SE538027C2 - Communication unit in at least partially remote controlled mining machine - Google Patents
Communication unit in at least partially remote controlled mining machine Download PDFInfo
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- SE538027C2 SE538027C2 SE1450741A SE1450741A SE538027C2 SE 538027 C2 SE538027 C2 SE 538027C2 SE 1450741 A SE1450741 A SE 1450741A SE 1450741 A SE1450741 A SE 1450741A SE 538027 C2 SE538027 C2 SE 538027C2
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- 238000004891 communication Methods 0.000 title claims abstract description 181
- 238000005065 mining Methods 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000001681 protective effect Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000004576 sand Substances 0.000 claims description 2
- 235000015250 liver sausages Nutrition 0.000 claims 1
- XYSQXZCMOLNHOI-UHFFFAOYSA-N s-[2-[[4-(acetylsulfamoyl)phenyl]carbamoyl]phenyl] 5-pyridin-1-ium-1-ylpentanethioate;bromide Chemical compound [Br-].C1=CC(S(=O)(=O)NC(=O)C)=CC=C1NC(=O)C1=CC=CC=C1SC(=O)CCCC[N+]1=CC=CC=C1 XYSQXZCMOLNHOI-UHFFFAOYSA-N 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 5
- 238000005553 drilling Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
- 230000004931 aggregating effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
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- 230000010363 phase shift Effects 0.000 description 1
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- 239000011435 rock Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
SAMMANDRAG Foreliggande uppfinning avser en kommunikationsenhet (3) i en atminstone delvis fjarrstyrd, gruvmaskin. Uppfinningen avser 5N/en en 5tminstone delvis fj5rrstyrd gruvmaskin (5) (innefattande en sAdan kommunikationsenhet (3) samt en metod for fjarrstyrning av en atminstone delvis fjarrstyrd gruvmaskin. Namnda kommunikationsenhet i en 5tminstone delvis fjarrstyrd gruvmaskin är inrattad for overforing av fjarrstyrningsinformation mellan en maskinoperator och ett styrsystem i gruvmaskinen via en eller flera accesspunkter i ett trAdlost kommunikationssystem i en gruva. Kommunikationsenheten innefattar vidare en radioenhet och tv5 eller flera antenner, vilka inryms i en av ett omgivande skyddsholje definierat utrymme. Namnda tv5 eller flera antenner är riktantenner. Radioenheten är inrattad for datakommunikation med maskinens styrsystem via en eller flera datalankar. SUMMARY The present invention relates to a communication unit (3) in an at least partially remote-controlled mining machine. The invention relates to an at least partially remote-controlled mining machine (5) (comprising such a communication unit (3) and a method for remote control of an at least partially remote-controlled mining machine. and a control system in the mining machine via one or more access points in a wireless communication system in a mine.The communication unit further comprises a radio unit and tv5 or more antennas, which are housed in a space defined by a surrounding protective housing.The said tv5 or more antennas are directional antennas. equipped for data communication with the machine's control system via one or more data links.
Description
Kommunikationsenhet i en 5tminstone delvis flarrstyrd gruvmaskin TEKNISKT OMRADE Foreliggande uppfinning avser en kommunikationsenhet i en 5tminstone delvis fjarrstyrd, gruvmaskin. Uppfinningen avser aven en atminstone delvis fjarrstyrd gruvmaskin innefattande en s5dan kommunikationsenhet samt en metod for fjarrstyrning av en 5tminstone delvis fjarrstyrd gruvmaskin. TECHNICAL FIELD The present invention relates to a communication unit in an at least partially remote-controlled mining machine. The invention also relates to an at least partially remote-controlled mining machine comprising such a communication unit and a method for remote control of an at least partially remote-controlled mining machine.
BAKGRUND Underjordiska gruvor innefattar vanligen vidstrackta underjordiska tunnelsystem. En gruvgAng eller gruvort är en tunnel som anvands for att n5 en malmfyndighet i ett berg i samband med gruvdrift. GruvgAngarna utstracker sig efter fyndighetens riktning i berget; en gruva innefattar kombinationer av vasentligen horisontella orter eller gruvg5ngar, orter som gr i vinkel mot horisontalplanet, s.k. tvarorter, samt orter i vertikal riktning. BACKGROUND Underground mines usually include extensive underground tunnel systems. A mining tunnel or mining site is a tunnel used to reach an ore deposit in a mountain in connection with mining operations. The mines extend in the direction of the deposit in the rock; a mine comprises combinations of essentially horizontal locations or mine tunnels, locations that run at an angle to the horizontal plane, so-called places, as well as places in the vertical direction.
