地下铲运机多模式自主行驶控制方法研究  

STUDY ON MULTI-MODE AUTONOMOUS DRIVING CONTROL METHOD FOR UNDERGROUND LOADER

作　　者：石峰[1] 顾洪枢[1] 战凯[1] 李建国[1] 冯孝华[1] 郭鑫[1] 李恒通 段辰玥 

机构地区：[1]北京矿冶研究总院,北京100160

出　　处：《矿冶》2015年第5期61-66,共6页Mining And Metallurgy

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

摘　　要：针对井下复杂多变的巷道环境条件和地下铲运机的车身结构特点,将地下铲运机目标路径规划及偏差计算结合起来,并划分为四种计算控制模式,即扫描光束三角计算偏差、扫描光束对称计算偏差、人工示教和轨迹偏差推算等控制模式。通过在不同的井下巷道环境条件下,运用不同的偏差计算控制模式或将其组合使用,在减少计算量和控制复杂性的同时,取得地下铲运机较理想的自主行驶控制效果。According to the complicated underground tunnels conditions and the body structure characteristics of underground loader, the underground loader target path planning can he combined with deviation calculation , and four kinds of calculation control modes can be used, namely the scanning beam trigonometric calculation devia- tion control mode, the scanning beam symmetric calculation deviation control mode, the manual teaching control mode and the trajectory deviation reckoning control mode. For different underground tunnels environmental condi- tions, the use of different control mode for calculating the deviation or a combination of them may obtain ideal au- tonomous driving control effect in reducing the amount of calculation and control complexity at the same time.

关 键 词：地下铲运机 自主行驶 控制模式 人工示教 

分 类 号：TD422.4[矿业工程—矿山机电]