Research&Development Of Mechanical Touching Terrain Detector For Gobi

The exploitation of mineral resource in Xinjiang region is almost implemented in Gobi. With the several-year exploitation of mineral resources such as uranium mine and petroleum, the soil pollution in these areas becomes serious. Currently, in measures for the treatment of such soil pollution, the sweep collection of the surface soil polluted is the necessary first step. To control the subsequent processing charges, while the pollutants are swept and collected, it is required to apply the terrain detector to make the real-time measurement on the elevation change of the terrain and meanwhile take advantage of this signal to control the cutting depth of the machine to realize the sweep collection of the polluted surface soil with the equal thickness. The particularity of the loose sand in Gobi and the high precision of the large-scale topographic survey demand higher technologies. It demands that the terrain detector should be fit for the loose sand of Gobi and equipped with higher precision of terrain measurement.Based on the analysis of problems in application of the existing touching and non-touching terrain detectors in Gobi, the paper proposes a design planning of mechanical touching detector. According to this planning, the paper conducts the research on the structural design, kinematical analysis and ground pressure control system so as to develop the mechanical touching terrain detector applicable for the loose sand of Gobi.The paper firstly analyzes the measurement principle of milling machine terrain detector with the style of sliding shoes. Also, it makes the experimental test on the precision control of the milling cutting depth. Through the experiment, it analyzes the constitutive relation of top soil layer of the loose sand of Gobi. On this basis, it puts forward the mechanical touching detector planning to strive to remain the constant so as to prevent the sinking through control the ground pressure of depth wheel. It applies the lagrange equation to build the kinematic model of the depth wheel system. Besides, according to the characteristics of the surface fluctuation of Gobi, it uses ADAMS software to do the simulated analysis, getting the kinetic characteristics of screw nut in system including the kinematic velocity and accelerated speed. Based on this, it designs the ball screw, driving motor and other key parts of the detector. By deducing the transfer function of the ground pressure control system of the detector, the mathematical model is set. Next, on this basis, it designs the PID controller of BP neural network and implements the simulated analysis and verification on its control effect so as to make the design and type-selection on hardware and software of the control system. Finally, it develops the mechanical touching terrain detector for Gobi. It utilizes the detector running experiment table and Gobi polluted soil milling sweep collection machine to carry out the relevant experimental test. Also, depending on the test data, it uses ANFIS to do the predictive analysis on the milling&cutting depth precision under different ground pressures of the detector. The test result shows that the performance of the mechanical touching terrain detector for Gobi developed meets the expected requirements of the design. It can satisfy the demand of Gobi detection.