The invention provides an autonomous control system of a mining pipe grabber and a control method of the autonomous control system, and relates to the technical field of mining pipe grabber, the system uses vision, perception, planning and the like to control a pipe grabbing process, a visual recognition part adopts a mining visible light and depth camera to perform composite image acquisition, and the accuracy of coordinates of a to-be-installed pipeline is improved; the posture sensing part is responsible for carrying out space positioning on the posture of the pipe grabbing machine; and finally, the movement track of the hydraulic arm is planned by calculating the center space coordinates of the pipeline and the center space coordinates of the hydraulic arm, inverse solution of a space coordinate system is conducted according to a DH algorithm, the space coordinate system is decomposed into displacement and angle transformation quantity of a telescopic oil cylinder and a rotary motor, and the purpose that the pipe grabbing machine grabs the pipeline autonomously and accurately is achieved. The problems that an existing mining pipe grabbing machine is manually operated, has no intelligent sensing function, and is poor in operation quality and large in potential safety hazard are greatly solved.

    本发明提供一种矿用抓管机自主控制系统及其控制方法,涉及矿用抓管机技术领域,所述系统利用视觉、感知及规划等对抓管流程进行控制,视觉识别部分采用矿用可见光及深度相机进行复合图像采集,提高待安装管路坐标的准确性;姿态感知部分负责对抓管机姿态进行空间定位;最后通过计算管路中心空间坐标和液压臂中心空间坐标进行液压臂运动轨迹规划,根据DH算法进行空间坐标系逆解,分解成伸缩油缸、回转马达的位移及角度变换量,实现抓管机自主精准抓取管路的目的;极大解决了现有矿用抓管机人工操作,不具备智能感知、作业质量差、安全隐患大的问题。


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    Title :

    Autonomous control system of mining pipe grabbing machine and control method of autonomous control system


    Additional title:

    矿用抓管机自主控制系统及其控制方法


    Contributors:
    YAN JINGWANG (author) / WANG HONGKE (author) / REN CHANGZHONG (author) / BAO DONGXU (author) / WANG MING (author) / LI CHI (author) / SHI WENYI (author) / WANG CHEN (author) / BAI HE (author)

    Publication date :

    2022-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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