Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical model between pose parameters, laser receiver measurement data and tilt sensor measurement data is established by vector algorithm and the expression of key pose parameters is deduced. This paper studies the deviation correction control strategy of crawler walking equipment and puts forward the point deviation correction control strategy based on roadway excavation technology. Firstly, the end position of the path is determined according to the initial pose of the roadheader. Then, Bessel curve is used to plan the path between the starting point and the endpoint, and the pure tracking algorithm is used to track the planned path. The measurement errors of X and Y coordinates and yaw angle of roadheader within 10 80 m shall not exceed 10 mm, 32 mm and 0.65°. Using the point deviation correction strategy, the positioning error of the roadheader at the end of the path is less than 13 mm, and the yaw angle error is less than 0.16°. In the deviation correction process, the maximum angular velocity of the roadheader is 0.07 rad/s, which is less than 0.82 rad/s of the conventional deviation correction strategy. The results show that the point deviation correction strategy can not only ensure the accuracy of motion control, but also improve the stability of equipment motion.
To research the effect of temperature on the interfacial bonding strength of the steel cord rubber conveyor belt, an electronic universal material testing machine and a temperature control box were used as the test equipment. The withdrawal force of the steel cord skeleton of the rubber conveyor belt was tested in the temperature range of −30 °C to +40 °C. Concurrently, the interfacial morphology between the steel cord and rubber at different temperatures was observed by using an ultra deep field electron microscope. Finally, different bonding strength prediction models were established. The results show that the variation trend of the steel cord withdrawal force with displacement is the same at different temperatures. With the increase in temperature, the interfacial bonding strength between the steel cord and the rubber matrix decreases gradually; the second-order polynomial bonding strength prediction model can meet the prediction requirements of the steel cord bonding strength at different temperatures, and the errors are controlled within 5%.
This paper proposes an expected position-attitude adjustment control method of coal mine roadway support robot (CMRSR) based on a real-time position-attitude detection system. Taking advantage of lateral adjustment mechanism and control method, the CMRSR has flexible maneuverability and high dynamic expected position-attitude adjustment performance. It can guarantee stability and safety of the relative position-attitude in time-varying roadway environment in underground coal mines. First, the structural characteristics, hydraulic system characteristics, and
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