收稿日期: 2020-09-11
修回日期: 2020-10-23
网络出版日期: 2021-03-22
基金资助
国家重点研发计划项目“深部集约化开采生产过程智能管控技术”(2017YFC0602905)
Present Situation and Development Trend of Self-loading Technology for Underground Load-Haul-Dump
Received date: 2020-09-11
Revised date: 2020-10-23
Online published: 2021-03-22
姜丹 , 王李管 . 地下铲运机自主铲装技术现状及发展趋势[J]. 黄金科学技术, 2021 , 29(1) : 35 -42 . DOI: 10.11872/j.issn.1005-2518.2021.01.162
With the depletion of resources in open-pit mines，metal mines are gradually turning to deep mining. As the main equipment for loading and transporting ores in underground metal mines，the working environment of LHD（Load-Haul-Dump） is further deteriorated.The problems of harmful gases （CO，H2S，NH4，etc.），vibration，high stress and high temperature seriously affect people’s health.In order to protect the life health and personal safety of operators，improve the efficiency of mine operation and increase the economic benefits of mine，the intelligent mining technology of metal mine has been developed rapidly.The research on the automation of LHD has been carried out for more than 30 years，but the commercial system which has not fully realized the automatic loading can not be put into use.Because the shoveling is a dynamic and non-linear process，it is difficult to predict the change，which is the difficulty to realize the autonomous loading of LHD.In order to realize the full-automatic operation of LHD，this paper systematically studied the status quo and development trend of autonomous shoveling and loading of underground LHD，comprehensively summarized the three aspects of environmental perception and modeling，bucket trajectory control and automatic weighing，and analyzed the research status and shortcomings of its key technologies.The research results show that the environmental perception and modeling in the process of shoveling is mainly to establish the three-dimensional model of ore heap，and single type of sensor has shortcomings.Comprehensive use of the advantages of each sensor，information complementary and optimal combination can be realized.The interaction process between bucket and ore has the characteristics of dynamic change and non-linear，and the bucket trajectory control based on force is suitable for uniform medium，so it is difficult to apply in actual production.Reinforcement learning is widely used in the field of automatic control，through self-learning and adaptive environment to complete the operation task.The automatic weighing system can measure the effective load of the bucket and adjust the state of the ore in the bucket to prevent the ore from falling.There is a big gap in the research on the automatic weighing system at home and abroad.Compared with foreign countries，the automatic weighing technology in China is relatively backward，at the same time，the automatic weighing technology is mostly used in the ground loader，less in the underground.At present，there is also a big gap between China and foreign countries in the research of self loading technology of underground scraper.Strengthening cooperation in related fields and carrying out field test of LHD are the key points to promote the development of LHD in China.
| null | Ali D，Frimpong S，2020.Artificial intelligence，machine learning and process automation：Existing knowledge frontier and way forward for mining sector［J］.Artificial Intelligence Review， 53（8）：6025-6042. |
| null | Anthony Stentz J B S S，1999.A robotic excavator for autonomous truck loading［J］.Autonomous Robots，7（2）：175-186. |
| null | Chen Meng，Wang Liguan，Jia Mingtao，al et，2013.An overview of autonomous navigation techniques and development trend for underground LHD［J］.China Safety Science Journal，23（3）：130-134. |
