Underground Mining Machine Laser Guidance for Absolute Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Navigation of mining machines underground is challenging due to the absence of satellite navigation signals and the accumulation of drift errors in inertial navigation systems, necessitating a more accurate method for determining absolute coordinate positions.
Innovation Solution
A system utilizing a rotatable laser source and return light sensor to detect patterns of varying reflectivity on the mine walls or ceiling, combined with a processor that collects and analyzes intensity values to determine the absolute coordinate position of the mining machine, potentially aided by additional sensors like cameras or inertial navigation systems, and uses data fusion techniques like Kalman filters for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If inertial navigation systems are used for underground mining machine navigation, then the system can operate without satellite signals, but drift errors accumulate over time reducing position accuracy
Solution Approach 1:
The patent introduces reference points with high-reflectivity patterns as intermediary objects between the laser scanner and the mining machine's position determination system. These reference points reflect laser light back to the scanner, enabling accurate position calculation without satellite signals and without the drift accumulation inherent in pure inertial navigation systems.
Solution Approach 2:
The patent replaces the mechanical inertial navigation system with an optical-based laser scanning system that detects reference points. This substitution eliminates the drift error problem of inertial systems by using external optical references, while maintaining the ability to operate independently of satellite signals in underground environments.
2Measurement precision
If laser scanning with reference points is implemented, then absolute position accuracy is improved, but the system complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The patent makes the laser scanner perform multiple functions: it serves both as a primary navigation sensor for position determination and as a tool for detecting reference points with varying reflectivity patterns. This multi-functionality reduces the need for separate dedicated reference detection hardware, thereby limiting the increase in system complexity.
Solution Approach 2:
The patent utilizes variations in light reflectivity parameters of reference point patterns to encode position information. By detecting changes in reflected light intensity and patterns, the system determines absolute position without requiring complex additional sensors, thus improving position accuracy while controlling system complexity through parameter-based encoding.
3Reliability
If multiple intensity values are collected across the pattern for reference point detection, then the reliability of pattern detection is improved, but the data processing time and computational load increase
Solution Approach 1:
The patent applies preliminary filtering and preprocessing to the collected intensity values before full pattern recognition. By pre-processing the laser scan data to identify potential reference point locations and validate intensity patterns, the system ensures reliable detection while reducing the computational burden and processing time for the main position calculation algorithm.
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 solution provides accurate and reliable navigation for mining machines by determining their absolute position in space, enabling precise control and cutting operations within the mine, even in environments with limited visibility and signal penetration.
Implementation Method 1
a rotatable laser source and return light sensor adapted to send laser light, receive reflected laser light and to provide an indication of distance and return light intensity at multiple different rotation angles
Implementation Method 2
a rotatable laser source and return light sensor adapted to send laser light, receive reflected laser light and to provide an indication of distance
Data Source
AI summary
Disclosed herein is a system for controlling a mining machine within an underground mine. A rotatable laser source sends laser light and return light sensor receives reflected laser light and provides an indication of distance and return light intensity at multiple different rotation angles. A co-ordinate reference point comprises a pattern of varying reflectivity and provides at least a 2D co-ordinate position. A processor determines an absolute co-ordinate position in space of the mining machine as the mining machine moves through the underground mine. The processor collects intensity values of reflected laser light for multiple respective rotation angles and detects the pattern of the reference point in the multiple intensity values of reflected laser light, and determines the absolute co-ordinate position in space of the mining machine based on spatial information of the detected pattern.