| 地下铲运机多模式自主行驶控制方法研究 |
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| 引用本文： | 石 峰,顾洪枢,战 凯,李建国,冯孝华,郭 鑫,李恒通,段辰玥.地下铲运机多模式自主行驶控制方法研究[J].矿冶,2015,24(5):61-66. |
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| 作者姓名： | 石 峰 顾洪枢 战 凯 李建国 冯孝华 郭 鑫 李恒通 段辰玥 |
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| 作者单位： | 北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院 |
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| 基金项目： | 国家“十二五”863科技计划支持项目(2011AA060403) |
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| 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。
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| 关 键 词： | 地下铲运机 自主行驶 控制模式 人工示教 |
| 收稿时间： | 2015/2/28 0:00:00 |
| 修稿时间： | 3/1/2015 12:00:00 AM |
MULTI MODEL AUTONOMOUS DRIVING CONTROL METHOD FOR UNDERGROUND LOADER |
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| SHI Feng,GU Hong-shu,ZHAN Kai,LI Jian-guo,FENG Xiao-hu,GUO Xin,LI Heng-tong and DUAN Chen-yue.MULTI MODEL AUTONOMOUS DRIVING CONTROL METHOD FOR UNDERGROUND LOADER[J].Mining & Metallurgy,2015,24(5):61-66. |
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| Authors: | SHI Feng GU Hong-shu ZHAN Kai LI Jian-guo FENG Xiao-hu GUO Xin LI Heng-tong and DUAN Chen-yue |
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| Affiliation: | Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy,Beijing General Research Institute of Mining and Metallurgy |
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| Abstract: | According to the complicated underground tunnels conditions and the body structure characteristics of underground loader, the underground loader target path planning and deviation calculation can be combined, It can be divided into four kinds of calculation control mode, namely the scanning beam trigonometric calculation deviation control mode, scanning beam Symmetric calculation deviation control mode, Manual teaching control mode and Trajectory deviation reckoning control mode. in different underground tunnels environmental conditions, the use of different control mode for calculating the deviation or a combination of them, may obtain ideal autonomous driving control effect in reduce the amount of calculation and control complexity at the same time. |
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| Keywords: | underground loader autonomous driving control mode manual teaching |
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