露天矿无人驾驶矿用卡车排土边缘警戒线更新方法  

Updating Method for the Edge Warning Line of Unmanned Mine Trucks in Open-pit Mines

作　　者：顾清华[1,2,3] 宋江珊 薛步青 张衡 杨志勇 GU Qinghua;SONG Jiangshan;XUE Buqing;ZHANG Heng;YANG Zhiyong(School of Resources Engineering,Xi'an University of Architecture and Technology,Xi’an,Shaanxi 710055,China;Xi’an Key Laboratory for Intelligent Industrial Perception,Calculation and Decision,Xi'an University of Architecture and Technology,Xi’an,Shaanxi 710055,China;Xi’an Youmai Intelligent Mining Research Institute,Xi’an,Shaanxi 710055,China;Liaoning Technical University,Fuxin,Liaoning 123000,China;TBEA Co.,Ltd.,Changji,Xinjiang 831100,China)

机构地区：[1]西安建筑科技大学资源工程学院,陕西西安710055 [2]西安建筑科技大学西安市智慧工业感知计算与决策重点实验室,陕西西安710055 [3]西安优迈智慧矿山研究院有限公司,陕西西安710055 [4]辽宁工程技术大学,辽宁阜新市123000 [5]特变电工股份有限公司,新疆昌吉市831100

出　　处：《矿业研究与开发》2022年第2期151-157,共7页Mining Research and Development

基　　金：国家自然科学基金资助项目(51774228;52074205);陕西省杰出青年基金项目(2020JC-44).

摘　　要：针对露天矿排土场的排土边缘警戒线频繁变化而导致的无人驾驶矿用卡车排土安全问题,提出了一种基于点云数据的露天矿无人驾驶矿用卡车排土场模型及排土边缘警戒线更新方法。首先,通过机载雷达对露天矿排土场进行点云数据采集,然后采用保留关键区域特征的方法简化排土场点云数据;其次,通过判断点云数据高程变化,计算出需要更新的模型区域,并通过软件更新模型变动区域;最后对点云数据进行区域微分纬度分割和数据拟合,计算出排土边缘警戒线。通过对洛阳钼矿露天排土场数据进行模型构建及边缘警戒线更新仿真,验证了警戒线更新方法可以有效规避无人驾驶矿用卡车排土安全事故。Aimed at the dump safety problem of unmanned truck caused by the frequent change of warning line of the dump edge in the open-pit dump,an update method of dump model of open-pit unmanned truck and warning line of dump edge based on the point cloud data were proposed.Firstly,the airborne radar was used to collect the point cloud data of the dump in open-pit mine,and the key region features were retained to simplify the point cloud data of the dump.In addition,the area which needed to be updated in the model was calculated by judging the elevation change of point cloud data,and the model change area was updated by software.Then,the warning line of dump edge was calculated by dividing the regional differential latitude of the point cloud data and fitting the point cloud data.Finally,the data of open dump in Luoyang Molybdenum Mine were modeled and warning lines of dump edge were updated.The results show that the method can effectively avoid the dump safety accident of unmanned truck.

关 键 词：露天矿排土场 无人驾驶 矿用卡车 点云数据 排土边缘警戒线 

分 类 号：TD76[矿业工程—矿井通风与安全]