Mine Vehicle Convoy Control Using Segmented One-Way Routes
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Solution Overview
Problem
Existing methods for driving mine vehicles in convoys face challenges in navigating complex mine environments, particularly in underground mines, due to the need for expensive and complex two-way vehicles and the high costs of excavating turning places, making it difficult to apply convoy driving systems effectively.
Innovation Solution
A method and system where mine vehicles are assembled into convoys without mechanical connection, with a master vehicle driven manually and slave vehicles following automatically, allowing for continuous operation between loading and unloading sites, and disassembling in working areas for independent operation, using control units and reading devices like laser scanners for navigation and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If turning places are excavated for convoy direction change, then the convoy can change direction, but the infrastructure cost and complexity increase significantly
Solution Approach 1:
The transport system is divided into multiple one-way routes forming a directed graph, where each route has a predetermined direction. This segmentation eliminates the need for turning places by using separate dedicated routes for different directions, thereby reducing infrastructure complexity while maintaining adaptability.
Solution Approach 2:
Instead of solving the direction change problem in the same spatial dimension (requiring turning places), the system introduces a routing dimension by creating multiple predetermined routes. The convoy changes direction by switching to a different route rather than physically turning around, thus avoiding infrastructure complexity.
2Adaptability or versatility
If two-way vehicles are used in the convoy, then the convoy can navigate complex mine environments, but the vehicle complexity and cost increase
Solution Approach 1:
The transport task is segmented into multiple one-way trips along predetermined routes. Each vehicle only needs to operate in one direction on its assigned route, eliminating the need for complex two-way vehicles while maintaining the ability to navigate complex mine environments through route switching.
Solution Approach 2:
The mechanical capability of two-way vehicles is replaced by a control system that manages multiple one-way routes. The convoy changes direction through intelligent routing and scheduling rather than through mechanical two-way vehicle capabilities, thereby reducing vehicle complexity.
3Productivity
If slave vehicles follow the master vehicle automatically, then the control system complexity increases, but the convoy operation efficiency improves
Solution Approach 1:
Slave vehicles are equipped with control units that automatically follow the master vehicle's route without requiring complex centralized control. Each slave vehicle independently monitors and replicates the master vehicle's path, achieving high operation efficiency while keeping the control system relatively simple through distributed intelligence.
4Adaptability or versatility
If the convoy is disassembled in working areas, then the flexibility to perform independent tasks improves, but the time required for assembly and disassembly increases
Solution Approach 1:
The convoy operation is segmented into transport phases (where vehicles travel in convoy) and working phases (where vehicles are disassembled for independent tasks). This segmentation allows vehicles to maintain convoy formation during transit for efficiency while enabling independent task execution at working areas, optimizing both flexibility and time utilization.
Data Source
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AI summary
The invention relates to a method of driving mine vehicles in a mine, and to a transport system. A plurality of mine vehicles (1a to 1d) is arranged in succession and driven in convoy (13) between working areas (18a, 18b). A master vehicle (1a) in the convoy is driven manually, and slave vehicles (1b to 1d) follow the master, provided with no mechanical connection. In the working areas, the convoy is disassembled, since single vehicles are each driven separately. When assigned tasks in the working areas have been completed, the vehicles are reassembled into a convoy so as to be driven to a next working area.