Relative Machine Positioning Using RF Ranging in Underground Loading
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Solution Overview
Problem
Indoor positioning in underground mining environments is challenging due to signal obstruction by mining machines and materials, requiring extensive infrastructure and leading to inaccurate and costly navigation, especially for load, haul, and dump machines, with potential for collisions.
Innovation Solution
A method and system using three positioning devices on each machine unit to determine relative positions without additional infrastructure, employing RF signal transceivers for range calculations and mapping machine unit geometries, enabling precise navigation and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If RFID systems or Wi-Fi systems using radio frequency tags and readers are used for positioning, then positioning can be achieved in underground environments, but a large and expensive infrastructure of readers (anchors) is required which needs to be expanded together with the formation of new tunnels
Solution Approach 1:
Instead of using fixed readers (anchors) to determine the position of moving machines, the patent inverts the approach by using moving machines themselves as the anchors. Each machine unit is equipped with positioning devices that can determine the position of other machines, eliminating the need for a fixed infrastructure of readers throughout the mine.
Solution Approach 2:
The positioning system becomes self-sufficient by using the machines themselves to provide positioning services to other machines. Each machine unit with positioning devices can determine the relative positions of other machines without requiring external fixed infrastructure, making the system self-service and eliminating dependency on extensive reader networks.
2Measurement precision
If complex scanners such as LIDARs or RADARs are used for positioning, then higher accuracy of position can be achieved, but the technology is expensive and very sensitive to dust and dirt requiring continuous maintenance and cleaning
Solution Approach 1:
The patent employs relatively inexpensive RF positioning devices instead of expensive LIDAR or RADAR systems. These positioning devices are more tolerant of the harsh mining environment with dust and dirt, reducing the need for continuous maintenance and cleaning while still providing sufficient positioning accuracy for navigation and collision avoidance.
Solution Approach 2:
The patent replaces complex mechanical scanning systems (LIDAR, RADAR) with electromagnetic RF-based positioning devices. This substitution eliminates the mechanical components that are sensitive to dust and dirt, resulting in a more robust system that requires less maintenance in the harsh underground mining environment.
3Reliability
If real time localization systems use remote central localization servers for processing and positioning calculations, then positioning can be performed, but lag and latency increase which is undesirable in navigation dependent on real-time information
Solution Approach 1:
The patent segments the positioning functionality by distributing positioning devices to individual machine units rather than relying on a single remote central server. Each machine unit can independently perform positioning calculations using data from neighboring machines, eliminating the communication latency associated with remote server processing.
Solution Approach 2:
Positioning data is continuously exchanged between machine units in real-time, with each machine maintaining updated information about the positions of other machines. This preliminary continuous exchange of data eliminates the need for repeated remote server queries, reducing latency and enabling real-time navigation and collision avoidance.
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
Provides robust, reliable, and cost-effective relative positioning of movable machine units, enhancing navigation accuracy and reducing infrastructure costs while minimizing collisions.
Implementation Method 1
each configured to receive and transmit positioning signals comprising positioning data... receiving via the first positioning device a first positioning signal from a first remote positioning device
Data Source
Figure 1a~1b
Figure 2
Figure 3a
AI summary
Disclosed is a method and system for relative positioning of relatively movable machine units, such as e.g. a first machine unit and a first remote machine unit for loading, comprising at least a first positioning device, a second positioning device and a third positioning device, each configured to receive and transmit positioning signals comprising positioning data, arranged at a first, second and third predefined local position on a first machine unit of a movable machine, respectively. The method comprising receiving a first, second and third positioning signal, receiving first remote machine unit data, determining first, second and third range data, determining a relative position of the first remote positioning device to the first, second and third predefined local position, respectively, mapping first machine unit data and first remote machine unit data comprising predefined geometries of the first machine unit and the first remote machine unit, respectively, in a relative position.