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1、英文資料文獻 Load-Haul-Dump I. Literature 1.1 Introduction Within this dissertation the field of control systems and their implementation to existing rim, methodology and the general overview of the conducted research, design and co bots will be examined and finally carried out. This chapter

2、 will outline and discuss the constructions of the control systems. 1.2 Project Aim The aim of this project is to investigate suitable control strategies for the maneuvering of a Load-Haul-Dump (LHD) unit within the confines of a mine. Further research is to be done specifically on a tale

3、-operational and fully automated control system to investigate what would be required to implement such a system to a LHD unit. Due to the tale-operational system requiring the use of a camera, the automated system will also utilizes this tool by using machine vision as its guidance system. The co

4、re of this project will then be the implementation of these two control systems to an existing scale model of a LHD unit. 1.3 Methodology The following steps are the way in which this project will be undertaken. All of these will be conducted under the supervision of a professional engine

5、er who will assist with guidance and provide some technical information and advice. 1.4 Conclusion This chapter has introduced the project at hand implementing a tele-operatedand automated control system to an already constructed LHD model unit. Discussed in the next chapter is benefici

6、al background information which will form the basis for latter sections of this report. 1.5 LHD Model Analysis Analyses the already constructed LHD model to ascertain how it all operates, as well as the mechanical, electrical and control features. This information was gathered by experime

7、nting with it and testing its boundaries. The following could then be determined: Whether the existing mechanical features, circuitry and programming are appropriate for my project. What equipment, components or programming needs to be re-designed to allow the unit to be tale-operated and auto m

8、ated. 1.6 Modeling Review an appropriate modeling technique for the LHD unit, choose appropriate state variables and derive an algebraic equation for the control of the unit. This will be done by researching different modeling methods through databases, libraries and previous engineerin

9、g related study. Simulation is used to test these, and to verify the unit will act how one would expect it to according to various inputs. This simulation will be conducted using Microsoft Visual Basic 6.0. 1.7 Programming Construct the communication programs for the unit to run tale-ope

10、rated and automated. This program will also be coded using Microsoft Visual Basic 6.0, and will include functions to do all of the following: Receive the visual from the unit to the computer. Instruct the unit what direction it should go (far tale-operational), or detect the walls of the tunne

11、l and move accordingly (for automated). 1.8 Testing Finally, the LHD unit will be physically tested to ensure it will operate correctly for both of the control strategies. This will be done by putting together a simulated tunnel for the unit to maneuvers its way through without encounteri

12、ng any collisions. 1.9 Conclusion This chapter has introduced the project at hand, implementing a tale-operated and automated control system to an already constructed LHD model unit. II．Load-Haul Dump Units 2.1 Introduction This chapter will review literature to establish the need f

13、or a suitable control strategy for the widely used Load-Haul-Dump (LHD) unit. After researching and gathering the relevant background information appropriate for this project, it is then possible to implement these strategies to an actual model LHD unit. 2.2 Load-Haul Dump Units The load-h

14、aul-dump (LHD) unit is used extensively in underground mining to perform a variety of tasks within this field. Although their main role is to return and transport the mine’s ore from the point of cutting to either dumping points, haulage trucks or crushing station (Tyson ). The underground min

15、ing environment is extremely dangerous where some LHD accidents have caused major injury and occasional deaths to the operators onboard these vehicles as well as other mining crew. These vehicles must be able to travel through narrow winding tunnels which have high temperatures, dusty and dirty con

16、ditions as well as withstanding the occasional collision with the walls of the tunnel. Typical LHD units, as shown in figure 1.1, are either diesel or electric powered, running on four solid rubber tires and no suspension. They are made up of an articulated body with the two section connected by a

17、 kingpin hitch that can pivot. This articulated setup uses two hydraulic actuators to provide the steering for the unit which provides excellent curve negotiation within the tight winding tunnels. Figure 1.1: Load-Haul-Dump unit The two sections of the unit both have a singl

18、e axle with non steerable wheels, the front section contains the bucket or scoop, and the back section contains the engine. The profile of the vehicle complies with the cross section of the mining tunnels they are used in, this means they are long, low and relatively wide compared to their height (

19、Tyson n.d.). 2.3 Control Strategies A control system implemented onto a LHD unit would be ideal for the dangerous mine environments in which they operate, although would prove to be difficult due to the rough, unpredictable state of the mines. Stents(2001) stated that a semi-automated sys

