CN112454356A - Automatic control method and device for movement track of cantilever of heading machine - Google Patents
Automatic control method and device for movement track of cantilever of heading machine Download PDFInfo
- Publication number
- CN112454356A CN112454356A CN202011262768.8A CN202011262768A CN112454356A CN 112454356 A CN112454356 A CN 112454356A CN 202011262768 A CN202011262768 A CN 202011262768A CN 112454356 A CN112454356 A CN 112454356A
- Authority
- CN
- China
- Prior art keywords
- cantilever
- teaching
- extracting
- current
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
Abstract
The application discloses a method and a device for automatically controlling the movement track of a cantilever of a heading machine, wherein the method comprises the following steps: extracting a yaw angle and a pitch angle of the cantilever relative to the tunneling machine body, and extracting teaching path steps and teaching data; extracting position information of a cutting boundary and extracting teaching track data of a cantilever; and generating the direction, position and speed of the motion track of the cantilever according to the actual attitude angle, position information, teaching track data, current cutting current and current cantilever vibration signals, and controlling an execution assembly to execute corresponding actions. The automatic control method for the movement track of the cantilever of the heading machine can improve the forming quality of the roadway to ensure the forming standardization of the roadway.
Description
Technical Field
The application relates to the technical field of automation of cantilever type tunneling machines, in particular to a method and a device for automatically controlling a cantilever motion track of a tunneling machine.
Background
The cantilever type heading machine is not only a main device for coal mine roadway heading construction, but also has wide application prospect in engineering tunnel construction of railways, highways and the like after technical transformation. The intelligent control technology of the cantilever type tunneling machine is a current research hotspot of the industry and is also a main research content of a coal mine tunneling robot provided by the national safety supervision bureau. The cantilever action mechanism of the heading machine is a main execution mechanism for cutting a section and forming a roadway, and the accurate control of the motion of the cantilever is a key technology for ensuring the forming quality of the roadway and realizing automatic heading or unmanned heading. Therefore, the real-time and reliable control of the movement track of the cantilever of the heading machine by using the known multi-source information such as the real-time attitude angle of the cantilever relative to the machine body, the calibration position of the cutting boundary, the teaching data of the movement track of the cantilever and the like is a beneficial exploration for the research on the intelligent control technology of the heading machine.
The method for controlling the movement track of the cantilever of the heading machine in the related art can only adapt to the control of the movement of the cantilever under the cross section with the regular shape such as a rectangle, an arch, a trapezoid and the like, and only considers the real-time adjustment of two variables of the movement direction and the position of the cantilever, namely the self-adaptive control of the movement speed of the cantilever is not fused to the change of coal rock load, so that the problems of poor load adaptability, poor control robustness and the like exist, and the method needs to be solved urge.
Content of application
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the invention is to provide an automatic control method for the movement track of the cantilever of the heading machine, which can improve the forming quality of the roadway so as to ensure the forming standardization of the roadway.
The second purpose of the invention is to provide an automatic control device for the movement track of the cantilever of the heading machine.
A third object of the invention is to propose an electronic device.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of the first aspect of the present application provides an automatic control method for a movement track of a boom of a heading machine, including the following steps:
extracting a yaw angle and a pitch angle of the cantilever relative to the tunneling machine body, and extracting teaching path steps and teaching data;
extracting position information of a cutting boundary and extracting teaching track data of the cantilever;
and generating the direction, position and speed of the motion track of the cantilever according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal, and controlling an execution assembly to execute corresponding actions.
In addition, the automatic control method for the movement track of the cantilever of the heading machine according to the embodiment of the invention can also have the following additional technical characteristics:
optionally, the extracting position information of the cutting boundary includes:
extracting yaw angles and pitch angles of the cutting boundary calibration section top plate, the bottom plate, the left side and the right side;
and calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
Optionally, the extracting teaching path step number and teaching data includes:
and acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain the teaching track data.
Optionally, the generating a direction, a position, and a speed of a cantilever motion trajectory according to the actual attitude angle, the position information, the teaching trajectory data, the current cutting current, and the current cantilever vibration signal, and controlling an execution component to execute corresponding actions includes:
and carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
In order to achieve the above object, an embodiment of the second aspect of the present application provides an automatic control device for a movement track of a boom of a heading machine, including:
the acquisition module is used for extracting the yaw angle and the pitch angle of the cantilever relative to the tunneling machine body and extracting the teaching path steps and teaching data;
the extraction module is used for extracting position information of a cutting boundary and extracting teaching track data of the cantilever;
and the generating module is used for generating the direction, position and speed of the motion track of the cantilever according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal and controlling the executing assembly to execute corresponding actions.
