Automatic guidance of underground mining vehicles using laser sensors |
| |
Authors: | Hongpeng Chi Kai Zhan Boqiang Shi |
| |
Affiliation: | a School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China b Beijing General Research Institute of Mining and Metallurgy, Beijing 100070, China |
| |
Abstract: | Autonomous guided vehicles are becoming extremely important in the mining industry. The underground environment is unique and complex in that the lighting conditions are poor, the roads are difficult to traverse, and no GPS can accurately receive signals in these areas. This paper analyzes the characteristics of commonly used positioning methods given that ordinary positioning and navigation methods do not work effectively underground. We outline the composition and principles in underground guidance of autonomous vehicles using the laser-based positioning system. This system is unique in that it draws on the premise of barcode theory, which allows for a feasible relative navigation system even without a GPS. Algorithms were developed to provide real-time control for an autonomous guided scraper. In the vehicle experiment, the scraper was able to autonomously move along the simulated laneway, and the trial average range longitudinal error was only 15 cm in a 40-m distance. Hence, this new type of positioning and navigation system can accurately and reliably guide vehicles. |
| |
Keywords: | Mining Vehicle Laser positioning Beaconing Automated guidance Laser-transmitter |
本文献已被 ScienceDirect 等数据库收录! |
|