基于有限状态机的煤矿辅助运输转载自动化控制研究  

Research on Automatic Control of Coal Mine Auxiliary Transportation Transfer Based on Finite State Machine

作　　者：王雯 吴娟[1,2] 金书奎 邱建都 WANG Wen;WU Juan;JIN Shukui;QIU Jiandu(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030024,China;National-Local Joint Engineering Laboratory of Mining Fluid Control,Taiyuan Shanxi 030024,China)

机构地区：[1]太原理工大学机械工程学院,山西太原030024 [2]矿山流体控制国家地方联合工程实验室,山西太原030024

出　　处：《机床与液压》2023年第17期101-108,共8页Machine Tool & Hydraulics

基　　金：山西省回国留学人员科研资助项目(2021-049)。

摘　　要：为实现辅助运输过程中转载容器装载和转载工作的少人化、智能化,提出一种采用煤矿辅助运输转载机器人实现容器自动化转载的控制方案。概述煤矿辅助运输转载机器人组成及工作原理,分析机器人转载过程,确定了辅助运输转载自动化需要对单轨吊车、转载机械臂、平板车、锁具的工作时序进行控制,在MATLAB中建立系统状态机,将单轨吊车、转载机械臂、平板车、锁具作为子系统,系统状态机根据用户指令结合当前各子系统的状态,协同控制各个子系统的工作时间和顺序,保证了煤矿辅助运输转载的安全进行;最后在ROS中建立辅助运输转载仿真环境,通过系统状态机控制机械臂进行多次抓取实验,实验结果表明转载容器在20次不同位置抓取实验中,抓取成功率均在80%以上。In order to realize the less manpower and intelligence of loading and transfer of transshipment containers in the process of auxiliary transportation,an automatic transshipment control scheme of containers by using a coal mine auxiliary transportation transfer robot was proposed.The composition and working principle of the transfer robot for auxiliary transportation in coal mines were summarized.The transfer process of the robot was analyzed,and it was determined that the automation of auxiliary transportation and transfer needs to realize the control of the working sequence of the monorail crane,the transfer robot arm,the flat car,and the lock.A system state machine was established in MATLAB,and the monorail crane,transfer robot arm,flatbed car,and lock were used as subsystems.The system state machine cooperated with the current state of each subsystem according to user instructions to control the working time and sequence of each subsystem,ensuring that coal mine auxiliary transportation and transfer were carried out safely.Finally,an auxiliary transportation and transfer simulation environment was established in ROS,and the robotic arm was controlled by the system state machine to carry out multiple grasping experiments.The results show that the success rate of 20 grasping experiments is more than 80%.

关 键 词：转载机器人 自动化控制 系统状态机 抓取实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]