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Gold Science and Technology ›› 2023, Vol. 31 ›› Issue (1): 133-143.doi: 10.11872/j.issn.1005-2518.2023.01.106

• Mining Technology and Mine Management • Previous Articles     Next Articles

Research on the Framework and Application of Intelligent Dispatching System for Underground Unmanned Truck

Yue SUN1(),Yun ZOU2(),Wenbao KANG1,Liming WANG3,Zhi JIA1   

  1. 1.Jinchuan Group Co. , Ltd. , Jinchang 737100, Gansu, China
    2.Changsha DiMine Digital Technology Co. , Ltd. , Changsha 410006, Hunan, China
    3.School of Resources and Safety Engineering, Central South University, Changsha 410083, Hunan, China
  • Received:2022-08-24 Revised:2022-10-11 Online:2023-02-28 Published:2023-03-27
  • Contact: Yun ZOU E-mail:1ow_89npbb7iqd@dingtalk.com;1114932112@qq.com

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Abstract:

JKQ-25 mining trucks are used for ore transfer at 1 000 m level in Jinchuan No.2 Mining Area.There are a lot of noise，dust and tail gas during the operation，which seriously affects the occupational health of drivers.At present，the research on remote control driving and automatic driving technology of mining truck has been started，and unmanned driving of mining truck will gradually be the leading role in the later productive process.Therefore，the supporting intelligent scheduling system is needed to realize the supervision and dispat-ching of its productive process.The framework and application research of the intelligent scheduling system for unmanned mine truck is the industrial practice based on this situation.The system functions and working principles of SLAM based underground positioning technology，5G information transmission and com-munication technology，interaction technique and underground traffic dispatching algorithm were introduced in this paper.The preliminary collection of environmental data of underground equipment was realized by laser radar，and the data obtained by wheel speed sensor and IMU were used to correct the environmental data and preliminarily processed.Then，the preliminary analysis and processing of these data were carried out.Through the optical fiber networking and 5G wireless communication devices arranged on the surface and underground，the map information and its relative position information built by the unmanned vehicle based on the on-board laser radar SLAM technology were uploaded.The background of the dispatching system analyzes and processes the uploaded information of the vehicle through the integration of electronic fence technology and scheduling service，and issues reasonable traffic control decisions，so that the vehicle can respond to different traffic events and perform corresponding actions.The working principle and implementation logic of the underground traffic scheduling algorithm were introduced in detail.The electronic fence area with special position information was defined.The technical route of the single lane passing algorithm and the intersection algorithm，and the traffic control decision logic of the approximation method were introduced.The results show that when dealing with traffic events such as avoidance，waiting and meeting，the system can timely issue correct and reasonable scheduling instructions to avoid safety accidents，and effectively alleviate the problems of low production efficiency caused by traffic jams，reversing and other events.

Key words: underground mine, traffic control, intelligent dispatching, 5G, Simultaneous Localization and Mapping technology, laser radar, electronic fence

CLC Number: 

  • TD655

Fig.1

Scheduling architecture diagram of underground mine unmanned mining card cluster"

Fig.2

Structural framework of laser SLAM"

Fig.3

Underground localization based on laser SLAM technology"

Fig.4

Schematic diagram of two-way passage roadway structure"

Fig.5

Front-end map of roadway intelligent scheduling system"

Fig.6

Scheduling console"

Fig.7

Real-time monitoring console"

Fig.8

Flow chart of decision of avoiding mine-truck fleet"

Fig.9

Schematic diagram of chamber structure"

Fig.10

Flow chart of the avoiding-spotting implementation of the truck"

Fig.11

Schematic diagram of the junction lane structure"

Fig.12

Flow chart of the shuttling decision"

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