A study on intelligent scooping control strategy of the LHD unit

A study on intelligent scooping control strategy for the so called LHD (Load-haul-dump) units used in underground mining is proposed in this paper. A scooping cycle of the LHD units was divided in to three phases, called insertion, scoop-up and ascend respectively, and the control strategy of each phase was suggested. The scoop-up was the key phase during a scooping cycle. In this phase, the concept of intellectual resistance minishing inserting and scooping was developed, and the intelligent scooping control strategy was established as moving the bucket follow it. The control strategies suggested here made the intelligent scooping possible.