露天矿无人驾驶运输关键技术研究

Research on Key Technologies of Unmanned Transportation in Open-pit Mines

针对矿山道路变化快、地形复杂的问题,采用分层存储矿山地图的方法,提高了更新频率,降低地图更新的数据量;在路径规划模块中,为了解决矿车进入矿山网络覆盖盲区时无法连接网络的问题,采用GNSS数据与SLAM算法相结合的方式控制无人驾驶矿车,同时将摄像头、毫米波雷达与激光雷达多传感器融合,发挥各自优势以提高环境感知系统的整体性能;提出一种结合PID控制原理,基于预瞄的路径跟踪方法控制矿车;露天矿电铲智能引导技术和土场边缘检测技术适用于露天矿无人运输系统自动装载和卸载环节,能够实现智慧矿山无人化作业。

Aiming at the problems of fast change of mine roads and complex terrain,the method of hierarchical storage of mine maps is adopted to improve the update frequency and reduce the amount of map update data.In the path planning module,in order to solve the problem that the mine car cannot be connected to the network when it enters the blind area of the mine network coverage,the combination of GNSS data and SLAM algorithm is used to control the unmanned mine car.At the same time,the camera,millimeter wave radar and laser radar multi-sensor fusion,give full play to their respective advantages to improve the overall performance of the environmental perception system.A path tracking method based on preview combined with PID control principle is proposed to control the mine car.The shovel intelligent guidance technology and soil field edge detection technology of open-pit mine are suitable for the automatic loading and unloading link of unmanned transportation system in open-pit mine,which can realize the unmanned operation of intelligent mine.