端对端平行无人矿山系统及其关键技术

doi:10.11959/j.issn.2096-6652.201929

智能科学与技术学报 ›› 2019, Vol. 1 ›› Issue (3): 228-240.doi: 10.11959/j.issn.2096-6652.201929

端对端平行无人矿山系统及其关键技术

杨超¹,高玉²,艾云峰^2,³(),田滨^2,⁴,陈龙^2,⁵,王健^2,⁶,王飞跃⁴

¹ 江苏徐工工程机械研究院有限公司，江苏徐州 221004
² 青岛慧拓智能机器有限公司，山东青岛 266109
³ 中国科学院大学，北京 100049
⁴ 中国科学院自动化研究所复杂系统管理与控制国家重点实验室，北京100190
⁵ 中山大学数据科学与计算机学院，广东广州 510006
⁶ 吉林大学计算机科学与技术学院，吉林长春 130012

修回日期:2019-08-12 出版日期:2019-09-20 发布日期:2019-12-17
作者简介:杨超（1983? ），男，博士，江苏徐工工程机械研究院有限公司高级工程师，主要研究方向为工程机械智能控制。|高玉（1990? ），男，博士，就职于青岛慧拓智能机器有限公司，主要研究方向为无人智能矿山、非公路车辆建模与仿真、无人驾驶规划与控制。|艾云峰（1979? ），男，博士，中国科学院大学副教授，主要研究方向为平行视觉、机器学习、无人车控制。|田滨（1986? ），男，博士，中国科学院自动化研究所复杂系统管理与控制国家重点实验室副研究员，主要研究方向为模式识别、平行驾驶、平行感知。|陈龙（1985? ），男，博士，中山大学数据科学与计算机学院副教授，主要研究方向为机器学习、平行理论、平行感知。|王健（1981? ），男，博士，吉林大学计算机科学与技术学院教授，主要研究方向为车联网、无线通信、平行理论。|王飞跃（1961? ），男，博士，中国科学院自动化研究所复杂系统管理与控制国家重点实验室主任，主要研究方向为复杂系统、智能控制、社会计算、平行理论。
基金资助:
国家自然科学基金资助项目(61503380);广东省自然科学基金资助项目(2015A030310187);江苏徐工工程机械研究院有限公司基金资助项目(AJC2017001-A010)

End-to-end parallel autonomous mining systems and key technologies

Chao YANG¹,Yu GAO²,Yunfeng AI^2,³(),Bin TIAN^2,⁴,Long CHEN^2,⁵,Jian WANG^2,⁶,Fei-Yue WANG⁴

¹ Jiangsu XCMG Construction Machinery Research Institute Ltd.,Xuzhou 221004,China
² Vehicle Intelligence Pioneers Inc.,Qingdao 266109,China
³ University of Chinese Academy of Sciences,Beijing 100049,China
⁴ The State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China
⁵ School of Data and Computer Science,Sun Yat-sen University,Guangzhou 510006,China
⁶ College of Computer and Technology,Jilin University,Changchun 130012,China

Revised:2019-08-12 Online:2019-09-20 Published:2019-12-17
Supported by:
The National Natural Science Foundation of China(61503380);The Natural Science Foundation of Guangdong Province,China(2015A030310187);Jiangsu XCMG Construction Machinery Research Institute Ltd.(AJC2017001-A010)

摘要/Abstract

摘要：

针对矿山无人化的迫切需求与研究现状，提出了基于 ACP 方法的端对端平行无人矿山系统解决方案。首先分析了无人矿山运输系统的研究现状；设计了平行无人矿山的基本框架；提出了平行无人矿山运输系统的主要模块，包括：无人矿山管控中心、无人矿卡运输平台、半自主挖掘/铲运平台和远程接管平台4部分；并探讨了实现平行无人矿山系统的7个关键技术，即虚拟端平行矿山构建、矿山环境感知与定位、矿山设备的单机无人控制、多设备之间的协同作业、平行矿山管控、平行接管决策以及矿山网络通信。平行无人矿山系统的实施与部署将有效提高矿山企业运作效率及安全生产水平，推进绿色矿山建设，对实现可持续发展具有重要意义。

关键词: 平行无人矿山, 管控中心, 接管决策, 协同作业, 无人矿卡, 半自主挖掘/铲运

Abstract:

In view of the current research situation and the urgent demand for unmanned mines,the end-to-end parallel autonomous mining solution was proposed based on the ACP method in this paper.The research status of unmanned mining transportation system was analyzed.The basic framework of parallel autonomous mining was designed.The parallel autonomous mining are mainly composed of four parts:the management and control center for autonomous mining,the autonomous transportation platform of truck,the autonomous mining/shovel platform and the remote take-over platform.The 7 key technologies for realizing parallel autonomous mining system were discussed,namely,the virtual parallel mine construction,environment perception and localization,unmanned control for single equipment,collaborative work between multi-equipment,management and control for all the equipment,decision for parallel taking over,and mine network communication.The implementation and deployment of parallel autonomous mining systems will effectively improve the operational efficiency and the level of safe production of mining enterprises,and will promote the construction of green mines,which is of great significance for achieving sustainable development.

Key words: parallel autonomous mining, management and control center, take-over decision, collaborative work, autonomous truck, autonomous mining/shovel

中图分类号:

TD57，TP27

杨超, 高玉, 艾云峰, 等. 端对端平行无人矿山系统及其关键技术[J]. 智能科学与技术学报, 2019, 1(3): 228-240.

Chao YANG, Yu GAO, Yunfeng AI, et al. End-to-end parallel autonomous mining systems and key technologies[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(3): 228-240.

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端对端平行无人矿山系统及其关键技术

End-to-end parallel autonomous mining systems and key technologies

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