Coal mining machine is the core equipment of completely automated working face,and the research and devel-opment of intelligent coal mining robot is crucial for achieving the intellectualization of fully mechanized working face.This paper comprehensively analyzes the current research status of sensing detection,position and attitude control,speed control,cutting trajectory planning,and tracking control in the coal mining machine roboticization process,and proposes five key technologies that must be solved in the development of intelligent shearer robots,including sensing and detection,pose control,velocity control,cutting trajectory planning and tracking control.Aiming at the problem of intelligent per-ception,this paper proposes the construction thought of a coal mining robot intelligent perception system,as well as the ar-chitecture of a coal mining robot intelligent per-ception system.The architecture of the intelligent perception system for coal mining robots is outlined,enabling a comprehensive sensing of running state,posture,environment,and so on,thereby ensuring the safe and reliable operation of intelligent coal mining robots.In terms of the position and attitude con-trol problem of intelligent coal mining robots,the intelligent PID position and attitude control thought is proposed,along with an improved genetic algorithm-based PID pose control method,enabling precise pose control for the coal mining ro-bot.As to the problem of velocity control,the thought of cutting load measurement based on the fusion of"force-electri-city"heterogeneous data is proposed.Additionally,a neural network-based algorithm for cutting load measurement is presented,achieving an accurate load measurement.Furthermore,a traction and cutting speed adaptive control approach is proposed,including an artificial intelligence-based decision-making method for traction and cutting speed and a sliding mode control method for traction and cutting speed with disturbance rejection.This approach enables a precise and adapt-ive speed control for the coal mining robot.Regarding the problem of cutting trajectory planning and tracking control,the precise cutting trajectory planning thought is proposed,incorporating geological data and historical cutting data into a cut-ting trajectory planning model.The precise cutting trajectory tracking control thought is proposed,and an intelligent inter-polation algorithm-based cutting trajectory tracking control method is given,achieving a high-precision trajectory plan-ning and accurate tracking control for the coal mining robot.Considering the"position-attitude-velocity"collaborative control problem,the intelligent optimization idea of"position-attitude-velocity"collaborative control parameters is pro-posed,which utilizes an improved particle swarm optimization method based on multi-system constraints to optimize the coordinated control parameters,resulting in intelligent and efficient operation of the coal mining robot.The in-depth in-vestigation of these five key technologies for intelligent coal mining robot provides some valuable insights for accelerat-ing the development of high-performance,efficient,and reliable intelligent coal mining robot.
intelligent coal mining robotintelligent perceptionvelocity controlcutting trajectory planning and track-ing controlcollaborative control
万方数据
维普
