The concept of controlling the unmanned vehicles in open pit mining

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 (UMV) operating in coal-mining pits and other mining quarries. The urgency of the discussed study is dictated by the need to create safe and effective conditions for stripping / mining and transportation operations. This is ensured, among other things, by the operation of unmanned heavy-duty dump cars. Research aim is to develop the concept for the formation of route parameters and models of the movement dynamics of vehicles along technological routes. Methodology. The paper describes the technology for generating and processing the signals in control subsystems as parts of both the computer-aided dispatching system and the on-board autonomous ISSN 0536-1028 «Известия вузов. Горный журнал», № 8, 2020 119 control subsystem of the UMV. The methods used in the research include the study of the forms 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 generated in the form of geolocations on a working route of the UMV from the mining face to the place of unloading and vice versa. As a variable characterizing the behavior of the UMV 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 dynamic shape of a CT with regard to the NAT. Results. Such chirp-signals, together with the wavelet transform apparatus introduced into consideration, allow in a semantically transparent and information-rich video graphic form to represent and subject to further processing the signals characterizing a certain UMV current behavior on the route. The obtained parameters of such secondary wavelet representations of the UMV current dynamics (wavelet maps) are further planned to be used in the subsystem for dynamic modal controlling the UMV movement in the opencast mine. Conclusions. The results of the research allow us to form current routes of UMVs movement according to the models based on the analytical tools accompanying the dynamics of the UMV, proposed in the work.

The wavelet transforms technique in the computer-aided system for controlling the quarry unmanned vehicles

“…It is shown in the publication [3] that for computer-aided monitoring and controlling the dynamics of the UMV movement along the routes within quarry roads, the most expedient and effective mathematical tool, which makes it possible in a semantically transparent and functionally capacious form to realize real-time looking after the operating UMVs, is a wavelet transforms technique.…”

Developing the concept of autonomous control of the quarry vehicles movement

“…The complexity of solving the problem is determined by the extremely difficult conditions for stripping / mining and transportation operations. The need to create safe and efficient working conditions in the transport segment of the «Smart quarry» system dictates the relevance of this kind of research [1][2][3]. Its relevance is confirmed by intensive research available: work on modeling and designing, creation of conditions and support systems for unmanned dump trucks operating in quarry conditions in many coal-mining countries all over the world.…”

The concept of technogenic risks of a mining transport complex as a tool of lowering the level of its ecological load

“…Original vector XD is determined by engine design features (type, fuel used, capasity, power, combustion chamber features, technical condition, systems of emission reduction, and etc.) [18], [19]. Original vector XA is determined by the design of a dump truck, in general (truck mass, carrying capacity, transmission, technical condition, and etc.)…”

“…Original vector XA is determined by the design of a dump truck, in general (truck mass, carrying capacity, transmission, technical condition, and etc.) [19],…”

“…Original vector XG is determined by geometric parameters of mining transport communication lines (longitudinal gradients, radius of curves, length of tangent level tracks, and etc. ), and it exerts direct influence on the mode of dump truck driving [16], [17], [19], [20]. At a given volume of transportation, the more unstable truck driving becomes, the higher harmful emission is.…”