露天矿无人卡车与有人设备安全协调作业策略  

Strategy for safe and coordinated operation of unmanned trucks and manned equipment in open-pit coal mine

作　　者：栾博钰 周伟[3] 代伟 敖忠晨 陆翔 LUAN Boyu;ZHOU Wei;DAI Wei;AO Zhongchen;LU Xiang(School of Mines,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China;School of Information and Control Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China;State Key Laboratory for Fine Exploration and Intelligent Development of Coal Resources,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]中国矿业大学矿业工程学院,江苏徐州221116 [2]中国矿业大学信息与控制工程学院,江苏徐州221116 [3]中国矿业大学煤炭精细勘探与智能开发全国重点实验室,江苏徐州221116

出　　处：《采矿与安全工程学报》2024年第6期1289-1298,共10页Journal of Mining & Safety Engineering

基　　金：国家自然科学基金项目(62373361,61973306)。

摘　　要：露天矿有人设备的难预测、难控制性是影响无人卡车运输安全的重要因素。为实现无人卡车与有人设备的安全交互,利用无人卡车的可控制性,以“空间换安全”为核心思想,提出了安全协调作业策略。策略将交互作业划分为非平行作业(设备一动一静)与平行作业(设备同时作业)。非平行作业旨在建立设备安全区域及合理作业流程,以实现无人卡车和有人设备安全交互;平行作业则是建立基于分段行车许可控制的动态安全区域控制策略及速度控制策略,实现安全交互;提出了多设备间的平行作业策略,搭建了多智能体仿真模型验证。结果表明:设计逻辑可以有效监测到设计存在的4种潜在冲突,并做出相应的速度控制策略,解决了无人卡车与有人设备的安全冲突;对比感知停车策略,交叉冲突下还可提升运输效率约7.1%。研究可为露天矿无人卡车安全常态化运营提供一定的理论基础。The unpredictable and uncontrollable nature of manned equipment in open pit mines is an important factor to the safety of unmanned truck transport.A safety coordination operation strategy is proposed in terms of exchanging space for safety.The interaction is divided into non-parallel(one static and one dynamic)and parallel(both dynamic)operations.The interaction logic under multi-interactive equipment is designed,and a multi-agent simulation is constructed for verification.The results show that the design logic effectively monitors the five potential conflicts and makes the corresponding speed control strategy,which solves all the safety conflicts with manned equipment.Transport efficiency is also improved by about 7.1%under cross-conflict compared to the perceived parking strategy.This study provides some theoretical basis for the safe and normalized operation of unmanned trucks in open pit coal mines.

关 键 词：露天矿 无人卡车 交互作业 分段行车许可 多智能体仿真 

分 类 号：TD824[矿业工程—煤矿开采]