露天矿大吨位自卸车的无人驾驶系统

Unmanned Driving System for Large Tonnage Dump Trucks in Open-Pit Mines

在无人驾驶技术的不断发展下,有效应用露天矿大吨位自卸车的运输,可降低恶劣环境对煤炭运输的影响,进一步提高大吨位自卸车运输作业的安全性,降低人力成本。但部分矿企缺乏无人驾驶技术的应用经验,不能有效发挥无人驾驶系统的价值。为此,基于对露天矿山运输现状的了解,首先,提出自卸车无人运输系统的架构;然后,分析无人驾驶系统中的高精定位技术、智能调度技术、路径规划技术、融合感知技术、智能决策技术、自主控制技术、车地通信技术,不断完善无人驾驶系统;最后,经仿真试验、封闭场地试验与实际运输试验,可证明大吨位自卸车无人驾驶系统具有良好的应用效果。

With the continuous development of autonomous driving technology,the effective application of large tonnage dump trucks in open-pit mining transportation can reduce the impact of harsh environments on coal transportation,further improve the safety of large tonnage dump truck transportation operations,and reduce labor costs.However,some mining companies lack experience in the application of autonomous driving technology and cannot effectively leverage the value of autonomous driving systems.Based on the understanding of the current transportation situation in open-pit mines,firstly,the architecture of an unmanned dump truck transportation system is proposed.Then,analyze the high-precision positioning technology,intelligent scheduling technology,path planning technology,fusion perception technology,intelligent decision-making technology,autonomous control technology,and vehicle ground communication technology in unmanned driving systems,and continuously improve the unmanned driving system.Finally,through simulation tests,closed field tests,and actual transportation tests,it can be proven that the unmanned driving system of large tonnage dump trucks has good application effects.