露天矿山无人驾驶技术及系统架构研究.pdf
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煤炭工程
第 5 4 卷第 1 期 COAL ENGINEERING Vol. 54, No. 1
doi: 10. 11799/ce202201006
露天矿山无人驾驶技术及系统架构研究
付恩三刘光伟2,邸帅 -王新会 -张倩 -王亮S王迪
(1.应急管理部信息研究院 ,北京100029 ; 2.辽宁工程技术大学矿业学院 ,辽宁阜新123000;
3 .锡林郭勒盟蒙东矿业有限责任公司 ,内蒙古锡林浩特026000;
4.本溪钢铁(集团)矿业有限责任公司歪头山铁矿 ,辽宁本溪117006)
摘 要 :结合我国露天矿山无人驾驶卡车系统开发及应用现状 ,梳理了露天矿山无人驾驶场
景 、技术及系统架构 。分析了露天矿山协同作业场景 ,包括3种道路形态及6种露天矿设备协同作
业场景 。总结了无人驾驶定位 、感知及路径模型算法技术及无人驾驶系统平台架构和作业流程 。无
人驾驶系统的开发建设投入应用 ,是大型露天矿山实现智能化的一个重要组成部分 。
关键词 :露天矿 ;无人驾驶系统 ;道路形态 ;协同作业场景 ;智能化矿山
中图分类号 :TD712+.6 文献标识码 :A 文章编号 :1671-0959(2022)01-0034-06
Unmanned driving technology and system architecture in open-pi mines
FU En-san1,2, LIU Guang-wei2, DI Shuai1, WANG Xin-hui1, ZHANG Qian1 , WANG Liang3, WANG Di4
(1. Information Institute of the Ministr of Emergenc Management of the PRC, Beijing 100029, China;
2. Liaoning Technical University, Mining Institute, Liaoning, Fuxin 123000, China;
3. Xilin Gol Mengdong Mining Co. , Ltd. , Xilin Hot 026000, China;
4. Waitoushan Iron Mine, Benxi Iron and Steel ( Group) Mining Co. , Ltd. , Benxi 117006, China)
Abstrac : Combining with the development and application status of unmanned truck systems in open-pit mines in China, the
unmanned driving scenarios, technologies and system architecture in open - pit mines are sorted out. The open - pit mine
collaborative operation scenarios are introduced, including 3 road forms and 6 equipment collaborative operation scenarios ; the
unmanned driving positioning, perception and path model algorithm technolog , the unmanned driving system platform
architecture and operation process are summarized. The development and construction of the unmanned driving
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