Mining Vehicle Obstacle-Avoidance Routing for Continuous Autonomy
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Solution Overview
Problem
Mining vehicles face production interruptions due to obstacles in underground worksites, such as loose rock, requiring manual intervention and affecting operational efficiency.
Innovation Solution
An apparatus and method for dynamic route adaptation in mining vehicles, utilizing obstacle detection, route planning, and autonomous driving control to bypass obstacles on-board, enabling continuous operation without stopping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a predefined route is used for autonomous driving, then the vehicle can operate automatically, but production interruptions occur when obstacles are encountered requiring manual intervention
Solution Approach 1:
The route is transformed from a static predefined path to a dynamic adaptive path that automatically adjusts when obstacles are detected. The system continuously monitors the environment and generates alternative routes in real-time, allowing the vehicle to maintain autonomous operation while adapting to changing conditions without manual intervention.
Solution Approach 2:
The system implements a feedback loop where obstacle detection triggers route recalculation. The obstacle detection unit continuously monitors the environment, and when obstacles are detected, the route planning unit receives this feedback and generates alternative routes, creating a closed-loop control system that maintains autonomous operation.
2Reliability
If the vehicle stops to manually control when obstacles are detected, then safety is maintained, but production delays occur
Solution Approach 1:
The system performs preliminary route planning and obstacle detection before the vehicle encounters problems. By continuously monitoring the environment and having alternative routes pre-calculated based on possible obstacle locations, the system can respond quickly without stopping, maintaining both safety and productivity.
Solution Approach 2:
The vehicle performs self-service by automatically detecting obstacles and generating alternative routes without requiring manual intervention. The autonomous vehicle system handles obstacle avoidance independently, eliminating the need for operator intervention and associated production delays.
3Productivity
If real-time obstacle detection and route recalculation is implemented, then continuous operation is maintained, but system complexity increases
Solution Approach 1:
The system is divided into distinct functional modules: obstacle detection unit, route planning unit, and autonomous driving control unit. This segmentation allows each component to perform its specific function independently, making the complex system more manageable and maintainable while enabling continuous operation.
Solution Approach 2:
The route planning unit serves multiple functions: it creates initial routes, calculates alternative routes when obstacles are detected, and provides navigation guidance. This multi-functionality reduces the need for separate specialized components, managing system complexity while maintaining continuous operation capability.
Data Source
Figure 1
Figure 2
Figure 3~4b
AI summary
A method, comprising: detecting (200), by an obstacle detection function of an underground mining vehicle (10) performing an autonomous driving task along a first route comprising a first set of route points, an obstacle on the basis of scanning by a scanner (40) of the mining vehicle, generating (240), by the route planning function, a second route comprising a second set of route points for the mining vehicle to bypass the obstacle, on the basis of a determined expected position being approached by the vehicle, a determined position of the obstacle, and a worksite model indicative of limitations for route generation, providing (250) the second route to an autonomous driving controller of the mining vehicle, and controlling (260), by the autonomous driving controller, the mining vehicle to drive autonomously along the second route.