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Algorithm for Automatic Rod Feeding and Positioning Error Compensation for Underground Drilling Robots in Coal Mines.
Qianhai Lu1,2, Lingfei Kong1, Guangyu Peng2
1School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China.
Sensors (Basel, Switzerland)
|September 9, 2023
Summary
This study introduces an algorithm to improve the positioning accuracy of automatic rod feeding in coal mine drilling robots. The new method reduces accidents by compensating for errors in the automated drilling process.
Area of Science:
- Robotics and Automation
- Mining Engineering
- Geotechnical Engineering
Background:
- Automation in underground coal mining is critical for efficiency and safety.
- Current automatic rod feeding systems lack positional accuracy, leading to accidents.
Purpose of the Study:
- To develop and validate an algorithm for compensating positioning errors in automatic rod feeding for coal mine drilling robots.
Main Methods:
- Calibration of pull rope sensors for precision.
- Development of a theoretical mathematical model using spatial coordinate transformations.
- Manual teaching for target position determination.
- Anisotropic spatial difference compensation considering distance and direction.
Main Results:
- The proposed algorithm significantly enhances the accuracy of rod feeding positions.
- Validation through practical tests on a coal mine underground drilling robot.
Conclusions:
- The developed algorithm effectively addresses positioning inaccuracies in automatic rod feeding.
- Implementation can lead to safer and more efficient underground drilling operations.
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