平行矿山:从数字孪生到矿山智能  

Parallel Mining Operating Systems: From Digital Twins to Mining Intelligence

作　　者：陈龙[1,2,3] 王晓[1,3,4] 杨健健 艾云峰[6,7] 田滨 李宇宸[3] 滕思宇 王健[3,7] 曹东璞 葛世荣 王飞跃 CHEN Long;WANG Xiao;YANG Jian-Jian;AI Yun-Feng;TIAN Bin;LI Yu-Chen;TENG Si-Yu;WANG Jian;CAO Dong-Pu;Ge Shi-Rong;WANG Fei-Yue(State Key Laboratory for Management and Control of Sys-tems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;School of Data and Computer Science,Sun Yat-sen University,Guangzhou 510006,China;Vehicle Intelligence Pioneers,Inc.,Qingdao 266109,China;Qingdao Academy of Intelligent Industries,Qingdao 266109,China;China University of Mining and Technology−Beijing,Beijing 100083,China;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;College of Computer Science and Technology,Jilin University,Changchun 130012,China;Department of Mechanical and Mechatronics Engineering,University of Waterloo,Waterloo ON N2L 3G1,Canada)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中山大学计算机学院,广州510006 [3]青岛慧拓智能机器有限公司,青岛266109 [4]青岛智能产业技术研究院,青岛266109 [5]中国矿业大学(北京),北京100083 [6]中国科学院大学人工智能学院,北京100049 [7]吉林大学计算机科学与技术学院,长春130012 [8]滑铁卢大学机械与机电工程系,加拿大滑铁卢ON N2L 3G1

出　　处：《自动化学报》2021年第7期1633-1645,共13页Acta Automatica Sinica

基　　金：广东省重点领域研发计划(2020B090921003);英特尔智能网联汽车大学合作研究中心项目(“ICRI-IACV”)资助。

摘　　要：针对新时代下我国矿区智能化发展诉求与矿山无人化进程中遇到的复现难、协同难的技术问题,本文融合智慧矿山理念、ACP(Artificial societies+computational experiments+parallel execution)平行智能理论和新一代智能技术,设计并实现了智慧矿山操作系统(Intelligent mine operation system,IMOS),为平行矿山智能管理与控制一体化提出了解决方案.本文首先分析露天煤矿产业发展趋势;国内外露天矿山智能化发展情况;面向露天矿山无人化与智能化需求,深度融合数字四胞胎理论,设计了虚实融合的IMOS架构;详细阐述了IMOS子系统架构与功能,包括:单车作业系统、多车协同系统、车路协同系统、无人驾驶智能系统、调度管理系统、平行系统、监管系统、远程接管系统和通信系统;并探讨了IMOS关键技术,即平行矿山仿真建模技术、无人驾驶技术、矿区通信技术和协同作业技术.该操作系统是国内首套露天矿山无人化与智能化的一体化解决方案,并能够迁移到不同矿区不同作业场景,推动矿区智能化无人化发展,减少人工干预从而降低安全风险,大幅度降低人工成本,提高生产作业效率,并可结合社会发展要素为实现绿色可持续发展矿区提供支撑.In view of the development of coal mine industries in China,the requests to unmanned mines are urgently and immediately.In this paper,the parallel management and control of mining operating infrastructure that integrates the smart mine theories,the ACP(artificial societies+computational experiments+parallel execution)based parallel intelligence approaches and the new generation of artificial intelligence(AI)technologies(including data fusion,knowledge graph,edge computing,etc.)is proposed.The intelligent mine operation system(IMOS)that realizes parallel mining is designed.This paper analyzes the development trends of open-pit coal mines industries,the stages of current researches on intelligentization of open-pit mines at home and abroad,and deeply integrates with digital quadruple theory to design the IMOS architecture.Besides,the IMOS subsystems are introduced in details,including:the single-vehicle operating subsystem,multi-vehicle collaboration subsystem,vehicle-road collaboration subsystem,unmanned intelligent subsystem,dispatch management subsystem,parallel management and control subsystem,supervisory subsystem,remote takeover subsystem and communication subsystem;and the key technologies in IMOS are discussed.The smart mine operating system presented in this paper is the first systemic integrative solution for unmanned and intelligent mine,which covered all scenarios in open-pit mine intelligence,and taking social development factors as the measurement for mining area sustainable development.

关 键 词：无人矿山 平行矿山 平行智慧矿山框架 数字孪生 数字四胞胎 矿山智能 

分 类 号：TD67[矿业工程—矿山机电]