20、tem would promote features such as increased productivity, reduced operational costs and improved safety. There is a wide range of different control strategies that could be implemented onto a LHD unit. The two main categories of these are either infrastructure assisted guidance or an independent

21、vehicle strategy that required no infrastructure construction or modifying of the tunnels (Billingsley 1997, p3). The advantage of the independent vehicle control strategy is that since no changes need to be made to the physical tunnel of the mine the LHD unit is being used in, the vehicle can be u

22、sed in any mine at anytime. The four main control strategies that were analyzed and compared regarding the LHD unit were manual operation, remote control, tale-operational and fully automated. 2.3.1 Manual Operation Manual operation is currently the most common strategy used in the min

23、ing industry, where a driver is onboard the LHD unit at all times positioned in a closed cabin. The cabin is positioned perpendicular to the direction of travel for viewing where the vehicle is going in the forward and backward direction. The main disadvantage to this operating method is the concern

24、 of the drivers’ safety, driver fatigue and basic human error. The advantage to this method, compared to remote control and tale-operational methods is that the unit can travel much faster through the tunnels as the operator is on board, this is due to remote sensory perception (Robert et al. 2000).

25、 2.3.2 Remote Control A remote control vehicle means that the operator is out and distanced from the machine but still in the line of sight of the unit to control it via a remote control transmitter. The advantage to this system is that the operator is located away from the immediate da

26、nger the LHD would otherwise put an onboard driver in. Saying this, there is still the risk of injury and accidents due to the line of sight rule and there is still the concern of driver fatigue and human error. The disadvantage to this system is that the driver is not in any type of cabin a

27、rea and since they must be in line of sight of the vehicle at all times it usually requires them to stand while controlling the unit. Consequently there is still the risk of injury with driver fatigue and human error still a concern . 2.3.3 Tele-operated Control A tale-operated control syste

28、m is similar to a remote controlled system, where the operator is still in full control of the vehicle at all times but there is greater distance between the operator and the device. The operator can be safe and comfortable aboveground controlling the vehicle by an operator interface. This interfa

29、ce consists of two basic components; the vision system and control panel. The main disadvantage to this control system is that the vehicle is not able to be driven as fast as what could be achieved with a driver actually onboard the unit. This is due to the limited remote sensory perception (Ro

30、bert et al. 2000). 2.3.4 Fully Automated Control An automated system means the operator is still above ground, but he is playing a supervisory role to the system, hence they are still remote from the danger within the mine. There are a number of ways to implement an automated system the most

31、 common include machine vision, sensors and receivers, and GPS. These will be covered later. The main advantage to this system is that since the vehicle is capable of autonomous steering throughout the underground tunnels, the LHD unit can travel at a greater speed, hence improving productivity

32、 whilst still maintaining a safe environment. 2.5 Machine Vision Machine vision is the acquiring and processing of an image and then the deciphering of information presented in the image for controlling a specific purpose. It uses digital cameras, image processing software and relevant comm

33、unication between digital input/output devices of the system it is controlling. The key characteristics of any standard machine vision system is a digital camera with a camera interface program which captures the cameras image and converts the image into an array of numbers. This array repres

34、ents the pixels of the image and the image is then manipulated or analyzed by computer software depending on the application of the system. 2.6 Modeling To successfully design a control system for any type of vehicle it is essential to have a model the can describe the vehicles position,

35、 orientation and other important vehicle parameters at any point in time. As stated by Ridley and Corke (2003), for a LHD unit the basic kinematic model is the most appropriate modeling method for the vehicle, although this can be a challenging task due to the unique articulated structure of the u

36、nit. 2.7 Conclusion This chapter reviewed literature and established a clear view of the Load-Haul- Dump (LHD) unit, the type of modeling to be conducted and also a brief summation on the control strategies to be implemented to the vehicle. 中文部分： 鏟運機 1.文獻 1.1簡介 在本論文中，控

