栅格法与Dijkstra算法的掘进机截割轨迹规划

Cutting trajectory planning of cantilever roadheader based on grid method and Dijkstra algorithm

为优化掘进巷道过程中夹石层等复杂断面的截割路径,提高截割效率、降低能耗,构建了不同断面形状的数学条件和边界的约束条件,利用局部灰度波动的自适应阈值分割算法二值化巷道断面图像,识别煤和岩在巷道断面中的位置,通过栅格法建立巷道断面模型,采用Dijkstra算法优化巷道断面截割过程轨迹,运用Matlab软件仿真巷道断面的截割路径。结果表明:Dijkstra算法与栅格法的轨迹规划可以有效识别煤和岩的位置,规划的截割轨迹可以使掘进机平稳截割,为提高掘进巷道效率提供了借鉴。

This paper seeks to optimize the cutting path of complex cross-section such as stone layer,improve the cutting efficiency,and reduce the energy consumption.This is achieved by constructing the mathematical conditions of different cross-section shapes and boundary constraints;binarizing roadway cross-section image using the adaptive threshold segmentation algorithm of local gray fluctuation of text image with uneven illumination;identifying the position of coal and rock in roadway cross-section;establishing the roadway cross-section model by grid method and optimizing the process of roadway cross-section cutting using Dijkstra algorithm;and simulating the cutting path of roadway section by Matlab software.The results show that the trajectory planning of Dijkstra algorithm and grid method can enable effectively identifying the position of coal and rock,and the planned cutting trajectory can allow the roadheader to be cut smoothly,which provides a reference for improving the efficiency of driving roadway.