JP6438898B2 - Miner position tracking and mapping - Google Patents

Description

  The present invention relates to miner tracking and mapping.

  In mining operations, it is important to reliably track the location and progress of the miner. However, the common conditions in underground coal mine mining make it particularly difficult to accurately position and track the miner.

  In a dust-free environment, an optical theodolite can be used to accurately position the device using gaze measurements. However, such devices cannot operate properly in dusty situations such as those found in underground coal mines. Furthermore, line-of-sight measurement may not be available if the mining machine is operating in a horizontal pit and is hidden from view by an intervening layer of the deposit.

  In fact, both conventional optical tracking systems and radar tracking systems both mine when the mining machine is operating sideways in underground deposits where the enveloping layer makes any direct optical or radar measurements impossible. Not suitable for tracking aircraft movement.

  Clearly, satellite GPS positioning of miners is not an option in underground deposits.

  Gyroscope and accelerometer-based systems are also not suitable when the miner may move at a speed that is too slow for these systems to generate accurate position data over an extended operating cycle. As a result of the reaction force generated by using a device such as a cutting boom, errors may occur due to machine operation due to machine vibration, displacement, or rotation.

  In particular, accurate and continuous monitoring of the machine position is essential for the proper and efficient operation of the machine in terms of deposits and throughout the mining cycle, when it is affected by operational behavior. It is. Without accurate location information, manual input is required to operate the machinery and equipment on the deposit surface, which exposes the operator to the potentially dangerous and harmful environment of the deposit.

  Existing systems simply cannot provide such location information in dusty and gasy environments encountered in underground coal mines.

  The effectiveness and performance of the overall mining operation if it is not possible to accurately track the progress of the machine during its operating cycle, especially if it is not accurately determined that the machine is traveling on a pre-selected course. Is limited. For example, the machine may be slightly off course due to travel operations, in which case excavation or cutting operations may be off track.

  One of the current processes for recording the machine direction and progress is to wait until the machine stops running and the dust settles, at which point the geometer will make an accurate laser beam assisted measurement Can do.

  If the machine deviates from the target, the direction can be manually adjusted and the mining operation resumed. However, this process of checking the progress of the machine requires manual input and considerable downtime in order to be able to obtain measurements. If the machine is required or goes out of the planned course during operation, this can only be found after some considerable delay. Over time, the machine can deviate significantly from the operating cycle.

  It would be desirable to provide an appropriate positioning and tracking system for underground deposits that are different from existing systems.

US Patent Application Publication No. 2013/0038320

  According to an embodiment of the present invention, a system for determining the position of a mining machine in an underground deposit is provided, the system comprising a first emitter unit and a first receiver unit, the emitter unit Or one of the receiver units is configured to be fixedly positioned relative to the deposit wall, the other of the emitter unit or receiver unit is configured to be attached to the mining machine, and the emitter unit is configured to receive The system is configured to transmit a coded magnetic signal received by the emitter unit, and the system is configured to determine the distance and relative angle between the emitter unit and the receiver unit based on the signal received by the receiver unit. And at least one processor.

  In one embodiment, the system further includes a first antenna associated with the receiver unit for transmitting information to at least one processor associated with the signal when received by the receiver unit.

  In one embodiment, the emitter unit includes a second antenna for receiving information from the receiver unit such that the emitter unit and the receiver unit operate in a closed communication loop.

  In one embodiment, the system further includes a plurality of second emitter units, each of the first emitter unit and the second emitter unit comprising a respective encoded magnetic field generator.

  In one embodiment, each of the first and second emitter units includes a pitch and yaw mechanism for mechanically rotating the respective magnetic field generator.

  In one embodiment, the system further includes an array of a first receiver unit and a plurality of second receiver units for receiving uniquely encoded magnetic signals from the first and second emitter units, respectively. Including.

  In one embodiment, the emitter unit functions to provide 3D position information to enable miner tracking.

  In one embodiment, the emitter unit is attached to a miner.

  In one embodiment, the receiver unit is arranged in a predetermined position through the deposit.

  In one embodiment, the system further includes a mapping module for displaying a miner image and position within the deposit.

