Research on the Framework and Application of Intelligent Dispatching System for Underground Unmanned Truck
Received date: 2022-08-24
Revised date: 2022-10-11
Online published: 2023-03-27
JKQ-25 mining trucks are used for ore transfer at 1 000 m level in Jinchuan No.2 Mining Area.There are a lot of noise，dust and tail gas during the operation，which seriously affects the occupational health of drivers.At present，the research on remote control driving and automatic driving technology of mining truck has been started，and unmanned driving of mining truck will gradually be the leading role in the later productive process.Therefore，the supporting intelligent scheduling system is needed to realize the supervision and dispat-ching of its productive process.The framework and application research of the intelligent scheduling system for unmanned mine truck is the industrial practice based on this situation.The system functions and working principles of SLAM based underground positioning technology，5G information transmission and com-munication technology，interaction technique and underground traffic dispatching algorithm were introduced in this paper.The preliminary collection of environmental data of underground equipment was realized by laser radar，and the data obtained by wheel speed sensor and IMU were used to correct the environmental data and preliminarily processed.Then，the preliminary analysis and processing of these data were carried out.Through the optical fiber networking and 5G wireless communication devices arranged on the surface and underground，the map information and its relative position information built by the unmanned vehicle based on the on-board laser radar SLAM technology were uploaded.The background of the dispatching system analyzes and processes the uploaded information of the vehicle through the integration of electronic fence technology and scheduling service，and issues reasonable traffic control decisions，so that the vehicle can respond to different traffic events and perform corresponding actions.The working principle and implementation logic of the underground traffic scheduling algorithm were introduced in detail.The electronic fence area with special position information was defined.The technical route of the single lane passing algorithm and the intersection algorithm，and the traffic control decision logic of the approximation method were introduced.The results show that when dealing with traffic events such as avoidance，waiting and meeting，the system can timely issue correct and reasonable scheduling instructions to avoid safety accidents，and effectively alleviate the problems of low production efficiency caused by traffic jams，reversing and other events.
Yue SUN , Yun ZOU , Wenbao KANG , Liming WANG , Zhi JIA . Research on the Framework and Application of Intelligent Dispatching System for Underground Unmanned Truck[J]. Gold Science and Technology, 2023 , 31(1) : 133 -143 . DOI: 10.11872/j.issn.1005-2518.2023.01.106
| null | Bao Jiusheng， Zhang Muye， Ge Shirong，et al，2022.Underground driverless path planning of trackless rubber tyred vehicle based on improved A* and artificial potential field algorithm［J］.Journal of China Coal Society，47（3）：1347-1360. |
| null | Bi Lin， Wang Liming， Duan Changming，2021.Research situation and development of high-precision positioning technology for underground mine environment ［J］.Gold Science and Technology，29（1）：3-13. |
| null | Chen Xiangmeng， Wang Enbiao， Wang Gang，2020.Research on electric locomotive self-driving technology in coal mine［J］.Coal Science and Technology，48（Supp.2）：159-164. |
| null | Chen Xianzhong， Liu Rongjie， Zhang Sen，et al，2020.Development of millimeter wave radar imaging and SLAM in underground coal mine environment［J］.Journal of China Coal Society，45（6）：2182-2192. |
| null | Chen Zhongqiang，2014.Study on Key Technologies of Underground Metal Ore Intelligent Scheduling［D］.Changsha：Central South University. |
| null | Dragt B J，2006.Modeling and Control of an Autonomous Un‐derground Vehicle［D］.Pretoria：University of Pretoria. |
| null | Gao Feng，2011.Study on the Design Method of Coalmine Underground Auxiliaryt Ransportation System and Intelligent Scheduling［D］.Qingdao：Shandong University of Seience and Technology. |
| null | Hui Ying， Xie Yingkun，2022.Application and development tendency of dockless bicycle-sharing geofence［J］.Traffic and Transportation，38（2）：89-94. |
