非煤矿山井下铲运机无人驾驶控制系统的研究  

Research on Unmanned Control System of Underground Scraper in Non-Coal Mine

作　　者：田明鑫 Tian Mingxin(Electric Control Department,Copper Mine,Northern Copper Industry,Yuanqu Shanxi 043700)

机构地区：[1]北方铜业铜矿峪矿电控部,山西垣曲043700

出　　处：《机械管理开发》2022年第11期237-238,243,共3页Mechanical Management and Development

摘　　要：针对井下铲运机的人工驾驶工作疲劳性大、井下环境复杂、运行效率低、安全性不足的问题,结合环境感知和智能控制技术,提出了一种铲运机无人驾驶控制系统。利用激光雷达实现对铲运机工作环境的全面监测,利用模糊PID控制策略实现了对铲运机的无人驾驶控制。根据实际应用表明,该控制系统的调控精度达到了±0.1 m,反应速度约为0.2 s,对提升铲运机运行效率和安全性具有十分重要的意义。Aiming at the problems of high fatigue of manual driving work,complex underground environment,low operation efficiency and insufficient safety of underground shovel,a shovel driverless control system is proposed by combining environment sensing and intelligent control technology.LIDAR is used to achieve comprehensive monitoring of the working environment of the scraper,and fuzzy PID control strategy is used to achieve unmanned control of the scraper.According to the practical application,the regulation and control accuracy of the control system reaches±0.1 m,and the response speed is about 0.2 s,which is of great significance to improve the operation efficiency and safety of the forklift.

关 键 词：铲运机 激光雷达 无人驾驶 调控精度 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]