  In one embodiment, the system further includes an instrument sensor provided in the mapping module and arranged to allow display of the operating position of one or more components of the miner.

  In one embodiment, the system further includes a detector on the mining machine to monitor a mining machine operation, wherein the operation is at least one of movement, tilt, rotation, or vibration, at least one. Two processors are configured to compensate for operational behavior.

  In another aspect, a method for tracking a miner in a deposit using signal transmission between at least one emitter unit and at least one receiver unit is provided, wherein either the emitter unit or the receiver unit is The other of the emitter unit or the receiver unit is attached to the mining machine, the method includes transmitting a coded magnetic signal from the emitter unit and receiving Receiving the signal at the emitter unit and transmitting information about the received signal to the processor to calculate the distance and relative angle between the emitter unit and the receiver unit.

  In one embodiment, the emitter unit provides 3D position information to enable miner tracking and mapping.

  In one embodiment, the encoded magnetic signal is transmitted by a through-strata coded magnetic field, and the distance and angle calculated between the units is the relative position of the emitter unit within the deposit. Enable to judge by dimension.

  In one embodiment, peak signal strength detection is used to find the most direct angle between the emitter unit and the receiver unit.

  In one embodiment, the information from the receiver unit comes from the reception of the signal and is transmitted to the processor via the wireless link.

  In one embodiment, the information transmitted over the wireless link is received by the antenna of the emitter unit, and information signaling, reception and return takes place in a closed communication loop.

  In one embodiment, the at least one receiver unit comprises an array of receiver units, and the position of the miner is tracked using the array of receiver units.

  In one embodiment, the at least one emitter unit comprises a plurality of emitter units attached to the miner and the method includes generating each uniquely encoded signal from the emitter unit. As a result, the signals are received by receiver units, each associated with an emitter unit, and can be separately identified as originating from each emitter unit.

  In one embodiment, tracking is performed continuously and the movement of the miner is traced in real time.

  In another aspect, the above method provides a mining operation that includes tracking a miner and identifying the location of the miner on a display map of the deposit.

  In one embodiment, the miner identification position is used to control the miner operating cycle.

  In one embodiment, the mining operation further includes displaying an operating position of the miner component on the display map based on the miner input type equipment sensor.

  The invention will now be described in more detail by way of non-limiting example only and with reference to the following drawings.

1 is a schematic top view of a system for determining a deposit and a position of a miner within the deposit. FIG. FIG. 2 is a schematic view of a reference unit and an emitter unit used in the system. FIG. 4 is a diagram representing the exchange and communication between a reference unit and an emitter unit.

  First, referring to FIG. 1, a case where a mining machine 2 in an ore deposit 3 is tracked by a system 1 is shown. The system 1 includes a receiver unit 4 fixed to the wall 5 of the deposit 3 and an emitter unit 6 fixed to the miner 2.

  In the reverse configuration, the emitter unit 6 can be attached to the wall 5, in which case the receiver unit 4 is attached to the miner 2.

  In any case, the emitter unit 6 is designed to emit a low frequency encoded magnetic signal. The receiver unit detects the magnetic field strength and pitch information and yaw information transmitted from the emitter unit. The detected relative angle is indicated by an azimuth line 7.

  The signal from the emitter unit 6 is uniquely encoded and transmitted with a specific yaw and pitch setting, effectively resulting in a characteristic signal profile unique to the emitter unit 6. The signal information received at the receiver unit 4 is sufficient to identify the emitter unit 6 and the distance and relative three-dimensional position of the emitter unit 6. This information is retransmitted by the wireless transmitter to the emitter unit 6 in a closed communication loop for on-board processing at the miner.

  By knowing the fixed position of the receiver unit 4 and the relative three-dimensional position of the emitter unit 6, the system 1 can accurately identify the position of the miner 2. By continuing to monitor the position of the miner 2, the system 1 tracks the miner moving in the deposit in real time.

