Mining Vehicle Coordinate Transformation for Unified Position Tracking
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Solution Overview
Problem
Mining vehicles operating in complex worksites with varying mapping and positioning systems face challenges in accurately transitioning between different coordinate systems, leading to inefficiencies in monitoring and control, especially in large and complex environments like underground mines.
Innovation Solution
An apparatus and method for detecting a mining vehicle's position relative to a first worksite model, selecting a transformation matrix, and performing coordinate transformation to a second worksite model, enabling accurate position representation for enhanced automation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple different mapping and positioning systems are used for mining vehicles at the same worksite, then each vehicle can operate with its own optimized positioning system, but the supervisory system cannot accurately track and monitor all vehicles in a unified coordinate system
Solution Approach 1:
The patent introduces a coordinate transformation system that acts as an intermediary between different positioning systems (e.g., GPS, inertial navigation, visual odometry) and the supervisory system. Transformation matrices serve as the mediator to convert coordinates from various vehicle-specific reference frames into a unified worksite coordinate system, enabling accurate position tracking across all vehicles regardless of their native positioning system.
Solution Approach 2:
The patent dynamically adjusts transformation parameters (rotation angles, translation vectors, scaling factors) based on the specific positioning system being used and the vehicle's current position. By changing these parameters adaptively, the system maintains measurement precision across different positioning technologies while preserving their individual operational characteristics.
2Measurement precision
If coordinate transformation is performed continuously for all vehicles, then accurate real-time positioning is achieved, but computational complexity and processing time increase significantly
Solution Approach 1:
The patent divides the worksite into multiple zones, each with its own predefined transformation matrix. Instead of performing continuous complex transformations for all vehicles, the system segments the coordinate transformation task by assigning vehicles to specific zones and applying pre-computed transformation matrices appropriate for each zone, significantly reducing real-time computational complexity.
Solution Approach 2:
The patent pre-computes and stores transformation matrices for different worksite zones and positioning system types before vehicles arrive. This preliminary action allows the supervisory system to simply look up and apply pre-prepared transformation matrices during real-time operation, rather than calculating transformations on-the-fly, thereby maintaining accuracy while reducing processing time and computational complexity.
3Measurement precision
If transformation matrices are selected based on vehicle position, then accuracy is improved in specific zones, but the system complexity increases due to matrix selection logic
Solution Approach 1:
The patent applies different transformation matrices to different spatial zones within the worksite, recognizing that each zone may have unique geometric characteristics, coordinate system orientations, or positioning system requirements. This local quality approach ensures high transformation accuracy in each specific zone while maintaining a systematic method for selecting the appropriate matrix based on the vehicle's current location.
Data Source
AI summary
According to an example aspect of the present invention, there is provided a method including detecting a first position of a mining vehicle with reference to a first worksite model, receiving information on a plurality of transformation matrices associated with the first worksite model, selecting a transformation matrix associated with the first worksite model based on the first position of the mining vehicle, performing, based on the selected transformation matrix, a coordinate transformation from input coordinates indicative of a second position of the mining vehicle in the first worksite model to transformed coordinates of a second worksite model, and providing the transformed coordinates to represent the second position of the mining vehicle for performing mining automation control based on the second worksite model.