露天矿山运输无人驾驶系统综述
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摘要
针对矿山运输作业具有计划性、组织性、封闭性的突出特点,提出了矿山运输无人驾驶系统的作业组织模型以及外部接口,梳理了系统设计需重点考虑的问题。在此基础上提出了矿山运输无人驾驶系统由地面管理与监控系统、车载自动驾驶系统和数据通信系统3个子系统组成的系统架构,分析了该系统构架下各子系统应具备的功能,并概要描述了矿山运输无人驾驶系统的作业场景。露天矿山运输无人驾驶系统的研究成果可向具有同类特点的其他领域推广。
Referring to the particular features of mine transportation operation,which was being scheduled,organized and closed,put forward the operation organization model and external interface of autonomous mine haulage system,and the key points in the system design was sorted out.On this basis,the system architecture of autonomous open-pit mine haulage system was proposed as being composed of ground management and monitoring subsystem,vehicle mounted automatic driving subsystem and data communication subsystem,and the function requirements for each subsystem under the architecture were allocated.The operation scenarios of the autonomous mining haulage system were illuminated.The extension of the basic ideas and system architecture of the autonomous open-pit mine haulage system to the similar application field was also prospected.
Referring to the particular features of mine transportation operation,which was being scheduled,organized and closed,put forward the operation organization model and external interface of autonomous mine haulage system,and the key points in the system design was sorted out.On this basis,the system architecture of autonomous open-pit mine haulage system was proposed as being composed of ground management and monitoring subsystem,vehicle mounted automatic driving subsystem and data communication subsystem,and the function requirements for each subsystem under the architecture were allocated.The operation scenarios of the autonomous mining haulage system were illuminated.The extension of the basic ideas and system architecture of the autonomous open-pit mine haulage system to the similar application field was also prospected.
引文
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[2]NEBOT E M.Surface mining:main research issues for autonomous operations[M].Berlin:Springer,2007:268-280.
[3]闫卫东,孙春强,徐曙光,等.2018年全球矿业展望[J].中国矿业,2018,27(1):9-14.
[4]路向阳,李东林,李雷,等.智慧城轨下智慧车辆装备技术的研究与展望[J].机车电传动,2018(6):1-8.
[5]SAE International.Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Rode Motor Vehicles[S].https://www.sae.org/standards/content/j3016 201806/preview.
[6]UHLEMANN E.Active safety vehicles evolving toward automated driving[Connected Vehicles][J].IEEE Vehicular Technology Magazine,2015,10(4):20-23.
[7]LIU C,JIANG J G,ZHOU Z Z.Unmanned working face remote monitoring system based on B/S architecture[C]//IEEE.20185th International Conference on Information Science and Control Engineering(ICISCE).Zhengzhou:IEEE,2018:597-601.
[8]曹银平.车端感知云端管控--慧拓智能发布“第三代平行驾驶系统”[J].自动化博览,2018(4):18-19.
[9]王肖.复杂环境下智能车辆动态目标三维感知方法研究[D].北京:清华大学,2017.
[10]WU B C,WAN A,YUE X Y,et al.Squeezeseg:Convolutional neural nets with recurrent CRF for real-time road-object segmentation from 3d lidar point cloud[C]//IEEE.2018 IEEEInternational Conference on Robotics and Automation(ICRA).Brisbane:IEEE,2018:1887-1893.
[11]刘志峰,王建强,李克强.具有鲁棒特性的车载雷达有效目标确定方法[J].清华大学学报(自然科学版),2008,48(5):875-878.
[12]ZHU H,YUEN K V,MIHAYLOVA L,et al.Overview of environment perception for intelligent vehicles[J].IEEETransactions on Intelligent Transportation Systems,2017,18(10):2584-2601.
[13]FAOUZI N E,LEUNG H,KURIAN A.Data fusion in intelligent transportation systems:Progress and challenges-A survey[J].Information Fusion,2011,12(1):4-10.
[14]BRUNDRETT Scott.Industry analysis of autonomous mine haul truck commercialization[D].Vancouver:Simon Fraser University,2014.