露天矿无人驾驶运输标准研究制定

Research and development of unmanned transportation standards for open-pit mines

  • 摘要: 露天矿无人驾驶运输系统建设,是减少作业人员、避免或减少事故发生、提高生产效率和设备利用率的有效措施。因此,需针对露天矿无人驾驶运输安全生产需求,提出露天矿无人驾驶运输技术要求,规范露天矿无人驾驶运输。① 提出了无人驾驶卡车要求:应具有自动驾驶功能,根据调度管理平台的指令完成作业;应具有周围环境感知功能,感知可能影响车辆运行的物体,并预测该物体的轨迹;应具有组合导航定位功能;应具有自动避障功能,针对不同类型障碍物自动避障;应具有与其他设备通信功能;应具有无人驾驶卡车运行状态和故障信息存储功能;应具有安全监测与管理功能;应具有远程驾驶功能,支持一控多车;应具有车道线、交通标志、护栏等信息的高精地图,满足无人驾驶感知、定位、规划、决策与控制等需求;应能在矿区粉尘、雨、雪、雾、剧烈震动、极端温度等恶劣环境中工作等。② 提出了作业任务处理和执行、环境感知、规划决策、定位导航、车辆控制、安全停车、紧急停车、车联网(V2X)、安全监测、数据存储、空中下载(OTA)升级等车载控制系统功能要求。③ 提出了驱动、转向、制动、举升、状态监控和行车警示等线控系统要求。④ 提出了运营环境、剥离区场地、排土场场地、巡航道路、停车场场地、加油区场地等无人驾驶作业环境要求。⑤ 提出了无人驾驶卡车智能化增量部件、仪表灯光电气、转向系统、动力系统、举升系统、车体部件等点检要求。

     

    Abstract: The construction of autonomous transportation systems in open-pit mines is an effective measure to reduce on-site personnel, avoid or reduce accidents, and improve production efficiency and equipment utilization. Therefore, in response to the safe production requirements of autonomous transportation in open-pit mines, technical requirements were proposed to regulate such transportation. ① Requirements for autonomous trucks were proposed. The trucks should have autonomous driving capability and be able to complete operations according to instructions from the dispatching management platform. They should have environmental perception capability to detect objects that may affect vehicle operation and predict their trajectories. They should have integrated navigation and positioning capability. They should have obstacle avoidance capability and automatically avoid different types of obstacles. They should have the capability to communicate with other equipment. They should have functions for storing operating status and fault information of autonomous trucks. They should have safety monitoring and management functions. They should have remote driving capability to support one operator controlling multiple vehicles. They should have high-precision maps containing lane lines, traffic signs, guardrails, and other information to meet the requirements of perception, positioning, planning, decision-making, and control for autonomous driving. They should also be able to operate in harsh mining environments such as dust, rain, snow, fog, severe vibration and extreme temperatures. ② Functional requirements of the onboard control system were proposed, including operation task processing and execution, environmental perception, planning and decision-making, positioning and navigation, vehicle control, safe parking, emergency parking, Vehicle to Everything (V2X), safety monitoring, data storage, and Over-the-Air (OTA) upgrade. ③ Requirements for drive-by-wire systems were proposed, including drive, steering, braking, lifting, status monitoring, and driving warning systems. ④ Requirements for autonomous operating environments were proposed, including the operating environment, stripping areas, dump sites, haul roads, parking areas, and refueling area sites. ⑤ Inspection requirements were proposed for intelligent incremental components of autonomous trucks, instruments, lighting and electrical systems, steering systems, power systems, lifting systems, and vehicle body components.

     

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