英文资料文献Load-Haul-DumpI. 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 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-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 core 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 engineer 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 beneficial 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 experimenting 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 mated. 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 engineering 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-operated 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 tunnel 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 encountering 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 for 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-haul-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 mining 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 conditions 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 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. 。