| null | Dadhich S，Bodin U，Andersson U，2016a.Key challenges in automation of earth-moving machines［J］.Automation in Construction，68：212-222. |
| null | Dadhich S，Bodin U，Sandin F，al et，2016b. Machine learning approach to automatic bucket loading［C］//Proceedings of 24th Mediterranean Conference on Control and Automation （MED）.New York：Institute of Electrical and Electronics Engineers （IEEE）：1260-1265. |
| null | Dobson A A，Marshall J A，Larsson J，2017.Admittance control for robotic loading：Design and experiments with a 1-Tonne loader and a 14-Tonne load-haul-dump machine［J］.Journal of Field Robotics，34（1）：123-150. |
| null | Eger T，Salmoni A，Whissell R，2004.Factors influencing load-haul-dump operator line of sight in underground mining［J］.Applied Ergonomics，35（2）：93-103. |
| null | Gao Mengxiong，2010a.The development of technology on underground loader and underground automobile automation（two）［J］.Modern Mining，26（1）：5-11. |
| null | Gao Mengxiong，2010b.The development of technology on underground loader and underground automobile automation（three）［J］.Modern Mining，26（2）：5-10. |
| null | Gu Desheng，2004.The development tendency of mining science and technology of underground metal mine［J］.Gold，（1）：18-22. |
| null | Guo Xin，Zhan Kai，Gu Hongshu，al et，2015.Theoretical research of dynamic weighing system of underground LHD［J］.Nonferrous Metals（Mining Section），67（4）：75-79. |
| null | Gustafson A，2011.Automation of load haul dump machines［R］.Lulea：University of Lulea. |
| null | Hemami A F H，2005.Simulation study of a control procedure for automated loading of bulk media［C］//Proceedings of the 22nd International Symposium on Automation and Robotics in Construction ISARC.Ferrara：International Association for Automation and Robotics in Construction （IAARC）. DOI： 10.22260/ISARC2005/0080 |
| null | Hemami A F H，2009.An overview of autonomous loading of bulk material［C］//Proceedings of the 26th International Symposium on Automation and Robotics in Construction.Austin TX：International Association for Automation and Robotics in Construction （IAARC）：405-411. |
| null | Heshan A.Fernando J A M H，Larsson A J，2018.Towards controlling bucket fill factor in robotic excavation by learning admittance control setpoints［C］//Hutter，M.，Siegwart，R.，eds. Field and Service Robotics：Results of the 11Th International Conference.Cham， Switzerland： Springer International Publishing：35-48. |
| null | Lever P J A，2001.An automated digging control for a wheel loader［J］.Robotica， 19（5）：497-511. |
| null | Lever P J A，Wang F，1995.Intelligent excavator control system for lunar mining system［J］.Journal of Aerospace Engineering，8（1）：16-24. |
| null | Lever P J A，Wang F，Chen D，1994.A fuzzy control system for an automated mining excavator［C］//Proceedings of the 1994 IEEE International Conference on Robotics and Automation.New York：Institute of Electrical and Electronics Engineers （IEEE），29（3）：3284-3289. |
| null | Li Hengtong，Guo Xin，Li Jianguo，al et，2015.Study on stratic automatic weighting of underground LHD［J］.Mining Research and Development，35（11）：85-88. |
| null | Li Jianguo，2016.Research on Automouous Control of Driving and Dumping for Underground Load-Haul-Dump［D］.Beijing：University of Science and Technology Beijing. |
| null | Li Jun，2007.Study on Key Technique of Light Source in Machine Vision［D］.Tianjin：Tianjin University of Technology. |
| null | Li Zhongxue，Li Cuiping，Li Shuangyue，2007.Frontiers in personless mining and avenues of their advancement in China［J］.Strategic Study of CAE，（11）：16-20. |
| null | Liu Hongfa，Wu Fei，2015.Design and implementation of the scraper automatic measuring system in multi-metal mine［J］.Nonferrous Metals（Mining Section），67（4）：80-81. |
| null | Ma Liguang，2005.The Research of Terrestrial Laser Scanning Technology［D］.Wuhan：Wuhan University. |
