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End-to-end parallel autonomous mining systems and key technologies
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 3, Pages: 228-240(2019)
- 作者机构：
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
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.201929
CLC： TD57，TP27-
Published Online：2019-09，
Published：20 September 2019
- 稿件说明：
移动端阅览
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.
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. DOI： 10.11959/j.issn.2096-6652.201929.
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。
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.
关键词
Keywords
references
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