(Research On Safety And Autonomous Navigation Of Underground Hydraulic Drill Rig)

Abstract:The job of underground Hydraulic Drill Rig is a kind of behavior mainly used for drilling in mining. The intelligent HDR is a highly intelligent drilling robot and has the capacity of identifying. It receive information via the wireless network and feedback information, walk independently, find the hole through self-positioning, complete drilling independently in the whole process. The intelligent HDR plays role in reducing labor intensity and production costs of underground workers, improving operational efficiency, and therefore it has a great practical significance to the related technology research. Research on the intelligent hydraulic drill rig start late in our country, achieving automated drilling will become an urgent problem, because of the environment factors when the HDR operating and competitive requirements. To solve this problem, this paper rely on a national project, named "863National High-tech Research Development plan", studying and discussing deeply through the research on the intelligent all-hydraulic drill rig in deep holes. The dissertation mainly focuses on four parts:1. Aim at the issues about the safety and autonomous navigation of underground hydraulic drill rig, to detailed analyze from four aspects, including features in the rig’s operating characteristics, the risk factors, the method and design of autonomous navigation, to provide support and foundation for the subsequent safety autonomous navigation of HDR.2. According to the analysis of underground hydraulic drill rig in this paper, designing safety and autonomous vehicle navigation system, including system hardware and software features. Among them, the problem of underground hydraulic drill rig is divided into autonomous positioning, environment modeling, path planning and obstacle safety avoidance module, focus on the structure and underground mine operations environment analyzing the specific implementation of each function, constructing the software modules of safety navigation system; This provide the basis and foundation for the next chapter of fuzzy control method applied into autonomous navigation of underground hydraulic drill rig.3. Describe the algorithm-Fuzzy Control Method and do some applied research on path tracking and obstacle avoidance safety. Through the use of fuzzy control technology-Mamdani Fuzzy Control Method, the numerical simulation and virtual simulation were carried out on the platforms of MATLAB, Simulink and LMS Virtual.Lab Motion to verify the proposed algorithms and technology.In this research, an advanced safety and autonomous navigation of underground hydraulic drill rig was developed and verified by simulation technology and experiment according to the study of fundamentals of the problem and related theories. The realization of the technology can promote the development of the expected advanced mining equipment in this national project. And the method can also be verified by further studying on field trials combined with the prototype of underground hydraulic drill rig.