Optionally, the extraction module includes:
the extraction unit is used for extracting the yaw angle and the pitch angle of the cutting boundary calibration section top plate, the bottom plate, the left upper and the right upper;
and the calculating unit is used for calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
Optionally, the obtaining module includes:
the acquisition unit is used for acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain the teaching track data.
Optionally, the generating module includes:
and the adjusting unit is used for carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
To achieve the above object, an embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the method of automatic control of a boom movement trajectory of a heading machine as described in the above embodiments.
In order to achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions for causing the computer to execute the method for automatically controlling the movement trajectory of the boom of the heading machine according to the foregoing embodiment.
Therefore, according to two constraint conditions of a cantilever teaching track target position and a cutting boundary position, the PID control algorithm is adopted to realize closed-loop control of given current of a cantilever action electromagnetic valve and self-adaption of adjustment of cantilever movement speed to coal rock load change, a precise automatic control method of the cantilever movement track capable of simultaneously adapting to cutting sections of rectangular, arched, trapezoidal and other regular shapes and irregular shapes such as inverted trapezoidal shapes is formed, the tunnel forming quality is improved, and the tunnel forming standardization is ensured.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an automatic control method for a movement track of a boom of a heading machine according to an embodiment of the present application;
fig. 2 is an exemplary diagram of a functional block diagram of a method for automatically controlling a movement trajectory of a boom of a heading machine according to an embodiment of the present application;
fig. 3 is an exemplary diagram of an automatic control device for a movement track of a cantilever of a heading machine according to an embodiment of the application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a method and a device for automatically controlling the movement track of the cantilever of the heading machine according to an embodiment of the present invention with reference to the accompanying drawings, and first, the method for automatically controlling the movement track of the cantilever of the heading machine according to the embodiment of the present invention will be described with reference to the accompanying drawings.
Specifically, fig. 1 is a schematic flow chart of an automatic control method for a movement trajectory of a boom of a heading machine according to an embodiment of the present application.
As shown in fig. 1, the automatic control method for the movement track of the cantilever of the heading machine comprises the following steps:
in step S101, the yaw angle and pitch angle of the boom with respect to the heading machine body are extracted, and the number of steps of the teaching path and teaching data are extracted.
Optionally, in some embodiments, extracting the teach path step number and the teach data comprises: and acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain teaching track data.
As can be seen from fig. 1 and fig. 2, in the embodiment of the present application, the acquisition of the real-time attitude angle required for controlling the motion trajectory of the cantilever is realized by extracting the yaw angle and the pitch angle of the cantilever relative to the body, and the acquisition of the step number and the teaching data of the teaching path is realized by extracting the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the motion trajectory of the cantilever, and the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of the teaching path.
In step S102, position information of the cutting boundary is extracted, and teaching trajectory data of the cantilever is extracted.
Optionally, in some embodiments, extracting the position information of the cutting boundary includes: extracting a yaw angle and a pitch angle of a cutting boundary calibration section top plate, a bottom plate, a left side and a right side; and calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
As can be seen from fig. 1 and fig. 2, in the embodiment of the present application, position information such as yaw angle and pitch angle of the cutting boundary calibration section top plate, the bottom plate, the left upper and the right upper is extracted, so that the acquisition of the cutting boundary position information required by the cantilever motion trajectory control is realized.
In step S103, the direction, position and speed of the motion trajectory of the cantilever are generated according to the actual attitude angle, position information, teaching trajectory data, current cutting current and current cantilever vibration signal, and the executing component is controlled to execute corresponding actions.
Optionally, in some embodiments, the direction, position, and speed of the motion trajectory of the cantilever are generated according to the actual attitude angle, the position information, the teaching trajectory data, the current cutting current, and the current cantilever vibration signal, and the executing component is controlled to execute corresponding actions, including: and carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
According to the automatic control method for the movement track of the cantilever of the heading machine, according to two constraint conditions of a target position of a cantilever teaching track and a cutting boundary position, the PID control algorithm is adopted to realize closed-loop control of the given current of the electromagnetic valve for cantilever action and adjustment of the movement speed of the cantilever to adapt to the load change of coal rocks, so that the accurate automatic control method for the movement track of the cantilever, which can adapt to cutting sections with irregular shapes such as rectangles, arches, trapezoids and the like and inverted trapezoids and the like, is formed, the forming quality of a roadway is improved, and the forming standardization of the roadway is ensured.
