典型路径下的地下铲运机行驶轨迹分析

ANALYSIS OF DRIVING TRACK FOR LHD ON TYPICAL PATH

路径跟踪是实现地下铲运机自动化作业的基本任务之一,一般在规划要求跟踪的路径时以巷道路面中心线为期望路径。本文通过典型路径下的地下铲运机行驶轨迹分析,证明了地下铲运机前桥中心点和后桥中心点并不能同时跟踪巷道路面中心线。当考虑到地下铲运机的车身外廓后,其定位中心点的轨迹与巷道路面中心线也不重合。因此在规划地下铲运机自主行驶期望路径时,应该以铲运机实际的轨迹为设计依据。

Tracking path is one of basic task for the LHD unit auto-drive, sometime midline of tunnel is considered as the LHD＇ s expectation path. In this paper, according to analyzing the track of the LHD driving on typical path, prove that the center points of the front axle and rear axle can not track the center line of the road at the same time, when front center tracks the center line of the road, the back center can not track the center line, and vice versa. When taking into account the profile of the body, the track of the center point can not match the center line of the road either. These factors should be fully considered when program the auto-drive expectation path.