露天矿山运输卡车自动驾驶系统原理模型的研究  

A Study of Automatic Operation System Principle Module for Open-pit Mine Truck Transportation

作　　者：路向阳 谭绍军 李勋 徐彪 何海兴 贺云香 胡剑 LU Xiangyang;TAN Shaojun;LI Xun;XU Biao;HE Haixing;HE Yunxiang;HU Jian(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China;CRRC Science and Quality Management Department,Beijing 100089,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha,Hunan 410082,China)

机构地区：[1]中车株洲电力机车研究所有限公司,湖南株洲412001 [2]中国中车股份有限公司科技与质量管理部,北京100089 [3]湖南大学机械与运载工程学院,湖南长沙410082

出　　处：《控制与信息技术》2021年第6期14-22,共9页CONTROL AND INFORMATION TECHNOLOGY

基　　金：中国中车科技开发重大专项(2018CKZ150)。

摘　　要：针对露天矿山运输生产计划性、组织性和作业区域封闭的特点,文章提出一种露天矿山运输卡车自动驾驶系统的原理模型。该模型由作业计划层、作业管理与监控层以及车辆作业层3层构成。通过将每一层的任务分解为若干功能模块,文章对每一模块的功能需求进行描述,阐述自动驾驶的车辆如何按照人的意愿自动运行的原理,勾画了矿山运输卡车自动驾驶系统的顶层设计轮廓。依照本模型设计的矿卡自动驾驶系统经受了在矿山现场近1年的单车试验和近5个月的编队作业试验,结果表明,该模型的技术可行,对矿山作业具有实用性。Referring to the features of truck transportation in open-pit mine as being of planned,organized and operation zone closed,an automatic operation system principle module is proposed.It is composed of operation planning layer,operation management and supervision layer as well as truck operation layer.By resolving the task of each layer into appropriate function blocks and specifying the function requirement for each block,the principle that how the truck operates automatically according to human desire is expounded,hence the top design outline of the automatic truck operation system is delineated.The proposed automatic operation system has been tested for one year by single truck and has been commissioning for 5 months by fleet in mine sites,showing its technical feasibility and usefulness to the mine operator.

关 键 词：自动驾驶系统 露天矿 矿山运输卡车 原理模型 作业计划层 作业管理与监控层 车辆作业层 

分 类 号：TD57[矿业工程—矿山机电]