三臂凿岩台车钻臂协同钻孔防碰撞路径规划研究

Anti-Collision Path Planning of Manipulators of Three-Boom Rock Drilling Jumbo During Coordinated Drilling

针对三臂凿岩台车3个钻臂协同钻孔时,由于路径规划不合理导致钻臂碰撞干涉,造成设备损坏、影响掘进施工效率的问题,提出一种基于改进人工势场法的钻臂协同钻孔防碰撞路径规划方法。首先,采用改进的D-H法建立三臂凿岩台车钻臂运动学模型,采用包络盒法对钻臂结构进行合理简化,建立碰撞检测数学模型;其次,对传统势场法中的势场函数进行重建,将势能引入钻臂各关节,保证势场可以约束钻臂的运动姿态;最后,以188孔位隧道掌子面为例,钻臂依据优化后的钻孔顺序进行作业,基于此对钻臂进行防碰撞路径规划仿真实验。仿真结果表明:1)基于距离最短钻孔顺序时中间钻臂与左右钻臂之间的最短距离分别为984.6、580.8 mm,均未发生碰撞干涉;2)基于关节变量最小钻孔顺序时中间钻臂与左右钻臂之间的最短距离分别为193.5、580.8 mm,此时考虑施工安全性及钻臂结构尺寸存在碰撞风险,故应选取距离最短钻孔顺序进行钻孔施工,以实现三臂凿岩台车多钻臂协同钻孔作业。

The three manipulators of three-boom rock drilling jumbos collide when conducting coordinated drilling work.This is owing to irrational path planning,resulting in equipment damage and tunneling efficiency reduction.Therefore,an anti-collision path planning method is proposed based on the improved artificial potential field(APF)method.First,the improved D-H method is employed to establish a drill boom kinematic model of the three-boom rock drilling jumbo,and the envelope box method is used to reasonably simplify the drill boom structure and further establish a mathematical model for collision detection.Then,the potential field function in the conventional potential field method is reconstructed,and the potential energy is introduced into each joint of the manipulators to ensure that the potential field can constrain the movement posture of the manipulator.Finally,a case study is conducted on a 188-hole tunnel face;the manipulators operate according to the optimized drilling sequence,and the anti-collision path is simulated.The simulation results reveal the following:(1)The shortest distances between the middle manipulator and the left and right manipulators are 984.6 and 580.8 mm,respectively,based on the drilling sequence with the shortest distance,and there is no collision and interference.(2)Based on the drilling sequence with the smallest joint variance,the shortest distances between the middle manipulator and the left and right manipulators are 193.5 and 580.8 mm,respectively,and manipulator collision risk exists.Thus,the drilling sequence with the shortest distance should be adopted to realize a coordinated anti-collision drilling operation of the three-boom rock drilling jumbo.