•  
  •  
 

Coal Geology & Exploration

Abstract

The position of drill pipe loading and unloading by mine drilling robot will change with the attitude adjustment of the host machine, and obstacles are present in the loading and unloading path of drill pipe. Therefore, there is a problem of obstacle-avoidance trajectory planning with variable targets in the loading and unloading of drill pipe. For this reason, the DH parameter table was created according to the performance parameters of the explosion-proof 6-DOF manipulator, and the function relation of the change in loading and unloading position of drill pipe before and after the attitude adjustment of the 3-DOF host machine was proposed. Besides, the collision detection model of the drill pipe loading and unloading system was established using the convex envelope and simple geometry, which could judge the collision by Euclidean distance. Herein, a three-stage obstacle-avoidance trajectory planning method was proposed for the loading and unloading of drill pipe. Specifically, linear planning in Cartesian space is adopted for the first and third stages, the second stage is planned with the polynomial interpolation algorithm in joint space, and the obstacle-avoidance problem can be solved by adding transition points. In addition, study was carried out on the minimum impact obstacle-avoidance trajectory planning algorithm based on the seventh-degree polynomial interpolation. The simulation analysis shows that the joint angle, angular velocity, angular acceleration, and angular jerk are continuous, but the absolute peak value is enormous and the path is long. Thus, further study was conducted on the impact-optimal obstacle-avoidance trajectory planning algorithm based on the improved bidirectional RRT algorithm, B-spline path optimization, and seventh-order polynomial interpolation, which could guarantee the continuity of joint angle, angular velocity, angular acceleration and angular jerk with short path and the peak value of angular jerk reduced by 98.2% according to the simulation analysis. Moreover, teaching test was implemented to verify the feasibility of the impact-optimal obstacle-avoidance trajectory planning method in obstacle avoidance and loading trajectory of drill pipe. The running curves and moving paths of each joint of the manipulator are highly similar to the simulation results. The research results could provide a reference for the control program of the drill pipe loading and unloading system of drilling robot and have important significance for improving the intelligence of drilling rig.

Keywords

drilling robot, loading and unloading of drill pipe, trajectory planning, obstacle avoidance, manipulator, coal mine

DOI

10.12363/issn.1001-1986.23.06.0306

Reference

[1] 姚宁平,姚亚峰,方鹏,等. 我国煤矿坑道钻探装备技术进展与展望[J]. 钻探工程,2021,48(1):81−87.

YAO Ningping,YAO Yafeng,FANG Peng,et al. Advances and outlook of coal mine tunnel drilling equipment and technology[J]. Drilling Engineering,2021,48(1):81−87.

[2] 姚宁平,王毅,姚亚峰,等. 我国煤矿井下复杂地质条件下钻探技术与装备进展[J]. 煤田地质与勘探,2020,48(2):1−7.

YAO Ningping,WANG Yi,YAO Yafeng,et al. Progress of drilling technologies and equipments for complicated geological conditions in underground coal mines in China[J]. Coal Geology & Exploration,2020,48(2):1−7.

[3] MENG Long. Research and development of coal mine disaster prevention and rescue drill platform based on VR virtual reality technology[J]. Journal of Physics Conference Series,2020,1549(4):042060.

[4] 国家发展改革委. “十四五”现代能源体系规划[R]. 2022,http://www.gov.cn/zhengce/zhengceku/2022-03/23/content_5680759.htm.

[5] 王国法,刘峰,孟祥军,等. 煤矿智能化(初级阶段)研究与实践[J]. 煤炭科学技术,2019,47(8):1−36.

WANG Guofa,LIU Feng,MENG Xiangjun,et al. Research and practice on intelligent coal mine construction (primary stage)[J]. Coal Science and Technology,2019,47(8):1−36.

[6] 李晓亚,陈飞,黄桂,等. 基于PLC的瓦斯钻机自动送钻控制系统[J]. 机床与液压,2008,36(10):279−280.

LI Xiaoya,CHEN Fei,HUANG Gui,et al. The control system of gas drill auto– infixing based on PLC[J]. Machine Tool & Hydraulics,2008,36(10):279−280.

[7] 薛倩冰,张金昌. 智能化自动化钻探技术与装备发展概述[J]. 探矿工程(岩土钻掘工程),2020,47(4):9−14.

XUE Qianbing,ZHANG Jinchang. Advances in intelligent automatic drilling technologies and equipment[J]. Exploration Engineering (Rock & Soil Drilling and Tunneling),2020,47(4):9−14.

[8] 徐轶,杨征瑞,朱敏华,等. PLC在电液比例与伺服控制系统中的应用[J]. 机床与液压,2003(5):143−144.

