无人驾驶采煤机关键技术探讨  

Study on key technologies of unmanned driving shearer

作　　者：张昊[1] 葛世荣[1] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221008

出　　处：《工矿自动化》2016年第2期31-33,共3页Journal Of Mine Automation

基　　金：国家重点基础研究发展计划(973计划)资助项目(2014CB046301)

摘　　要：从识别系统、决策系统和控制系统3个方面阐述了无人驾驶采煤机的技术架构;探讨了采煤机自主定位技术、采煤机自主纠偏技术、煤岩界面识别技术、采煤机自主避障技术等无人驾驶采煤机关键技术及其突破方向,认为多传感器信息融合技术可以提高采煤机自主定位、自主导航的精确性和可靠性,为解决无人驾驶采煤机关键问题提供一种技术思路。The paper described technical architecture of unmanned driving shearer from aspects of recognition system,decision-making system and control system.It discussed key technologies of unmanned driving shearer and their breakthrough directions,including autonomous positioning technology of shearer,autonomous correction technology of shearer,coal-rock interface recognition technology and autonomous obstacle avoidance technology of shearer,considered multi-sensor fusion technology could improve accuracy and reliability of autonomous positioning and navigation of shearer,and provide technical idea to solve key problems of unmanned driving shearer.

关 键 词：无人驾驶采煤机 定位 导航 自主纠偏 煤岩界面识别 自主避障 

分 类 号：TD632[矿业工程—矿山机电]