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Autonomous Underground Vehicles
This project is being conducted under the auspices of the
CMTE. It is a joint project
being carried out by our group (Mining Automation), and the University of Sydney's
Australian Centre
for Field Robotics.
Introduction
LHDs and/or Trucks are the preferred means of transporting ore and dirt over
short distances from pit to crusher or from drawpoint to orepass. The ore is
usually transported over medium to long distances by conveyor or rail haulage.
It is believed that automation of truck haulage would lead to significant cost
improvements.
Previous Work
In March 1996 a joint CSIRO/University of Sydney (ACFR) team explored sensing
options for underground truck and LHD navigation at Mt Isa Mines in Queensland.
Data was collected from a number of sensors mounted on an LHD with the aim of
determining which sensors performed best underground.  This
project led directly to the current AMIRA
funded Autonomous LHD project (D394) described here.
Objectives
Develop sensing and control systems using a combination of dead reckoning sensors,
a mine map and laser scanners to keep the vehicle centred in the drive and to
detect landmarks and obstacles.
Integrate these systems into an operational underground autonomous vehicle.
Trial the system on a purpose built test track at our lab and then at one or
more of the sponsoring mines.
The technology "MINEGEM" has
now been commercialised by Dynamic Automation Systems.
For more information, dowload
pdf
You will need Acrobat Reader to view the above PDF. Click
here to download.
For further information
please contact:
Name: Mr Jock Cunningham CSIRO Mining Automation
Tel: +61 7 3327 4699
Fax:+61 7 3327 4455
Email: jock.cunningham@csiro.au
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