地下智能铲运机的转角实时测量技术  

Real-time Measurement Technology of Intersection Angle for Underground Intelligent Load-haul-dump

作　　者：李建国[1,2] 战凯[1,2] 顾洪枢[1] 石峰[1] 冯孝华[1] 郭鑫[1] 

机构地区：[1]北京矿冶研究总院,北京100160 [2]北京科技大学机械工程学院,北京100083

出　　处：《金属矿山》2014年第7期126-129,共4页Metal Mine

基　　金：国家高技术研究发展计划(863计划)项目(编号:2011AA060403)

摘　　要：针对地下智能铲运机的控制技术要求,提出了一种铲运机前后车体转角的实时测量技术。介绍了该技术的开发背景及智能铲运机的研究现状,结合铲运机实际工作环境的要求和满足智能化控制的精度要求,设计开发转角信息实时测量技术,包括转角传感器的设计要求、数据处理系统的实时性方案,并给出了基于Monta-Vista Linux操作系统下的软件开发流程。针对铲运机前后车体特殊的铰接式链接结构,设计了一种主动跟随式的转角传感器安装支架,解决因为路面不平引起的纵向受力从而导致测量误差或损坏传感器的问题,最后将该技术应用于0.4 m3铲运机的智能控制中。实验数据证明,该方法工作可靠,能够实时获取车体前后的转角信息,其精度和稳定性可以满足智能铲运机的实时控制需求,具有良好的应用前景。In view of the requirement for control technique of underground intelligent load-haul-dump （LHD）, a real-time measurement technology for the intersection angle between the front and rear of the LHD is proposed. The developing back- ground and the status quo of the intelligent LHD are introduced. Combining with the requirement for actual working environ- ment and the accuracy of intelligent control, a real-time measurement method of intersection angle information is developed,in- cluding the real-time schemes of design requirements of angle sensor, the data processing system. The software development process based on Monta-Vista Linux operating system is given. In the light of special articulated link structure of LHD front and rear, an initiative angle sensor mounting bracket is designed to solve problems in measurement errors and sensor damage caused by longitudinal force by uneven pavement. Finally, this technology is applied into the intelligent control system of 0.4 m3 LHD. The experimental data show that it is reliable, and can obtain real-time angle information on the vehicle front and rear. The ac- curacy and stability of angle information meet the needs of real-time control of intelligent LHD. This technology has a good ap- plication prospect.

关 键 词：铲运机 转角传感器 CAN总线 智能 LINUX 

分 类 号：TD422.4[矿业工程—矿山机电]