连掘工作面梭车无人驾驶平台的研究与应用

Research and application of unmanned driving platform of shuttle truck for continuous excavation working face

针对锦界煤矿井下连掘工作面梭车不便于监管、驾驶劳动强度大、运输效率较低等问题,搭建连掘工作面梭车无人驾驶平台,通过在视觉相机、毫米波雷达、激光雷达、惯导IMU等传感器采集数据,建立车辆运行环境的SLAM,同时,智能摄像头能识别车道线和道路边沿信息,获得车辆的预期行驶边界,再结合惯性测量单元获取车辆姿态信息,进而规划出全局路径地图,使连掘工作面梭车沿着预设轨迹正常行驶,实现无人驾驶,进而提升连掘工作面整体运行效率,保障现场人身安全。

In order to solve the problems of inconvenient supervision,high driving labor intensity,and low transportation efficiency of shuttle truck for continuous excavation working face in Jinjie Coal Mine,an unmanned driving platform for shuttle truck in continuous excavation working face was built.By collecting data from sensors such as visual cameras,millimeter wave radar,laser radar,and inertial IMU,SLAM of the vehicle operating environment was established.Through recognizing lane lines and road edge information by intelligent cameras,the expected driving boundary of the vehicle was obtained.Combined with inertial measurement units to obtain vehicle posture information,a global path map was planned to enable shuttle trucks in continuous excavation working faces to travel normally along preset trajectories,which achieved unmanned driving,improved the overall operating efficiency of the continuous excavation working face,and ensured personal safety on site.