ant group algorithm, planning obtains hiding the shortest path of dirt band
Diameter.
Fig. 2 is the cutting path and anchor point schematic diagram that development machine cantilever environment is explored.
By taking rectangular cross section as an example, internal black portions are Hard Inclusion (such as dirt band), and red circle is cutterhead in tunnel
The approximate projection of section, center mark A.
For convenient for control, set probing direction as a left side, 45 degree of upper left, go up, 45 degree of upper right, the right side, 45 degree of bottom right, under, lower-left
45 degree.
It sets cantilever minimum and explores distance L, on candidate probing direction, the point with current point distance L is all
Candidate explores point, calculates the candidate information gain for exploring point according to the environmental information explored, evaluates its degree of danger, information increases
Beneficial maximum (degree of danger is minimum) is selected as target study point.
It is assumed that the candidate information gain for exploring point B in right direction is maximum, as target study point, driving cantilever make cutting
Head cutting B.
Constantly repeat to explore, until boundary and within candidate exploration point is not present except dirt band in addition to.
Fig. 3 is that the drift section topological map of the neural gas network algorithm based on growth constructs flow chart, includes following step
It is rapid:
Step 301: initialization node space N, there are two nodes for tool, initial to explore point N0Point N is explored with first object1,
N is assigned according to cutterhead positioning calculation model in drift section coordinate system0And N1Corresponding vector isWith
Step 302: cutterhead to next target study point during advancing, the position of cutterhead of every acquisition,
As an input signal s, corresponding vector is
Step 303: s is calculated separately at a distance from each node, to find closest approach (it is assumed that point of winning is Na) and it is secondary close
Point Nb。
Step 304: if NaAnd NbBetween without connection side, then create connection side, be arranged the side Degree of Ageing be 0.
Step 305: updating winning node NaCumulative errors:
Step 306: updating winning node NaAnd there is the position vector of the node of connection therewith:
Step 307: winning node NaConnection side Degree of Ageing add 1, if Degree of Ageing > agemax, deletes the connection
Side, while deleting the node without connecting side.
Step 308: if input signal number is the integral multiple of λ, and current network node is not up to the maximum web set
Network number of nodes is then inserted into new node Nr, new node NrSteps are as follows for generation:
1. finding the node N with largest cumulative errorp；
2. finding and node NpWith the node N of largest cumulative error in the node of connectionq；
3. being inserted into new node, vector isCumulative errors are Er=(Ep+Eq)/2；
4. deletion of node NpWith node NqConnection side, be separately connected node NpWith Nr, NrWith Nq；
5. updating the cumulative errors E of all nodes in node space NN=EN-β×EN, 0 < β < 1.
Step 309: if number of network node not up to sets number, returning to C2 and continue to execute, otherwise algorithm terminates.
Fig. 4 is the complete trajectory planning schematic diagram of section cutting.
Still by taking rectangular cross section as an example, it is assumed that coal seam medium is more uniform middle hard coal, according to excavation operation cutting process, one
As from the lower left corner creep into coal wall, then bottom-up cutting, thereby determines that the network section in the lower left corner in drift section topological map
Point is starting point, and the network node in the upper right corner is terminal.
Cutterhead track is to cook up that the most short of dirt band and section all standing can be hidden using improved ant group algorithm in figure
Path schematic diagram.
To guarantee that section cutting is complete, the track boundary point number planned should be greater than being equal to boundary length divided by minimum spy
Rope distance L.
The track for initializing every ant is starting point, remaining topological node, terminal, sets current ant using k-nearest neighbor
The optimal trajectory that ant is found accelerates search process.
Strategy of dying young is added in basic ant group algorithm, algorithm can cook up optimal trajectory after successive ignition.
Fig. 5 is the cutting track planing method flow chart of environmental renewal.
When carrying out cutting track planning, first to carrying out exploring while constructing topological map to drift section, and utilize
Improved ant group algorithm is planned to obtain optimal trajectory.
In subsequent section cutting course, if more apparent variation occurs for section environment, it is greater than a certain number of nets
Network node, environmental characteristic and current map record difference, then need to explore drift section again, otherwise continue by front lay
The TRAJECTORY CONTROL development machine drawn carries out automatic cutting.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (8)
1. a kind of boom-type roadheader cutting track planing method based on topological map, which is characterized in that the described method includes:
A, according to drift section complicated structure identification model, tunneling machine cutting environment is differentiated；
B, the cutting path and anchor point that planning development machine cantilever environment is explored；
C, according to cutterhead positioning calculation model, position of the cutterhead in tunnel is resolved, is calculated using the neural gas network of growth
Method, while constructing drift section topological environmental map；
D, according to coal road cutting regulation, using improved ant group algorithm, planning obtains hiding the shortest path of dirt band.
