The overall design for unmanned transportation system in the mining area

At present, the research on unmanned mine trucks mainly focuses on specific control methods such as path tracking and aided decision-making for driving safety. The research is insufficient to support the unmanned operation of the whole mining area transportation system. To solve this problem, an overall design scheme for unmanned transportation system in the mining area is proposed. The system is divided into three layers of cloud control center, edge side and intelligent terminal. The system mainly comprises a mine truck automatic driving system, a mining area unmanned transportation cloud control dispatching platform, an unmanned transportation simulation system, a remote emergency takeover system, a health management system, a collaborative operation management system and a positioning/communication system. The automatic driving system of mine trucks has the function of intelligent management of a single vehicle. It realizes the functions of obstacle perception, intelligent decision-making, path planning, high-precision positioning and precise control. The cloud control dispatching platform is used for unified dispatching management. It realizes collaborative automatic loading and unloading of unmanned mine trucks, electric shovels and bulldozers. It also realizes collaborative mixed operation of unmanned mine trucks and various manned auxiliary operation vehicles. The unmanned transportation simulation system simulates different dispatching operation modes according to the real-time environment of the mine. It forms an optimal schedule scheme to guide actual production. The remote emergency takeover system realizes remote control of the unmanned mine truck in extremely dangerous scenarios. It ensures that the vehicle can be taken over urgently when the automatic driving system of the mine truck encounters a failure. The health management system realizes the functions of equipment self-inspection, fault diagnosis, maintenance result reporting and health state evaluation through the relevant sensors installed at the terminal of the unmanned mine truck. The collaborative operation management system assists the unmanned mine truck to complete the operation together under the condition of ensuring the safety of the driver and the vehicle. It is realized through the software and hardware systems installed on the manned mining equipments, engineering equipments and auxiliary production equipments. The positioning/communication system is the communication channel connecting the cloud control center and the intelligent terminal. It supports multiple communication modes such as 4G/5G/Mesh, and realizes V2N (vehicle-network), V2V (vehicle-vehicle) and V2I (vehicle-infrastructure) communication.