Next, an automatic control device for the movement track of the boom of the heading machine according to the embodiment of the application is described with reference to the attached drawings.
Fig. 3 is a block diagram of an automatic control device for a movement track of a boom of a heading machine according to an embodiment of the present application.
As shown in fig. 3, the automatic control device 10 for the movement trajectory of the boom of the heading machine includes: an acquisition module 100, an extraction module 200 and a generation module 300.
The acquisition module 100 is used for extracting a yaw angle and a pitch angle of the cantilever relative to the tunneling machine body, and extracting teaching path steps and teaching data;
the extraction module 200 is used for extracting position information of a cutting boundary and extracting teaching track data of a cantilever;
the generating module 300 is configured to generate a direction, a position, and a speed of a motion trajectory of the cantilever according to the actual attitude angle, the position information, the teaching trajectory data, the current cutting current, and the current cantilever vibration signal, and control the executing component to execute a corresponding action.
Optionally, the extraction module 200 comprises:
the extraction unit is used for extracting yaw angles and pitch angles of the cutting boundary calibration section top plate, the bottom plate, the left upper and the right upper;
and the calculating unit is used for calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
Optionally, the obtaining module 100 includes:
the acquisition unit is used for acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain teaching track data.
Optionally, the generating module 300 includes:
and the adjusting unit is used for carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
It should be noted that the foregoing explanation of the embodiment of the method for automatically controlling the movement trajectory of the boom of the heading machine is also applicable to the apparatus for automatically controlling the movement trajectory of the boom of the heading machine in this embodiment, and will not be described herein again.
According to the automatic control device for the cantilever motion trail of the heading machine, according to two constraint conditions of a cantilever teaching trail target position and a cutting boundary position, the PID control algorithm is adopted to realize closed-loop control of given current of a cantilever action electromagnetic valve and adjustment of cantilever motion speed to adapt to coal rock load change, so that the accurate automatic control method for the cantilever motion trail, which can adapt to cutting sections with irregular shapes such as rectangles, arches, trapezoids and the like and inverted trapezoids and the like, is formed, the forming quality of a roadway is improved, and the forming standardization of the roadway is ensured.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
a memory 1201, a processor 1202, and a computer program stored on the memory 1201 and executable on the processor 1202.
When the processor 1202 executes the program, the method for automatically controlling the movement track of the boom of the heading machine provided in the above embodiment is implemented.
Further, the electronic device further includes:
a communication interface 1203 for communication between the memory 1201 and the processor 1202.
A memory 1201 for storing computer programs executable on the processor 1202.
The memory 1201 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1201, the processor 1202, and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202, and the communication interface 1203 may complete mutual communication through an internal interface.
The embodiment also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer readable storage medium is characterized in that the computer program is executed by a processor to realize the automatic control method for the movement track of the cantilever of the heading machine.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method for automatically controlling the movement track of a cantilever of a heading machine is characterized by comprising the following steps:
extracting a yaw angle and a pitch angle of the cantilever relative to the tunneling machine body, and extracting teaching path steps and teaching data;
extracting position information of a cutting boundary and extracting teaching track data of the cantilever;
and generating the direction, position and speed of the motion track of the cantilever according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal, and controlling an execution assembly to execute corresponding actions.
2. The method of claim 1, wherein the extracting the position information of the clipping boundary comprises:
extracting yaw angles and pitch angles of the cutting boundary calibration section top plate, the bottom plate, the left side and the right side;
and calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
3. The method of claim 1, wherein extracting teach path steps and teach data comprises:
and acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain the teaching track data.
4. The method of claim 1, wherein the generating the direction, position and speed of the motion trajectory of the cantilever according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current vibration signal of the cantilever, and controlling the executing component to execute corresponding actions comprises:
and carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
5. The utility model provides a heading machine cantilever movement track automatic control device which characterized in that includes:
the acquisition module is used for extracting the yaw angle and the pitch angle of the cantilever relative to the tunneling machine body and extracting the teaching path steps and teaching data;
the extraction module is used for extracting position information of a cutting boundary and extracting teaching track data of the cantilever;
and the generating module is used for generating the direction, position and speed of the motion track of the cantilever according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal and controlling the executing assembly to execute corresponding actions.