2. the boom-type roadheader cutting track planing method according to claim 1 based on topological map, feature exist
In the drift section complicated structure identification model differentiates tunneling machine cutting environment, specifically includes:
A1, drift section complicated structure identification model such as following formula:
Wherein, N (I) indicates the active power of cutting motor, and I is cutting electric current, PFeIndicate core loss；PCu1Indicate stator line
Enclose winding copper loss, PmIndicate that mechanical loss, P indicate cutting power；
PFe、PCu1And PmFor definite value, cutting power P is represented by P (f, n, v), wherein f is coal petrography hardness, and v is cutting arm pendulum
Speed, n are cutting motor revolving speed；
No matter development machine cantilever is doing horizontal, vertical or compound motion, and when encountering dirt band, f increases, and P increases, and will be greater than volume
Determine power, N (I) becomes larger, is finally reflected I and accordingly becomes larger；
A2, within a certain period of time, if I is persistently greater than cutting motor rated current, that is, can determine that section is dirt band, Jin Erke herein
Realize the exploration to cutting environment.
3. the boom-type roadheader cutting track planing method according to claim 1 based on topological map, feature exist
In the cutting path and anchor point that the planning development machine cantilever environment is explored specifically include:
Position where B1, cutterhead is initial to explore point, it is not necessary to set specific starting point, setting cantilever minimum explore away from
From L；
B2, development machine be big mass body, for convenient for control, set probing direction as a left side, 45 degree of upper left, go up, 45 degree of upper right, the right side,
45 degree of bottom right, under, 45 degree of lower-left；
B3, on candidate probing direction, the point with current point distance L be it is all it is candidate explore point, according to what is explored
Environmental information calculates the candidate information gain for exploring point, evaluates its degree of danger, information gain maximum (degree of danger is minimum)
It is selected as target study point；
B4, driving cantilever stop cutterhead cutting if encountering dirt band during row to target study point to target study point
It only moves, otherwise along target study direction travel distance L；
B5, B3, B4 are repeated, until boundary and within there is no candidate explore point.
4. the boom-type roadheader cutting track planing method according to claim 1 based on topological map, feature exist
In the cutterhead positioning calculation model is development machine suspending arm rotary/lifting rotation angle or the flexible row of revolution/lifting cylinder
The resolving model of journey and the cutterhead coordinate position in drift section.
5. the boom-type roadheader cutting track planing method according to claim 4 based on topological map, feature exist
In, it is described using the neural gas network algorithm increased, while drift section topological environmental map is constructed, it specifically includes:
C1, initialization node space N, there are two nodes for tool, initial to explore point N0Point N is explored with first object1, in drift section
N is assigned according to cutterhead positioning calculation model in coordinate system0And N1Corresponding vector isWith
C2, cutterhead to next target study point during advancing, and the position of cutterhead of every acquisition is defeated as one
Enter signal s, corresponding vector is
C3, s is calculated separately at a distance from each node, to find closest approach (it is assumed that point of winning is Na) and time near point Nb；
If C4, NaAnd NbBetween without connection side, then create connection side, be arranged the side Degree of Ageing be 0；
C5, winning node N is updatedaCumulative errors:
C6, winning node N is updatedaAnd there is the position vector of the node of connection therewith:
C7, winning node NaConnection side Degree of Ageing add 1, if Degree of Ageing > agemax, delete the connection side, delete simultaneously
The node on side is not connected；
If C8, input signal number are the integral multiple of λ, and current network node is not up to the maximum network number of nodes set,
Then it is inserted into new node Nr, new node NrSteps are as follows for generation:
1. finding the node N with largest cumulative errorp；
2. finding and node NpWith the node N of largest cumulative error in the node of connectionq；
3. being inserted into new node, vector isCumulative errors are Er=(Ep+Eq)/2；
4. deletion of node NpWith node NqConnection side, be separately connected node NpWith Nr, NrWith Nq；
5. updating the cumulative errors E of all nodes in node space NN=EN-β×EN, 0 < β < 1；
If C9, number of network node not up to set number, returns to C2 and continue to execute, otherwise algorithm terminates.
6. the boom-type roadheader cutting track planing method according to claim 1 based on topological map, feature exist
In the coal road cutting regulation is the excavation operation cutting process according to as defined in coal petrography soft or hard degree.
7. the boom-type roadheader cutting track planing method according to claim 6 based on topological map, feature exist
In described to utilize improved ant group algorithm, planning obtains hiding the shortest path of dirt band, specifically includes:
D1, according to excavation operation cutting process, in drift section topological map, determine cutting track planning starting point and end
Point；
It D2, is to guarantee that section cutting is complete, the track boundary point number planned should be greater than being equal to boundary length divided by minimum spy
Rope distance L；
D3, the track for initializing every ant are starting point, remaining topological node, terminal, set current ant using k-nearest neighbor
The optimal trajectory that ant is found accelerates search process；
D4, it is added and dies young strategy in basic ant group algorithm, need to find track to ant after each iteration and judge, no
The track for meeting D2 condition cannot be adopted, and can cook up after successive ignition can hide the most short of dirt band and section all standing
Track.
8., if more apparent variation occurs for section environment, utilizing base described in claim 1 in subsequent section cutting course
In the boom-type roadheader cutting track planing method of topological map, drift section is carried out again to explore while constructing topological ground
Figure, planning obtain new optimal cutting track.
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Application publication date: 20190514 |