Underground Mine Collision Avoidance via Virtual Walls
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Solution Overview
Problem
Current remote control systems for machines in mining and earth-moving industries lack effective collision avoidance mechanisms, particularly in challenging environments like underground mines with low tunnel clearances and stability concerns, where traditional systems are inadequate for ensuring safe operation.
Innovation Solution
A control system comprising a LADAR, an interface device, and a processor that captures scan data of mine walls, displays a mine map, and allows users to add virtual or temporary walls, enabling the Autonomy Electronic Control Module (AECM) to control the machine's operation and avoid collisions with these walls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional remote control systems are used in underground mines, then operators can control machines from a safer remote location, but the systems lack effective collision avoidance mechanisms in challenging environments with low tunnel clearances and ground stability concerns
Solution Approach 1:
The system performs preliminary actions by capturing scan data of the environment before the machine moves, creating a pre-established spatial model that includes identified objects and clearance zones. This preliminary mapping enables the collision avoidance system to make real-time decisions without complex on-the-fly calculations, resolving the contradiction between reliability and device complexity.
Solution Approach 2:
The patent introduces an intermediary spatial model that acts as a mediator between the LADAR scan data and the machine control system. This model includes identified objects, clearance zones, and navigation paths, serving as a simplified representation that the control system can process efficiently while maintaining high collision avoidance reliability.
2Object-affected harmful factors
If the ROS is positioned remote from the machine at a safer location or away from the worksite, then operator safety is improved, but the operator loses direct visual context and spatial awareness of the immediate work environment
Solution Approach 1:
The system creates a detailed virtual copy of the physical worksite environment through LADAR scanning, including three-dimensional representations of tunnel walls, ground surfaces, and identified objects. This virtual copy is transmitted to the remote operator station, allowing the operator to maintain full spatial awareness and contextual understanding of the work environment while remaining physically distant for safety.
Solution Approach 2:
The patent transforms the two-dimensional visual information that would normally be available to an on-site operator into a three-dimensional virtual model that can be displayed and manipulated at the remote station. This dimensional transformation preserves all spatial relationships and contextual information while enabling remote operation, resolving the contradiction between operator safety and spatial awareness.
3Reliability
If the machine operates autonomously based on LADAR scan data and virtual walls, then collision avoidance is enhanced, but the system requires complex processing to interpret scan data and navigate dynamic environments
Solution Approach 1:
The autonomous navigation system is segmented into distinct functional modules: LADAR data capture, spatial model creation, virtual wall generation, collision zone identification, and navigation control. Each module performs a specific function with simplified processing logic, avoiding the need for a single complex processing system. This segmentation maintains high collision avoidance reliability while reducing overall system complexity.
Solution Approach 2:
The system performs preliminary processing by creating a complete spatial model and identifying all clearance zones and obstacles before the machine begins navigation. This pre-processing allows the machine to follow predetermined safe paths without requiring complex real-time decision-making, resolving the contradiction between reliable collision avoidance and processing system complexity.
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
Enhances safety and operational efficiency by allowing remote operators to create virtual or temporary walls on a mine map, enabling the machine to autonomously avoid collisions and navigate complex underground environments effectively.
Implementation Method 1
a LADAR disposed on the machine and configured to capture scan data of one or more physical mine walls of the mine
Data Source
AI summary
A control system and related method for controlling the machine in a mine. The control system may comprise a LADAR, an interface device, a processor and an AECM. The LADAR may be configured to capture scan data of physical mine walls. The interface device may be configured to display a mine map illustrating a section of the mine. The processor may be configured to add a virtual wall to the mine map in response to a first user input. The processor may be configured to add a temporary wall to the mine map in response to a second user input. The temporary wall may be based on scan data of a physical mine wall captured by the LADAR. The AECM is configured to control an operation of the machine, based on the mine map, to avoid collision of the machine with the virtual wall or the temporary wall.