Study on visual servo control system for cutting of cantilever roadheader

The low degree of automation and intelligence of cantilever roadheader severely restricts the construction of coal mine roadways, and the intelligent roadheading technology has become a hot topic for research at home and abroad. Aiming at the problem of automatic cutting control of cantilever roadheader in coal mines, and a visual servo cutting control system of cantilever roadheader is put forward in this paper. According to the kinematics of the cantilever roadheader, the vision measurement system is used to effectively feed back the position of the cutting head in real time, and the inertial navigation system, ultrasonic ranging and other sensors are integrated to obtain effective information. The PID servo control method is used to establish the visual servo cutting control model of the cantilever roadheader. The model can realize the cutting and shaping of the roadway section according to the cutting trajectory planned by the roadway section cutting construction process. The working principle and main modules of the visual servo cutting control system of the cantilever roadheader are introduced. After the staff has planned the cutting trajectory of the cutting head on the roadway section, the system controls the roadheader according to the measurement results and error information of each sensor. The cutting head automatically cuts according to the planned trajectory, saves and displays the position of the machine and the cutting trajectory of the cutting head. The experimental results show that in the visual servo cutting control experiment of the cantilever roadheader, the cutting head of roadheader can automatically cut according to the planned cutting trajectory, and the change of the attitude angle of the cutting head is within 0.7°, and the position error of the cutting head center point is within 18 mm, which meets the accuracy requirements of roadway excavation, and the cutting motion process has better stability.