MINING EQUIPMENT
Original Paper
UDC 622.23.05 © D.M. Dubinkin, V.Yu. Sadovets, I.S. Syrkin, E.V. Korshunova, 2024
ISSN 0041-5790 (Print) • ISSN 2412-8333 (Online) • Ugol’ – Russian Coal Journal, 2024, № 11S, pp. 116-122
DOI: http://dx.doi.org/10.18796/0041-5790-2024-11S-116-122
Title
CREATION OF AN ALGORITHM FOR PROCESSING DATA FROM UNMANNED CONTROL SYSTEMS OF A QUARRY DUMP TRUCK FOR CONSTRUCTING HIGH-PRECISION 3D MAPS OF THE TERRAIN
Authors
D.M. Dubinkin, V.Yu. Sadovets, I.S. Syrkin, E.V. Korshunova
Kuzbass State Technical University, Kemerovo, 650000, Russian Federation, e-mail: ddm.tm@kuzstu.ru
Authors Information
Dubinkin D.M. – Ph (Engineering), Associate, Associate Professor of the Department of Mining Machines and Complexes, T.F. Gorbachev Kuzbass State Technical University (KuzS), Kemerovo, 650000, Russian Federation, e-mail: ddm.tm@kuzstu.ru
Sadovets V.Yu. – Ph (Engineering), Associate, Associate Professor of the Department of Information and Automated Production Systems, T.F. Gorbachev Kuzbass State Technical University (KuzS), Kemerovo, 650000, Russian Federation, e-mail: svyu.pmh@kuzstu.ru
Syrkin I.S. – Ph (Engineering), Associate Professor of the Department of Information and Automated Production Systems, T.F. Gorbachev Kuzbass State Technical University (KuzS), Kemerovo, 650000, Russian Federation, e-mail: syrkin@kuzstu.ru
Korshunova E.V. – Junior Researcher of the Scientific Center “Digital Technologies”, T.F. Gorbachev Kuzbass State Technical University (KuzS), Kemerovo, 650000, Russian Federation, e-mail: korshunovaev@kuzstu.ru
Abstract
The article discusses the methods and technologies used to create high precision 3D terrain maps that are necessary to determine the trajectory of movement and control of an unmanned mining truck. Developing an unmanned control system for a mining truck is a complex and multifaceted task. To ensure the construction of high-precision maps, a reasonable choice of hardware for the vision and navigation system was made. The main attention is paid to the integration of modern sensors, such as a global navigation satellite system (GNSS), 3D lidar, inertial sensor and video camera, into the unmanned control system for a mining truck. The combination of the selected equipment ensures the accuracy and reliability of the data obtained, such as video images, a polygonal terrain model and positioning points of the mining truck. The devices used, their functionality and methods for synchronizing information for creating detailed maps that consider relief features and obstacles on the ground are presented
Keywords
Quarry dump truck, unmanned control, navigation system, machine vision system, sensors, data processing, algorithm.
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Acknowledgements
his work was financially supported by the Ministry of Science and igher Education of ussian ederation under greement No 075-15-2022-1198 dated 30.09.2022 with the orbachev Kuzbass State echnical niversity on complex scientific and technical program of full innovation cycle: “evelopment and implementation of complex technologies in the areas of exploration and extraction of solid minerals, industrial safety, bioremediation, creation of new deep conversion products from coal raw materials while consistently reducing the environmental impact and risks to human life” (the “Clean Coal – reen Kuzbass” Integrated Scientific and echnical Programme of the ull Innovation Cycle) as part of implementing the project “evelopment and creation of an unmanned shuttle-type mine truck with a payload of 220 tonnes” in terms of research, development and experimental-design work.
For citation
Dubinkin .M., Sadovets V.Yu., Syrkin I.S., Korshunova E.V. Creation of an algorithm for processing data from unmanned control systems of a quarry dump truck for constructing high-precision 3 maps of the terrain. Ugol’. 2024;(11S):116-122. (In uss.). DOI:10.18796/0041-5790-2024-11S-116-122.
Paper info
Received September 15, 2024
Reviewed October 21, 2024
Accepted October 31, 2024