Trajectory planning of autonomous transport space and dynamic obstacle avoidance for underground heavy loading handling robot in coal mine

The current research on underground handling robots is still in its infancy, and there are still obvious deficiencies in the basic fields such as innovative design of handling mechanisms, trajectory planning of transport space, and autonomous walking dynamic obstacle avoidance. Aiming at the practical problems of many transport links, difficult transport operation and slow manual transport in coal mine, a new multi-functional handling robot and its supporting standardized loading container and delivery platform are designed, and the trajectory planning method of roadway transport space is carried out through simulation and experiment. Firstly, the standardized loading container and delivery platform suitable for robot loading and unloading are designed, and the autonomous transport strategy of handling robot is formulated. Secondly, the multi-functional handling mechanism of underground heavy loading handling robot is designed, and its mechanical properties are simulated and analyzed. Thirdly, the improved D-H modeling method and the forward and inverse kinematics modeling method are used to improve the reliability of the trajectory planning of the transport robotic arm. In addition, an obstacle evaluation subfunction is introduced to improve the DWA algorithm by measuring safety and efficiency. Finally, the model prototype of the handling robot is built, and transport roadway scene in the coal mine is constructed according to the ratio of 1:10. The simulation experiment of space trajectory planning is carried out in the laboratory. The test results show that the repeated positioning error of the robotic arm does not exceed 0.0375 mm. The average improvement of path length and walking time are 31.27% and 42.33%, respectively, and the walking speed of the robot is increased by 19.18% on average. Real time and effective dynamic obstacle avoidance is achieved during the walking process, and good smoothness and efficiency are demonstrated during the handling process.