Optical Marker Positioning for Underground Mining Machines
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Solution Overview
Problem
Existing methods for determining the position of mining and construction machines, such as drilling rigs, are time-consuming and not suitable for use in environments where satellite navigation is unavailable, like underground, and do not provide accurate and rapid positioning during machine movement.
Innovation Solution
Utilizing 3D markers with defined geometrical forms, detected by cameras on the machine, to determine the position by identifying their shapes and calculating distances and directions, allowing for rapid and accurate positioning even when the machine is in motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If total station with prisms and conventional positioning methods are used, then positioning accuracy is achieved, but positioning time is excessive and not suitable for rapid relocation
Solution Approach 1:
The patent replaces the mechanical total station positioning system with an optical vision-based system using cameras and image processing. Multiple cameras capture images of markers, and computer vision algorithms automatically identify marker positions and calculate machine coordinates, eliminating the need for manual total station operations and significantly reducing positioning time while maintaining accuracy
Solution Approach 2:
The patent pre-arranges multiple markers at known positions in the working environment before machine operation. These markers serve as predetermined reference points that enable rapid position determination without requiring real-time setup or calibration, allowing the machine to be quickly positioned and relocated
2Measurement precision
If conventional positioning methods are used, then positioning accuracy is achieved, but the method is not suitable for environments where satellite navigation is unavailable
Solution Approach 1:
The patent introduces markers as intermediary objects between the machine and the positioning system. These markers reflect light from illumination sources and can be detected by cameras, serving as reliable reference points that work independently of satellite signals, enabling accurate positioning in underground environments, indoor facilities, and other areas where GPS is unavailable
Solution Approach 2:
The patent replaces satellite-based navigation systems with a local optical positioning system using cameras and markers. This vision-based system uses light reflection and image processing to determine machine position, making it independent of satellite signals and suitable for environments where GPS does not work
3Speed
If markers with defined geometrical forms are used and detected by cameras, then positioning speed is improved, but marker identification complexity increases
Solution Approach 1:
The patent uses markers with distinct visual characteristics including color differences to facilitate automatic identification by cameras. The colored or patterned markers stand out against the background and can be easily distinguished and identified by image processing algorithms, enabling rapid detection without complex analysis
Solution Approach 2:
The patent employs markers with defined geometrical forms such as spherical shapes. These geometric features provide clear visual signatures that are easy to detect and identify through image processing, allowing the system to quickly locate and recognize markers for position calculation
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
Enables fast and precise determination of the machine's position, reducing the time required for relocation and enabling navigation, thus improving operational efficiency and accuracy in drilling and reinforcement tasks.
Implementation Method 1
At least two cameras arranged on the mining and/or construction machine are used to identify markers in the surroundings of the mining and/or construction machine. The markers have a defined geometrical form
Data Source
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AI summary
The present invention relates to a method for determining the position of a mining and/or construction machine (100), the method comprising: determining presence of a first marker (M1-M4) and a second marker (M1- M4) in the surroundings of the mining and/or construction machine (100) by identifying the geometrical forms of the markers (M1-M4), determining direction and distance from the mining and/or construction machine (100) to the first and the second marker, respectively, calculating a mutual distance between the first marker (M1-M4) and the second marker (M1-M4) using said determined distances and directions to the markers from the mining and/or construction machine (100), identifying the first marker (M1-M4) and the second marker (M1-M4) by comparing the calculated mutual distance () between the first and second marker with mutual distances between markers obtained from a representation of the positions of a plurality of markers, and determining a position of the mining and/or construction machine (100) using the determined directions and distances to the identified first and second markers (M1-M4).