Developing the concept of autonomous control of the quarry vehicles movement

Abstract

Introduction. The article presents the results of studies related to the description of the synthesis and further analysis of the dynamic behavior of unmanned vehicles (UMVs) operating at coal opencast mines and other mining enterprises. The relevance of the research topic is dictated by the need to create safe and effective conditions for overburden / mining and mining transportation operations. This is ensured, among other things, by the operation of unmanned heavy-duty dump trucks. Purpose of the work: in the course of the research, a concept was developed for the formation of route parameters and models of the dynamics of movement of UMVs along technological routes. Methodology. The paper describes the technology for generating and processing signals in control subsystems as part of an automated dispatching system and an on-board subsystem for autonomous control of the UMV. Research methods include the study of the shapes and characteristics of current trajectories (CT) in relation to a nominal axial trajectory (NAT). In this case, a current trajectory of the UMV is considered within the framework of the so-called S-frames, which are formed as geolocations on a certain working UMV route from a bench face to the place of unloading and vice versa. As a variable characterizing the UMV behavior on a current trajectory, a 1D-signal with a time dependent frequency is adopted, the nature of the change of which is determined by the CT dynamic shape relative to the NAT. Results. Such chirp signals – together with the wavelet transforms technique introduced into consideration – allow us in a semantically transparent and information-rich videographic form to display and subject to further processing signals characterizing the current behavior of a UMV on a route. The resulting parameters of such secondary wavelet representations of the current UMV dynamics (wavelet maps) are further planned to be used in the subsystem of dynamic modal control of the UMV movement in the open pit. Conclusions. The results of the studies carried out make it possible to form current routes of UMV movement according to the models generated based on the analytical tools accompanying the dynamics of the UMVs, proposed in the work.

Economic aspect of unmanned open-pit coal mining technologies

“…The mining companies Rio Tinto in Australia and Codelco in Chile together with machine-building companies Komatsu (Japan) and Caterpillar (USA) have become the pioneers in the introduction of such technologies; in recent years, Hitachi, a manufacturer of dump trucks, has also joined them. [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27]. The created samples of autonomous dump trucks are designed for transporting rock mass (overburden and minerals) in the conditions of open pit and open-cut mines with the use of unmanned technologies.…”

Algorithm for hydraulic system parameters of a dump truck

“…When designing a dump truck (DT), the parameters and characteristics of the components of the hydraulic system (HS) are to be determined [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15]. The HS of a modern DT includes many elements, the characteristics of which are interrelated with each other.…”