Computer-Aided Design, Manufacturing, Modeling and Simulation :
Boom-type roadheader is the core equipment of integrated excavation in coal mine laneway, of which the technology on remote visualization control is one of the research hotspots. The technology on automatic forming control of excavating section and the technology on pose parameters detection of roadheader are maturing gradually, which is the basis for directional excavation control of roadheader.
When roadheader pose appears deviation, automatic excavating section will also have deviation, which seriously affects directional excavation. So, when roadheader’s body pose appears deviation, the problem how to effectively control cutting arm to compensate section automatically must be solved. To achieve the above purpose, firstly, we should analyse the changes of excavating section’s shape and boundary values caused by the swing of boom-type roadheader’s cutting arm.Computer-Aided Design, Manufacturing, Modeling and Simulation
Cutting arm control model
Roadheader forms section by cutting head’s rotation and spatial moving tracks which is from cutting arm’s horizontal and vertical swing relative to roadheader’s body. Horizontal and vertical swing is controlled by hydraulic system which can complete vertical or horizontal movement separately, also complex movement, to achieve any section.Computer-Aided Design, Manufacturing, Modeling and Simulation SOFTWARE TESTING & QUALITY ASSURANCE SOFTWARE ENGINEERING
The anterior content ensures the cutting head’s excavating section shape and maximum boundary value caused by cutting arm, when roadheader body pose is correct. Then, when body pose has deviation, compare the overlap between upcoming section and standard section. If the overlap
includes a wanted section in Plane XOZ, Computer-Aided Design, Manufacturing, Modeling and SimulationALGORITHM DESIGN AND ANALYSIS COMPUTER GRAPHICS AND MULTIMEDIA
start the automatic compensating program of body pose’s deviation to control cutting arm’s swing angle, in order to make sure the excavated section correct, so as to achieve the purpose of automatic compensation of roadheader body pose’s deviation and accurate directional excavation. Fig. 8 is the position relationship of upcoming section (colored) and standard section (grid) when there is horizontal offset in roadheader body’s pose.