6. The apparatus of claim 5, wherein the extraction module comprises:
the extraction unit is used for extracting the yaw angle and the pitch angle of the cutting boundary calibration section top plate, the bottom plate, the left upper and the right upper;
and the calculating unit is used for calculating the position information of the cutting boundary according to the yaw angle and the pitch angle.
7. The apparatus of claim 5, wherein the obtaining module comprises:
the acquisition unit is used for acquiring the yaw direction, the yaw angle value, the pitch direction and the pitch angle value of the teaching initial position of the cantilever motion track, and acquiring the motion direction, the yaw direction, the pitch direction, the yaw angle value and the pitch angle value of a teaching path to obtain the teaching track data.
8. The apparatus of claim 5, wherein the generating module comprises:
and the adjusting unit is used for carrying out PID closed-loop control according to the actual attitude angle, the position information, the teaching track data, the current cutting current and the current cantilever vibration signal so as to adjust the direction, the position and the speed of the cantilever motion track.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and operable on the processor, the processor executing the program to implement the method of automatically controlling the movement trajectory of the boom of a heading machine according to any one of claims 1 to 4.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing the method of automatic control of boom movement trajectory of a heading machine according to any of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011262768.8A CN112454356A (en) | 2020-11-12 | 2020-11-12 | Automatic control method and device for movement track of cantilever of heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011262768.8A CN112454356A (en) | 2020-11-12 | 2020-11-12 | Automatic control method and device for movement track of cantilever of heading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112454356A true CN112454356A (en) | 2021-03-09 |
Family
ID=74825690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011262768.8A Pending CN112454356A (en) | 2020-11-12 | 2020-11-12 | Automatic control method and device for movement track of cantilever of heading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112454356A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215516A (en) * | 2021-11-04 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Track teaching system and method for section of cantilever type tunneling machine |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101169038A (en) * | 2006-10-27 | 2008-04-30 | 三一重型装备有限公司 | Full automatic tunneling machine |
| CN101673110A (en) * | 2009-09-29 | 2010-03-17 | 石家庄煤矿机械有限责任公司 | Arbitrary cross-section automatic cutting control system of boring machine |
| WO2012125209A2 (en) * | 2011-03-14 | 2012-09-20 | Trompeter Matthew E | Robotic work object cell calibration device, system, and method |
| CN102854838A (en) * | 2012-08-29 | 2013-01-02 | 内蒙古北方重工业集团有限公司 | Tunnel self-adaptation cutting system and self-adaptation remote control method for roadheader |
| CN103821510A (en) * | 2014-01-25 | 2014-05-28 | 三一重型装备有限公司 | Tunnel boring machine as well as cutting head positioning system, cutting system and cutting method thereof |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| US20170220006A1 (en) * | 2016-02-01 | 2017-08-03 | Varian Semiconductor Equipment Associates, Inc. | Proportional integral derivative control incorporating multiple actuators |
| CN107269275A (en) * | 2017-06-15 | 2017-10-20 | 中国矿业大学(北京) | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
| CN108908344A (en) * | 2018-08-17 | 2018-11-30 | 云南电网有限责任公司昆明供电局 | A kind of crusing robot mechanical arm tail end space-location method |
| CN109579831A (en) * | 2018-11-09 | 2019-04-05 | 西安科技大学 | Mining boom-type roadheader visualization auxiliary guidance method and system |
| CN109940603A (en) * | 2019-01-21 | 2019-06-28 | 浙江大学滨海产业技术研究院 | A kind of crusing robot arrives point tolerance compensating control method |
| CN111380522A (en) * | 2020-04-07 | 2020-07-07 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111618860A (en) * | 2020-06-09 | 2020-09-04 | 湖南五新隧道智能装备股份有限公司 | Mechanical arm, and motion trail planning system and method of mechanical arm |
-
2020
- 2020-11-12 CN CN202011262768.8A patent/CN112454356A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101169038A (en) * | 2006-10-27 | 2008-04-30 | 三一重型装备有限公司 | Full automatic tunneling machine |
| CN101673110A (en) * | 2009-09-29 | 2010-03-17 | 石家庄煤矿机械有限责任公司 | Arbitrary cross-section automatic cutting control system of boring machine |
