Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to co...Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to counteract this. The system consists of three components i.e. localization, road monitoring, and scheduling. The localization of vehicles is performed using a Rao-Blackwellized extended particle filter, combining vehicle mounted sensors with signal strengths of Wi Fi access points. Two methods for road monitoring are described: a Kalman filter used together with a model of the vehicle suspension system, and a relative condition measure based on the power spectral density. Lastly, a method for taking automatic action on an ill-conditioned road segment is proposed in the form of a rescheduling algorithm.The scheduling algorithm is based on the large neighborhood search and is used to integrate road service activities in the short-term production schedule while minimizing introduced production disturbances.The system is demonstrated on experimental data collected in a Swedish underground mine.展开更多
The condition of the road infrastructure has severe impacts on the road safety, driving comfort, and on the rolling resistance. Therefore, the road infrastructure must be moni- tored comprehensively and in regular int...The condition of the road infrastructure has severe impacts on the road safety, driving comfort, and on the rolling resistance. Therefore, the road infrastructure must be moni- tored comprehensively and in regular intervals to identify damaged road segments and road hazards. Methods have been developed to comprehensively and automatically digitize the road infrastructure and estimate the road quality, which are based on vehicle sensors and a supervised machine learning classification. Since different types of vehicles have various suspension systems with different response functions, one classifier cannot be taken over to other vehicles. Usually, a high amount of time is needed to acquire training data for each individual vehicle and classifier. To address this problem, the methods to collect training data automatically for new vehicles based on the comparison of trajectories of untrained and trained vehicles have been developed. The results show that the method based on a k-dimensional tree and Euclidean distance performs best and is robust in transferring the information of the road surface from one vehicle to another. Furthermore, this method offers the possibility to merge the output and road infrastructure information from multiple vehicles to enable a more robust and precise prediction of the ground truth.展开更多
基金partially supported by the Wallenberg AIAutonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation
文摘Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to counteract this. The system consists of three components i.e. localization, road monitoring, and scheduling. The localization of vehicles is performed using a Rao-Blackwellized extended particle filter, combining vehicle mounted sensors with signal strengths of Wi Fi access points. Two methods for road monitoring are described: a Kalman filter used together with a model of the vehicle suspension system, and a relative condition measure based on the power spectral density. Lastly, a method for taking automatic action on an ill-conditioned road segment is proposed in the form of a rescheduling algorithm.The scheduling algorithm is based on the large neighborhood search and is used to integrate road service activities in the short-term production schedule while minimizing introduced production disturbances.The system is demonstrated on experimental data collected in a Swedish underground mine.
基金project of Technical Aspects of Monitoring the Acoustic Quality of Infrastructure in Road Transport(3714541000)commissioned by the German Federal Environment Agencyfunded by the Federal Ministry for the Environment,Nature Conservation,Building and Nuclear Safety,Germany,within the Environmental Research Plan 2014.
文摘The condition of the road infrastructure has severe impacts on the road safety, driving comfort, and on the rolling resistance. Therefore, the road infrastructure must be moni- tored comprehensively and in regular intervals to identify damaged road segments and road hazards. Methods have been developed to comprehensively and automatically digitize the road infrastructure and estimate the road quality, which are based on vehicle sensors and a supervised machine learning classification. Since different types of vehicles have various suspension systems with different response functions, one classifier cannot be taken over to other vehicles. Usually, a high amount of time is needed to acquire training data for each individual vehicle and classifier. To address this problem, the methods to collect training data automatically for new vehicles based on the comparison of trajectories of untrained and trained vehicles have been developed. The results show that the method based on a k-dimensional tree and Euclidean distance performs best and is robust in transferring the information of the road surface from one vehicle to another. Furthermore, this method offers the possibility to merge the output and road infrastructure information from multiple vehicles to enable a more robust and precise prediction of the ground truth.
