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平行矿山: 从数字孪生到矿山智能

陈龙 王晓 杨健健 艾云峰 田滨 李宇宸 滕思宇 王健 曹东璞 葛世荣 王飞跃

陈龙,  王晓,  杨健健,  艾云峰,  田滨,  李宇宸,  滕思宇,  王健,  曹东璞,  葛世荣,  王飞跃.  平行矿山: 从数字孪生到矿山智能.  自动化学报,  2021,  47(7): 1633−1645 doi: 10.16383/j.aas.2021.y000001
引用本文: 陈龙,  王晓,  杨健健,  艾云峰,  田滨,  李宇宸,  滕思宇,  王健,  曹东璞,  葛世荣,  王飞跃.  平行矿山: 从数字孪生到矿山智能.  自动化学报,  2021,  47(7): 1633−1645 doi: 10.16383/j.aas.2021.y000001
Chen Long,  Wang Xiao,  Yang Jian-Jian,  Ai Yun-Feng,  Tian Bin,  Li Yu-Chen,  Teng Si-Yu,  Wang Jian,  Cao Dong-Pu,  Ge Shi-Rong,  Wang Fei-Yue.  Parallel mining operating systems: From digital twins to mining intelligence.  Acta Automatica Sinica,  2021,  47(7): 1633−1645 doi: 10.16383/j.aas.2021.y000001
Citation: Chen Long,  Wang Xiao,  Yang Jian-Jian,  Ai Yun-Feng,  Tian Bin,  Li Yu-Chen,  Teng Si-Yu,  Wang Jian,  Cao Dong-Pu,  Ge Shi-Rong,  Wang Fei-Yue.  Parallel mining operating systems: From digital twins to mining intelligence.  Acta Automatica Sinica,  2021,  47(7): 1633−1645 doi: 10.16383/j.aas.2021.y000001

平行矿山: 从数字孪生到矿山智能

doi: 10.16383/j.aas.2021.y000001
基金项目: 广东省重点领域研发计划(2020B090921003), 英特尔智能网联汽车大学合作研究中心项目(“ICRI-IACV”)资助
详细信息
    作者简介:

    陈龙:中山大学计算机学院副教授. 2013年获得武汉大学博士学位. 主要研究方向为自动驾驶, 机器人. E-mail: chenl46@mail.sysu.edu.cn

    王晓:中国科学院自动化研究所复杂系统管理与控制国家重点实验室副研究员, 青岛智能产业技术研究院院长. 2016 年获得中国科学院大学社会计算博士学位. 主要研究方向为社会交通, 动态网群组织, 平行智能和社交网络分析. E-mail: x.wang@ia.ac.cn

    杨健健:中国矿业大学(北京)机电与信息工程学院副教授. 2013年获得中国矿业大学(北京)博士学位. 主要研究方向为煤矿机器人与智能装备, 智能监测与控制, 无线传感器及机器智能, 物联网技术及数据挖掘. E-mail: yangjiannedved@163.com

    艾云峰:中国科学院大学副教授. 2006年获得中国科学院自动化研究所博士学位. 主要研究方向为视觉感知, 智能驾驶, 平行驾驶. E-mail: aiyunfeng@ucas.ac.cn

    田滨:中国科学院自动化研究所复杂系统管理与控制国家重点实验室副研究员. 2014年获得中国科学院大学博士学位. 主要研究方向为自动驾驶, 视觉感知, 机器学习. E-mail: bin.tian@ia.ac.cn

    李宇宸:2020年获得北京航空航天大学硕士学位. 主要研究方向为计算机视觉, 3D目标检测, 同步定位与地图构建, 无人驾驶. E-mail: liyuchen@buaa.edu.cn

    滕思宇:2021年获得吉林大学硕士学位. 主要研究方向为路径规划, 模仿学习, 目标检测. E-mail: tengsyslash@gmail.com

    王健:吉林大学教授. 2011年获得吉林大学博士学位. 主要研究方向为车联网, 虚拟仿真测试, 车路协同. E-mail: wangjian591@jlu.edu.cn

    曹东璞:滑铁卢大学滑铁卢认知自动驾驶(CogDrive)实验室副教授和主任. 2008年获得康考迪亚大学博士学位. 主要研究方向为驾驶员认知, 自动驾驶和认知自动驾驶. E-mail: oscar_cao2016@163.com

