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Gold Science and Technology >

2020 , Vol. 28 >Issue 1: 124 - 133

DOI: https://doi.org/10.11872/j.issn.1005-2518.2020.01.133

Mining Technology and Mine Management

Research on Simulation Software Platform for Underground LHD Operation

  • Jiaxi WU , 1, 2 ,
  • Liguan WANG , 1, 2 ,
  • Yalong LI 1, 2
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  • 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 date: 2019-07-16

  Revised date: 2019-09-27

  Online published: 2020-02-26

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Highlights

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.

Cite this article

Jiaxi WU , Liguan WANG , Yalong LI . Research on Simulation Software Platform for Underground LHD Operation[J]. Gold Science and Technology, 2020 , 28(1) : 124 -133 . DOI: 10.11872/j.issn.1005-2518.2020.01.133

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