| WO2012125209A2 (en) * | 2011-03-14 | 2012-09-20 | Trompeter Matthew E | Robotic work object cell calibration device, system, and method |
| CN102854838A (en) * | 2012-08-29 | 2013-01-02 | 内蒙古北方重工业集团有限公司 | Tunnel self-adaptation cutting system and self-adaptation remote control method for roadheader |
| CN103821510A (en) * | 2014-01-25 | 2014-05-28 | 三一重型装备有限公司 | Tunnel boring machine as well as cutting head positioning system, cutting system and cutting method thereof |
| US20170220006A1 (en) * | 2016-02-01 | 2017-08-03 | Varian Semiconductor Equipment Associates, Inc. | Proportional integral derivative control incorporating multiple actuators |
| CN106182003A (en) * | 2016-08-01 | 2016-12-07 | 清华大学 | A kind of mechanical arm teaching method, Apparatus and system |
| CN107269275A (en) * | 2017-06-15 | 2017-10-20 | 中国矿业大学(北京) | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
| CN108908344A (en) * | 2018-08-17 | 2018-11-30 | 云南电网有限责任公司昆明供电局 | A kind of crusing robot mechanical arm tail end space-location method |
| CN109579831A (en) * | 2018-11-09 | 2019-04-05 | 西安科技大学 | Mining boom-type roadheader visualization auxiliary guidance method and system |
| CN109940603A (en) * | 2019-01-21 | 2019-06-28 | 浙江大学滨海产业技术研究院 | A kind of crusing robot arrives point tolerance compensating control method |
| CN111380522A (en) * | 2020-04-07 | 2020-07-07 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111618860A (en) * | 2020-06-09 | 2020-09-04 | 湖南五新隧道智能装备股份有限公司 | Mechanical arm, and motion trail planning system and method of mechanical arm |
Non-Patent Citations (3)
| Title |
|---|
| 刘国鹏: "基于模糊神经PID控制器的掘进机悬臂运动控制系统", 《煤矿机电》 * |
| 刘建功等: "悬臂掘进机自动截割控制关键技术", 《中国煤炭》 * |
| 王苏彧: "悬臂式掘进机记忆截割及自动截割控制方法研究", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215516A (en) * | 2021-11-04 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Track teaching system and method for section of cantilever type tunneling machine |
| CN114215517A (en) * | 2021-11-05 | 2022-03-22 | 中国煤炭科工集团太原研究院有限公司 | Coordinated automatic control method and device for cutting, charging and traveling mechanism of boom-type roadheader |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200269873A1 (en) | Method and apparatus for planning speed of autonomous vehicle, and storage medium | |
| CN112454356A (en) | Automatic control method and device for movement track of cantilever of heading machine | |
| CN109557912B (en) | Decision planning method for automatically driving special operation vehicle | |
| US11338853B2 (en) | Methods, devices, and media for autonomously driving vehicle | |
| CN107390682B (en) | Automatic driving path following method and system for agricultural vehicle | |
| CN109690649B (en) | Vehicle travel control method and vehicle travel control device | |
| CN104919471A (en) | Creation of an obstacle map | |
| CN111339802B (en) | Method and device for generating real-time relative map, electronic equipment and storage medium | |
| CN107436603B (en) | Agricultural vehicle curve path automatic driving method and system | |
| CN110398249B (en) | Path planning method for automatic cruise by combining environmental characteristics | |
| US20220121213A1 (en) | Hybrid planning method in autonomous vehicle and system thereof | |
| CN114715154A (en) | Lane-changing driving track planning method, device, equipment and medium | |
| JP2023508662A (en) | How to build map traverse blocks in a global grid map, chips and mobile robots | |
| CN115871670A (en) | Method, device, equipment and medium for planning lane change track of vehicle | |
| CN115872248A (en) | Control method, device, system, equipment and storage medium for robot to enter elevator | |
| CN114194719B (en) | Self-adaptive control method and system for tail scraper and reversed loader of heading machine | |
| CN109367620A (en) | A kind of Induction Control method of semi-trailer train straight line car-backing | |
| CN113561992B (en) | Automatic driving vehicle track generation method, device, terminal equipment and medium | |
| CN114852085A (en) | Automatic vehicle driving track planning method based on road right invasion degree | |
| CN110356862B (en) | Anti-collision method and system for stacker-reclaimer based on GPS positioning | |
| CN110188947B (en) | Method and system for predicting current ring target in shield deviation correction | |
| JP6587734B1 (en) | Crane control system and control method | |
| CN112406869A (en) | Vehicle lane changing control method and device | |
| CN113415274A (en) | Automatic driving following track planning system, method, vehicle and storage medium | |
| KR20220039038A (en) | System and method estimating slope of the driving road |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210309 |
|
| RJ01 | Rejection of invention patent application after publication |