Collision detection method for anchor digging machine water drilling rig
Abstract Loading water drilling rig on the anchor digging machine can effectively increase the tunneling efficiency. In order to avoid the interference between the water drilling rig and the anchor machine in the working process, it is necessary to calculate the joint variables of the drilling rig a...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-01-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-81640-3 |
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| author | Zhi-xiang Liu Shu-tong Yan Kang Zou Miao Xie |
| author_facet | Zhi-xiang Liu Shu-tong Yan Kang Zou Miao Xie |
| author_sort | Zhi-xiang Liu |
| collection | DOAJ |
| description | Abstract Loading water drilling rig on the anchor digging machine can effectively increase the tunneling efficiency. In order to avoid the interference between the water drilling rig and the anchor machine in the working process, it is necessary to calculate the joint variables of the drilling rig accurately. Using the robot kinematics analysis method, the kinematics model of the system is established. At the same time, combined with bounding box collision detection technology, the key parts of the equipment are mathematically modeled. A method for collision detection of onboard water exploration and drainage drilling rig of anchor digging machine is proposed. The simulation results show : The designed collision detection method can be used to guide the attitude adjustment of the equipment during the drilling operation of the equipment, and can accurately analyze the interference characteristics and collision detection of the equipment. It provides a theoretical basis for the automatic excavation of the research object and the automatic control of drilling. The azimuth adjustment range of the water drilling rig for the experiment is : ± 15°, and the pitch angle adjustment range is : + 5° to -10°. |
| format | Article |
| id | doaj-art-e44231f11f8e4e728cadc82bba17c878 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-e44231f11f8e4e728cadc82bba17c8782025-01-05T12:21:58ZengNature PortfolioScientific Reports2045-23222025-01-0115111710.1038/s41598-024-81640-3Collision detection method for anchor digging machine water drilling rigZhi-xiang Liu0Shu-tong Yan1Kang Zou2Miao Xie3School of Mechanical Engineering, Liaoning Technical UniversitySchool of Mechanical Engineering, Liaoning Technical UniversitySchool of Mechanical Engineering, Liaoning Technical UniversityInstitute of Mineral Resources Exploitation and Utilization Technology and Equipment, Liaoning Technical UniversityAbstract Loading water drilling rig on the anchor digging machine can effectively increase the tunneling efficiency. In order to avoid the interference between the water drilling rig and the anchor machine in the working process, it is necessary to calculate the joint variables of the drilling rig accurately. Using the robot kinematics analysis method, the kinematics model of the system is established. At the same time, combined with bounding box collision detection technology, the key parts of the equipment are mathematically modeled. A method for collision detection of onboard water exploration and drainage drilling rig of anchor digging machine is proposed. The simulation results show : The designed collision detection method can be used to guide the attitude adjustment of the equipment during the drilling operation of the equipment, and can accurately analyze the interference characteristics and collision detection of the equipment. It provides a theoretical basis for the automatic excavation of the research object and the automatic control of drilling. The azimuth adjustment range of the water drilling rig for the experiment is : ± 15°, and the pitch angle adjustment range is : + 5° to -10°.https://doi.org/10.1038/s41598-024-81640-3Anchor digging machineWater drilling rigBounding boxInterference analysisCollision detection |
| spellingShingle | Zhi-xiang Liu Shu-tong Yan Kang Zou Miao Xie Collision detection method for anchor digging machine water drilling rig Scientific Reports Anchor digging machine Water drilling rig Bounding box Interference analysis Collision detection |
| title | Collision detection method for anchor digging machine water drilling rig |
| title_full | Collision detection method for anchor digging machine water drilling rig |
| title_fullStr | Collision detection method for anchor digging machine water drilling rig |
| title_full_unstemmed | Collision detection method for anchor digging machine water drilling rig |
| title_short | Collision detection method for anchor digging machine water drilling rig |
| title_sort | collision detection method for anchor digging machine water drilling rig |
| topic | Anchor digging machine Water drilling rig Bounding box Interference analysis Collision detection |
| url | https://doi.org/10.1038/s41598-024-81640-3 |
| work_keys_str_mv | AT zhixiangliu collisiondetectionmethodforanchordiggingmachinewaterdrillingrig AT shutongyan collisiondetectionmethodforanchordiggingmachinewaterdrillingrig AT kangzou collisiondetectionmethodforanchordiggingmachinewaterdrillingrig AT miaoxie collisiondetectionmethodforanchordiggingmachinewaterdrillingrig |