SAE TECHNICAL PAPER SERIES Vehicle Control of Unmanned Dump Trucks Yukio Okawa, Takao Nagai, Osamu Murayama, and Tsuguo Sudo Komatsu Ltd. The Engineering Society IhA =For Advancing Mobility -rand sea Air and Spacem International Off-Highway & Powerplant Congress & Exposition Milwaukee, Wisconsin September 14-17,1992 400 COMMONWEALTH DRIVE, WARRENDALE, PA 15096-0001 U.S.A. Downloaded from SAE International by University of Edinburgh, Sunday, August 26, 2018The appearance of the ISSN code at the bottom of this page indicates SAE's consent that copies of the paper may be made for personal or internal use of specific clients. Thisconsent is given on thecondition, however, that the copier pay a$5.00 per article copy fee through the Copyright Clearance Center, Inc. Operations Center, 27 Congress St., Salem, MA 01 970 for copying beyond that permitted by Sections 107 or 108 of the U.S. Copyright Law. This consent does not extend to other kinds of copying such as copying for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. SAE routinely stocks printed papers for a period of three years following date of publication. Direct your orders to SAE Customer Service Department. To obtain quantity reprint rates, permission to reprint a technical paper or permission to use copyrighted SAE publications in other works, contact the SAE Publications Group. All SAE papers, standards, and selected books are abstracted and indexed in the SAE Global Mobility Database. No part of this publication may by reproduced in any form, in an electronic retrieval system or otherwise, without the prior written permission of the publisher. ISSN 0148-7191 Copyright 1992 Society of Automotive Engineers, Inc. Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the paper if it is published in SAE transactions. For permission to publish this paper in full or in part, contact the SAE Publications Division. Persons wishing to submit papers to be considered for presentation or publication through SAE should send the manuscript or a 300 word abstract of a proposed manuscript to: Secretary, Engineering Activity Board, SAE. Printed in USA Downloaded from SAE International by University of Edinburgh, Sunday, August 26, 2018Vehicle Control of Unmanned Dump Trucks Yukio Okawa, Takao Nagai, Osamu Murayama, and Tsuguo Sudo Komatsu Ltd. ABSTRACT Unmanned off-highway dump trucks have been developed as the first step toward entire mine automation. The vehicles are operated on a teaching-playback basis. That is, an operator once drives a truck along a desired path, which is stored in IC memories as a series of points. Then microprocessors control the car so that it runs on the route repeatedly. The data can be saved in IC cards. System supervisors can select any one course in a card set on board. The card can be detached and kept for the future use. Also it can be copied to spread the course data to other vehicles when multiple trucks are operated in a fleet. When a vehicle is inside a loading area, an operator of a loading machine can drive the truck by radio control so that the operator can stop the truck at any point where helshe wants to load. The entire system comprises several chief subsystems, man machine interface including radio control, navigation, vehicle control, data link, and safety unit. These subsystems ensure easy, safe, precise and reliable automatic unmanned dump truck operations, which decrease running cost of mines, protect human operators from accidents, reduce labor problems, and liberate workers from tedious and exhausting jobs. in this paper, a general view of the system and details of vehicle control are described. answer to the employment crunch