Moderna underjordiska gruvg5ngar är ofta forh5llandevis rymliga for att kunna transportera tunga maskiner och lastfordon; s5som borrnings- lastnings- och transportmaskiner och fordon. Modern underground mining tunnels are often relatively spacious to be able to transport heavy machinery and trucks; such as drilling, loading and transport machines and vehicles.
Denna typ av maskiner och fordon Jr i alit hogre utstrackning obemannade, eller kanske mer korrekt, fjarrstyrda av en operator som befinner sig vid en operatorstation i ett manoverrum p5 avstAnd frAn den plats dar brytningsarbetet p5g5r. Fjarrstyrning av gruvmaskiner innebar en mangd fordelar, inte minst ur sakerhetssynpunkt, nar mangden personer som behover befinna sig p5 plats i gruvans g5ngar kan minskas. This type of machinery and vehicle is to a greater extent unmanned, or perhaps more accurately, remotely controlled by an operator located at an operator station in a control room at a distance from the place where the mining work is taking place. Remote control of mining machines entailed a number of advantages, not least from a safety point of view, when the number of people who need to be in place in the mine's tunnels can be reduced.
Fjarrstyrning av gruvmaskiner 5stadkoms idag med hjalp av tr5dlos kommunikation som Jr baserad p5 standarden IEEE 802.11, mer allmant kand under beteckningen WiFi. Drift av gruvmaskiner, kraver att tr5dlos kommunikation kan uppratthallas p5 ett tillforlitligt satt. Tappad kontakt mellan maskinen och en operatorsstation innebar s5val produktionsbortfall som en sakerhetsrisk. Remote control of mining machines was achieved today with the help of wireless communication as Jr based on the standard IEEE 802.11, more generally known as WiFi. Operation of mining machines, demands that wireless communication can be maintained in a reliable manner. Lost contact between the machine and an operator station meant a loss of production as a safety risk.
En viktig komponent for tillforlitlig radiokommunikation med en mobil, fjarrstyrd gruvmaskin Jr det antennsystem som anyands vid den rorliga enheten for att ta emot en signal utsand franinfrastrukturenietttradlostkommunikationssystem.Dettradlosa kommunikationssystemet sander och tar emot signaler fr5n den mobila enheten via en eller 1 flera accesspunkter. En kommunikationslank till en access nod kan aven innefatta kommunikation som formedlas via flera gruvmaskiner i ett multi-hop eller ad hoc kommunikationssystem. Flertalet rorliga gruvmaskiner, sasom borrningsmaskiner och lastningsmaskiner, innefattar omfattande rorliga massor som ror sig i forh5llande till antennsystemets fast monterade antenner. Dessa rorliga massor har stor pAverkan p radioforh5llanden och kan, beroende p5 position, ha en signifikant negativ p5verkan p5 radioenhetens mottagnings- och sandningsform5ga. Genom att anordna flera antenner p5 gruvmaskinen, kan man forbattra mottagningen av den fran accesspunkten utsanda radiosignalen. Anvandningen av flera antenner, s5 kallad antenndiversitet innebar att man med flera antenner kan ta emot flera versioner av den utsanda signalen. En signal utsand frAn en accesspunkt anordnad i en gruvgAng, kommer att studsa och fasforskjutas p5 vagen fram till mottagaren. Signalen kommer att komma fram till mottagaren via flera olika vagar med olika styrka. I ett antennsystem dar flera antenner kombineras, kan detta forhAllande anvandas for forbattrad kommunikation. Plats och vinkel p5 antennen vid mottagningen pAverkar vilken av signalvagarna i gruvgAngen som ger starkast signalstyrka. Med flera antenner kan man cla plocka signaler fran olika signalvagar och i varje stund valja den signal som är bast. An important component for reliable radio communication with a mobile remote control is the antenna system that anyands at the mobile unit to receive a signal transmitted from the infrastructure to a wireless communication system. The wireless communication system transmits and receives signals from the mobile unit via one or more access points. A communication link to an access node can also include communication that is mediated via several mining machines in a multi-hop or ad hoc communication system. Most movable mining machines, such as drilling machines and loading machines, comprise extensive movable masses which move in relation to the antenna system's permanently mounted antennas. These moving masses have a great influence on the radio conditions and can, depending on the position, have a significant negative effect on the reception and sanding design of the radio unit. By arranging several antennas on the mining machine, it is possible to improve the reception of the radio signal transmitted from the access point. The use of several antennas, called antenna diversity, meant that with several antennas one can receive several versions of the transmitted signal. A signal emitted from an access point arranged in a mine passage will bounce and be phase-shifted on the road to the receiver. The signal will reach the receiver via several different scales with different strengths. In an antenna system where several antennas are combined, this ratio can be used for improved communication. The location and angle of the antenna at the reception affects which of the signal scales in the mine tunnel provides the strongest signal strength. With several antennas, you can pick up signals from different signal waves and at any time select the signal that is the best.
