Mechanical Position And Heading Systems For Mining Machines - Objective

Develop and evaluate a mechanical position and heading system (MPHS) that provides information about underground mining machine position and heading to aid in the remote positioning of mining machines during face maneuvers. Background While great improvements have been made in mineworker safety, progressive technology continues to create a safer, better working environment for miners by keeping them away from the dangerous face area. In maintaining such high standards of safety, the Bureau is investigating remote, computer-assisted operation of mining systems for underground, highwall, and surface mining applications. A key component of computer-assisted operation is a guidance system. Since there are no guidance systems on any commercial continuous mining machines, the Bureau itself developed and tested the mechanical position and heading system (MPHS). The MPHS is based on linear position transducers (LPT's), and operates on principles of triangulation to provide machine position (xy coordinate), and orientation in the xy plane (yaw or heading). These data are needed in order to keep the continuous mining machine in proper alignment before and during the cutting cycle. The MPHS theory development is in three parts: characterize the sensors used and their configuration; select and define the navigation reference frames; and derive a closed-form solution for determining the position and beading from sensor information. Application of the MPHS theory required the development of hardware, software, and system interfaces.