scholarly journals The concept of controlling the unmanned vehicles in open pit mining

2020 ◽  
Vol 1 (8) ◽  
pp. 109-120
Author(s):  
Ivan Chicherin ◽  
◽  
Boris Fedosenkov ◽  
Ilia Syrkin ◽  
Vladimir Sadovets ◽  
...  
Keyword(s):  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Opencast Mine ◽  
Movement Dynamics ◽  
Wavelet Representations ◽  
Mining Face ◽  
Analytical Tools ◽  
Effective Conditions ◽  
A Current

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.

scholarly journals Developing the concept of autonomous control of the quarry vehicles movement

2021 ◽  
Vol 315 ◽  
pp. 03023
Author(s):  
Ivan Chicherin ◽  
Boris Fedosenkov ◽  
Dmitriy Dubinkin ◽  
Wang Zhenbo
Keyword(s):  
Wavelet Transforms ◽  
Unmanned Vehicles ◽  
Autonomous Control ◽  
Open Pit ◽  
Wavelet Representations ◽  
Dump Trucks ◽  
Opencast Mines ◽  
Analytical Tools ◽  
Effective Conditions ◽  
A Current

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.

scholarly journals Using a wavelet medium for computer-aided controlling the movement of unmanned vehicles along quarry routes

2021 ◽  
Vol 1 ◽  
pp. 103-112
Author(s):  
Ivan V. Chicherin ◽  
◽  
Boris A. Fedosenkov ◽  
Ilia S. Syrkin ◽  
Vladimir Iu. Sadovets ◽  
...  
Keyword(s):  
Wavelet Transforms ◽  
Wigner Distribution ◽  
Matching Pursuit ◽  
Unmanned Vehicles ◽  
Gabor Wavelet ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
Time Frequency ◽  
Opencast Mine

Introduction. It is established that the most effective tool for monitoring and controlling the dynamics of current trajectories (CT) of unmanned vehicles (UMV) when moving along opencast mine routes in open pit mining is the wavelet transforms technique. Methodology. A detailed analysis of the procedures related to the technology of converting 1D-current trajectory signals (CT-signals) into a multidimensional medium of time-frequency distributions (TFD) is carried out. The Wigner distribution is selected as a working distribution for processing CT-signals. This distribution is considered from the point of view of its ability to represent one-dimensional CT-signals of UMV in an information-intensive and functionally transparent format of specific TFDs. Research results and analysis. On the example of curved routes, the nature of the so-called forward and reverse transients of CT-signals of UMV, formed in the subsystems of external and autonomous control (ECSS and ACSS) of unmanned vehicles, is considered. Mathematical tools are described for wavelet transformations: Gabor wavelet functions, the wavelet matching pursuit algorithm (MP-algorithm), and Cohen’s class time-frequency wavelet distributions. Conclusion. The procedures of processing the trajectory signals with using the means mentioned above make it possible to implement effectively the functions of controlling the UMV movement along current trajectories formed by the system on opencast mine routes.

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

2021 ◽  
Vol 315 ◽  
pp. 03022
Author(s):  
Ivan Chicherin ◽  
Boris Fedosenkov ◽  
Dmitriy Dubinkin ◽  
Wang Zhenbo
Keyword(s):  
Wavelet Transforms ◽  
Matching Pursuit ◽  
Effective Means ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
One Dimensional ◽  
Time Frequency ◽  
Computer Aided

Introduction. Purpose of the work. Within the framework of the computer-aided system, a technology has been formed for the method of controlling the current trajectories (CTs) of unmanned vehicles (UMVs) when they move along routes in a quarry in open pit mining. The purpose of the presented studies is to analyze the application of a wavelet transforms technique to the problem of routing unmanned vehicles when they move along routes within open pit roads. Methodology. The results of modeling certain one-dimensional signals corresponding to the UMV current trajectories when they deviate to the left / right from a nominal axial trajectory (NAT), as well as their time-frequency representations in a wavelet medium are presented. An algorithm of the procedure for displaying scalar UMV CT control signals in a complex medium of time-frequency wavelet transforms has been developed and described. Such a transformation allows for a functionally transparent and information-capacious monitoring of the UMV movement and efficiently manage the processes of trajectory routing dump trucks in an open pit. Research results, analysis. The processes of modifying the UMV movement current trajectories under the control of the computer-aided system are generated using wavelet transforms methods. They are based on algorithms for projecting the trajectory signals with a time-dependent frequency (chirp signals) onto a set of wavelet functions as part of a wavelet thesaurus (wavelet dictionary), executing certain wavelet matching pursuit procedures, and displaying the CT scalar signals in a specific multidimensional medium of Cohen’s class time-frequency distributions. The simulation results in the form of the current trajectory (CT-) signals waveforms and their three-dimensional time-frequency representations as Wigner maps showing the UMV movement in a start-stop mode, as well as the signals of formed continuous deviation trajectories when they leave to the left and to the right from the NAT, are presented. An algorithm for the formation of 3D-representations of UMV current trajectory one-dimensional signals is presented. Conclusion. The conclusion is made that the mathematical technique of wavelet transforms is the most expedient and effective means for computer-aided monitoring and controlling the dynamics of UMV movement along routes within open pit roads.

