Underground Mining Pose Control via Triangular Radar Arrays
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Solution Overview
Problem
Existing underground mining and tunneling machine pose control systems using LASER technology are prone to failures due to environmental adversities like dust and dirt, leading to unreliable and inaccurate positioning.
Innovation Solution
A RADAR-based pose control system with triangularly arranged RADAR antennas and reflecting modules, utilizing FMCW RADAR technology and UWB positioning units, to provide robust and accurate pose measurement and control, independent of optical measurement systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If LASER technology is used for pose control, then positioning capability is provided, but reliability deteriorates due to dust and dirt in harsh environments
Solution Approach 1:
The patent replaces the optical LASER measurement system with a RADAR-based electromagnetic wave system. RADAR antennas transmit electromagnetic waves that reflect off targets and return to the antennas, enabling pose measurement without being affected by dust, dirt, or other environmental contaminants that plague optical systems. This substitution of measurement physics fundamentally resolves the reliability issue in harsh mining environments.
Solution Approach 2:
The patent changes the measurement parameter from optical wavelength (LASER) to electromagnetic wavelength (RADAR). By operating in the microwave/radio frequency range rather than the visible or infrared spectrum, the system achieves penetration through dust and dirt that completely blocks optical wavelengths, thereby maintaining reliable operation in contaminated environments.
2Measurement precision
If LASER technology is used for pose control, then positioning is achieved, but measurement precision deteriorates in harsh environments
Solution Approach 1:
The patent replaces the optical LASER measurement system with a RADAR-based electromagnetic wave system. RADAR antennas transmit electromagnetic waves that reflect off targets and return to the antennas, enabling pose measurement without being affected by dust, dirt, or other environmental contaminants that plague optical systems. This substitution of measurement physics fundamentally resolves the reliability issue in harsh mining environments.
3Measurement precision
If RADAR antennas and reflecting modules are arranged in triangular formation, then pose control accuracy is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple RADAR antennas and reflecting modules into an integrated triangular formation system. By merging these components into a coordinated geometric arrangement, the system achieves accurate pose control through triangulation and time-difference-of-arrival measurements while maintaining manageable complexity through systematic integration rather than ad hoc component placement.
Solution Approach 2:
The patent uses the triangular spatial formation to introduce geometric dimensionality into the measurement system. The three-point arrangement in three-dimensional space enables accurate determination of pose parameters (position and orientation) by exploiting spatial relationships and angle measurements, transforming a potentially complex multi-sensor problem into an elegant geometric solution.
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
The RADAR-based system ensures reliable and accurate pose control of underground machines, even in harsh environments, with improved durability and real-time positioning capabilities, reducing the need for frequent reimplementation and enhancing tunnel drilling precision.
Implementation Method 1
sending at least one RADAR ray with each of the RADAR antennas towards the at least one RADAR reflecting module and at least indirectly reflecting the RADAR ray by the at least one RADAR reflecting module and receiving the at least one reflected RADAR ray by the RADAR antennas
Data Source
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AI summary
Method for controlling the pose of at least a part of an underground mobile machine (1) within a heading (100) by means of a pose control system (10), comprising: providing at least one RADAR antenna (11), providing at least one RADAR reflecting module (12), whereas the RADAR antenna (11) or the RADAR reflecting module (12) is arranged at least twice forming the pose control system (10), so that the RADAR antennas (11) and the at least one RADAR reflecting module (12) are arranged in a triangular formation, identifying at least one defined measuring position (14) in the heading (100) distal to the mobile machine (1), defining a RADAR aligning range (13) between the mobile machine (1) and the defined measuring position (14) forming two end points, whereas at a first end point the at least two RADAR antennas (11) are arranged and at a second end point the at least one RADAR reflecting module (12) is arranged, and sending at least one RADAR ray with each of the RADAR antennas (11) towards the at least one RADAR reflecting module (12) and at least indirectly reflecting the RADAR ray by the at least one RADAR reflecting module (12) and receiving the at least one reflected RADAR ray by the RADAR antennas (11) and computing the pose of at least the part of the underground mobile machine (1) by means of a computing unit (15) of the system (10). Also a system (10) for operating such a method.