acarp project c18023 cm2010 continuous miner automation
Download
Skip this Video
Download Presentation
ACARP project C18023 CM2010 – Continuous Miner Automation

Loading in 2 Seconds...

play fullscreen
1 / 15

ACARP project C18023 CM2010 Continuous Miner Automation - PowerPoint PPT Presentation


  • 133 Views
  • Uploaded on

ACARP project C18023 CM2010 – Continuous Miner Automation. Dr David C. Reid Dr Mark Dunn RDTG Operator’s Workshops Sept 2010. Project Overview. Project context CM Automation component of the CM2010 initiative Project grand goal

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'ACARP project C18023 CM2010 Continuous Miner Automation' - nitza


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
acarp project c18023 cm2010 continuous miner automation
ACARP project C18023CM2010 – Continuous Miner Automation

Dr David C. Reid

Dr Mark Dunn

RDTG Operator’s Workshops Sept 2010

project overview
Project Overview
  • Project context
    • CM Automation component of the CM2010 initiative
  • Project grand goal
    • A remotely supervised continuous miner for roadway development
  • Project impact
    • Essential and major component of CM2010 goals
    • Immediate health and safety benefits
    • Immediate productivity benefits
  • We are now halfway through 3 year project
enabling technology
Enabling Technology
  • Need to develop navigation system suitable for accurate control of CM
    • Can’t use GPS underground (without a lot of additional infrastructure)
    • Technology needs to be physically robust, reliable, accurate and ideally self-contained (doesn’t rely on external infrastructure)
    • Technology needs to work under all normal CM operating conditions
  • Inertial navigation meets most of the above criteria
    • Already proven in longwall mining automation (but higher performance required for CM automation)
    • Reasonably self contained (but needs odometry/velocity aiding)
    • Has the additional benefit of providing real-time accurate CM pitch/roll/heading information at the CM
    • Need to develop a non-contact odometry solution for this system to be practical
cm navigation solution ins odometry
CM Navigation Solution: INS + Odometry

INS

IMU

Navigation

Equations

Position

(AT, CT, VT)

Gyros

Accels

Orientation

(Heading pitch Roll)

Odometry

Aiding Source

Process

Environment

  • Presently evaluating INS and Odometry Solutions
non contact odometry
Non-Contact Odometry
  • Inertial navigation system requires an external aiding source to achieve required position accuracy
  • An accurate non-contact odometer is key to practical CM navigation system:
    • Needs to be non-contact to be practical
    • Needs to be rugged-isable
    • Needs to be immune/tolerant to dust, moisture, vibration
    • Needs to be very accurate – navigation algorithms are very sensitive to latency (<40mS), accuracy, timing and measurement jitter
    • Multi-sensor solution provides redundancy benefits
non contact odometry technologies
Non-contact Odometry Technologies

Mono

Stereo

Multi

Multibeam

3D Scanning

Point

Doppler

e-Steering

UWB

results so far
Results so far
  • A CM navigation system has been developed
  • Non-contact odometry solutions have been developed for velocity aiding using hybrid technologies
    • Ultra low speed Doppler radar
    • Optical flow position sensor (like an optical mouse)
  • A skid steer vehicle The Phoenix has been customised for evaluating the navigation system performance
mobile cm test platform the phoenix
Mobile CM Test Platform: The Phoenix

Non-contact optical flow odometry and very low speed Doppler radar

test platform development phoenix
Test Platform Development: Phoenix
  • Phoenix provided a realistic CM-like platform for VMS-aided navigation testing
    • Installation of RTK GPS equipment on Phoenix for ground-truth reference
    • Installation of RTK surveyed base station at QCAT and radio link to Phoenix
    • Doppler radar and optical position sensor installed
    • Sagem Sigma30 INS installed
    • Custom-developed control and communication systems installed
    • Navigation experiments conducted on both paved and unpaved (rough) tracks
results cm attitude monitoring
Results: CM Attitude Monitoring

Accurate heading/pitch/roll information available on CM

phoenix navigation testing area
Phoenix Navigation Testing Area
  • Test tracks – monorail/paved road and rough unpaved track
next stages
Next Stages
  • Further enhancement to the navigation solutions
  • Additional evaluation with lower performance inertial system
  • Further control system development
  • Development of Mine-To-Plan software tool
  • Field trials
    • Quarry
    • Underground
summary
Summary
  • A practical CM navigation systems has been developed and demonstrated under limited operating conditions
  • New non-contact odometry technologies have been demonstrated
  • Further development and testing required under more realistic operating conditions
thank you
Thank you

Contact Us

Phone: 1300 363 400 or +61 3 9545 2176

Email: [email protected] Web: www.csiro.au

Exploration and Mining

Dr David C. Reid

Principal Research Engineer

Dr Mark T Dunn

Research Engineer

Phone: 07 3327 4437

Email: [email protected]

ad