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铲运机英文资料文献ILITERATURE11INTRODUCTIONWITHINTHISDISSERTATIONTHEFIELDOFCONTROLSYSTEMSANDTHEIRIMPLEMENTATIONTOEXISTINGRIM,METHODOLOGYANDTHEGENERALOVERVIEWOFTHECONDUCTEDRESEARCH,DESIGNANDCOBOTSWILLBEEXAMINEDANDFINALLYCARRIEDOUTTHISCHAPTERWILLOUTLINEANDDISCUSSTHECONSTRUCTIONSOFTHECONTROLSYSTEMS12PROJECTAIMTHEAIMOFTHISPROJECTISTOINVESTIGATESUITABLECONTROLSTRATEGIESFORTHEMANEUVERINGOFALOADHAULDUMPLHDUNITWITHINTHECONFINESOFAMINEFURTHERRESEARCHISTOBEDONESPECIFICALLYONATALEOPERATIONALANDFULLYAUTOMATEDCONTROLSYSTEMTOINVESTIGATEWHATWOULDBEREQUIREDTOIMPLEMENTSUCHASYSTEMTOALHDUNITDUETOTHETALEOPERATIONALSYSTEMREQUIRINGTHEUSEOFACAMERA,THEAUTOMATEDSYSTEMWILLALSOUTILIZESTHISTOOLBYUSINGMACHINEVISIONASITSGUIDANCESYSTEMTHECOREOFTHISPROJECTWILLTHENBETHEIMPLEMENTATIONOFTHESETWOCONTROLSYSTEMSTOANEXISTINGSCALEMODELOFALHDUNIT13METHODOLOGYTHEFOLLOWINGSTEPSARETHEWAYINWHICHTHISPROJECTWILLBEUNDERTAKENALLOFTHESEWILLBECONDUCTEDUNDERTHESUPERVISIONOFAPROFESSIONALENGINEERWHOWILLASSISTWITHGUIDANCEANDPROVIDESOMETECHNICALINFORMATIONANDADVICE14CONCLUSIONTHISCHAPTERHASINTRODUCEDTHEPROJECTATHANDIMPLEMENTINGATELEOPERATEDANDAUTOMATEDCONTROLSYSTEMTOANALREADYCONSTRUCTEDLHDMODELUNITDISCUSSEDINTHENEXTCHAPTERISBENEFICIALBACKGROUNDINFORMATIONWHICHWILLFORMTHEBASISFORLATTERSECTIONSOFTHISREPORT15LHDMODELANALYSISANALYSESTHEALREADYCONSTRUCTEDLHDMODELTOASCERTAINHOWITALLOPERATES,ASWELLASTHEMECHANICAL,ELECTRICALANDCONTROLFEATURESTHISINFORMATIONWASGATHEREDBYEXPERIMENTINGWITHITANDTESTINGITSBOUNDARIESTHEFOLLOWINGCOULDTHENBEDETERMINEDWHETHERTHEEXISTINGMECHANICALFEATURES,CIRCUITRYANDPROGRAMMINGAREAPPROPRIATEFORMYPROJECTWHATEQUIPMENT,COMPONENTSORPROGRAMMINGNEEDSTOBEREDESIGNEDTOALLOWTHEUNITTOBETALEOPERATEDANDAUTOMATED16MODELINGREVIEWANAPPROPRIATEMODELINGTECHNIQUEFORTHELHDUNIT,CHOOSEAPPROPRIATESTATEVARIABLESANDDERIVEANALGEBRAICEQUATIONFORTHECONTROLOFTHEUNITTHISWILLBEDONEBYRESEARCHINGDIFFERENTMODELINGMETHODSTHROUGHDATABASES,LIBRARIESANDPREVIOUSENGINEERINGRELATEDSTUDYSIMULATIONISUSEDTOTESTTHESE,ANDTOVERIFYTHEUNITWILLACTHOWONEWOULDEXPECTITTOACCORDINGTOVARIOUSINPUTSTHISSIMULATIONWILLBECONDUCTEDUSINGMICROSOFTVISUALBASIC6017PROGRAMMINGCONSTRUCTTHECOMMUNICATIONPROGRAMSFORTHEUNITTORUNTALEOPERATEDANDAUTOMATEDTHISPROGRAMWILLALSOBECODEDUSINGMICROSOFTVISUALBASIC60,ANDWILLINCLUDEFUNCTIONSTODOALLOFTHEFOLLOWINGRECEIVETHEVISUALFROMTHEUNITTOTHECOMPUTERINSTRUCTTHEUNITWHATDIRECTIONITSHOULDGOFARTALEOPERATIONAL,ORDETECTTHEWALLSOFTHETUNNELANDMOVEACCORDINGLYFORAUTOMATED18TESTINGFINALLY,THELHDUNITWILLBEPHYSICALLYTESTEDTOENSUREITWILLOPERATECORRECTLYFORBOTHOFTHECONTROLSTRATEGIESTHISWILLBEDONEBYPUTTINGTOGETHERASIMULATEDTUNNELFORTHEUNITTOMANEUVERSITSWAYTHROUGHWITHOUTENCOUNTERINGANYCOLLISIONS19CONCLUSIONTHISCHAPTERHASINTRODUCEDTHEPROJECTATHAND,IMPLEMENTINGATALEOPERATEDANDAUTOMATEDCONTROLSYSTEMTOANALREADYCONSTRUCTEDLHDMODELUNITIILOADHAULDUMPUNITS21INTRODUCTIONTHISCHAPTERWILLREVIEWLITERATURETOESTABLISHTHENEEDFORASUITABLECONTROLSTRATEGYFORTHEWIDELYUSEDLOADHAULDUMPLHDUNITAFTERRESEARCHINGANDGATHERINGTHERELEVANTBACKGROUNDINFORMATIONAPPROPRIATEFORTHISPROJECT,ITISTHENPOSSIBLETOIMPLEMENTTHESESTRATEGIESTOANACTUALMODELLHDUNIT22LOADHAULDUMPUNITSTHELOADHAULDUMPLHDUNITISUSEDEXTENSIVELYINUNDERGROUNDMININGTOPERFORMAVARIETYOFTASKSWITHINTHISFIELDALTHOUGHTHEIRMAINROLEISTORETURNANDTRANSPORTTHEMINESOREFROMTHEPOINTOFCUTTINGTOEITHERDUMPINGPOINTS,HAULAGETRUCKSORCRUSHINGSTATIONTYSONTHEUNDERGROUNDMININGENVIRONMENTISEXTREMELYDANGEROUSWHERESOMELHDACCIDENTSHAVECAUSEDMAJORINJURYANDOCCASIONALDEATHSTOTHEOPERATORSONBOARDTHESEVEHICLESASWELLASOTHERMININGCREWTHESEVEHICLESMUSTBEABLETOTRAVELTHROUGHNARROWWINDINGTUNNELSWHICHHAVEHIGHTEMPERATURES,DUSTYANDDIRTYCONDITIONSASWELLASWITHSTANDINGTHEOCCASIONALCOLLISIONWITHTHEWALLSOFTHETUNNELTYPICALLHDUNITS,ASSHOWNINFIGURE11,AREEITHERDIESELORELECTRICPOWERED,RUNNINGONFOURSOLIDRUBBERTIRESANDNOSUSPENSIONTHEYAREMADEUPOFANARTICULATEDBODYWITHTHETWOSECTIONCONNECTEDBYAKINGPINHITCHTHATCANPIVOTTHISARTICULATEDSETUPUSESTWOHYDRAULICACTUATORSTOPROVIDETHESTEERINGFORTHEUNITWHICHPROVIDESEXCELLENTCURVENEGOTIATIONWITHINTHETIGHTWINDINGTUNNELSFIGURE11LOADHAULDUMPUNITSOURCEDUNN,P2004,WWWMIRARCOORG/PROJECTSMTPHPTHETWOSECTIONSOFTHEUNITBOTHHAVEASINGLEAXLEWITHNONSTEERABLEWHEELS,THEFRONTSECTIONCONTAINSTHEBUCKETORSCOOP,ANDTHEBACKSECTIONCONTAINSTHEENGINETHEPROFILEOFTHEVEHICLECOMPLIESWITHTHECROSSSECTIONOFTHEMININGTUNNELSTHEYAREUSEDIN,THISMEANSTHEYARELONG,LOWANDRELATIVELYWIDECOMPAREDTOTHEIRHEIGHTTYSONND23CONTROLSTRATEGIESACONTROLSYSTEMIMPLEMENTEDONTOALHDUNITWOULDBEIDEALFORTHEDANGEROUSMINEENVIRONMENTSINWHICHTHEYOPERATE,ALTHOUGHWOULDPROVETOBEDIFFICULTDUETOTHEROUGH,UNPREDICTABLESTATEOFTHEMINESSTENTS2001STATEDTHATASEMIAUTOMATEDSYSTEMWOULDPROMOTEFEATURESSUCHASINCREASEDPRODUCTIVITY,REDUCEDOPERATIONALCOSTSANDIMPROVEDSAFETYTHEREISAWIDERANGEOFDIFFERENTCONTROLSTRATEGIESTHATCOULDBEIMPLEMENTEDONTOALHDUNITTHETWOMAINCATEGORIESOFTHESEAREEITHERINFRASTRUCTUREASSISTEDGUIDANCEORANINDEPENDENTVEHICLESTRATEGYTHATREQUIREDNOINFRASTRUCTURECONSTRUCTIONORMODIFYINGOFTHETUNNELSBILLINGSLEY1997,P3THEADVANTAGEOFTHEINDEPENDENTVEHICLECONTROLSTRATEGYISTHATSINCENOCHANGESNEEDTOBEMADETOTHEPHYSICALTUNNELOFTHEMINETHELHDUNITISBEINGUSEDIN,THEVEHICLECANBEUSEDINANYMINEATANYTIMETHEFOURMAINCONTROLSTRATEGIESTHATWEREANALYZEDANDCOMPAREDREGARDINGTHELHDUNITWEREMANUALOPERATION,REMOTECONTROL,TALEOPERATIONALANDFULLYAUTOMATED231MANUALOPERATIONMANUALOPERATIONISCURRENTLYTHEMOSTCOMMONSTRATEGYUSEDINTHEMININGINDUSTRY,WHEREADRIVERISONBOARDTHELHDUNITATALLTIMESPOSITIONEDINACLOSEDCABINTHECABINISPOSITIONEDPERPENDICULARTOTHEDIRECTIONOFTRAVELFORVIEWINGWHERETHEVEHICLEISGOINGINTHEFORWARDANDBACKWARDDIRECTIONTHEMAINDISADVANTAGETOTHISOPERATINGMETHODISTHECONCERNOFTHEDRIVERSSAFETY,DRIVERFATIGUEANDBASICHUMANERRORTHEADVANTAGETOTHISMETHOD,COMPAREDTOREMOTECONTROLANDTALEOPERATIONALMETHODSISTHATTHEUNITCANTRAVELMUCHFASTERTHROUGHTHETUNNELSASTHEOPERATORISONBOARD,THISISDUETOREMOTESENSORYPERCEPTIONROBERTETAL2000232REMOTECONTROLAREMOTECONTROLVEHICLEMEANSTHATTHEOPERATORISOUTANDDISTANCEDFROMTHEMACHINEBUTSTILLINTHELINEOFSIGHTOFTHEUNITTOCONTROLITVIAAREMOTECONTROLTRANSMITTERTHEADVANTAGETOTHISSYSTEMISTHATTHEOPERATORISLOCATEDAWAYFROMTHEIMMEDIATEDANGERTHELHDWOULDOTHERWISEPUTANONBOARDDRIVERINSAYINGTHIS,THEREISSTILLTHERISKOFINJURYANDACCIDENTSDUETOTHELINEOFSIGHTRULEANDTHEREISSTILLTHECONCERNOFDRIVERFATIGUEANDHUMANERRORTHEDISADVANTAGETOTHISSYSTEMISTHATTHEDRIVERISNOTINANYTYPEOFCABINAREAANDSINCETHEYMUSTBEINLINEOFSIGHTOFTHEVEHICLEATALLTIMESITUSUALLYREQUIRESTHEMTOSTANDWHILECONTROLLINGTHEUNITCONSEQUENTLYTHEREISSTILLTHERISKOFINJURYWITHDRIVERFATIGUEANDHUMANERRORSTILLACONCERN233TELEOPERATEDCONTROLATALEOPERATEDCONTROLSYSTEMISSIMILARTOAREMOTECONTROLLEDSYSTEM,WHERETHEOPERATORISSTILLINFULLCONTROLOFTHEVEHICLEATALLTIMESBUTTHEREISGREATERDISTANCEBETWEENTHEOPERATORANDTHEDEVICETHEOPERATORCANBESAFEANDCOMFORTABLEABOVEGROUNDCON
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