XU Yi,YANG Zhengrui,ZHU Minhua,et al. The application of PLC in the control of electro–hydraulic proportion & servo system[J]. Machine Tool & Hydraulics,2003(5):143−144.

[9] PEDERSEN T,AARSNES U J F,GODHAVN J M. Flow and pressure control of underbalanced drilling operations using NMPC[J]. Journal of Process Control,2018,68:73−85.

[10] CARLSEN L A,NYGAARD G,NIKOLAOU M. Evaluation of control methods for drilling operations with unexpected gas influx[J]. Journal of Process Control,2013,23(3):306−316.

[11] 彭光宇,董洪波,马斌. 两种DH模型的机器人运动学建模对比研究[J]. 机械研究与应用,2019,32(6):62−65.

PENG Guangyu,DONG Hongbo,MA Bin. Comparative study of robot kinematics modeling based on two DH models[J]. Mechanical Research & Application,2019,32(6):62−65.

[12] 董洪波,姚宁平,马斌,等. 煤矿井下坑道钻机电控自动化技术研究[J]. 煤田地质与勘探,2020,48(3):219−224.

DONG Hongbo,YAO Ningping,MA Bin,et al. Research on electronically controlled automation technology of underground drilling rig for coal mine[J]. Coal Geology & Exploration,2020,48(3):219−224.

[13] BROOKSHIRE J,SINGH S,SIMMONS R. Preliminary results in sliding autonomy for coordinated teams[C]//Intelligent Robots and Systems,2004. IEEE,2004:15213.

[14] CAPISANI L M,FACCHINETTI T,FERRARA A,et al. Obstacle modelling oriented to safe motion planning and control for planar rigid robot manipulators[J]. Journal of Intelligent & Robotic Systems,2013,71(2):159−178.

[15] PHAN N D M,YANN Q,SYLVAIN L,et al. Scanner path planning with the control of overlap for part inspection with an industrial robot[J]. The International Journal of Advanced Manufacturing Technology,2018,98(1/2/3/4):629−643.

[16] 马超. 6R串联机械臂复杂空间环境路径规划研究[D]. 济南:济南大学,2017.

MA Chao. Research on path planning in complex space environment based on 6R serial manipulator[D]. Jinan:University of Jinan,2017.

[17] 刘毅. 6R型工业机器人装配操作轨迹与运动规划研究[D]. 大连:大连理工大学,2018.

LIU Yi. Research on trajectory and motion planning of assembly manipulation for 6R industrial robot[D]. Dalian:Dalian University of Technology,2018.

[18] 郭瑞峰,张文辉,彭战奎. 关节型码垛机器人自主避障的方法研究[J]. 机械设计与制造,2019(7):244−248.

GUO Ruifeng,ZHANG Wenhui,PENG Zhankui. Research on the method of autonomous obstacle avoidance of joint palletizing[J]. Machinery Design & Manufacture,2019(7):244−248.

[19] 刘亚秋,赵汉琛,刘勋,等. 一种基于改进的快速扩展随机树的工业机器人路径避障规划算法[J]. 信息与控制,2021,50(2):235−246.

LIU Yaqiu,ZHAO Hanchen,LIU Xun,et al. An improved RRT based obstacle avoidance path planning algorithm for industrial robot[J]. Information and Control,2021,50(2):235−246.

[20] 武永强,于涛,纪俐. 双机器人系统运动学建模与仿真[J]. 组合机床与自动化加工技术,2022(9):1−6.

WU Yongqiang,YU Tao,JI Li. Kinematic modeling and simulation of dual–robot systems[J]. Modular Machine Tool & Automatic Manufacturing Technique,2022(9):1−6.

[21] SUCAN I A,MOLL M,KAVRAKI L E. The open motion planning library[J]. IEEE Robotics & Automation Magazine,2012,19(4):72−82.

[22] 马慧丽. 六自由度机械臂的避障路径规划研究[D]. 合肥:合肥工业大学,2020.

MA Huili. Research on obstacle avoidance path planning of 6–DOF manipulator[D]. Hefei:Hefei University of Technology,2020.

[23] QIANG Xugui,WEN Wangde,Simulation study on the trajectory planning of table tennis robot arm by applying polynomial interpolation algorithm[J]. Journal of Physics:Conference Series,2023,2450(1):012062.

[24] 任国臣. 基于改进RRT*算法的六自由度机械臂路径规划研究[D]. 鞍山:辽宁科技大学,2021.

REN Guochen. Research on path planning of six degrees of freedom manipulator based on improved RRT* algorithm[D]. Anshan:University of Science and Technology Liaoning,2021.

[25] KARAMAN S,FRAZZOLI E. Sampling–based algorithms for optimal motion planning[J]. International Journal of Robotics Research,2011,30(7):846−894.

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.