OFR-62(3)-73 Feasibility Of Remote, Control And Development Of Remote Control Devices And Sensors - Shuttle Car Sensor System - Appendix B - System Tests

[Study and development of sensing techniques and sensors were performed to aid shuttle car drivers in detecting, obstacles and in guiding the car along the face haulage route. Microwave, acoustic, and optical sensing techniques were considered as part of the feasibility study for obstacle detection. Various guidance techniques, including wire-following and rib-ranging were investigated. Active optical sensing was selected for obstacle detection to obtain the bear overage and sharp angular cutoff characteristics required within the packaging limitations defined by the shuttle car configuration. Rib-ranging guidance was selected to achieve completely self-contained shuttle car system which responds to the mine geometry without need for wires, stripes, or other path defining devices. Extensive hybrid computer simulation runs were performed to valuate various guidance techniques during the feasibility study. Subsequent simulation rues were performed to establish parameter values for the rib-ranging guidance system. The obstacle detection and guidance system was designed, fabricated and installed on a standard shuttle car. The system satisfied all applicable permissibility requirements of Schedule 2G. An experimental permit was issued to Bendix for operation in an underground coal mine. System evaluation tests were performed first above ground at the Bendix Research Laboratories. The simulation model was validated by these runs. Final testing wan performed underground in an operating mine with an experienced shuttle car driver. All sensors successfully demonstrated Chi predicted performance capability during underground face haulage tests. Dust did not Impair system performance and lens cleaning was not required during working shifts. Further development is required to achieve the desired obstacle detection performance Closed loop steering control with manual override is recommended o: mended for the lateral guidance e system. The guidance system should be an invaluable aid to low-coal shuttle car drivers where continuous mining machines are utilized.]