摘要
近几年新兴企业与科技发展迅猛,无人驾驶技术正广泛应用在露天煤矿领域。露天开采是以剥采为核心、搬运为纽带的大型生产企业,设备使用率与生产组织水平一定程度上决定了企业效益。新一代无人驾驶技术包含无线通信技术、高精度定位技术、智能车载终端装备以及线性规划理论。智慧矿山无人驾驶技术需要进一步提升精确定位技术、物料危险源感知技术、多方无线通信技术以及协同作业技术发展趋势。分析了国内外露天矿无人驾驶技术现状,详细介绍了露天矿无人驾驶矿车关键技术,包括毫米波与激光雷达、红外超声波技术以及视觉感知、4D光场景感知分析等技术的优缺点,以多传感器高度融合车辆全天候环境感知作发展方向,通过对比惯性导航、GNSS差分感知、车联网定位、电子地图与视觉传感器融合,结合露天矿开采自身局限性,提出露天矿无人驾驶方案与矿山标准化工作流程有机结合,最终实现矿区运输矿车无人驾驶。目前,国内无人驾驶技术研究主要停留在路径跟踪、安全通行、辅助决策等具体控制方法上,不足以支撑整个矿区运输系统常态化运行。针对该问题,提出了一套工程技术解决方案,包括云控中心、边缘侧、智能终端3个方面,具体包括:车辆无人驾驶、云控调度平台、无人运输仿真、远程应急接管系统、健康管理、协同作业管理与定位通信。露天矿无人驾驶卡车可实现障碍物感知、智能决策、路径规划、高精定位、精准控制等功能。
In recent years,emerging enterprises and technology have developed rapidly,and unmanned driving technology is widely used in various open-pit coal mining fields.Open-pit mining is a large-scale production enterprise with stripping as the core and transportation as the link.The utilization rate of equipment and the level of production organization to a certain extent determine the efficiency of the enterprise.The new generation of unmanned driving technology includes wireless communication technology,high-precision positioning technology,intelligent vehicle terminal equipment,and linear programming theory.Intelligent mine unmanned driving technology is necessary to further improve the development trend of precise positioning technology,material hazard perception technology,multi-party wireless communication technology,and collaborative operation technology.The current status of unmanned driving technology in open-pit mines at home and abroad was analyzed,a detailed introduction to the key technologies of unmanned mining vehicles in open-pit mines was provided,including the advantages and disadvantages of millimeter wave and LiDAR,infrared ultrasonic technology,visual perception,4D optical scene perception analysis,and other technologies.The development direction was to highly integrate multiple sensors into vehicle all-weather environmental perception.By comparing inertial navigation,GNSS differential perception,vehicle networking positioning,electronic map and visual sensor fusion,and considering the limitations of open-pit mining,an unmanned driving plan for open-pit mining was proposed to be organically combined with the standardized workflow of the mine,ultimately achieving unmanned driving of mining vehicles for transportation in the mining area.At present,research on unmanned driving technology in China mainly focuses on specific control methods such as path tracking,safe passage,and auxiliary decision-making,which are insufficient to support the normalized operation of the entire mining area transportation
作者
王伯君
WANG Bojun(CCTEG Intelligent Storage Technology Co.,Ltd.,Beijing 100013,China)
出处
《煤炭科技》
2024年第5期24-31,共8页
Coal Science & Technology Magazine