scholarly journals Vehicles for Open-Pit Mining with Smart Scheduling System for Transportation Based on 5G

2021 ◽  
Vol 12 (5) ◽  
pp. 827-835
Author(s):  
Mohanad F Jwaid, Husam K Salih Juboori
Keyword(s):  
Artificial Intelligence ◽  
Unmanned Vehicles ◽  
Open Pit Mine ◽  
Open Pit ◽  
Open Pit Mining ◽  
Transport Costs ◽  
Time Data ◽  
Nsga Ii ◽  
Scheduling System ◽  
Unmanned Vehicle

In the Recent times, various technological enhancements in the field of artificial intelligence and big data has been noticed. This advancements coupled with the evolution of the 5G communication and Internet of Things technologies, has helped in the development in the domain of smart mine construction. The development of unmanned vehicles with enhanced and smart scheduling system for open-pit mine transportation is one such much needed application. Traditional open-pit mining systems, which often cause vehicle delays and congestion, are controlled by human authority. The number of sensors has been used to operate unmanned cars in an open-pit mine. The sensors haves been used to prove the real-time data in large quantity. Using this data, we analyses and create an improved transportation scheduling mechanism so as to optimize the paths for the vehicles. Considering the huge amount the data received and aggregated through various sensors or sources like, the GPS data of the unmanned vehicle, the equipment information, an intelligent, and multi-target, open-pit mine unmanned vehicle schedules model was developed. It is also matched with real open-pit mine product to reduce transport costs, overall unmanned vehicle wait times and fluctuation in ore quality. To resolve the issue of scheduling the transportation, we prefer to use algorithms based on artificial intelligence. In addition to four other models we are proposing a decomposition-based restricted genetic dominance (DBCDP-NSGA-II) algorithm, which retains viable and non-facilitating solutions in small areas in order to improve the convergence, distribution and diversity of traditional high-dimensional multi-objective fast-dominated genetic sorting Algorithms (NSGA-II).

scholarly journals FORMING SIGNALS OF CURRENT TRAJECTORIES IN COMPUTER-AIDED SYSTEM OF MODAL CONTROLLING UNMANNED VEHICLES IN OPEN PIT MINING

2021 ◽  
Vol 2021 (4) ◽  
pp. 35-44
Author(s):  
Ivan Vladimirovich Chicherin ◽  
Boris Andreevich Fedosenkov
Keyword(s):  
Control Object ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Subject Field ◽  
Dynamic Type ◽  
Chirp Signals ◽  
Computer Aided ◽  
The Difference ◽  
And Control

The article defines the object of control in the form of signals of current trajectories (CT), along which unmanned vehicles (UMV) move. It describes the subject field of research – the principle and technology of forming the signals generated by the computer-aided system for modal controlling the UMVs during their movement along quarry routes. In order to develop procedures for identifying an upcoming trajectory of the UMV when bypassing some static or dynamic obsta-cles, conditions are included in the software and hardware complex for the formation of the UMV corresponding trajectory direction based on assigned sinusoidal-like frequency-time-dependent functions (chirp signals) responsible for redirecting the UMV along a particular trajectory. The cor-responding chirp signals for the left and right deviation trajectories of the UMV are fixed. The no-tion of sporadic disturbances and force-modal transient processes (TP) is introduced. There has been also reviewed a new description of TP, whose signal contains the variable frequency changing by a certain law depending on the direction and nature of a CT deviation and the environment of UMV. The essence and reasons for the effects of structural and parametric nonstationarity of the control object (CO) are explained. Analytical and graphical interpretations of the emerging non-stationarity caused by the introduction of additional stationary and dynamic-type poles into the CO are presented. It is noted that the stationary poles characterize the inertia of the aperiodic components of the trajectory chirp signals, and the dynamic ones determine the permanently varied frequency of transients (their chirp form). The properties of both sporadic and forced-modal TPs’ poles localized on the complex plane are characterized. Calibration characteristics are determined that establish a relationship between the instantaneous frequency of TP and the metric deviation of UMV CT relative to the nominal axial trajectory. The difference between the procedures of localization and re-localization of poles for modal upward and downward reverse TP, on which the efficiency and safety of UMV moving along the quarry routes, depends, is functionally identified and considered. All the procedures mentioned above make it possible to monitor online and control effectively the dynamics of operative and safe UMV trajectory moving along technological quarry routes in open pit mining

scholarly journals The technique of wavelet transforms in the computer-aided system for controlling the unmanned dump trucks movement

