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Gold Science and Technology ›› 2020, Vol. 28 ›› Issue (1): 124-133.doi: 10.11872/j.issn.1005-2518.2020.01.133

• Mining Technology and Mine Management • Previous Articles     Next Articles

Research on Simulation Software Platform for Underground LHD Operation

Jiaxi WU1,2(),Liguan WANG1,2(),Yalong LI1,2   

  1. 1.School of Resources and Safety Engineering,Central South University,Changsha 410083,Hunan,China
    2.Digital Mine Research Center,Central South University,Changsha 410083,Hunan,China
  • Received:2019-07-16 Revised:2019-09-27 Online:2020-02-29 Published:2020-02-26
  • Contact: Liguan WANG E-mail:835966891@qq.com;liguan_wang@163.com

Abstract:

In order to avoid many unfavorable factors in the traditional environment of mining operations,improve production efficiency of mines,reduce the labor cost and eliminate the accident potentials,the large mining equipment such as underground LHD(load-haul-and-dump-machine) is developing towards the direction of intelligence,information and unmanned.The autonomous scooping operation of LHD is an important part of relative researches,but the scooping operation is difficult to predict due to the complex structure of the working device of LHD.With the rapid development of methods such as reinforcement learning in recent years,there are some feasible solutions to underground LHD’s autonomous scooping operation.However,a large amount of training data are required to be collected due to the limits of relative algorithms and there are several issues such as long acquisition time,high cost of existing equipment transformation and interference in normal operation of mines when collecting data in real environment.Under the existing technical conditions,virtual prototype technology can be used to build a simulation operation platform to meet the demand of data for autonomous scooping operation training. In this paper,the structure of a certain type of underground LHD with forward rotation four rods mechanism was taken as reference to analyze the linkages of working devices and articulated steering mechanism of the car body and a three-dimension dynamic model of LHD was established in V-REP combined with the map model generated by 3D Studio Max.12 basic ore models with 3 irregular shapes in 4 sizes were established to form blasted-pile randomly under control of scripts.Then,generated an interactive working environment including tunnel,drawing points,ore pass and simulated light sources to establish an simulation experiment platform combined with LHD model and blasted-pile and wrote embedded script to realize to communication between the external equipment and the simulation experiment platform to control walk and scooping operation of LHD and generation of blasted-pile.Finally,finished the real-time simulation of underground LHD’s scooping and loading ores at drawing point and transported it to the ore pass through the transportation tunnel.The simulation results show that the loading and unloading operations can be simulated under the virtual environment after practical test to meet the demands of data under reinforcement learning framework and the simulation platform can also be used as a training platform for underground workers.

Key words: V-REP, underground LHD, simulation platform, dynamics modelling, real-time control, motion simulation

CLC Number: 

  • TU56

Fig.1

Underground LHD model"

Table 1

Boundary box scale of main components of underground LHD"

部件尺寸质量/kg
长度/m宽度/m高度/m
后车体1.202.003.501 000
前车体0.900.901.30300
轮胎1.201.204.5090
动臂0.300.651.5070
斗尖0.020.300.401
斗侧10.070.770.991
斗侧20.070.881.441
斗被10.130.662.401
斗被20.120.402.401
斗被30.320.832.401
斗被40.031.362.401

Table 2

Main joint parameters setting of underground LHD"

关节运动类型运动模式位置最小值位置范围长度(m)/直径(m)
左前轮关节旋转扭矩/力--1/0.1
右前轮关节旋转扭矩/力--1/0.1
左后轮关节旋转扭矩/力--1/0.1
右后轮关节旋转扭矩/力--1/0.1
铰接关节旋转扭矩/力-30°60°1/0.1
转斗油缸前关节旋转反向运动学--1/0.1
转斗油缸后关节旋转反向运动学--1/0.1
转斗油缸关节移动反向运动学-0.5 m1 m1/0.1
动臂前关节旋转扭矩/力-90°120°1/0.1
动臂后关节旋转扭矩/力-15°100°1/0.1
举升油缸前关节旋转反向运动学--1/0.1
举升油缸后关节旋转反向运动学--1/0.1
举升油缸关节移动反向运动学-0.5 m1 m1/0.1

Fig.2

Schematic diagram of underground LHD working device with complete function"

Table 3

Basic shape dynamic parameters of underground LHD"

对象对象间碰撞参数环境碰撞参数质量/kg主惯性矩/m2
XYZ
左前轮0000111111111111900.100.100.18
右前轮0000111111111111900.100.100.18
左后轮0000111111111111900.100.100.18
右后轮0000111111111111900.100.100.18
后车体11110000111111111 0000.660.480.21
前车体11110000111111113000.110.130.07
动臂0000111111111111700.230.120.03
铲斗11110000111111111000.290.660.59

Table 4

Joint dynamic parameters of underground LHD"

对象(joint)是否启用电机最大力矩/(N·m)是否启用控制回路控制上限速度/[(°)·s-1]位置控制(Kp/Ki/Kd
左前轮关节1×106
右前轮关节1×106
左后轮关节1×106
右后轮关节1×106
铰接关节1×1063600.05/0.001/0
转斗油缸前关节
转斗油缸后关节
转斗油缸关节
动臂前关节5×1093600.05/0.001/0
动臂后关节1×1091000.02/0.001/0
举升油缸前关节
举升油缸后关节
举升油缸关节

Fig.3

Underground LHD model with hidden and displayed texture"

Fig.4

Basic ore model"

Fig.5

Roadway model"

Fig.6

Underground LHD model and its working environment model"

Fig.7

Schematic diagram of control key"

Fig.8

Articulated steering diagram"

Fig.9

Ore formation at different time intervals under the condition of 5"

Fig.10

Scooping operation and driving process of underground LHD"

Fig.11

Unloading process"

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