矿用无人卡车国内外研究现状及关键技术

分析了国内外露天矿山用卡车无人驾驶技术发展现状,详细介绍了露天矿山卡车无人驾驶关键技术;通过分析对比前装线控和后装线控两种技术路线的优缺点以及超声波雷达、毫米波雷达、激光雷达、4D光场智能感知系统、红外传感器、视觉传感器等环境感知技术的优缺点;提出多传感器高度融合将是露天矿山卡车实现全天候环境感知的发展方向。通过分析对比惯性导航系统、GNSS差分定位技术、车联网定位技术、电子地图定位技术、视觉传感器等定位导航技术的差异,指出多定位技术融合是露天矿山无人驾驶卡车定位方式的必然选择。结合露天煤矿的生产实际,提出将现有的无人驾驶各种技术算法与露天矿山标准作业流程有机融合是实现卡车无人驾驶的必由之路。最后指出无人驾驶卡车应用5G技术是露天矿山安全生产的关键和核心,是无人驾驶的必备技术。

Domestic and overseas research status and key technologies of unmanned mine trucks

This paper introduced the domestic and overseas development status and key technologies of truck driverless technology for open pit mines,analyzed and compared the advantages and disadvantages of two technical routes:wire control before installation and wire control after installation and environmental sensing technologies such as ultrasonic radar,millimeter wave radar,laser radar,4D Light Field Intelligent Awareness System,infrared sensor,visual sensor,etc.,and pointed out that high fusion of multiple sensors will be the development direction of truck driverless technology for open pit mines to realize all-weather environmental sensing.The differences among inertial navigation system,GNSS differential positioning technology,vehicle networking positioning technology,electronic map positioning technology,visual sensors and other positioning and navigation technologies were analyzed and compared.It was proposed that multi-positioning technology fusion is the inevitable choice for open-air unmanned truck positioning.Based on the production practice of open pit coal mine,it was put forward that the only way to realize the truck driverless is to organically integrate the existing algorithms of driverless technology with the standard operating procedure of open pit mine.Finally,the advantages and disadvantages of 5G technology were analyzed,and it was proposed that the application of 5G technology to driverless trucks is the key and core of safe production in open pit mines,as well as the necessary technology for driverless vehicles.