Automatic Control Method for Mining and Transportation of Mining Truck in Open-Pit Mine Based on 5G Communication
Aiming at the complex working environment of open-pit mines,the difficulty and the time-consuming of control in the process of mining and transportation of mining trucks,an automatic control method of mining and transportation of mining trucks in open-pit mines based on 5G communication was proposed.Firstly,a 5G communication system suitable for open-pit mines was constructed to collect operation data of mining trucks in real time.Secondly,the kinematics model of mining trucks was established and the reference trajectory of mining and transportation of mining trucks was planned by improved A*algorithm,and the adaptive preview strategy was introduced to determine the expected control rate.Finally,the particle swarm optimization algorithm was used to obtain the optimal preview distance and applied to the trajectory tracking control of mining trucks,achieving automated control of mining and transportation of mining trucks in open-pit mines.The experimental results show that in curved driving,the maximum lateral error of the mining truck is 0.07 m,and the maximum heading angle error is 0.05 rad.During uphill and downhill driving,the maximum lateral error during uphill driving and downhill driving is 0.13 m and 0.12 m,respectively.During obstacle avoidance driving,the maximum lateral error is 0.1 m,the maximum heading angle error is 0.05 rad.The maximum calculation time does not exceed 30 ms.The results indicate that this method achieves precise control of mining and transportation processes,reduces accident rates,and improves the safety and efficiency of open-pit mining.
5G communicationMining trucks in open-pit mineMining and transportationAdaptive previewParticle swarm optimizationControl method
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