自动化学报2026，Vol.52Issue(1)：148-171,24.DOI:10.16383/j.aas.c250097
露天矿机器人化采运理论技术框架
A Theoretical and Technical Framework for Roboticized Mining and Hauling in Open-pit Mines
摘要
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 percep-tion 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 technologic-al integration and process optimization,the large-scale operation of unmanned haul trucks with capacities exceed-ing 100 tons has been achieved.This forms the"double ten"(10 innovative technologies,10 robotic mining stand-ards),"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.关键词
机器人化采运/端边感知/平行控制/自主运输/高效协同/群智调度/工程应用Key words
roboticized mining and hauling/end-edge sensing/parallel control/autonomous transportation/efficient collaboration/swarm intelligence scheduling/engineering applications引用本文复制引用
葛世荣,王飞跃,杨健健,黄乾坤,宋瑞琦,陈龙,陈鹏,杨胜利,何适,丁震..露天矿机器人化采运理论技术框架[J].自动化学报,2026,52(1):148-171,24.基金项目
国家重点基础研究发展计划(2022YFB4703700)资助 Supported by National Basic Research Program of China(2022YFB4703700) （2022YFB4703700）