  For example, when the mining machine 2 moves along the predetermined main heading 8 to the position indicated by the virtual line 9, the distance and angle between the emitter unit 6 and the receiver unit 4 change. The separation angle between azimuth lines 7 and 10 indicates a change in bearing, and a change in received signal strength indicates a change in the relative distance between emitter unit 6 and receiver unit 4. Thereby, any change in the position of the mining machine 2 can be accurately tracked and continuously monitored in real time.

  Even when the mining machine 2 travels the deviation head 11, the relative position between the emitter unit 6 and the receiver unit 4 is such that the magnetic signal is at a low frequency, as indicated by the azimuth line 12, that is, through the layer. It can be determined that it is a magnetic field. Such magnetic signals are not disturbed by intervening rocks or coal beds.

  In order to obtain more detailed position information about the position and manner of the miner 2, the second emitter unit 13 can be attached to the miner 2 at different positions. The second emitter unit 13 can also be configured to transmit a unique coded signal unique to the emitter unit 13. In the illustrated example, the emitter unit 13 is in closed loop communication with a second receiver unit 14 fixed on the opposite side 15 of the deposit wall 5. Additional receiver units can be added at various predetermined locations along the deposit 3, and additional transmitter units can provide very accurate information regarding the location of the miner 2 within the deposit 3, if necessary. It can be included to provide an array of units that can be provided.

  In the illustrated example, if the position of the miner 2 changes to the position indicated by the phantom line 9, the distances of the associated emitter units 6 and 13 as indicated by the two sets of bearing lines 7, 10 and 17, 18 and It is possible to accurately determine the position of the mining machine 2 by changing the angle. Similarly, when the miner moves on the deviation head 11, the angle between the emitter unit 6, 13 and the associated receiver unit 4, 14 is tracked as indicated by the bearing lines 12, 20. . The change in the relative angle between the bearing lines 7, 12 and 17, 20 indicates that the miner 2 has rotated, while the intensity of the signals detected by the receiver units 4, 14 has moved the miner 2 Determine the distance accurately.

  As will be understood in that case, whether the miner 2 has a straight line or a dusty environment, the emitter units 6, 13 function as magnetic theodolites, 3D position information is provided to enable real-time tracking of the position and movement of the miner 2 in the deposit 3 accurately and continuously.

  The system 1 shown in FIG. Such a representation can equally form the basis of a virtual image of deposit 3 (ie, an image generated by a computer or other processor-based device on a display screen) for an on-board operator. Alternatively, the virtual image may be available for viewing and monitoring in an operation control room located at a remote location. In any case, the system 1 can include a mapping module that shows a three-dimensional image of the miner 2 and is accurately located in the virtual map of the deposit 3.

  In an embodiment, the miner also monitors the position and operation of on-board equipment and components, such as trucks or tires, cutter heads, cut tabs, conveyor booms, and any moving parts that are operated by hydraulic jacks, etc. Have various sensors. Such sensors can also provide input to allow the position and movement of the device to be represented in the same virtual image.

  The mining machine also has a detector for monitoring the operational behavior of the machine, such as tilt, rotation or vibration, and the system 1 also determines the distance and relative angle between the emitter unit and the receiver unit. In determining, it is configured to compensate for those operations.

  Thereby, the mapping function makes it possible to fully monitor the mining operation during the operating cycle of the machine.

  A specific embodiment of the receiver unit 4 and the emitter unit 6 will now be described with reference to FIG. However, it should be recognized that any suitable form of electromagnetic transmitter, transducer, or transceiver can be used as needed.

  The emitter unit 6 includes a coded magnetic field generator 21, a pitch interface driver 22, and a yaw interface driver 23 to provide a magnetic field generating device 24. Device 24 is rotatable and generates a non-circular uniquely encoded magnetic field. The emitter unit 6 includes a wireless interface 25, a wireless antenna 26, and a microprocessor 27.

  The receiver unit 4 comprises a magnetically encoded magnetic field detector 28 for detecting the magnetic field generated by the emitter unit 6, a battery and interface electronics 29, a microprocessor and interface electronics 30, a wireless interface 31, And a wireless antenna 32.

