Mine Vehicle Boom Trajectory Planning for Collision Avoidance
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Solution Overview
Problem
Current systems for controlling the positioning of underground mine vehicle booms in confined spaces are inadequate, often leading to collisions due to limited collision avoidance capabilities.
Innovation Solution
An apparatus and method for generating and controlling boom trajectories using a boom trajectory planner that receives target pose, geometry, and obstacle data to generate positioning trajectories, applying cost functions for optimal path selection and collision avoidance, with integration of 3D scanning data for obstacle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automated boom positioning control is implemented, then positioning precision is improved, but device complexity increases due to trajectory planning requirements
Solution Approach 1:
The system performs preliminary trajectory planning before executing boom positioning. The trajectory planner generates collision-free paths in advance by processing target pose data, boom geometry, and obstacle information, allowing the control system to simply follow pre-computed trajectories during execution.
Solution Approach 2:
A trajectory planner acts as an intermediary component between the high-level positioning commands and the low-level boom control. This mediator translates target poses into detailed collision-free trajectories, handling the complexity of path planning while keeping the main control system simpler.
2Reliability
If collision avoidance systems are added, then safety is improved, but device complexity increases
Solution Approach 1:
The trajectory planner performs preliminary collision detection and avoidance planning before boom movement execution. By processing obstacle data and boom geometry in advance to generate safe trajectories, the system prevents collisions without requiring complex real-time sensing and reaction systems.
Solution Approach 2:
The system incorporates feedback mechanisms where the trajectory planner continuously monitors boom position, target pose, and obstacle locations to dynamically adjust trajectories. This feedback loop ensures collision avoidance while maintaining systematic control architecture.
3Reliability
If trajectory planning is performed before positioning, then collision avoidance is improved, but processing time increases
Solution Approach 1:
The system performs trajectory planning in advance before boom positioning execution. By pre-processing target pose data, boom geometry, and obstacle information to generate complete trajectories, the system ensures collision avoidance while allowing efficient real-time execution without repeated complex calculations.
Solution Approach 2:
The control process is segmented into distinct phases: trajectory planning phase (processing complex calculations) and execution phase (following pre-computed paths). This segmentation allows computationally intensive collision avoidance planning to be done beforehand, while execution proceeds efficiently with simpler control operations.
Data Source
AI summary
A method for generation of a boom trajectory for automated boom positioning includes the steps of receiving target pose data indicative of at least target position of a first boom object of the boom for positioning a work machine of the mine vehicle to a target pose in accordance with a mine work plan, receiving geometry data of the first boom object, the geometry data being mapped with start pose data indicative of the start position and orientation of the first boom object, receiving obstacle data, selecting trajectory generation locations for the first boom object, and generating, before starting positioning of the work machine for the target pose, a positioning trajectory for each of the selected trajectory generation locations on the basis of the target pose data, the geometry data, the start pose data, and the obstacle data.