IC 9288 A Laser Based Continuous Miner Guidance System

This information circular documents the status of a laser-based guidance system to track and control the tramming maneuvers of a continuous mining machine. The work is part of a multiple project effort at the U.S. Bureau of Mines to develop technology for computer-assisted mining systems. The system includes stationary offboard laser-scanning sensors that report the angular coordinates of retroreflective targets on the mining machine. A microcomputer system processes the angular coordinates, determines position and heading, handles requests for data, and controls tram maneuvers of a continuous mining machine. This report describes the hardware for the sensor and computer systems and the software algorithms for continuous miner position and heading determination, closed-loop tramming, and data request handling. Improvements made to the system since previous documentation include the rewriting of the software on a stand-alone real-time microcomputer system, the implementation of real-time programming techniques, the use of a new version of the laser sensor, and the design and development of explosion-proof enclosures for the lasers and corresponding power supply.