  The exchange of signals between the emitter unit 6 and the receiver unit 4 will now be described with reference to FIG. System 1 uses low frequency magnetic ranging. The emitter unit 6 transmits two variables: yaw and pitch. The device 24 includes a pitch mechanism assembly 33 and a yaw mechanism assembly 34 that hold the encoded electromagnetic field generator 21. Device 24 is rotated by yaw mechanism assembly 34, similar to the rotation of the radar antenna to transmit a unique coded signal. The receiver unit 4 identifies the correct signal with a unique coding and senses the magnetic field vector used to calculate the direction of the magnetic signal. The signal strength is also detected.

  The signal strength and direction information is transmitted from the antenna 32 in the closed loop 19 and returned to the antenna 26 of the emitter unit 6. The relative angle between the emitter unit 6 and the receiver unit 4 is determined by the microprocessor 27 by cross-correlating the detected magnetic field vector with a known magnetic field profile generated by the encoded magnetic field generating device 24. Is done. The distance from the receiver unit 4 to the emitter unit 6 is determined based on standard RSSI (received signal strength indicator) measurements or peak signal strength detection, as is known to those skilled in the art.

  In any case, the methodology and calculation methods used to determine the specific three-dimensional positional relationship between the emitter unit 6 and the receiver unit 4 are necessary as will be apparent to those skilled in the art. Accordingly, changes or modifications can be made to suit the particular environment and circumstances of the deposit 3. Regardless of the particular methodology used, the detection and ranging of magnetic signals demonstrates that the present invention is suitable for accurately identifying the location of a mining machine, even though it has passed through an intervening layer. It offers advantages over location technology.

  Since the present invention provides accurate and continuous monitoring and tracking of the miner, the cycle of the mining operation does not have to be interrupted to confirm the position of the machine. The operating cycle can be remotely monitored and accurately planned in advance. This helps general deposit management and can be used to generate operational reports for process optimization, training, and simulation.

  Combining position information and tracking with additional inputs of mechanical sensors to accurately locate the operating position of various mining equipment and tools means that many mining operations can be automated. Considering the effects of mining machine external movement in the emitter unit 6 by supplying with data from operational motion detectors, such as solid state gravity sensor (MEMS) based pitch detectors and roll detectors, compensation Thus, even more accurate mapping and tracking of the mining machine can be provided.

  One embodiment of the invention relates to a system for determining the position of a mining machine in an underground deposit. The system includes a first emitter unit and a first receiver unit. (Terms such as “first” and “second” are provided as labels that distinguish the elements from each other, and are not necessarily meant to indicate order or arrangement, and embodiments do not necessarily include a plurality of said elements. Does not mean). One of the emitter unit or the receiver unit is configured to be fixedly positioned with respect to the deposit wall. For example, the emitter unit or receiver unit may be configured to be secured to a deposit wall and has a housing and mounting assembly suitable for the deposit environment, such as a water resistant, dust proof, for example. Such mounting assemblies are coupled to the housing for mounting the unit to the wall. The other of the emitter unit or receiver unit is configured to be attached to a miner. For example, the emitter unit and / or the receiver unit are configured to be attached to a miner. This includes the emitter unit and / or the receiver unit being built into the miner, which is effectively permanently part of the miner. The emitter unit is configured to transmit a coded magnetic signal received by the receiver unit. The system further comprises at least one processor configured to determine a distance and relative angle between the emitter unit and the receiver unit based on a signal received by the receiving unit. For example, the processor may be part of an emitter unit, part of a receiver unit, part of a mining machine (eg a mining machine processor that is also used to control the movement and other operations of the mining machine), Or it may be a processor or the like installed in the central mining operation control room, and / or various functions may be executed in a distributed manner by a plurality of such processors.

  In operation, one of the emitter unit or the receiver unit is fixedly positioned with respect to the deposit wall, for example attached to the deposit wall. The other of the emitter unit or receiver unit is installed relative to the depositor, for example attached to the depositor. The emitter unit transmits a coded magnetic signal that is received by the receiver unit. Information of the encoded magnetic signal received by the receiver unit is communicated to at least one processor. At least one processor determines a distance and a relative angle between the emitter unit and the receiver unit based on the information.

