Developing the concept of autonomous control of the quarry vehicles movement

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...

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Autores principales:	Chicherin Ivan, Fedosenkov Boris, Dubinkin Dmitriy, Zhenbo Wang
Formato:	article
Lenguaje:	EN FR
Publicado:	EDP Sciences 2021
Materias:	Environmental sciences GE1-350
Acceso en línea:	https://doaj.org/article/134c23db05734b3d85ddd89de6c2a7f1
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spelling	oai:doaj.org-article:134c23db05734b3d85ddd89de6c2a7f12021-11-08T15:19:21ZDeveloping the concept of autonomous control of the quarry vehicles movement2267-124210.1051/e3sconf/202131503023https://doaj.org/article/134c23db05734b3d85ddd89de6c2a7f12021-01-01T00:00:00Zhttps://www.e3s-conferences.org/articles/e3sconf/pdf/2021/91/e3sconf_iims2021_03023.pdfhttps://doaj.org/toc/2267-1242Introduction. 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.Chicherin IvanFedosenkov BorisDubinkin DmitriyZhenbo WangEDP SciencesarticleEnvironmental sciencesGE1-350ENFRE3S Web of Conferences, Vol 315, p 03023 (2021)
institution	DOAJ
collection	DOAJ
language	EN FR
topic	Environmental sciences GE1-350
spellingShingle	Environmental sciences GE1-350 Chicherin Ivan Fedosenkov Boris Dubinkin Dmitriy Zhenbo Wang Developing the concept of autonomous control of the quarry vehicles movement
description	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.
format	article
author	Chicherin Ivan Fedosenkov Boris Dubinkin Dmitriy Zhenbo Wang
author_facet	Chicherin Ivan Fedosenkov Boris Dubinkin Dmitriy Zhenbo Wang
author_sort	Chicherin Ivan
title	Developing the concept of autonomous control of the quarry vehicles movement
title_short	Developing the concept of autonomous control of the quarry vehicles movement
title_full	Developing the concept of autonomous control of the quarry vehicles movement
title_fullStr	Developing the concept of autonomous control of the quarry vehicles movement
title_full_unstemmed	Developing the concept of autonomous control of the quarry vehicles movement
title_sort	developing the concept of autonomous control of the quarry vehicles movement
publisher	EDP Sciences
publishDate	2021
url	https://doaj.org/article/134c23db05734b3d85ddd89de6c2a7f1
work_keys_str_mv	AT chicherinivan developingtheconceptofautonomouscontrolofthequarryvehiclesmovement AT fedosenkovboris developingtheconceptofautonomouscontrolofthequarryvehiclesmovement AT dubinkindmitriy developingtheconceptofautonomouscontrolofthequarryvehiclesmovement AT zhenbowang developingtheconceptofautonomouscontrolofthequarryvehiclesmovement
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Developing the concept of autonomous control of the quarry vehicles movement

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