地下无人矿卡智能调度系统框架及应用研究

针对金川集团二矿区井下复杂环境会对作业人员健康及作业安全造成影响的问题，提出了一种地下无人矿卡智能调度系统整体框架及研究方案，介绍了基于SLAM的井下定位技术、5G信息传输和通信技术、用户交互技术、电子围栏技术和井下交通调度算法等系统功能及工作原理。通过激光雷达等传感器实现井下设备数据的收集和初步处理，利用光纤组网及5G无线网络完成数据实时传输，地表调度系统远程处理数据并下发各种调度决策，无人车辆根据调度决策执行相应指令。在不同生产场景下，通过对运输系统中的车辆进行实时检测和调度，以降低巷道拥堵时间，减少人员及设备安全事故的发生，从而提高生产运输效率，保障矿山企业经济平稳发展。

Research on the Framework and Application of Intelligent Dispatching System for Underground Unmanned Truck

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.