Mining Vehicle Localization Controller Adapting to Unreliable Position Data
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Solution Overview
Problem
Existing localization systems for vehicles in underground mining environments are unreliable due to faulty sensor measurements and inaccurate global mine maps, leading to increased collision risks and operational inefficiencies when vehicles are part of a fleet.
Innovation Solution
A localization controller that determines unreliable vehicle locations and selects operational rules based on vehicle type, operation, and fleet conditions to manage vehicle control, allowing continued operation with restrictions or temporary stops, thereby enhancing safety and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the entire fleet of vehicles is stopped when one vehicle has unreliable localization, then collision safety is improved, but production efficiency deteriorates exponentially with fleet size
Solution Approach 1:
The patent applies segmentation by dividing the fleet into individual vehicle units that can be independently controlled. When one vehicle experiences unreliable localization, only that specific vehicle is restricted or stopped, while other vehicles in the fleet continue normal operations. This isolates the safety issue to the affected vehicle only, preventing fleet-wide stoppages and maintaining overall production efficiency.
Solution Approach 2:
The patent implements dynamic control strategies that adapt to localization reliability in real-time. The system can dynamically switch between different operational modes: full operation when localization is reliable, restricted operation when localization is partially unreliable, and stop when localization is completely unreliable. This dynamic approach allows the fleet to maintain optimal productivity while responding flexibly to changing localization conditions of individual vehicles.
2Ease of operation
If sensors and global mine maps are used for localization, then positioning capability is provided, but measurement reliability deteriorates due to faulty sensor measurements and inaccurate maps
Solution Approach 1:
The patent introduces an intermediary layer between the sensors/maps and the vehicle control system. This intermediary is the localization reliability determination unit that assesses the quality of localization data before it is used for navigation decisions. By inserting this intermediary assessment layer, the system can identify when sensor data or map information is unreliable and adjust vehicle operations accordingly, preventing faulty data from causing unsafe maneuvers.
Solution Approach 2:
The patent implements feedback mechanisms where the system continuously monitors localization quality and uses this information to adjust vehicle operations. The localization reliability determination provides feedback about the quality of positioning data, which then feeds back into the control decisions. This closed-loop feedback allows the system to adapt its operational behavior based on the current reliability of localization inputs, improving both safety and accuracy.
Data Source
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AI summary
A method performed by a localization controller for handling control of a vehicle operating in a mining environment is provided. The vehicle is a member of a fleet of vehicles. The localization controller obtains (201) a location of the vehicle and/or of another vehicle in the fleet of vehicles. When determined that the obtained location is unreliable, the localization controller obtains (202) at least one operational rule from a set of predetermined operational rules. The at least one operational rule is selected from the set of predetermined operational rules based on whether one or more conditions are fulfilled or not. The one or more conditions comprises one or more out of a type of operation being performed by the vehicle, a type of operation being performed by another vehicle, a type of vehicle, and a type of vehicle of another vehicle in the fleet of vehicles. The localization controller operates (203) the vehicle and/or another vehicle in the fleet of vehicles in accordance with the at least one operational rule.