With the deep exploration of large open-pit coal mines, the phenomenon of steep slopes and many bends has gradually increased. Moreover, the mine-used truck driving is difficult and there are hidden safety hazards. Therefore, a design scheme of unmanned driving system for open-pit coal mine trucks is proposed. The unmanned driving system includes a vehicular autonomous package, a vehicle-to-ground wireless data communication system and a ground management system. The driving system can realize the completely unmanned autonomous operation of ‘loading, transporting and unloading’ of mine-used trucks. In order to meet the demand of unstructured environment sensing in open-pit coal mines, a multi-source heterogeneous sensor fusion sensing algorithm for the unstructured environment of open-pit coal mines is proposed. According to the driving demand of mine-used trucks in different load qualities and different slopes, a longitudinal adaptive control algorithm considering the quality and slope is proposed to meet the requirements of longitudinal speed control and distance control under the working conditions of slope stop, slope start, fixed-point stop and shovel stop with different load qualities of mine-used trucks. According to the driving demand of large curvature steering and reversing in the mining area, the forward and backward lateral control methods based on variable parameter adaption are proposed to meet the requirements of lateral precise control of all complex roads in the mining area. The unmanned driving system has been tested in different environments such as muddy roads and night environments in the Harwusu Open-pit Coal Mine. The results show that the unmanned driving system has the ability to operate in the mining area, can track accurately, avoid obstacles and perform tasks autonomously. The ground control system can control the start and shutdown of unmanned mine-used trucks, and can remotely control and drive the mine-used trucks if necessary. The various functions of the system are stable and reliable. The development trend of unmanned driving systems in mines is pointed out. ① For vehicular system, it is necessary to build systematic and product-oriented thinking at first, select the corresponding hardware in the form of products, and improve the adaptability of the hardware in the mining area. The perception system should focus on improving the target recognition ability in the complex and heavy dust environment so as to improve the detection redundancy. The control system should focus on improving the response speed of the wire-controlled actuator so as to improve the accuracy of the load quality acquisition. The decision-making system should focus on the guiding safety at first, and further consider the guiding efficiency and improve the system operation efficiency. ② For the ground system, it should fully integrate the existing achievements of the previous stage of digital mine and be compatible with the current mining area scheduling management system. It should focus on the development of mixed running and multi-vehicle cooperative management system, which has the efficiency and energy-saving control indexes in multi-vehicle scheduling. It is proposed that the ‘cloud control’ technology should be developed vigorously, and V2X (Vehicle-to-Everything) and other advanced methods should be used to improve the cooperative safety of unmanned driving systems.
DownLoad: