Hydraulic rock drilling rig plays an important role in modern tunneling construction. The existing hydraulic drilling rig is completed by the operator when locating the hole position. The order of locating holes and the time to search holes is not optimized, which results in time waste and low efficiency. In view of the above problems, in this paper, the multinode motion and the time of locating hole path of long arm multijoint intelligent rock drill are optimized for large tunnel section and complex hole system. The innovative research is as follows: by the rock drilling tunnel form and excavation mode analysis, as well as the explosion hole parameters setting, a collisionfree planning is proposed for the left and right manipulator drilling tasks. At the same time, the total change time of each joint variable of the multijoint manipulator is used as the optimization objective function. The ant colony algorithm is used to optimize the objective function, and the optimized hole finding path with the shortest hole positioning time is obtained, which improves the positioning and finding efficiency of the hydraulic rock drilling rig mechanical arm.
引用本文格式： 魏鹏,罗红波,赵康,龙伟. 基于蚁群算法的运动时间优化算法研究[J]. 四川大学学报: 自然科学版, 2018, 55: 1171.复制