Control of Obstacle Avoidance Distance for Drilling Anchor Robot Excavation in Task Space
Aiming at the problem that the drilling and anchoring robot is easy to collide with non-coal walls and other unexpect-ed obstacles in the narrow digging task space,which is a potential safety hazard,we propose an obstacle avoidance distance con-trol method for the drilling and anchoring robot digging in the task space.Obstacle information is obtained through LIDAR vi-sion,and the centre of the bottom edge of the frame outline is taken as the obstacle ranging point to determine the obstacle posi-tion information,and based on the D-H parametric coordinate system,the digging position of the drilling and anchoring robot in the current state is further determined.According to the results,the drilling and anchoring robot digging obstacle avoidance control model is constructed,and the model is used to detect the distance between the drilling and anchoring robot and the obsta-cles in real time,and set the threshold value to determine whether the distance information exceeds the threshold value,if it ex-ceeds the threshold value,then the drilling and anchoring robot needs to be adjusted to the position of the drilling and anchoring robot,if it does not exceed the threshold value,then it continues to dig forward,so as to realise the drilling and anchoring robot digging obstacle avoidance control.Experimental results show that:the proposed method of obstacle avoidance distance control and obstacle avoidance control effect is good,the success rate of obstacle avoidance is higher than 90％,the control time is lower than 90ms,which verifies the effectiveness of the method.
Anchor Drilling RobotDriving Anti-Collision ControlAnti-Collision Control Model
万方数据
维普
