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。
According to the complicated underground tunnels conditions and the body structure characteristics of underground loader, the underground loader target path planning can he combined with deviation calculation , and four kinds of calculation control modes can be used, namely the scanning beam trigonometric calculation devia- tion control mode, the scanning beam symmetric calculation deviation control mode, the manual teaching control mode and the trajectory deviation reckoning control mode. For different underground tunnels environmental condi- tions, the use of different control mode for calculating the deviation or a combination of them may obtain ideal au- tonomous driving control effect in reducing the amount of calculation and control complexity at the same time.
出处
《矿冶》
CAS
2015年第5期61-66,共6页
Mining And Metallurgy
基金
国家高技术研究发展计划(863计划)项目(2011AA060403)
关键词
地下铲运机
自主行驶
控制模式
人工示教
underground loader
autonomous driving
control mode
manual teaching