| null | Huo Zhenlong， Xiao Song， Meng Wei，et al，2022.R & D and demonstration application of key technologies and equipment of mine 5G wireless communication system［J］.Journal of Intelligent Mine，3（4）：55-60. |
| null | Li Chaojin，2021.Automatic management and control system of underground mine ramp transportation［J］.Railway Signalling and Communication Engineering，18（8）：39-42. |
| null | Li Fei， Dong Hui， Bu Shaocong，2021.Application of Beidou Positioning Technology in intelligent dispatching of conta-iner terminal［J］.Port Science and Technology，（12）：16-20. |
| null | Li Tao， Liu Xu， Deng Shuai，et al，2018.Survey on underground wireless positioning system［J］.Nonferrous Metals （Mining Section），70（5）：91-94. |
| null | Luo Weidong， Ma Baoquan， Meng Yu，et al，2020.Reactive navigation system of underground unmanned Load-Haul-Dump unit based on NMPC［J］.Journal of China Coal Society，45（4）：1536-1546． |
| null | Ren Zhuli，2020.Research on the Key Technology of Autonomous Positioning and Navigation of Underground Mine Stope Scraper［D］.Changsha：Central South University. |
| null | Thrun S，2008.Simultaneous localization and mapping robotics and cognitive approaches to spatial mapping［C］//Springer Tracts in Advanced Robotics.Berlin Heidelberg：Springer-Verlag，38：13-41.. |
| null | Wang Jinghua， Wang Liguan， Bi Lin，2021.Obstacle detection technology of mine electric locomotive driverless based on computer vision［J］.Gold Science and Technology，29（1）：136-146. |
| null | Wei Shuangfeng， Pang Fan， Liu Zhenbin，et al，2020.Survey of LiDAR-based SLAM algorithm［J］.Application Research of Computers，37（2）：327-332. |
| null | Wu Di，2019.Positioning Technology of LHD Based on Stereo Viusal Odometry［D］.Beijing：University of Science and Technology Beijing. |
| null | Wu Lihuo，2018.Deand implementation of vehicle avoidance system used for sloping ramp sign of Lilou iron mine［J］.Mining Machinery，46（11）：13-16. |
| null | Wu Zhiguang， Luan Guiyong， Chen Xuehui，2020.Design and application of remote control of underground scraper based on 5G technology［J］.Modern Mining，36（6）：147-148，212. |
| null | Xu Liang，2013.Based on IOT Intelligent Community Technology Application System［D］.Shanghai：Fudan University. |
| null | Xu Songhua，2007.Research on the Key Technology of Hazardous Materials Transport Monitor System［D］.Beijing：Beijing Jiaotong University. |
| null | Yin Guisheng，2013.Application on mine ramp trackless transportation signal control system［J］.Copper Engineering，（4）：55-57，85. |
| null | Zhang Sheji， Yang Weiwei，2021.Application of ramp transportation security control system in Jinfeng gold mine［J］.Gold，42（8）：56-60. |
| null | Zhang Yong， Zeng Guang， Deng Ao，et al，2021.Intelligent helmet system based on GPS+Beidou［J］.Information System，（9）：53-55. |
| null | Zhou Bin， Tang Lijun， Liu Shisen，2022.Design of path planning for underground vehicle based on genetic algorithm［J］.Coal Mine Machinery，43（1）：23-26. |
| null | 鲍久圣，张牧野，葛世荣，等，2022.基于改进A*和人工势场算法的无轨胶轮车井下无人驾驶路径规划［J］.煤炭学报，47（3）：1347-1360. |
| null | 毕林，王黎明，段长铭，2021.矿井环境高精定位技术研究现状与发展［J］.黄金科学技术，29（1）：3-13. |
| null | 陈先中，刘荣杰，张森，等，2020.煤矿地下毫米波雷达点云成像与环境地图导航研究进展［J］.煤炭学报，45（6）：2182-2192. |
| null | 陈相蒙，王恩标，王刚，2020.煤矿电机车无人驾驶技术研究［J］.煤炭科学技术，48（增2）：159-164. |
| null | 陈忠强，2014.地下金属矿智能调度关键技术研究［D］.长沙：中南大学. |
| null | 高峰，2011.煤矿井下辅助运输系统设计方法与智能调度研究［D］.青岛：山东科技大学. |
| null | 惠英，解英堃，2022.共享单车电子围栏应用现状及发展前景［J］.交通与运输，38（2）：89-94. |
| null | 霍振龙，肖松，孟玮，等，2022.矿井5G无线通信系统关键技术及装备研发与示范应用［J］.智能矿山，3（4）：55-60. |
| null | 李朝金，2021.地下矿斜坡道运输自动化管控系统研究［J］.铁路通信信号工程技术，18（8）：39-42. |
| null | 李飞，董辉，布少聪，2021.北斗定位技术在集装箱码头智能调度中的应用［J］.港口科技，（12）：16-20. |
| null | 李涛，刘旭，邓帅，等，2018.井下无线定位系统综述［J］.有色金属（矿山部分），70（5）：91-94. |
| null | 罗维东，马宝全，孟宇，等，2020.基于NMPC的地下无人铲运机反应式导航系统［J］.煤炭学报，45（4）：1536-1546. |
| null | 任助理，2020.地下矿采场铲运机自主定位与导航关键技术研究［D］.长沙：中南大学. |
| null | 王京华，王李管，毕林，2021.基于计算机视觉技术的矿井电机车无人驾驶障碍物检测技术［J］.黄金科学技术，29（1）：136-146. |
| null | 危双丰，庞帆，刘振彬，等，2020.基于激光雷达的同时定位与地图构建方法综述［J］.计算机应用研究，37（2）：327-332. |
| null | 吴荻，2019.基于立体视觉里程计的地下铲运机定位技术研究［D］.北京：北京科技大学. |
| null | 吴立活，2018.李楼铁矿斜坡道车辆避让系统设计与实施［J］.矿山机械，46（11）：13-16. |
| null | 吴智广，栾桂勇，陈学辉，2020.基于5G技术的井下铲运机远程控制设计与应用［J］.现代矿业，36（6）：147-148，212. |
| null | 徐亮，2013.基于物联网技术应用的智慧社区应用系统实现［D］.上海：复旦大学. |
| null | 许松华，2007.危险货物运输监控系统关键技术研究［D］.北京：北京交通大学. |
| null | 殷贵生，2013.矿井斜坡道无轨运输信号控制系统应用［J］.铜业工程，（4）：55-57，85. |
| null | 张社稷，杨巍巍，2021.斜坡道交通安全管控系统在锦丰金矿的应用［J］.黄金，42（8）：56-60. |
| null | 张勇，曾光，邓奡，等，2021.基于GPS+北斗的智能安全帽系统［J］.信息系统，（9）：53-55. |
| null | 周斌，唐丽均，刘世森，2022.基于遗传算法的井下车辆路径规划设计［J］.煤矿机械，43（1）：23-26. |
/
| 〈 |
|
〉 |