37、制系統(tǒng)及其在現(xiàn)有機器上的實施領(lǐng)域?qū)徸h并最終執(zhí)行。本章將概述和討論研究的目的,方法和普遍概況,和控制系統(tǒng)的建設(shè)與設(shè)計。 1.2項目目標 這個項目的目的是為地下鏟運機的機動性探討適當?shù)目刂撇呗浴＿M一步的研究工作將展開尤其是遠程操作系統(tǒng)和完全自動化控制系統(tǒng)，調(diào)查在一個鏟運機上實施這樣一個系統(tǒng)需要什么。由于遠程業(yè)務(wù)系統(tǒng)要求使用照相機，自動系統(tǒng)也將利用此工具，將機器視覺作為指導系統(tǒng)。這個項目的核心將是這兩個控制系統(tǒng)在一個現(xiàn)有規(guī)模的鏟運機模型上的實施。 1.3方法 下面的步驟是在本項目將采取的方式。所有步驟將在專業(yè)工程師監(jiān)督協(xié)助指導下進行，并由他們提供一些技術(shù)資料和意見。相關(guān)文獻

38、于以下方面： 一個典型的鏟運機的主要特征，以及他們需要做什么。 自動化的實施。自動化可以實現(xiàn)什么？自動鏟運機對采礦業(yè)意味著什么？ 這兩個控制策略：遠程操作和自動化系統(tǒng).這些控制策略的優(yōu)點和缺點是什么？實施這些系統(tǒng)時將用到哪些設(shè)備和任務(wù)？這是來源于檢索數(shù)據(jù)庫，圖書館和其他公共信息。 1.4鏟運機模型分析 分析已經(jīng)建成的鏟運機模型來查明鏟運機是如何操作的，如機械，電氣和控制功能。這些資料是靠對它做試驗和測試它的邊界收集到的。下面可確定： 是否現(xiàn)有的機械特性，電路和編程適合我的項目。 哪些設(shè)備，部件或編程需要重新設(shè)計才能實現(xiàn)機器的遠程操作和自動化。

39、 1.5 建模 回顧一下適當?shù)溺P運機建模技術(shù)，為機器的控制選擇適當?shù)臓顟B(tài)變量并得出一個代數(shù)方程。這項工作通過研究不同的建模方法來實施，其資源來自數(shù)據(jù)庫，圖書館和以往工程相關(guān)研究。使用模擬技術(shù)測試，并核實該機器直到它能夠依照各種輸入來采取行動。這種模擬將采用微軟的Visual Basic 6.0。 1.6 程序設(shè)計 為鏟運機構(gòu)建通訊方案用來運行遠程操作和自動化。這個程序也被Microsoft Visual Basic 6.0編碼使用，并將包括以下所有功能： 從裝置接收視覺信號并發(fā)送到計算機。 指示機器應(yīng)該朝什么方向走（最遠距離操作），或者檢測隧道的墻壁和相應(yīng)地移動

40、（自動化） 1.7測試 最后，鏟運機將被檢驗，以確保它能在兩種控制策略下正常運行。這項測試將鏟運機放入一個模擬隧道中通過其演習行走而不遇到任何碰撞。 1.8結(jié)論 本章介紹了手頭的項目，實施遠程操作和自動化控制系統(tǒng)，一個已經(jīng)建成鏟運機模型。 2. 地下鏟運機 2.1簡介 本章文獻，為廣泛使用的鏟運機建立一個合適的控制策略。經(jīng)過對這個項目的研究和有關(guān)背景資料的收集，則可能實施以一個實際的模型鏟運機為單位的策略。 2.2鏟運機 鏟運機廣泛用于礦山井下這個領(lǐng)域，執(zhí)行多種任務(wù)。盡管他們的主要作用是往返和運輸?shù)V物于挖掘點和傾倒點之間，像托運卡車。

41、地下開采的環(huán)境是極其危險的地方，有些鏟運機事故會造成那些機器操者以及其他采礦人員的重傷，嚴重的會死亡。這些車輛必須能夠穿過狹窄蜿蜒的隧道，隧道里溫度很高，很臟，有很多灰塵，以及抵御和隧道壁的偶爾相撞偶爾。 . 典型鏟運機，如圖1.1所示，用柴油或電力發(fā)動，支撐在四個實心橡膠輪胎上，沒有間隙。它們是由一個鉸接式機體組成，由一個主銷栓連接兩個部分。這種鉸接式格局使用兩個液壓系統(tǒng)，為機器在曲折狹窄的隧道中轉(zhuǎn)向提供良好的督導。該機器的兩節(jié)都有一個裝有不可操縱輪的軸，前面部分包鏟斗或鏟頭，和后面的部分包含引擎。機器的外形必須符合它們工作的巷道，這意味著機器的外形較長，較寬，較矮。 2.3控制

