Smart T-box of unmanned earthwork machinery for Internet of Vehicles

K. You, G. Peng, L. Ding, Q. Dou, Z. Wu, C. Zhou

Abstract

The autonomous control and communication are the key technologies for unmanned earthwork machinery, and vehicle control terminals with compatibility are essential. This research develops a smart terminal-box (T-box) compatible with various types of unmanned earthwork machinery (including bulldozers, graders, and rollers). The data encoding and decoding model for the T-box communication is formulated to meet the instructions transmission requirements. Combined with our proposed control method implemented in the Internet of Vehicles (IoV) platform, we can achieve high-precision trajectory control. Heterogeneous mechanical data can be interacted in real time in our proposed system. Multiple experiments were implemented, and results show that our proposed T-box can realize low latency with average value of 27.03 ms. In unstructured construction sites, we can achieve trajectory control with average error of less than 0.1 m. Our research is of great significance for realizing autonomous control of unmanned earthmoving machines.

Keywords: Internet of Vehicles, Unmanned earthwork machinery, Trajectory control, T-box

https://www.sciencedirect.com/science/article/pii/S0926580522004599?via=ihub