【摘要】 露天矿机器人化开采面临复杂环境数据不足、极端工况测试难、现场试验风险高、动态感知建模复杂及实验周期长等挑战.为此,提出基于“端边感知、平行控制”的露天矿机器人化采运智慧生产模式,从车辆感控、车铲协同、集群调度与工程示范等多层面入手,系统地突破提效开采机理、高精度全域感知、稳定协同控制与可靠群体管控等核心科学问题.通过技术集成与工艺优化,实现百吨级以上无人驾驶运输车的规模化运行,形成我国露天煤矿高水平智能化的“双十”(10项创新技术、10项标准)、“双百”(100台车示范,运输效率达有人系统110%)、“双千”(千台车监控平台、千小时无故障运行)中国方案,有力支撑了我国矿山智能化绿色开采发展战略.更多还原

【Abstract】 Roboticized mining in open-pit mines faces challenges such as insufficient data in complex environments,difficulties in testing under extreme working conditions, high risks in field trials, complexities in dynamic perception and modeling, and lengthy experimental cycles. To address these, a smart production model for robotic mining and hauling in open-pit mines based on “end-edge sensing and parallel control” has been proposed. By focusing on vehicle perception and control, shovel-vehicle collaboration, fleet scheduling, and engineering demonstrations, this model systematically addresses core scientific issues, including the mechanisms for efficient mining, high-precision holistic perception, stable and efficient collaborative control, and reliable group management. Through technological integration and process optimization, the large-scale operation of unmanned haul trucks with capacities exceeding 100 tons has been achieved. This forms the “double ten”(10 innovative technologies, 10 robotic mining standards), “double hundred”(100-vehicle demonstration, achieving 110% transportation efficiency compared to manned systems), and “double thousand”(monitoring platform for 1 000 vehicles, 1 000 hours of mean time between failures)Chinese solution, driving high-level intelligent development in China’s open-pit coal mines. It strongly supports the national strategy for intelligent and green mining.更多还原