地下无轨采矿装备智能避障技术和方法研究  

Research on intelligent obstacle avoidance technology and method for underground trackless mining equipment

作　　者：战凯 余乐文[1,2,3] 张达 张元生[1,3] Zhan Kai;Yu Lewen;Zhang Da;Zhang Yuansheng(BGRIMM Technology Group;School of Mechanical Engineering,University of Science and Technology Beijing;Beijing Key Laboratory of Nonferrous Intelligent Mining Technology)

机构地区：[1]矿冶科技集团有限公司,100160 [2]北京科技大学机械工程学院 [3]金属矿山智能开采技术北京市重点实验室

出　　处：《黄金》2020年第9期77-80,共4页Gold

基　　金：“十三五”国家重点研发计划项目(2018YFC0604400)。

摘　　要：在分析现有无轨采矿装备避障技术基础上,开发了三维避障探测系统,提出了一种基于三维环境探测的地下矿山无轨采矿装备智能避障预警方法。介绍了该技术的背景,建立巷道探测模型,包括横向距离和纵向距离判断方法。将该方法应用于铲运机,证明了该方法在无人铲运机上的有效性和广阔的应用前景。The three-dimensional obstacle avoidance and detection system is developed based on the analysis of the existing obstacle avoidance technology for trackless equipment.An intelligent obstacle avoidance and early warning method for trackless mining equipment in underground mine based on three-dimensional environment detection is proposed.The background of the technology is introduced and the roadway detection model is established,including the methods for transverse distance and longitudinal distance judgment.The method is applied to a LHD and the results show that the method has effectiveness and wide application prospects for unmanned LHD.

关 键 词：地下开采 智能避障 无轨采矿装备 三维避障探测系统 分级预警 雷达 

分 类 号：TD679[矿业工程—矿山机电]