矿井车辆无人驾驶关键技术研究

孙继平; 江嬴

doi:10.13272/j.issn.1671-251x.17947

矿井车辆无人驾驶关键技术研究

孙继平,
江嬴

中国矿业大学(北京) 机电与信息工程学院, 北京　100083

基金项目: 国家重点研发计划资助项目（2016YFC0801800）。

详细信息

作者简介:
孙继平（1958—），男，山西翼城人，教授，博士，博士研究生导师，中国矿业大学（北京）信息工程研究所所长，原副校长；获国家科技进步奖和技术发明奖二等奖4项（第1完成人3项）；作为第1完成人获省部级科技进步特等奖和一等奖8项；作为第１完成人主持制定中华人民共和国煤炭行业、安全生产行业和能源行业标准38项；作为第１发明人获国家授权发明专利100余件；主持制定《煤矿安全规程》第十一章“监控与通信”；作为第1作者或独立完成著作12部；被SCI和EI检索的第1作者或独立完成论文90余篇；作为国务院煤矿事故调查专家组组长参加了10起煤矿特别重大事故调查工作；E-mail:sjp@cumtb.edu.cn

中图分类号: TD67
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出版历程
- 收稿日期: 2022-05-16
- 修回日期: 2022-05-17
- 网络出版日期: 2022-05-18
- 刊出日期: 2022-05-26

Research on key technologies of mine unmanned vehicle

School of Mechanical Electronic and Information Engineering, China University of Mining and Technology-Beijing, Beijing 100083, China

摘要

摘要: 矿井车辆无人驾驶是减少煤矿井下作业人员，建设安全、高效、绿色、智能化矿井的需要。总结了矿井车辆无人驾驶特点：煤矿井下作业人员位置全面感知、矿井车辆全部受控、矿井轨道运输设备只需一维定位、光照条件差、无线传输衰减大、无卫星信号、电磁环境复杂、电气防爆、环境潮湿、有淋水和粉尘。分析了煤矿井下超声波定位、激光定位、无线电定位（包括RFID，ZigBee，UWB，WiFi6，5G）、惯性导航、即时定位与地图构建（SLAM）、里程计等矿井车辆定位技术特点，提出了以UWB为主，惯性导航、里程计和SLAM为辅的矿井车辆联合定位方法。分析了激光雷达、毫米波雷达、红外摄像机、可见光摄像机、可见光双目视觉相机等矿井无人驾驶车辆障碍物识别与测距技术特点，提出了以激光雷达为主，毫米波雷达、红外摄像机、可见光摄像机、可见光双目视觉相机、超声波雷达为辅的矿井无人驾驶车辆障碍物识别和测距多信息融合方法。针对矿井无人驾驶车辆在遇到路况复杂，自动驾驶不能决策时，需自动转入地面远程控制模式的情况，指出基于5G无线通信系统的矿井车辆无人驾驶地面远程控制技术是首选方案，但矿用5G无线通信系统存在无线覆盖半径小、成本高等问题，可研究WiFi7在矿井车辆地面远程控制中的应用。
- 矿井车辆 /
- 车辆无人驾驶 /
- 车辆定位 /
- 障碍物识别 /
- 障碍物测距 /
- 地面远程控制 /
- 无线通信 /
- 5G通信
Abstract: Mine unmanned vehicles are needed to reduce the number of coal mine underground operating personnel and to build safe, efficient, green and intelligent mines. The characteristics of mine unmanned vehicles are summarized as following points. The positions of underground operating personnel in coal mine are comprehensively identified. All mine vehicles are controlled. Mine track transportation equipment only needs one-dimensional positioning. The lighting condition is poor. The wireless transmission attenuation is large. There is no satellite signal. The electromagnetic environment is complex. The characteristics also include electrical explosion-proof, humid environment and water spray and dust. This paper analyzes the technical characteristics of mine vehicle positioning, such as ultrasonic positioning, laser position, radio positioning(including RFID, ZigBee, UWB, WiFi6, 5G), inertial navigation, simultaneous localization and mapping(SLAM), odometer and so on. This study puts forward a joint positioning method of mine vehicle, which is based on UWB and supplemented by inertial navigation, odometer and SLAM. This paper analyzes the technical characteristics of obstacle identification and distance measurement of mine unmanned vehicle, such as laser radar, millimeter wave radar, infrared camera, visible light camera, visible light binocular vision camera and so on. This study puts forward a multi-information fusion method of obstacle identification and distance measurement of mine unmanned vehicle. The method is mainly based on laser radar, supplemented by millimeter wave radar, infrared camera, visible light camera, visible light binocular vision camera and ultrasonic radar. When the road condition is complex and the automatic driving can not make decisions, the mine unmanned vehicle needs to automatically switch to the ground remote control mode. In view of the above situation, it is pointed out that the mine unmanned vehicle ground remote control technology based on 5G is the preferred scheme. However, the mine 5G wireless communication system has the problems of small wireless coverage radius and high cost. Therefore, it is suggested to study the application of WiFi7 in the mine vehicle ground remote control.
- mine vehicle /
- unmanned vehicle /
- vehicle positioning /
- obstacle identification /
- obstacle distance measurement /
- ground remote control /
- wireless communication /
- 5G communication

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参考文献(13)

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