Research on deviation correction control of coal mine roadheader based on digital twin
In order to solve the problem of autonomous deviation control of roadheader in complex roadway environment, the paper analyzes the deviation reasons of roadheader, defines the functional requirements of deviation correction control of roadheader, proposes a deviation correction control system of coa...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Industry and Mine Automation
2022-01-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2021100006 |
| _version_ | 1797868987430731776 |
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| author | XUE Xusheng REN Zhongfu MAO Qinghua ZHANG Xuhui MA Hongwei WANG Yue |
| author_facet | XUE Xusheng REN Zhongfu MAO Qinghua ZHANG Xuhui MA Hongwei WANG Yue |
| author_sort | XUE Xusheng |
| collection | DOAJ |
| description | In order to solve the problem of autonomous deviation control of roadheader in complex roadway environment, the paper analyzes the deviation reasons of roadheader, defines the functional requirements of deviation correction control of roadheader, proposes a deviation correction control system of coal mine roadheader based on digital twin, and introduces the system composition. Taking the roadheader central position control as an example, the system deviation correction control mechanism is analyzed, and a deviation correction control method of the roadheader based on binocular vision image information is proposed. Taking the roadway image detected by binocular vision as the basic data, by extracting the characteristics of the roadway image and analyzing the relationship between the roadway coordinate system and the roadheader coordinate system, the position and attitude parameters of the roadheader relative to the roadway space are calculated, and the deviation correction control of the roadheader is carried out according to the solution results. The digital model and the positioning and orientation parameter database of the roadheader and the roadway are constructed, and the virtual remote deviation correction control of the roadheader is realized through the virtual-real mapping relationship. The experimental results show that the deviation correction control system based on digital twin can compensate the yaw angle and offset distance of the roadheader under different working conditions effectively. The deviation correction process can be displayed on the monitoring interface in real time, and the simulation results of deviation correction path planning are consistent with the actual working conditions. |
| first_indexed | 2024-04-10T00:04:26Z |
| format | Article |
| id | doaj.art-62abff7409604cd38d94d1f8622ec150 |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-04-10T00:04:26Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-62abff7409604cd38d94d1f8622ec1502023-03-17T01:03:17ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2022-01-01481263210.13272/j.issn.1671-251x.2021100006Research on deviation correction control of coal mine roadheader based on digital twinXUE XushengREN ZhongfuMAO QinghuaZHANG XuhuiMA HongweiWANG YueIn order to solve the problem of autonomous deviation control of roadheader in complex roadway environment, the paper analyzes the deviation reasons of roadheader, defines the functional requirements of deviation correction control of roadheader, proposes a deviation correction control system of coal mine roadheader based on digital twin, and introduces the system composition. Taking the roadheader central position control as an example, the system deviation correction control mechanism is analyzed, and a deviation correction control method of the roadheader based on binocular vision image information is proposed. Taking the roadway image detected by binocular vision as the basic data, by extracting the characteristics of the roadway image and analyzing the relationship between the roadway coordinate system and the roadheader coordinate system, the position and attitude parameters of the roadheader relative to the roadway space are calculated, and the deviation correction control of the roadheader is carried out according to the solution results. The digital model and the positioning and orientation parameter database of the roadheader and the roadway are constructed, and the virtual remote deviation correction control of the roadheader is realized through the virtual-real mapping relationship. The experimental results show that the deviation correction control system based on digital twin can compensate the yaw angle and offset distance of the roadheader under different working conditions effectively. The deviation correction process can be displayed on the monitoring interface in real time, and the simulation results of deviation correction path planning are consistent with the actual working conditions.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2021100006intelligent roadway headingroadheaderdeviation correction controlvirtual and real synchronous controldigital twinvirtual realitybinocular vision |
| spellingShingle | XUE Xusheng REN Zhongfu MAO Qinghua ZHANG Xuhui MA Hongwei WANG Yue Research on deviation correction control of coal mine roadheader based on digital twin Gong-kuang zidonghua intelligent roadway heading roadheader deviation correction control virtual and real synchronous control digital twin virtual reality binocular vision |
| title | Research on deviation correction control of coal mine roadheader based on digital twin |
| title_full | Research on deviation correction control of coal mine roadheader based on digital twin |
| title_fullStr | Research on deviation correction control of coal mine roadheader based on digital twin |
| title_full_unstemmed | Research on deviation correction control of coal mine roadheader based on digital twin |
| title_short | Research on deviation correction control of coal mine roadheader based on digital twin |
| title_sort | research on deviation correction control of coal mine roadheader based on digital twin |
| topic | intelligent roadway heading roadheader deviation correction control virtual and real synchronous control digital twin virtual reality binocular vision |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2021100006 |
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