    葛世荣:中国矿业大学(北京)校长, 教授. 主要研究方向为智能采矿装备, 摩擦可靠性研究. 本文通信作者. E-mail: gesr@cumtb.edu.cn

    王飞跃:中国科学院自动化研究所研究员, 复杂系统管理与控制国家重点实验室主任, 中国科学院大学中国经济与社会安全研究中心主任. 主要研究方向为平行系统的方法与应用, 社会计算, 平行智能以及知识自动化. E-mail: feiyue.wang@ia.ac.cn

  • 收稿日期 2020-11-08 录用日期 2021-03-12 Manuscript received November 8, 2020; accepted March 12, 2021 广东省重点领域研发计划 (2020B090921003), 英特尔智能网联汽车大学合作研究中心项目 ( “ICRI-IACV”)资助 Supported by Key-Area Research and Development Program of Guangdong Province (2020B090921003) and Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles ( “ICRI-IACV”) 本文责任编委  孙长银 Recommended by Associate Editor SUN Chang-Yin 1. 中国科学院自动化研究所复杂系统管理与控制国家重点实验室 北京 100190 中国  2. 中山大学计算机学院 广州 510006 中国3. 青岛慧拓智能机器有限公司 青岛 266109 中国 4. 青岛智能产业技术研究院 青岛 266109 中国 5. 中国矿业大学 (北京) 北京 100083 中国 6. 中国科学院大学人工智能学院 北京 100049 中
  • 国 7. 吉林大学计算机科学与技术学院 长春 130012 中国 8. 滑铁卢大学机械与机电工程系 滑铁卢 ON N2L 3G1 加拿大 1. State Key Laboratory for Management and Control of Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Data and Computer Science,Sun Yat-sen University, Guangzhou 510006, China 3. Vehicle Intelligence Pioneers, Inc., Qingdao 266109, China 4. Qingdao Academy of Intelligent Industries, Qingdao 266109, China 5. Chi- na University of Mining and Technology−Beijing, Beijing 100083, China 6. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 7. College of Com-puter Science and Technology, Jilin University, Changchun 130012, China 8. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo ON N2L 3G1, Canada

Parallel Mining Operating Systems: From Digital Twins to Mining Intelligence

Funds: Supported by Key-Area Research and Development Program of Guangdong Province (2020B090921003) and Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles (“ICRI-IACV”)
More Information
    Author Bio:

    CHEN Long Associate professor at the School of Computer Science and Engineering, Sun Yat-sen University. He received his Ph.D. degree from Wuhan University in 2013. His research interest covers autonomous cars and robotics

    WANG Xiao Associate professor at the State Key Laboratory for Management and Control of Systems, Institute of Automation, Chinese Academy of Sciences, president of Qingdao Academy of Intelligent Industries. She received her Ph.D. degree in social computing from University of Chinese Academy of Sciences in 2016. Her research interest covers social transportation, cyber movement organizations, parallel intelligence, and social network analysis

    YANG Jian-Jian Associate professor at China University of Mining and Technology−Beijing. He received his Ph.D. degree from China University of Mining and Technology−Beijing in 2013. His research interest covers coal mine robot and intelligent equipment, intelligent monitoring and control, wireless sensor and machine intelligence, and internet of things technology and data mining

    AI Yun-Feng Associate professor at University of Chinese Academy of Sciences. He received his Ph.D. degree from the Institute of Automation, Chinese Academy of Sciences. His current research interest covers computer vision, machine learning, robots, and automated driving

    TIAN Bin Associate professor at the State Key Laboratory for Management and Control of Systems, Institute of Automation, Chinese Academy of Sciences. He received his Ph.D. degree from University of Chinese Academy of Sciences in 2014. His research interest covers automated driving, vision sensing and perception, and machine learning

    LI Yu-Chen Received his master degree from Beihang University in 2020. His research interest covers computer vision, 3D object detection, simultaneous localization and mapping (SLAM), and autonomous driving

    TENG Si-Yu Received his master degree from Jilin University in 2021. His research interest covers path planning, imitation learning, and target detection

    WANG Jian Professor at Jilin University. He received his Ph.D. degree from Jilin University in 2011. His research interest covers internet of vehicles, simulation testing, and vehicle-road cooperation

    CAO Dong-Pu Associate professor and director of Waterloo Cognitive Autonomous Driving (CogDrive) Laboratory at University of Waterloo, Canada. He received his Ph.D. degree from Concordia University, Canada, in 2008. His research interest covers driver cognition, automated driving, and cognitive autonomous driving

    GE Shi-Rong President and professor at China University of Mining and Technology−Beijing. His research interest covers intelligent mining equipment and friction reliability. Corresponding author of this paper