  In another embodiment, the system includes a second unit (eg, attached to the receiver unit) associated with the receiver unit for transmitting information to at least one processor associated with the signal received by the receiver unit. 1 antenna is further provided.

  In another embodiment, the emitter unit includes a second antenna for receiving information from the receiver unit such that the emitter unit and the receiver unit operate in a closed communication loop.

  In another embodiment, the system comprises a plurality of emitter units (eg, a first emitter unit and a plurality of second emitter units), each having a respective encoded magnetic field generator. Have. For example, each emitter unit can include a pitch and yaw mechanism for mechanical rotation of the respective magnetic field generator.

  In another embodiment, the system includes a receiver unit (eg, a first receiver unit and a plurality of second receiver units) for receiving uniquely encoded magnetic signals from a plurality of emitter units, respectively. With an array of

  In another embodiment of a system for determining the location of a miner in an underground deposit, the system comprises a first emitter unit, a first receiver unit, and at least one processor. One of the emitter unit or the receiver unit is configured to be fixedly positioned with respect to the deposit wall. The other of the emitter unit or receiver unit is configured to be attached to a miner. The emitter unit is configured to transmit a coded magnetic signal received by the receiver unit. In addition to circuitry for transmitting and receiving encoded magnetic signals, the emitter unit and receiver unit further comprise an antenna and transceiver for RF or other wireless communication, respectively. The receiver unit is configured to use each antenna and transceiver to communicate information about the encoded magnetic signal when received by the receiver unit. At least one processor (eg, which may be part of the emitter unit) is based on information transmitted by and received by the receiver unit (for signals received by the receiver unit). , Configured to determine the distance and relative angle between the emitter unit and the receiver unit.

  Although the present invention has been described with reference to the location of a mining machine (eg, a mining vehicle) within a deposit, the principle of using low frequency magnetic field detection is the location of any other type of object within any suitable environment. It is equally applicable to specifying

  References to any previous publication in this specification, or anything known are references to confirmation or approval, or prior publications (or information derived therefrom) or known attempts to which this specification relates. It is not a form of thinking that forms part of the common general knowledge in the field, and should not be considered as such.

  Throughout this specification and the appended claims, unless otherwise required herein, variations such as “comprising” and “comprising” include the stated integers or steps or groups of integers or steps. It will be understood that it means not to exclude any other integer or step or group of integers or steps.

DESCRIPTION OF SYMBOLS 1 System 2 Mining machine 3 Deposit 4 Receiver unit 5 Deposit wall 6 Ejector unit 7 Direction line 8 Main target 9 Virtual line 10 Direction line 11 Deviation target 12 Direction line 13 Second emitter unit 14 Second receiver unit 15 Deposit Wall Opposite to Deposit Wall 5 Azimuth Line 18 Azimuth Line 19 Closed Loop 20 Azimuth Line 21 Coded Magnetic Field Generator, Coded Electromagnetic Field Generator 22 Pitch Interface Driver 23 Yaw Interface Driver 24 Magnetic Field Generation Device 25 Radio interface 26 Radio antenna 27 Microprocessor 28 Magnetic coded magnetic field detector 29 Battery and interface electronics 30 Microprocessor and interface electronics 31 Radio interface 32 Radio antenna 33 Pitch mechanism assembly 34 Yaw mechanism assembly

Claims (24)

