煤矿井下机车无人驾驶系统关键技术  

Driverless technology of underground locomotive in coal mine

作　　者：韩江洪[1,2] 卫星[1,2] 陆阳[1,2] 魏臻[1,3] 程运安[1,3] 程磊[1,3] HAN Jianghong;WEI Xing;LU Yang;WEI Zhen;CHENG Yun’an;CHENG Lei(School of Computer and Information,Hefei University of Technology,Hefei 230601,China;Engineering Research Center of Safety Critical Industry Measure and Control Technology,Ministry of Education,Hefei 230009,China;Hefei Gongda Gaoke Information Science & Technology Co.,Ltd.,Hefei 230088,China)

机构地区：[1]合肥工业大学计算机与信息学院,安徽合肥230601 [2]安全关键工业测控技术教育部工程研究中心,安徽合肥230009 [3]合肥工大高科信息科技股份有限公司,安徽合肥230088

出　　处：《煤炭学报》2020年第6期2104-2115,共12页Journal of China Coal Society

基　　金：国家重点研发计划专项资助项目(2018YFC0604404);安徽省重点研发计划资助项目(201904d07020008)。

摘　　要：煤矿井下机车无人驾驶系统的研发和运行,有助于降低因调度、操作失误而发生运输事故的概率并且能够减少井下作业人员的数量。与技术日趋成熟的地面汽车无人驾驶、铁路无人驾驶不同,在井下环境实施机车无人驾驶存在诸多新的挑战:例如运输大巷人车共用、巷道狭窄、光照条件不均匀,无法利用卫星定位系统,缺乏有效的通信手段等。从实现井下无人驾驶机车系统的关键问题分析入手,综述了其技术研究进展。①提出了基于信息网络与控制网络无缝结合的井下无人驾驶机车系统架构,以确保列车调度智能化、机车操控与状态采集自动化、运输监控中心与调度中心一体化,并且兼容远程遥控、自主运行等无人驾驶模式;②给出智能调度的概念,即无人驾驶系统应当在运输调度智能化的基础上实现,有效促进两个系统间的资源共享、功能协同;③详细比较分析了井下封闭环境定位技术,指出超宽带(UWB)能够有效应对亚米级的机车高精度无线定位且鲁棒性和稳定性方面性能优良,能够满足井下机车无人驾驶对定位精度的要求;④阐述了适用于井下无人驾驶的数据通信网络覆盖,重点根据实际的工程经验给出接入WLAN网络需要满足的性能指标,分析了5G新型通信网络即将带来的井下无人驾驶应用突破;⑤在机器视觉用于路况分析方面,探讨了基于轨道模型和基于图像特征的轨道线检测算法、基于深度学习神经网络的目标检测算法、基于双目测量和单目测量的目标距离估计算法、深度学习网络的轻量化技术。最后,展望了该领域的技术发展与应用前景。The research,development and application of the driverless system of the underground locomotive in coal mine is useful to reduce the transportation accidents’probability caused by scheduling and operation errors and reduce the number of miners used.Different from the mature technology of self-driving cars and trains,there are many new challenges in implementing driverless locomotive in underground environment,such as the sharing of people and vehicles in the transportation roadway,narrow roadway,uneven lighting conditions,inability to use the satellite positioning system,the lack of effective means of communication and so on.Starting from the analysis of the key problems in the realization of the underground driverless locomotive system,this paper summarized some technical research progresses.Firstly,the system architecture of underground driverless locomotive based on the seamless combination of information network and control network is proposed to ensure the intellectualization of train dispatching,the automation of locomotive control and state collection,the integration of transportation monitoring center and dispatching center,and the compatibility of remote control,autonomous operation and other driverless modes.Secondly,the concept of intelligent dispatching is brought about,that is to say,the driverless system should be realized on the basis of intelligent transportation scheduling,which can effectively promote the resource sharing and function coordination between the two systems.Thirdly,the positioning technology of closed underground environment is discussed,and a clear conclusion is drawn that the UWB(ultra-wide band)positioning can effectively cope with the high-precision wireless positioning of sub meter level locomotives with excellent performance in robustness and stability,which can meet the positioning accuracy of underground locomotive unmanned driving.Fourthly,the data communication network coverage suitable for underground is described,the performance indicators required to access WLAN netw

关 键 词：煤矿智能化 无人驾驶机车 超宽带定位 智能调度 机器视觉 深度学习 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]