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轮斗挖掘机全自动控制技术应用研究.

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Title: 轮斗挖掘机全自动控制技术应用研究.
Alternate Title: Research on application of fully automatic control technology for wheel bucket excavators.
Authors: 曹鋆程1 yunchengcao@163.com, 刘鹏飞2 liupengfeia@tpri.com.cn, 房圆武1, 刘强1, 咸金龙1
Source: Clean Coal Technology. 2025 Supplement, Vol. 31, p817-822. 6p.
Subject Terms: *Automatic control systems, *Strip mining, *Industrial efficiency, *Excavating machinery, *LIDAR, *Satellite positioning, *Three-dimensional modeling, *5G networks
Abstract (English): The continuous stripping process in open-pit mining has the characteristics of large scale, high production efficiency, and low transportation costs, and has played a key role in the open-pit mining process. Scientific control and management of mechanical equipment based on the actual geological conditions of open-pit mining sites can effectively improve the efficiency of stripping processes and other operations. In order to further improve the production efficiency of bucket wheel excavator and improve the automation degree of on-site production, the fully automatic control technology of bucket wheel excavator in open pit mine is developed based on 5G industrial Internet, satellite positioning and LiDAR technology. Construct a three-dimensional coordinate system for the stripping working face based on satellite positioning system, and complete the forward and inverse kinematics analysis of the wheel bucket excavator according to the D-H parameters (Denavit-Hartenberg parameters) of the multi-link series robot. By using a control strategy calculation program, the point cloud data collected by the LiDAR device on the stripping working face is fitted in 3D to complete the 3D modeling of the stripping working face. Based on the stripping process of the mining belt, an automatic mining control strategy is generated and sent to the PLC controller in the form of an instruction set to guide the wheel bucket continuous system to complete automatic operations, ultimately achieving the goal of fully automatic control of the wheel bucket excavator. [ABSTRACT FROM AUTHOR]
Abstract (Chinese): 露天矿开采连续剥离工艺具有规模大、生产效率高、运输费用低等特点, 在露天矿开采过程中发挥了关键作用。根据露天采矿场实际地质条件做好机械设备的科学控制和管理, 可有效提高剥离工艺效率等各项作业。为进一步提高轮斗挖掘机的生产效率, 提高现场生产的自动化程度, 基于 5 G 工业互联网、卫星定位和 LiDAR 技术开发了露天矿轮斗挖掘机全自动控制技术。基于卫星定位系统构建剥采工作面的三维坐标系, 并根据多连杆串联机器人的 D - H 参数 (Denavit-Hartenberg 参数) 完成轮斗挖掘机的正运动学和逆运动学分析。通过控制策略计算程序对 LiDAR 装置所采集的剥采工作面的点云数据进行三维拟合, 完成剥采工作面的三维建模, 根据采掘带剥离工艺生成自动挖掘控制策略, 并以指令集的形式发送至 PLC 控制器, 指导轮斗连续系统完成自动作业, 最终达到轮斗挖掘机全自动控制的目的. [ABSTRACT FROM AUTHOR]
Database: Energy & Power Source
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Header DbId: enr
DbLabel: Energy & Power Source
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PubType: Academic Journal
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  Label: Title
  Group: Ti
  Data: 轮斗挖掘机全自动控制技术应用研究.
– Name: TitleAlt
  Label: Alternate Title
  Group: TiAlt
  Data: Research on application of fully automatic control technology for wheel bucket excavators.
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  Data: <searchLink fieldCode="AR" term="%22曹鋆程%22">曹鋆程</searchLink><relatesTo>1</relatesTo><i> yunchengcao@163.com</i><br /><searchLink fieldCode="AR" term="%22刘鹏飞%22">刘鹏飞</searchLink><relatesTo>2</relatesTo><i> liupengfeia@tpri.com.cn</i><br /><searchLink fieldCode="AR" term="%22房圆武%22">房圆武</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22刘强%22">刘强</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22咸金龙%22">咸金龙</searchLink><relatesTo>1</relatesTo>
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  Data: <searchLink fieldCode="JN" term="%22Clean+Coal+Technology%22">Clean Coal Technology</searchLink>. 2025 Supplement, Vol. 31, p817-822. 6p.
