地下矿无人驾驶铲运机系统设计与应用

Design and Application of Underground Mine Driverless LHD Machines System

随着我国矿产资源开发工作向深部发展,复杂的应力条件和恶劣的开采环境严重威胁到井下人员的安全,开采装备无人化是解决井下安全和效率问题的有效手段。结合自动驾驶和远程遥控技术,设计并应用了地下铲运机无人驾驶系统,在千米深井中实现了铲运机出矿作业的全流程无人化。在应用试验中,自动驾驶直线行驶的最大速度达10 km/h以上,转弯最大速度为3 km/h,远程遥控的延迟在10 ms以下。该系统可有效提高矿山生产效益、降低安全事故风险,并有助于推动我国矿山智能化转型升级。

With the development of China′s mineral resources to the deep development,"high ground pressure,high ground temperature,high well depth,mining disturbance of airspace"and other complex stress conditions and harsh mining environment seriously threaten the safety of underground personnel.The unmanned mining equipment is an effective means to solve the problem of underground safety and efficiency.This paper proposes and implements an unmanned system for the underground shoveling machine by combining automatic driving and remote-control technology,which realizes unmanned LHD machines out of the mine in a kilometer-deep shaft.In the application test,the maximum speed of the autopilot in the straight line is more than 10 km/h,the maximum speed of the turn is 3 km/h,the delay of the remote control is less than 10 ms.The system can effectively improve the production efficiency of mines,reduce the risk of safety accidents,and help promote the intelligent transformation and upgrading of mines in China.