矿区无人运输系统总体设计

田臣; 丁震; 李镇江; 高玉; 艾云峰; 陈龙

doi:10.13272/j.issn.1671-251x.18000

矿区无人运输系统总体设计

doi: 10.13272/j.issn.1671-251x.18000

田臣^1,,
丁震¹,
李镇江²,
高玉²,
艾云峰²,
陈龙²

1.
国家能源集团煤炭运输部, 北京　100013
2.
北京慧拓无限科技有限公司, 北京　100083

详细信息

作者简介:
田臣（1979—），男，内蒙古乌兰察布人，教授级高级工程师，主要从事煤矿开采、露天矿山无人驾驶、煤矿智能化等技术研究及管理工作，E-mail:10018117@ceic.com

中图分类号: TD67
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出版历程
- 收稿日期: 2022-08-08
- 修回日期: 2022-09-15
- 网络出版日期: 2022-09-22

The overall design for unmanned transportation system in the mining area

1.
Coal Transportation Department, CHN Energy, Beijing 100013, China
2.
Beijing Huituo Infinite Technology Co., Ltd., Beijing 100083, China

摘要

摘要: 目前针对无人驾驶矿用卡车的研究多集中在路径跟踪、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的无人化运营。针对该问题，提出了一种矿区无人运输系统总体设计方案。该系统分为云控中心、边缘侧、智能终端3层，主要包括矿用卡车自动驾驶系统、矿区无人运输云控调度平台、无人运输仿真系统、远程应急接管系统、健康管理系统、协同作业管理系统和定位/通信系统。矿用卡车自动驾驶系统具备单车智能管理功能，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。云控调度平台用于统一调度管理，实现无人驾驶矿用卡车与电铲、推土机等的协同自动装载和卸载及无人驾驶矿用卡车与各类有人驾驶辅助作业车辆的协同混编作业。无人运输仿真系统根据矿山实时环境模拟不同调度运行方式，形成最优调度方案指导实际生产。远程应急接管系统可实现极端危险场景下无人驾驶矿用卡车的远程控制，确保在矿用卡车自动驾驶系统遇到故障时能够紧急接管车辆。健康管理系统通过安装在无人驾驶矿用卡车终端的相关传感器实现设备自检、故障诊断、检修结果上报、健康状态评估等功能。协同作业管理系统通过安装在有人采掘设备、工程设备、辅助生产设备上的软硬件系统，在保证人车安全的情况下协助无人驾驶矿用卡车共同完成作业。定位/通信系统实现云控中心与智能终端的通信连接，支持4G/5G/Mesh等多种通信方式，可实现V2N（车−网络）、V2V（车−车）和V2I（车−基础设施）通信。
- 露天矿山 /
- 智能化 /
- 无人运输 /
- 无人驾驶矿用卡车 /
- 云控中心 /
- 边缘侧 /
- 智能终端
Abstract: At present, the research on unmanned mine trucks mainly focuses on specific control methods such as path tracking and aided decision-making for driving safety. The research is insufficient to support the unmanned operation of the whole mining area transportation system. To solve this problem, an overall design scheme for unmanned transportation system in the mining area is proposed. The system is divided into three layers of cloud control center, edge side and intelligent terminal. The system mainly comprises a mine truck automatic driving system, a mining area unmanned transportation cloud control dispatching platform, an unmanned transportation simulation system, a remote emergency takeover system, a health management system, a collaborative operation management system and a positioning/communication system. The automatic driving system of mine trucks has the function of intelligent management of a single vehicle. It realizes the functions of obstacle perception, intelligent decision-making, path planning, high-precision positioning and precise control. The cloud control dispatching platform is used for unified dispatching management. It realizes collaborative automatic loading and unloading of unmanned mine trucks, electric shovels and bulldozers. It also realizes collaborative mixed operation of unmanned mine trucks and various manned auxiliary operation vehicles. The unmanned transportation simulation system simulates different dispatching operation modes according to the real-time environment of the mine. It forms an optimal schedule scheme to guide actual production. The remote emergency takeover system realizes remote control of the unmanned mine truck in extremely dangerous scenarios. It ensures that the vehicle can be taken over urgently when the automatic driving system of the mine truck encounters a failure. The health management system realizes the functions of equipment self-inspection, fault diagnosis, maintenance result reporting and health state evaluation through the relevant sensors installed at the terminal of the unmanned mine truck. The collaborative operation management system assists the unmanned mine truck to complete the operation together under the condition of ensuring the safety of the driver and the vehicle. It is realized through the software and hardware systems installed on the manned mining equipments, engineering equipments and auxiliary production equipments. The positioning/communication system is the communication channel connecting the cloud control center and the intelligent terminal. It supports multiple communication modes such as 4G/5G/Mesh, and realizes V2N (vehicle-network), V2V (vehicle-vehicle) and V2I (vehicle-infrastructure) communication.
- open-pit mine /
- intelligence /
- unmanned transportation /
- unmanned mine truck /
- cloud control center /
- edge side /
- intelligent terminal
注释:

1) 【编者按】无人驾驶运输技术作为煤矿智能化建设的关键部分，对于实现煤矿智能化运行、提升煤矿安全生产水平、保障煤炭稳定供应具有重要意义。近年来，随着人工智能、工业物联网、大数据等技术和煤矿智能化开采的深度融合，我国煤矿无人驾驶运输技术取得了一系列研究成果。为加快推动煤矿无人驾驶运输技术发展，《工矿自动化》于2022年第9期策划出版“煤矿无人驾驶运输技术”专栏。特别感谢国家能源集团煤炭运输部高级主管丁震对专栏组稿工作的大力支持！衷心感谢各位专家学者在百忙之中为本专栏撰稿！

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图 1 矿区无人运输系统架构

Figure 1. Architecture of unmanned transportation system in mining area

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图 2 矿卡自动驾驶系统

Figure 2. Autonomous driving system for mining truck

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图 3 无人驾驶车载控制系统

Figure 3. Vehicle control system for Autonomous driving

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图 4 云控调度平台架构

Figure 4. Architecture of cloud control scheduling platform

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图 5 无人运输仿真系统架构

Figure 5. Architecture of unmanned transportation simulation system

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图 6 协同作业管理系统架构

Figure 6. Architecture of collaborative operation management system

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