礦車無人駕駛集群作業(yè)關(guān)鍵技術(shù)研究與應(yīng)用
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中圖分類號：U467 DOI：10.20042/j.cnki.1009-4903.2025.02.005
Abstract：Withtaidevelomntofitizationntellgeneintngiustryesgningfeientndlot unmannedminingvehicleclustercontrolsystemisof greatsignificance tothesafeproductionof mines.Thispaperadressesthe challengesencountered intheunmannedproductionprocessofminingveicles，suchasmisdetectionandmiseddetectionofsmal obstacles，lackofpositioingignalsinlocaloadsction，amicangesinaingareasandmutiicleformatioatis. Itproposeskyechicasolutiosidingmultensorfusionpereptionualfusionpositioingdamicpathplanngdglobl inteligentscheduling.Thesesolutionsenableminingvehicles tooperatesafelyandeficientlyincomplexscenarios.Themarket prospectsforunmannedminingtransportationarevast，ndtheimplementationofthissolutionwilsignificantlyreducesafetyrisksin mine transportation，improve production eficiency，and generatesubstantial economic and social benefits.
Keywords：Autonomous miningvehicle;Multi-sensorfusionperception; Dualfusionpositioning;Dynamicpath planning;Global intelligent scheduling
0 引言
隨著激光雷達(dá)、攝像頭等傳感技術(shù)、5G通信技術(shù)以及人工智能技術(shù)的快速發(fā)展，城市、港口、園區(qū)、礦區(qū)等場景無人駕駛車輛成為眾多科研院所、高校、新興企業(yè)深入研究的項目和落地產(chǎn)品。（剩余3230字）