Cantilever roadheader and method for automatically planning cutting path based on machine vision

Abstract

The invention discloses a machine vision based cantilever type tunneling machine and method capable of automatically planning the cutting path. The machine vision based cantilever type tunneling machine comprises a cantilever type tunneling machine main body and a machine vision based control system. The machine vision based control system comprises a PLC control system, an embedded microprocessor system and a machine vision camera module and is overall installed on a supporting plate on a tunneling machine walking part through a vibration isolator. The machine vision camera module obtains a roadway section image. The embedded microprocessor system processes the image, obtains a roadway section dirt band and other information and plans the cutting path according to the roadway section information. The PLC control system controls the tunneling machine according to the planned cutting path and conducts cutting operation with the avoidance of the dirt band and the like. The machine vision based cantilever type tunneling machine and method capable of automatically planning the cutting path can greatly improve intellectualization of the cantilever type tunneling machine and have the advantages that the production efficiency is high, the production cost is low, the flexibility is high, the labor intensity of workers is low, and the service life of cutting teeth, a cutting motor and other components is long.

Description

technical field [0001] The invention relates to a roadheader and a roadheading method, in particular to a cantilever type roadheader and method based on machine vision that can automatically plan a cutting path, and belongs to the technical field of automatic roadheading equipment. Background technique [0002] The roadheader is a machine used to excavate a straight underground roadway. It is divided into an open type roadheader and a shield type roadheader. It usually includes a walking mechanism, a working mechanism, a loading mechanism and a reloading mechanism. As the walking mechanism advances, the working mechanism The cutting head in the mechanism continuously breaks the rock and transports the broken rock away, especially the cantilever roadheader, which integrates the functions of cutting, shipping, walking, and operation, and is mainly used for cutting underground rocks with arbitrary shape sections, Coal or semi-coal rock roadway. [0003] At present, in order to...

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Problems solved by technology

[0003] At present, in order to solve the problems of low production efficiency, high degree of danger, poor working environment, high labor intensity of workers and poor roadway forming quality in my country's tunneling face, automation and intelligent tunneling equipment are developing rapidly. Continuous research and improvement of section automatic forming technology and other automatic control technologies

However, when the roadway section contains hard rocks such as gangue, the cantilever roadheader not only has extremely low efficiency and increased energy consumption when cutting them, but also the picks drop seriously, and even roadheader failures occur. New technical means enable the roadheader to identify hard rocks such as gangue in real time and avoid them for cutting

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