A calculation model for the associated position interference between the boom and shovel table mechanisms of intelligent roadheader

In the process of working state perception and control, the intelligent boom-type roadheader interferes with the position of the boom and shovel table mechanism. However, the existing research on the prevention of interference and collision in boom-type roadheader is mainly based on a single control method. There are relatively few studies that integrate the prevention of interference and collision conditions into the control. In order to solve the above problems, a calculation model for associated position interference between the boom and shovel table mechanism is proposed. Based on the relative spatial position relationship between the boom and shovel table mechanism of a multi degree of freedom boom-type roadheader during the movement process, the boom mechanism is simplified as a segmented spatial straight line, and the shovel table mechanism is simplified as a spatial plane. Based on the distance between the specific points on the equivalent segmented spatial straight line of the boom boundary and the boundary point of the cutting tool to the equivalent spatial plane of the shovel table, the interference between the boom and shovel table is determined. The application example of the interference calculation model for the relationship between the boom and the shovel table mechanism show the following points. When the shovel platform is in the middle position, under the condition that the main boom and auxiliary boom have no relative swing, the ultimate constraint condition for the boom and shovel table to not interfere and collide is that the swing position angle of the main boom does not exceed 29.5°, and the cutting tool's bottom depth does not exceed 42 mm. The ultimate constraint condition for the boom and shovel table to not interfere and collide under the coordinated swing of the main boom and auxiliary boom is that cutting tool's bottom depth does not exceed 163 mm. The interference calculation model for the position interference between the boom and the shovel table mechanism lays the foundation for the digital and intelligent autonomous control of the full domain prediction and warning of the interference and collision between the boom and the shovel table.