Mobile Mining Machine Tunnel Navigation Control
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Solution Overview
Problem
Current methods for maneuvering large mobile mining machines in tunnels are inefficient and unreliable due to the need for complex manual control of interconnected crawler units, which leads to synchronization issues and increased operational complexity, especially in navigating curves and maintaining clearance from tunnel walls.
Innovation Solution
A system utilizing fixed unidirectional sensors to produce signals for determining lateral and forward distances, allowing for automatic steering and navigation by calculating a virtual tunnel line, thereby simplifying control and reducing the need for extensive computing resources and expensive sensors like laser scanners.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control commands are issued to each vehicle unit individually, then the machine can be operated with simple control mechanisms, but the operation becomes slow and unsecure
Solution Approach 1:
The patent merges the control of multiple individual vehicle units into a single automated control system. The control unit issues coordinated control commands to all crawler units simultaneously, eliminating the need for manual individual control while achieving both operational simplicity and improved productivity through synchronized automated management of the entire train assembly.
2Extent of automation
If laser scanners are installed on each train unit for automated control, then automation extent increases, but the system complexity and computing requirements increase significantly
Solution Approach 1:
The patent extracts the complex sensor and computing requirements from each individual train unit and consolidates them into a single control unit. Instead of equipping each crawler with laser scanners and fusion computing capabilities, the system uses a centralized control unit that receives data from simple sensors and processes navigation commands, thereby achieving automation while reducing overall system complexity.
Solution Approach 2:
The control unit acts as an intermediary between the sensors and the crawler units. It receives sensor data, processes navigation information, and issues coordinated control commands to the crawlers, eliminating the need for complex onboard processing at each train unit while maintaining automated control functionality.
3Adaptability or versatility
If each crawler is equipped with individual power sources and side steering capabilities, then the machine can navigate independently, but the synchronization of thrust and steering commands becomes difficult and expensive
Solution Approach 1:
The system implements feedback control where the control unit continuously monitors the position and status of each crawler unit and adjusts control commands accordingly. This feedback mechanism ensures reliable synchronization of thrust and steering commands across all crawlers, maintaining coordinated movement while preserving independent navigation capability through adaptive real-time adjustments.
Data Source
AI summary
Method of maneuvering a mobile mining machine including two or more self steered and optionally self propelled interconnected units being connected as train units over a respective articulating joint, said mobile mining machine having a forward and a backward direction, wherein in a tunnel following mode the method includes: producing a set of first signals representative of sideward distances between at least one side of the mobile mining machine and a respective nearby wall of said tunnel, and—evaluating said set of first signals so as to determine a sideways position of the mobile mining machine in respect of the walls of said tunnel during driving, and—producing steering commands to be sent to a propulsion arrangement in order to maintain a position of the mobile mining machine to ensure clearance to tunnel walls during driving. The invention also relates to a system and a mobile mining machine.