| null | M?kel? H，2001.Overview of LHD navigation without artificial beacons［J］.Robotics and Autonomous Systems，36（1）：21-35. |
| null | Marshall J A，Murphy P F，Daneshmend L K，2008.Toward autonomous excavation of fragmented rock：Full-scale experiments［J］.IEEE Transactions on Automation Science and Engineering，5（3）：562-566. |
| null | McKinnon C， Marshall J A，2014.Automatic identification of large fragments in a pile of broken rock using a time-of-flight camera［J］.IEEE Transactions on Automation Science & Engineering，11（3）：935-942. |
| null | Mikhirev P A，1983.Theory of the working cycle of automated rock-loading machines［J］.Soviet Mining Science，6（19）：515-522. |
| null | Petty M K，Billingsley J，Tran-Cong T，1997.Autonomous LHD loading［C］//Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice.New York： IEEE：219-224. |
| null | Quan Long，Li Yunhua，Fan Rujun，al et，2020.Research status and development trend of intelligent excavators ［J］.Journal of Mechanical Engineering，56（13）：165-178. |
| null | Shi X，Lever P J A，Wang F Y，1996a.Experimental robotic excavation with fuzzy logic and neural networks［C］//Proceeding of IEEE International Conference on Robotics and Automation，Minneapolis.New York：IEEE：957-962. |
| null | Shi X，Lever P J A，Wang F Y，1996b.Fuzzy behavior integration and action fusion for robotic excavation［J］.IEEE Transactions on Industrial Electronics，43（3）：395-402. |
| null | Whitehorn M，2001.Stereo vision in LHD automation［J］.IEEE Transactions on Industry Applictions，29（1）：21-29. |
| null | Wu Di，2019.Positioning Technology of LHD Based on Stereo Visusal Odometry［D］.Beijing：University of Science and Technology Beijing. |
| null | Wu Lixin，Wang Yunjia，Ding Enjie，al et，2012.Thirdly study on digital mine：Serve for mine safety and intellimine with support from Io T［J］.Journal of China Coal Society，37（3）：357-365. |
| null | Yang Qingping，Zhao Xingkuan，Wu Guomin，al et，2016.Automatic ore drawing technology of scraper and its application prospect［J］.Mining Technology，16（6）：21-25. |
| null | Yang Zhongjiong，2007.Simulation Research on Virtual Prototype Modeling And Dynamic Characteristics of Multi-Systems of Underground Load-Haul-Dump Vehicle［D］.Changsha：Central South University. |
| null | Yin Chaozhong，Hu Tianyou，2009.Stydy on the optimal track of automatic shoveling of underground LHD［J］.Metal Mine，（3）：146-148. |
| null | Zhang Lifeng，Wang Rui，Ren Huajun，al et，2015.Mechanical analysis of scraper weighing system based on oil pressure measurement［J］.Shandong Industrial Technology，（22）：36. |
| null | 陈盟，王李管，贾明涛，等，2013.地下铲运机自主导航研究现状及发展趋势［J］.中国安全科学学报，23（3）：130-134. |
| null | 高梦熊，2010a.浅谈地下装载机、地下汽车自动化技术的发展（二）［J］.现代矿业，26（1）：5-11. |
| null | 高梦熊，2010b.浅谈地下装载机、地下汽车自动化技术的发展（三）［J］.现代矿业，26（2）：5-10. |
| null | 古德生，2004.地下金属矿采矿科学技术的发展趋势［J］.黄金，（1）：18-22. |
| null | 郭鑫，战凯，顾洪枢，等，2015.地下铲运机动态称重系统的理论研究［J］.有色金属（矿山部分），67（4）：75-79. |
| null | 李恒通，郭鑫，李建国，等，2015.地下铲运机静态自动称重技术研究［J］.矿业研究与开发，35（11）：85-88. |
| null | 李建国，2016.地下铲运机自主行驶及卸载的控制研究［D］.北京：北京科技大学. |
| null | 李俊，2007.机器视觉照明光源关键技术研究［D］.天津：天津理工大学. |
| null | 李仲学，李翠平，刘双跃，2007.金属矿床地下自动开采的前沿技术及其发展途径［J］.中国工程科学，（11）：16-20. |
| null | 刘宏发，吴飞，2015.多金属井下铲运机自动计量系统的设计与实现［J］.有色金属（矿山部分），67（4）：80-81. |
| null | 马立广，2005.地面三维激光扫描测量技术研究［D］.武汉：武汉大学. |
| null | 权龙，李运华，范茹军，等，2020.智能化挖掘机的研究现状与发展趋势［J］.机械工程学报，56（13）：165-178. |
| null | 吴荻，2019.基于立体视觉里程计的地下铲运机定位技术研究［D］.北京：北京科技大学. |
| null | 吴立新，汪云甲，丁恩杰，等，2012.三论数字矿山——借力物联网保障矿山安全与智能采矿［J］.煤炭学报，37（3）：357-365. |
| null | 杨清平，赵兴宽，吴国珉，等，2016.铲运机自动化出矿技术及其应用前景［J］.采矿技术，16（6）：21-25. |
| null | 杨忠炯，2007.地下铲运机多体系统虚拟样机建模及系统动态特性仿真研究［D］.长沙：中南大学. |
| null | 尹朝忠，胡天友，2009.地下铲运机自动铲取最优轨迹的研究［J］.金属矿山，（3）：146-148. |
| null | 张丽峰，王锐，任华军，等，2015.基于油压测量的铲运机称重系统的力学分析［J］.山东工业技术，（22）：36. |
/
| 〈 |
|
〉 |
©2018 黄金科学技术编辑部
电话：0931-8277791
E-mail: hjkx@lzb.ac.cn 邮编：730000
甘公网安备 62010202000672号