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

¹ T.F. Gorbachev Kuzbass State Technical University, Department of Information and Computer-aided Manufacturing Systems, 650000, Kemerovo, 28 Vesennyaya st., Russian Federation
² T.F. Gorbachev Kuzbass State Technical University, Department of Metal-Cutting Machines and Tools, 650000, Kemerovo, 28 Vesennyaya st., Russian Federation
³ Shenyang University of Technology, Shenyang Mechanical and Electrical Engineering College, 110870, Shenyang, Liaoning, No. 111 West Shenliao Road, Economic & Technical Development Zone, People’s Republic of China

^* Corresponding author: chiv.iap@kuzstu.ru

Abstract

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.