    WANG Fei-Yue Professor at the Institute of Automation, Chinese Academy of Sciences, director of the State Key Laboratory for Management and Control of Systems, director of China Economic and Social Security Research Center at University of Chinese Academy of Sciences. His research interest covers theories, methods, and applications for robotics, parallel systems, social computing, parallel intelligence, and knowledge automation

  • 摘要:

    针对新时代下我国矿区智能化发展诉求与矿山无人化进程中遇到的复现难、协同难的技术问题, 本文融合智慧矿山理念、ACP (Artificial societies + computational experiments + parallel execution)平行智能理论和新一代智能技术, 设计并实现了智慧矿山操作系统 (Intelligent mine operation system, IMOS), 为平行矿山智能管理与控制一体化提出了解决方案. 本文首先分析露天煤矿产业发展趋势; 国内外露天矿山智能化发展情况; 面向露天矿山无人化与智能化需求, 深度融合数字四胞胎理论, 设计了虚实融合的IMOS架构; 详细阐述了IMOS子系统架构与功能, 包括: 单车作业系统、多车协同系统、车路协同系统、无人驾驶智能系统、调度管理系统、平行系统、监管系统、远程接管系统和通信系统; 并探讨了IMOS关键技术, 即平行矿山仿真建模技术、无人驾驶技术、矿区通信技术和协同作业技术. 该操作系统是国内首套露天矿山无人化与智能化的一体化解决方案, 并能够迁移到不同矿区不同作业场景, 推动矿区智能化无人化发展, 减少人工干预从而降低安全风险, 大幅度降低人工成本, 提高生产作业效率, 并可结合社会发展要素为实现绿色可持续发展矿区提供支撑.

    1)  收稿日期 2020-11-08 录用日期 2021-03-12 Manuscript received November 8, 2020; accepted March 12, 2021 广东省重点领域研发计划 (2020B090921003), 英特尔智能网联汽车大学合作研究中心项目 ( “ICRI-IACV”)资助 Supported by Key-Area Research and Development Program of Guangdong Province (2020B090921003) and Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles ( “ICRI-IACV”) 本文责任编委  孙长银 Recommended by Associate Editor SUN Chang-Yin 1. 中国科学院自动化研究所复杂系统管理与控制国家重点实验室 北京 100190 中国  2. 中山大学计算机学院 广州 510006 中国3. 青岛慧拓智能机器有限公司 青岛 266109 中国 4. 青岛智能产业技术研究院 青岛 266109 中国 5. 中国矿业大学 (北京) 北京 100083 中国 6. 中国科学院大学人工智能学院 北京 100049 中
    2)  国 7. 吉林大学计算机科学与技术学院 长春 130012 中国 8. 滑铁卢大学机械与机电工程系 滑铁卢 ON N2L 3G1 加拿大 1. State Key Laboratory for Management and Control of Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Data and Computer Science,Sun Yat-sen University, Guangzhou 510006, China 3. Vehicle Intelligence Pioneers, Inc., Qingdao 266109, China 4. Qingdao Academy of Intelligent Industries, Qingdao 266109, China 5. Chi- na University of Mining and Technology−Beijing, Beijing 100083, China 6. School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 7. College of Com-puter Science and Technology, Jilin University, Changchun 130012, China 8. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo ON N2L 3G1, Canada
  • 图  1  平行矿山示意图

    Fig.  1  The illustration of parallel mining

    图  2  智慧无人矿山操作系统功能示意图

    Fig.  2  The function diagram of intelligent unmanned mine operation system

    图  3  无人驾驶智能系统功能示意图

    Fig.  3  The function diagram of unmanned driving intelligent system

    图  4  调度管理系统功能示意图

    Fig.  4  The function diagram of dispatch management system

    图  5  调度管理系统流程图

    Fig.  5  The process diagram of dispatch management system

    图  6  单车作业系统框架图

    Fig.  6  The architecture of single-vehicle operating system

    图  7  多车协同系统功能示意图

    Fig.  7  The Function diagram of multi-vehicle collaboration system

    图  8  平行系统功能示意图

    Fig.  8  The function diagram of parallel system

    图  9  监管系统功能示意图

    Fig.  9  The function diagram of supervisory system

    图  10  远程接管系统功能示意图

    Fig.  10  The function diagram of remote takeover system

    图  11  无人驾驶任务划分示意图

    Fig.  11  The illustration of unmanned driving task partitioning

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出版历程
  • 收稿日期:  2020-11-08
  • 录用日期:  2021-06-04
  • 网络出版日期:  2021-06-17
  • 刊出日期:  2021-07-27

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