42、策略 一個控制系統(tǒng)安裝到鏟運機上是理想的，由于其工作在危險的煤礦環(huán)境中。但這是非常困難的，由于粗糙的，不可預(yù)知的環(huán)境。斯滕茨聲稱半自動化系統(tǒng)將促進生產(chǎn)力，如增加產(chǎn)量，降低運營成本，提高了安全性。在鏟運機上有許多不同的控制策略可以實施。這些當中有兩個主要的類別，分別是基礎(chǔ)設(shè)施輔助和獨立的整車戰(zhàn)略，沒有對基礎(chǔ)設(shè)施或隧道修改上的要求。獨立控制車輛的優(yōu)勢，是不需要對鏟運機工作的隧道作出任何改變，車輛可以用在任何時候運行在任何礦井。對鏟運機的四個主要控制策略做了分析和比較，分別是人工操作，遠程控制，遠程操作和全自動化。 2.3.1手動操作 手動操作是當前用于采礦業(yè)最常見的手段

43、，坐在封閉倉內(nèi)的司機可以隨時定位。機艙的位置于運行方向垂直，用來觀察該車輛前進和后退的方向。這種操作方法的主要缺點是關(guān)系到司機的安全，駕駛疲勞和基本人為錯誤。與遠程控制和遠程操作的方法相比，該方法的優(yōu)勢是該機器可以更快在隧道行走， 2.3.2遠程控制 遠程控制車輛是指操作者遠離了機器，但該機器仍然在他的視線范圍內(nèi)，通過一個遙控話筒來控制機器。該系統(tǒng)的優(yōu)勢，這是操作者位于遠離及時危險的地方，而不是直接在鏟運機上操作。雖然這么說，但仍然存在傷害和意外事故的風險，因為鏟運機要在視線范圍內(nèi)運作，還事關(guān)司機的駕駛疲勞和人為錯誤。該系統(tǒng)的缺點是，操作者沒有在機艙操作，而鏟運機在工作過程中必須

44、一直在他們的視線范圍內(nèi)，這要求他們在操作過程中要一直站著。因此仍然有受傷的風險，也關(guān)系到司機疲勞損傷和人為錯誤。 2.3.3遠程操作控制 遙操作控制系統(tǒng)是一個類似遠程控制的系統(tǒng)，其中操作者在鏟運機工作室完全掌控它，但二者之間有一段很長的距離。舒適的在地面通過操作界面來控制車輛。這個接口由兩個基本組成部分：視覺系統(tǒng)和控制面板。主要缺點是，這種系統(tǒng)控制的車輛不能像有司機在車上操作運行時行走的那么快。這是由于有遠程感官知覺的局限（羅伯特等人。2000年）。 2.3.4全自動控制 自動化系統(tǒng)是指操作者仍位于地面，但他擔任著一個監(jiān)督該系統(tǒng)的角色，因此他們依然遠離危險

45、。有很多方法可以實現(xiàn)自動化系統(tǒng)，最常用的包括機器視覺，傳感器和接收器和全球定位系統(tǒng)，將來也會用到這些。該控制系統(tǒng)的主要優(yōu)點是，由于車輛轉(zhuǎn)在整個地下隧道中有能力自主監(jiān)督，鏟運機可以以更快的速度運行，因而提高生產(chǎn)力的同時還保持一個安全的環(huán)境。 2.4機器視覺 機器視覺是靠獲取影像和對它進行處理，然后破譯圖像中的信息達到對機器控制的目的。它使用所控制的系統(tǒng)中的數(shù)碼相機，圖像處理軟件和有關(guān)數(shù)字通信設(shè)備。任意規(guī)格的機器視覺系統(tǒng)的主要特征是數(shù)碼相機的接口方案，其中一個相機捕捉到圖像并把該圖像轉(zhuǎn)換為數(shù)字序列。這個序列代表圖像的像素，然后在系統(tǒng)運行時用電腦操作和分析這個圖像。 2.5建模 要成功的設(shè)計一個任意類型的車輛控制系統(tǒng)，有必要擁有一個能在任意時間內(nèi)描述車輛位置，方向和其他重要的車輛參數(shù)的模型。正如里德利和科克所說，對一個鏟運機來說，基本運動模型是最合適的車輛造型方式，盡管這是一項艱巨的任務(wù)，因為其獨特的鉸接式結(jié)構(gòu)。 2.6 結(jié)論 本章回顧文獻，并建立了對鏟運機明確的看法，并在建模和控制策略的實施上做一個簡短的總結(jié)。