dr david c. reid dr mark dunn rdtg operator’s workshops sept 2010 acarp project c18023 cm2010 –...
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Dr David C. Reid
Dr Mark Dunn
RDTG Operator’s Workshops Sept 2010
ACARP project C18023CM2010 – Continuous Miner Automation
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
• 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
• Presently evaluating INS and Odometry Solutions
INS
Odometry
IMU
Gyros
Accels
NavigationEquations
Position
(AT, CT, VT)
Orientation
(Heading pitch Roll)
EnvironmentProcess
Aiding Source
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
Visual
Laser
Radar
Other Radio (RF) localisation, ultrasonic, magnetic, …
Mono Stereo Multi
Point Multibeam 3D Scanning
UWB Doppler e-Steering
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
Non-contact optical flow odometry and very low speed Doppler radar
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
Accurate heading/pitch/roll information available on CM
Phoenix Navigation Testing Area
• Test tracks – monorail/paved road and rough unpaved track
Phoenix Navigation Testing
• [external video]
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
• 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
Contact UsPhone: 1300 363 400 or +61 3 9545 2176
Email: [email protected] Web: www.csiro.au
Thank you
Exploration and MiningDr David C. ReidPrincipal Research Engineer
Dr Mark T DunnResearch Engineer
Phone: 07 3327 4437Email: [email protected]