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  Data: *<searchLink fieldCode="DE" term="%22Automatic+control+systems%22">Automatic control systems</searchLink><br />*<searchLink fieldCode="DE" term="%22Strip+mining%22">Strip mining</searchLink><br />*<searchLink fieldCode="DE" term="%22Industrial+efficiency%22">Industrial efficiency</searchLink><br />*<searchLink fieldCode="DE" term="%22Excavating+machinery%22">Excavating machinery</searchLink><br />*<searchLink fieldCode="DE" term="%22LIDAR%22">LIDAR</searchLink><br />*<searchLink fieldCode="DE" term="%22Satellite+positioning%22">Satellite positioning</searchLink><br />*<searchLink fieldCode="DE" term="%22Three-dimensional+modeling%22">Three-dimensional modeling</searchLink><br />*<searchLink fieldCode="DE" term="%225G+networks%22">5G networks</searchLink>
– Name: Abstract
  Label: Abstract (English)
  Group: Ab
  Data: The continuous stripping process in open-pit mining has the characteristics of large scale, high production efficiency, and low transportation costs, and has played a key role in the open-pit mining process. Scientific control and management of mechanical equipment based on the actual geological conditions of open-pit mining sites can effectively improve the efficiency of stripping processes and other operations. In order to further improve the production efficiency of bucket wheel excavator and improve the automation degree of on-site production, the fully automatic control technology of bucket wheel excavator in open pit mine is developed based on 5G industrial Internet, satellite positioning and LiDAR technology. Construct a three-dimensional coordinate system for the stripping working face based on satellite positioning system, and complete the forward and inverse kinematics analysis of the wheel bucket excavator according to the D-H parameters (Denavit-Hartenberg parameters) of the multi-link series robot. By using a control strategy calculation program, the point cloud data collected by the LiDAR device on the stripping working face is fitted in 3D to complete the 3D modeling of the stripping working face. Based on the stripping process of the mining belt, an automatic mining control strategy is generated and sent to the PLC controller in the form of an instruction set to guide the wheel bucket continuous system to complete automatic operations, ultimately achieving the goal of fully automatic control of the wheel bucket excavator. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label: Abstract (Chinese)
  Group: Ab
  Data: 露天矿开采连续剥离工艺具有规模大、生产效率高、运输费用低等特点, 在露天矿开采过程中发挥了关键作用。根据露天采矿场实际地质条件做好机械设备的科学控制和管理, 可有效提高剥离工艺效率等各项作业。为进一步提高轮斗挖掘机的生产效率, 提高现场生产的自动化程度, 基于 5 G 工业互联网、卫星定位和 LiDAR 技术开发了露天矿轮斗挖掘机全自动控制技术。基于卫星定位系统构建剥采工作面的三维坐标系, 并根据多连杆串联机器人的 D - H 参数 (Denavit-Hartenberg 参数) 完成轮斗挖掘机的正运动学和逆运动学分析。通过控制策略计算程序对 LiDAR 装置所采集的剥采工作面的点云数据进行三维拟合, 完成剥采工作面的三维建模, 根据采掘带剥离工艺生成自动挖掘控制策略, 并以指令集的形式发送至 PLC 控制器, 指导轮斗连续系统完成自动作业, 最终达到轮斗挖掘机全自动控制的目的. [ABSTRACT FROM AUTHOR]
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RecordInfo BibRecord:
  BibEntity:
    Identifiers:
      – Type: doi
        Value: 10.13226/j.issn.1006-6772.LC24080501
    Languages:
      – Code: chi
        Text: Chinese
    PhysicalDescription:
      Pagination:
        PageCount: 6
        StartPage: 817
    Subjects:
      – SubjectFull: Automatic control systems
        Type: general
      – SubjectFull: Strip mining
        Type: general
      – SubjectFull: Industrial efficiency
        Type: general
      – SubjectFull: Excavating machinery
        Type: general
      – SubjectFull: LIDAR
        Type: general
      – SubjectFull: Satellite positioning
        Type: general
      – SubjectFull: Three-dimensional modeling
        Type: general
      – SubjectFull: 5G networks
        Type: general
    Titles:
      – TitleFull: 轮斗挖掘机全自动控制技术应用研究.
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            NameFull: 曹鋆程
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            NameFull: 刘鹏飞
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            NameFull: 房圆武
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            NameFull: 刘强
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            NameFull: 咸金龙
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            – D: 02
              M: 09
              Text: 2025 Supplement
              Type: published
              Y: 2025
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              Value: 31
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            – TitleFull: Clean Coal Technology
              Type: main
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