Characteristics Of Ultrasonic Ranging Sensors In An Underground Mine Environment

The research reported here characterizes ultrasonic ranging sensors for autonomous navigation on underground mine mobile equipment. Because ultrasonic rangers are inexpensive, have no moving parts, have no lenses to clean, are small and unobtrusive, and can measure distances in dusty environments, they are especially sui ted to underground mi ne environments. The investigation began with laboratory tests of field of view, angle of incidence, intersensor variation, and ranging accuracy of individual rangers and a ring array of 24 sensors. The results showed the sensors have good accuracy and low variability. Additional experiments at AHAX' s Henderson mine Showed the sensors could accurately and reliably measure rib features, convex and concave corners, and drift intersections. The results showed that when used and analyzed properly, the sensor data may be used reliably for underground mobile equipment navigation.