A Coal Mine Roadway Intelligent Excavation Robot Control System

Abstract

The invention discloses a coal mine roadway intelligent excavation robot control system, which includes a navigation guidance system, a state perception system, a virtual reality system, an environmental monitoring system, a cooperative control system and a parallel control system; The control platform starts each system and puts all the robots in the waiting state. After confirming that the surrounding working environment is safe, it controls the cooperative operation and parallel operation between the sub-robot systems, collects equipment and environmental status information in real time, and establishes a servo closed-loop control system to realize Intelligent excavation of excavation robot system. While improving the mechanization and intelligence of coal mine equipment, the present invention reduces the number of personnel in the underground fully mechanized mining face, and combines manual intervention with remote control or remote control of the excavation robot system, which can truly realize cooperative operation, parallel operation and rapid operation among sub-robot systems. The goal of efficient mining.

Description

technical field [0001] The invention relates to the field of robot intelligent control, in particular to a coal mine roadway intelligent excavation robot control system. Background technique [0002] Coal mine roadway intelligent tunneling robot system is a rapid coal mining method developed in recent years. At present, the existing tunneling system still uses manual operation to use robots to complete the corresponding operations, resulting in high labor intensity for workers and poor working environment. The shortcomings of seriously affecting people and low work efficiency are becoming more and more serious. [0003] The traditional excavation process is generally composed of cutting and dropping coal, scraper coal transportation, temporary support, anchor mesh transportation, permanent support and other processes, and the cutting and support are usually carried out in a serial manner, often between each process It requires many people to work together, so it takes a lon...

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Problems solved by technology

[0002] Coal mine roadway intelligent tunneling robot system is a rapid coal mining method developed in recent years. At present, the existing tunneling system still uses manual operation to use robots to complete the corresponding operations, resulting in high labor intensity for workers and poor working environment. The shortcomings of serious impact on people and low work efficiency are becoming more and more serious

[0003] The traditional excavation process is generally composed of cutting and dropping coal, scraper coal transportation, temporary support, anchor mesh transportation, permanent support and other processes, and the cutting and support are usually carried out in a serial manner, often between each process It requires multiple people to work together, so it takes a long time, the excavation work pressure is high, and the degree of automation is low, which has a greater construction risk

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