2021 ◽  
Vol 1 (3) ◽  
pp. 106-114
Author(s):  
Ivan V. Chicherin
Keyword(s):  
Wavelet Transforms ◽  
Matching Pursuit ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
One Dimensional ◽  
Time Frequency ◽  
Computer Aided ◽  
Dump Trucks

Introduction, purpose of the work. Within the framework of the computer-aided system, the technology of a method is formed to control the current trajectories (CT) of unmanned vehicles (UMV) when they move along quarry routes in open-pit mining. The purpose of the presented research is to analyze the application of the wavelet transforms technique to the problem of routing unmanned vehicles when they move along quarry routes. Methodology. The results of modeling one-dimensional signals corresponding to the UMV current trajectories are presented, when the latters deviate to the left / right from the nominal axial trajectory (NAT), as well as their time-frequency distributions in the wavelet medium. The algorithm of the procedure for displaying scalar signals is developed and described to control UMV CT in a complex medium of time-frequency wavelet transforms. This transformation allows you to monitor the movement of UMV in a functionally transparent and informative way and effectively manage the processes of trajectory routing of dump trucks in the quarry. The analysis of research results. The processes of modifying the current trajectories of the UMV movement under the control of the computer-aided system are generated using the methods of wavelet transforms. They are based on algorithms for projecting trajectory signals with a time-dependent frequency (chirp signals) onto a set of wavelet functions within a wavelet thesaurus (wavelet dictionary), wavelet matching pursuit procedures, and representing scalar signals in a specific multidimensional medium of Cohen’s class time-frequency distributions. Simulation results in the form of waveform trajectory (CT-) signals and their three-dimensional Wigner time-frequency maps representing the movement of UMV in a start-stop mode, and the signals of formed continuous deviation trajectories while they deflect to the left and right of NAT. The algorithm for generating a 3D-image of a UMV current trajectory one-dimensional signal is presented. Conclusion. It is concluded that the mathematical technique of wavelet transforms is the most appropriate and effective one for computer-aided monitoring and controlling the dynamics of UMV moving along opencast mine routes.

scholarly journals Problems of Designing Transport Systems of «siberian Antrazit»

2020 ◽  
Author(s):  
Natalia Gorbunova ◽  
Oleg Mirkushov
Keyword(s):  
Operating Conditions ◽  
Open Pit ◽  
Transport Systems ◽  
Open Pit Mining ◽  
Optimal Route ◽  
Opencast Mine ◽  
Shortest Route ◽  
Shortest Distance ◽  
Coal Supply ◽  
Open Cast

Abstract The article discusses the operating conditions of transport systems located in open pit mining of the enterprise of Siberian Anthracite JSC using «Kolyvanskij» opencast mine as an example. The most optimal route for coal supply railway lines from the open pit to the concentration plants was designed, the use of which will increase the enterprise’s productivity and reduce the risks of using vehicles. When searching for the optimal route for coal delivery from «Kolyvanskij» open-pit mine to the «Listvjanskaja-1» and «Listvjanskaja-2» enrichment plants, the method of dynamically programming the optimal route (the optimality principle of R. Bellman) was used as an algorithm. The method of dynamic programming is to determine the shortest distance between nodes (places of intersection of the proposed railway tracks), by successive solutions of which, the shortest route is revealed. Based on the obtained parameters, two designed tracks were compared and, as a recommendation for solving technological issues in the design of transport systems of a mining enterprise it was proposed to use the optimal railway from the open-cast mine to «Listvjanskaja» «2 way» enrichment plant.

Coal mining-disturbed land reclamation laws

2020 ◽  
pp. 15-26
Author(s):  
T. V. Galanina ◽  
M. I. Baumgarten ◽  
T. G. Koroleva
Keyword(s):  
Large Scale ◽  
Land Reclamation ◽  
Mining Industry ◽  
Development Program ◽  
Soil Disturbance ◽  
Open Pit ◽  
Open Pit Mining ◽  
Disturbed Land ◽  
Critical Problems ◽  
Production Output

Large-scale mining disturbs wide areas of land. The development program for the mining industry, with an expected considerable increase in production output, aggravates the problem with even vaster territories exposed to the adverse anthropogenic impact. Recovery of mining-induced ecosystems in the mineral-extracting regions becomes the top priority objective. There are many restoration mechanisms, and they should be used in integration and be highly technologically intensive as the environmental impact is many-sided. This involves pollution of water, generation of much waste and soil disturbance which is the most typical of open pit mining. Scale disturbance of land, withdrawal of farming land, land pollution and littering are critical problems to the solved in the first place. One of the way outs is highquality reclamation. This article reviews the effective rules and regulations on reclamation. The mechanism is proposed for the legal control of disturbed land reclamation on a regional and federal level. Highly technologically intensive recovery of mining-induced landscape will be backed up by the natural environment restoration strategy proposed in the Disturbed Land Reclamation Concept.

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