Topological map-based cutting track planning method for cantilever type heading machine

Abstract

The invention discloses a cutting track planning method for a cantilever type heading machine based on a topological map. The method comprises the following steps: judging a cutting environment according to a tunnel section complex structure identification model, and planning a cutting path and a stop point for exploring a cantilever environment of the heading machine; according to a cutting headpositioning resolving model, resolving the position of the cutting head in the roadway, and constructing a roadway section topological environment map by utilizing an increased neural gas network algorithm; according to the coal roadway cutting rule, an improved ant colony algorithm is utilized, and the shortest path avoiding waste rock inclusion is obtained through planning. In the subsequent section cutting process, if the section environment is obviously changed, the section of the roadway is explored again, meanwhile, a topological map is constructed, and a new optimal cutting track is obtained through planning. By the adoption of the method, the complex and changeable roadway environment can be coped, the optimal track suitable for tunneling is obtained, and therefore autonomous unmanned cutting is achieved step by step.

Description

technical field [0001] The invention belongs to the field of intelligent control of underground tunneling equipment in coal mines, in particular to a cutting track planning method for a cantilever type roadheader based on a topological map. Background technique [0002] In recent years, the automation and intelligence of coal mine working faces have progressed rapidly. The core problem restricting the intelligence of tunneling is that it is difficult to obtain the coal and rock properties, equipment posture, and operating conditions during the tunneling operation. It is difficult to adapt to the needs of unmanned excavation in fully mechanized excavation working face because of low cost and many operators. The tunneling production process includes driving and cutting of tunneling equipment. By optimizing the section tunneling and cutting process, obtaining satisfactory section forming is the core issue to ensure the quality of the tunneling process. [0003] At present, the...

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Problems solved by technology

[0005] Aiming at the problem of intelligent optimization of the excavation and cutting process, the purpose of the present invention is to provide a cantilever type roadheader cutting trajectory planning method based on topological maps, to propose a roadway section environment exploration strategy and a topological map construction method, as well as an improved ant colony algorithm-based cutting trajectory planning method. Cutting trajectory planning method to solve defects such as inability to autonomously perceive the roadway section environment, solidified cutting trajectory, and low cutting efficiency

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