Abstract
The paper substantiates the need to create an autonomous dump truck control system. The scope of the unmanned mining dump truck is described. An example of the layout of the general scheme of an autonomous dump truck with control system basic elements is given, as well as some differences from the dump trucks with traditional control system are presented. The levels of automation of autonomous dump truck are formed. The enlarged tasks that need to be addressed when creating a control system for autonomous mining dump truck are highlighted. The general structure of a multi-level control system for autonomous dump truck was developed. The upper, middle and lower levels of the control system are described. The summation is drawn on the relevance of developing scientifically based approaches for creating control systems for autonomous mining truck, as well as developing mathematical models and algorithms for controlling autonomous mining trucks. The main directions for further research are identified. They are the development of requirements for a dump truck control system; the development of the structure of mathematical models and algorithms for the operation of subsystems of the dump truck control; the development of software that allows simulating the interaction of the subsystems of the dump truck control system with each other, the Smart Quarry system and the operator.
Highlights
Unmanned vehicles are widely used in various fields of human activity
The tasks associated with the development of autonomous control system for a dump truck can be divided into the following classes: - traffic control of autonomous dump truck along the road; - improving the efficiency of autonomous dump truck; - positioning of autonomous dump truck in space; - controlling of auxiliary systems of a mining truck; - diagnostics of the state of autonomous dump truck; - interaction of the control system of autonomous dump truck with an operator; - interaction of the control system of autonomous dump truck with a dispatch point; - interaction of the control system of autonomous dump truck with other devices included in the Smart Quarry system
The presented tasks and the general structure of the control system allows concluding that the tasks solved by the control system of autonomous dump truck are complex and diverse
Summary
Unmanned vehicles are widely used in various fields of human activity. The use of unmanned vehicles in industry is dictated by harmful and dangerous working conditions, as well as the need to increase the labor productivity.The use of unmanned vehicles in cargo moving avoids driver errors caused by fatigue, limited visibility, etc. To ensure the effective operation of an autonomous dump truck, it is necessary to develop a control system that implements many tasks.
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