Feed Beam Position Control Using IMU-Based Joint Estimation
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Solution Overview
Problem
Existing position control systems for feed beams in mobile mining machines, such as those used in rock drilling, are prone to damage and require complex sensor setups that need frequent calibration, especially in harsh underground environments.
Innovation Solution
An apparatus using an inertial measurement unit associated with the feed beam to determine a reference position and estimate movement, providing joint control information for accurate positioning without the need for multiple rotational joint sensors and wiring, protected by the machine's structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple rotational joint sensors and wiring are used for feed beam position control, then measurement precision is improved, but device complexity increases and reliability decreases due to damage risk in harsh environments
Solution Approach 1:
The patent combines multiple rotational joint sensors into a single inertial measurement unit (IMU) that measures the feed beam's orientation directly. Instead of using separate sensors for each rotational joint, the invention uses one IMU to capture all necessary orientation data (pitch, roll, yaw) in a single integrated component, thereby reducing device complexity while maintaining measurement precision.
Solution Approach 2:
The invention extracts the essential measurement function from multiple complex rotational joint sensors and wiring systems, and replaces it with a single inertial measurement unit that provides the same positional information through inertial sensing. This extraction simplifies the overall system by removing unnecessary complexity while preserving the core measurement capability.
2Measurement precision
If multiple rotational joint sensors and wiring are used for feed beam position control, then measurement precision is improved, but reliability decreases due to damage risk in harsh environments
Solution Approach 1:
By merging multiple exposed rotational joint sensors into a single integrated inertial measurement unit, the invention reduces the number of potential failure points. The single IMU is more reliable in harsh underground mining environments because it eliminates multiple wiring connections and separate sensor components that could be damaged by dust, moisture, and physical stress.
Solution Approach 2:
The invention removes the vulnerable wiring and multiple sensor components from the system, extracting only the essential measurement function and implementing it through a single robust inertial measurement unit. This extraction eliminates the reliability issues associated with multiple connection points and exposed sensors in harsh environments.
3Measurement precision
If multiple rotational joint sensors are used for feed beam position control, then measurement precision is improved, but ease of operation deteriorates due to frequent calibration requirements
Solution Approach 1:
The patent merges multiple sensors that each require independent calibration into a single inertial measurement unit with integrated calibration. The IMU's internal calibration procedures can be performed once and remain valid, eliminating the need for frequent recalibration of multiple separate rotational joint sensors. This significantly improves ease of operation by reducing maintenance burden.
Solution Approach 2:
The invention extracts the calibration requirement from multiple separate sensors and consolidates it into a single calibration process for the inertial measurement unit. This extraction eliminates the repetitive calibration tasks associated with multiple sensors, making the system easier to operate and maintain.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances drilling accuracy by maintaining the feed beam's position effectively, reducing disruptions and sensor-related failures, and simplifies calibration processes.
Implementation Method 1
receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit
Data Source
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AI summary
An apparatus, method and computer program product for: determining a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine; receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit, and providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.