推耙机全自动智能控制关键技术的研究

Research on Key Technology of Automatic Intelligent Control of Push Harrow Machine

本文利用现有推耙机,针对其作业工况与作业工艺进行智能化改造,就其中涉及的关键技术进行深入研究,以实现推耙机在封闭船舱内的无人驾驶自动清舱功能。其中涉及多种仿真分析与算法应用,研究多种关键技术,主要包括:感知定位技术、环境建图技术、煤量识别技术、路径规划技术、安全限制技术等,从而提高我国企业经济及作业效率。

In this paper,the existing push harrow machine,according to its operating conditions and operation process for intelligent transformation,the key technologies involved in the in-depth study,to realize the function of unmanned automatic rake machine in the closed cabin. It involves a variety of simulation analysis and algorithm application,and studies a variety of key technologies,mainly including:perception positioning technology,environmental mapping technology,coal quantity identification technology,path planning technology,safety restrictions technology,so as to improve the economic and operational efficiency of Chinese enterprises.