Laser-Based Tram Control Systems For Mining Machines - Objective

Track and control the tram maneuvers of continuous mining machines by developing and evaluating a laser sensor system. Background Progressive technology has the potential to greatly improve mine-worker safety, helping to create a safer, better working environment for mine workers by keeping them away from the dangerous face area. To benefit from such technology, the Bureau is investigating remote, computer-assisted operation of mining systems for underground, highwall, and surface mining applications. A cornerstone for computer-assisted operation is an effective guidance system. Since there are no guidance systems on any commercial continuous miners (CM's), the Bureau it-self developed and tested a laser-based sensor system, based on a commercial sensor called Lasernet. The laser-based guidance system employs four laser scanning sensors at fixed locations in a mine entryway to report the angular coordinates of two cylindrical retro-reflective targets mounted on a CM. Using triangulation, a real-time microcomputer system processes the sensor data and updates the xy position and heading (h) of the CM five times per second. Using a simple control algorithm and communications interface to the CM control computer, the system also controls rotational and translational tram maneuvers.