A system for determining the position of a mining machine (2) in an underground deposit (3) comprising a first emitter unit (6) comprising at least one processor and a first receiver unit (4). ,
One of the first emitter unit (6) or the first receiver unit (4) is configured to be fixedly positioned relative to the deposit wall (5);
The other of the first emitter unit (6) or the first receiver unit (4) is configured to be attached to a mining machine (2);
The first emitter unit (6) is configured to transmit a coded magnetic signal;
The first receiver unit (4) is configured to receive the encoded magnetic signal and transmit information related to the received encoded magnetic signal;
The first emitter unit (6) is further configured to receive the information;
The at least one processor is configured to determine a distance between the first emitter unit (6) and the first receiver unit (4) based on the transmitted encoded magnetic signal and the received information. And configured to identify relative angles,
system.   The system of claim 1, wherein the first receiver unit (4) includes a first antenna (26) for transmitting the information.   The system of claim 2, wherein the first emitter unit (6) includes a second antenna (32) for receiving the information. Further comprising a plurality of second emitter units (13);
Each of the first emitter unit (6) and the second emitter unit (13) comprises a respective coded magnetic field generator (21),
The system according to claim 3.   The system according to claim 4, wherein each of the first and second emitter units (6, 13) comprises a pitch and yaw mechanism for mechanically rotating a respective magnetic field generator (21). .   The first receiver unit (4) and a plurality of second receiver units (14) for receiving uniquely encoded magnetic signals from the first and second emitter units (6, 13), respectively. 6. The system of claim 4 or 5, further comprising an array of   The system of claim 6, wherein the first and second emitter units (6, 13) function to provide three-dimensional position information to enable tracking of the miner (2). .   The system according to claim 7, wherein the first and second emitter units (6, 13) are attached to the miner (2).   The system according to claim 8, wherein the first and second receiver units (4, 14) are arranged at predetermined positions through the deposit (3).   The system according to any of the preceding claims, further comprising a mapping module for displaying an image and position of the mining machine (2) in the deposit (3).   11. The system according to claim 10, further comprising an equipment sensor provided in the mapping module and arranged to display an operating position of one or more components of the miner (2). And further comprising a detector on the mining machine (2), monitoring the operation of the mining machine (2), wherein the operation is at least one of tilt, rotation, or vibration;
The at least one processor is configured to compensate for the operational behavior;
The system according to claim 1. Tracking the miner (2) in the deposit (3) using signal transmission between at least one emitter unit (6, 13) with a processor and at least one receiver unit (4, 14) A method,
One of the emitter unit (6, 13) or the receiver unit (4, 14) is fixedly positioned relative to the deposit wall (5);
The other of the emitter unit (6, 13) or the receiver unit is attached to the miner (2),
The method
Transmitting a coded magnetic signal from the emitter unit (6, 13);
A receiver unit (4, 14) receiving a coded magnetic signal and transmitting information related to the received coded magnetic signal;
An emitter unit (6, 13) receiving said information;
A processor calculating a distance and a relative angle between the emitter unit (6, 13) and the receiver unit (4, 14) based on the transmitted encoded magnetic signal and the received information; ,
Including a method.   The method according to claim 13, wherein the emitter unit (6, 13) provides three-dimensional position information to enable tracking and mapping of the miner (2). The coded magnetic signal is transmitted by a through-strata coded magnetic field;
The distance and the angle calculated between the units make it possible to determine the relative position of the emitter unit in the deposit (3) in three dimensions,
15. A method according to claim 13 or 14.   A peak signal strength detection is used to find the most direct said angle between the emitter unit (6, 13) and the receiver unit (4, 14). The method described in 1.   17. A method according to any of claims 13 to 16, wherein the information from the receiver unit (4, 14) results from reception of the signal and is transmitted over a radio link.   The method according to claim 17, wherein the information transmitted on the radio link is received by an antenna of the emitter unit (6, 13). The at least one receiver unit (4, 14) comprises an array of receiver units (4, 14);
The position of the miner (2) is tracked using the array of receiver units (4, 14);
The method of claim 13. The at least one emitter unit (6, 13) comprises a plurality of emitter units (6, 13) attached to the mining machine (2);
Said method comprising generating each uniquely encoded magnetic signal signal from said emitter unit (6, 13);
The encoded magnetic signal signal is received by the receiver unit (4, 14), each associated with the emitter unit (6, 13).
The method of claim 19.   21. A method according to any of claims 13 to 20, wherein the tracking is performed continuously and the movement of the mining machine (2) is traced in real time.   Tracking a mining machine (2) and identifying a position of the mining machine (2) on a display map of the deposit (3) by a method according to any of claims 13-20. Mining operation method.   23. A mining operation method according to claim 22, wherein the identified position of the miner (2) is used to control the operating cycle of the miner (2).   24. The mining operation method according to claim 23, further comprising the step of displaying operation positions of components of the mining machine (2) on the display map.