1. System Architecture
The architecture of the autonomous loader system mainly consists of a hardware system, software system, and safety assurance system. The sensor abstraction layer, actuator abstraction layer, and remote cockpit abstraction layer provide a standardized and unified programming interface for the autonomous driving system. The core software modules include the positioning module, perception and prediction module, decision-making and planning module, and motion control module.
2. Onboard Hardware System
To achieve the autonomous driving functionality of the loader, the existing loader must first be upgraded and modified. This mainly includes two components: electronic drive-by-wire modifications and the installation of intelligent kits.
3. Autonomous Driving Software
The autonomous driving software for the loader is developed based on ROS (Robot Operating System). The modular design of ROS allows each functional component to be developed and tested independently, facilitating maintenance and upgrades. Its publish/subscribe mechanism ensures flexibility and timeliness in information transfer between modules.
4. Safety Assurance System
In underground mines, the coexistence of manned and unmanned equipment inevitably introduces certain safety risks. Therefore, the autonomous loader system has established a comprehensive safety assurance system.
From the perspective of autonomous driving technology, the system ensures that human commands have the highest priority, allowing operators to take control of the vehicle at any time. Additionally, dual redundancy is configured for all critical modules to ensure operational safety. A fault detection and diagnosis system, based on big data and expert systems, is also implemented. In the event of a malfunction, the loader can perform self-diagnosis and instant alerts to facilitate quick response measures.
Collaborative Operation of the Remote Control System
Although the loader has achieved autonomous driving functionality, the loading and unloading of ore still rely on manual remote control. To ensure efficient collaboration between these two operations, the entire system has designed a comprehensive process for coordinating remote control and autonomous driving.
Application Testing and Outstanding Performance
The comprehensive application testing results of the autonomous loader system in the underground testing area are remarkable. The system successfully achieved efficient collaborative operations for mapping and positioning, remote loading, autonomous driving, and remote unloading in a kilometer-deep mine, truly realizing the full automation of loader operations underground.
