Mining Vehicle Boom Obstacle Avoidance Control
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Solution Overview
Problem
Mining vehicles face challenges in navigating limited spaces within mines and other work sites due to complex boom structures, which can lead to collisions with obstacles, requiring demanding and time-consuming operator intervention to adjust the boom positions manually.
Innovation Solution
A control system and method for automatically controlling the boom and mining work device to avoid obstacles by using sensors and environment observing systems to determine safe positions and paths, allowing the vehicle to bypass obstacles and maintain stability, with features like alarm systems, remote operation, and graphical displays for operator guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator manually controls the boom to avoid obstacles in limited spaces, then collision avoidance is achieved, but the operation becomes demanding and time-consuming
Solution Approach 1:
The system performs preliminary scanning of the environment using observing means (sensors, scanners) to identify obstacles and calculate safe boom positions before the mining vehicle moves. This advance preparation allows the control unit to pre-determine collision-free paths, eliminating the need for time-consuming manual adjustments during actual movement.
Solution Approach 2:
The control system automatically monitors the environment, calculates safe positions, and adjusts the boom without requiring continuous operator intervention. The system serves itself by using its own observing means and control unit to autonomously prevent collisions, freeing the operator from demanding manual control tasks.
2Adaptability or versatility
If the operator manually adjusts the boom position to navigate tight spaces, then the mining vehicle can move without hitting obstacles, but the operation requires stopping and repositioning the operator
Solution Approach 1:
The control unit acts as an intermediary between the operator and the complex boom control system. It receives high-level commands from the operator and automatically handles the complex calculations and adjustments needed to navigate tight spaces, eliminating the need for the operator to physically reposition within the vehicle.
Solution Approach 2:
The system replaces manual mechanical control with automated electronic control. The observing means and control unit substitute for the operator's physical presence and manual adjustments, using sensors and algorithms to determine safe boom positions that would otherwise require the operator to stop and reposition themselves.
3Speed
If the boom is kept in a transport position for vehicle movement, then the mining vehicle can move more freely, but the boom may hit walls or obstacles in narrow tunnels
Solution Approach 1:
The system dynamically adjusts the boom position during vehicle movement based on real-time environmental data from observing means. Rather than keeping the boom in a fixed transport position, the control unit continuously monitors obstacles and automatically repositions the boom to avoid collisions, enabling both movement speed and collision avoidance.
Solution Approach 2:
The observing means continuously provides feedback about the environment to the control unit, which adjusts the boom position in response to detected obstacles. This closed-loop feedback system allows the vehicle to move at normal speeds while automatically preventing boom collisions with walls or other obstacles in narrow tunnels.
Data Source
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AI summary
The invention relates to a mining vehicle comprising: a movable carrier (2); at least one boom (4) comprising several boom joints (5); several boom actuators (16) for moving the boom (4) in different positions; at least one mining work device (9) arranged at a distal portion of the boom (4); and at least one control unit (18) for controlling the position of at least one of the boom (4) and the mining work device (9). The mining vehicle further comprises observing means (32) for obtaining information indicative of a position of at least one of the boom and the mining work device (9) in which collision to an obstacle can be avoided. The control unit (18) is further configured to control the position of at least one of the boom (4) and the mining work device (9) in response to the obtained information to avoid hitting the obstacle when the mining vehicle (1) moves. There is also disclosed a method and a computer program for controlling a position of at least one of a boom and a mining work device (9) of a mining vehicle while moving the mining vehicle.