Vid dagens gruvmaskiner, anvands tva eller flera antenner anordnade vid olika positioner pa en gruvmaskins yta. Tv 5 eller flera rundstr5lande antenner ansluts till en eller flera radiomoduler med hjalp av koaxialkablar. In today's mining machines, two or more antennas arranged at different positions on the surface of a mining machine are used. TV 5 or more omnidirectional antennas are connected to one or more radio modules using coaxial cables.
Ett problem med denna losning är att antennkablaget orsakar onodiga forluster och dampning av signalen. Ett annat problem med denna losning Jr vidare att gruvmaskinen innefattar ett antal rorliga delar, vilka riskerar att utsattas for s5dana mekaniska p5frestningar att kommunikation mellan antenn och tillhorande radiomodul p5verkas. Ytterligare ett problem med dagens losning, Jr den relativt komplicerade montering som kravs nar ett flertal antenner och en eller flera radiomoduler ska anordnas vid olika positioner i en gruvmaskin. A problem with this release is that the antenna wiring causes unnecessary losses and damping of the signal. Another problem with this solution is further that the mining machine comprises a number of movable parts, which risk being exposed to such mechanical stresses that communication between antenna and associated radio module is affected. Another problem with today's unloading is the relatively complicated assembly required when a plurality of antennas and one or more radio modules are to be arranged at different positions in a mining machine.
SAMMANFATTNING AV UPPFINNINGEN Uppfinnaren har insett att det finns ett behov av en mer robust kommunikationslosning som Jr battre anpassad till de speciella forutsattningar som racier i gruvmiljo. Det Jr ett syfte med foreliggande uppfinning att tillhandah51Ia en tr5dlos kommunikationsenhet i en 5tminstone 2 delvis fjarrstyrd gruvmaskin, vilken kommunikationslosning minskar ovannamnda problem och brister i forutvarande kommunikationslosningar och erbjuder en mer tillforlitlig och robust fjarrstyrning av gruvmaskiner. SUMMARY OF THE INVENTION The inventor has realized that there is a need for a more robust communication solution that is better adapted to the special conditions of racing in a mining environment. It is an object of the present invention to provide a wireless communication unit in an at least 2 partially remote controlled mining machine, which communication solution reduces the above-mentioned problems and shortcomings of previous communication solutions and offers a more reliable and robust remote control of mining machines.
Ett annat syfte Jr att tillhandahAlla en tr5dlos kommunikationsenhet i en Atminstone delvis fjarrstyrd gruvmaskin, vilken enhet enkelt kan installeras pa olika typer av gruvmaskiner och aven enkelt kan ersattas i de fall dar fel uppstAr i radiokommunikationsenheten. Another object is to provide a wireless communication unit in an at least partially remote controlled mining machine, which unit can be easily installed on different types of mining machines and can also be easily replaced in cases where faults occur in the radio communication unit.
Ytterligare ett syfte med uppfinningen Jr att minska kabelforluster vid overforing av antennsignal frAn antenn till radiomottagare. Another object of the invention is to reduce cable losses when transmitting antenna signal from antenna to radio receiver.
Dessa syften uppn5s genom en kommunikationsenhet i en 5tminstone delvis fjarrstyrd gruvmaskin, s5som framg5r av krav 1; en gruvmaskin innefattande en kommunikationsenhet, s5som framgAr av krav 11 samt en metod for fjarrstyrning av en Atminstone delvis fjarrstyrd gruvmaskin, s5som framg5r av krav 12. These objects are achieved by a communication unit in an at least partially remote controlled mining machine, as stated in claim 1; a mining machine comprising a communication unit as claimed in claim 11 and a method for remote control of an at least partially remote controlled mining machine as claimed in claim 12.
Enligt en aspekt av uppfinningen tillhandah5lls en kommunikationsenhet i en 5tminstone delvis fjarrstyrd gruvmaskin, vilken kommunikationsenhet Jr inrattad att overfora fjarrstyrningsinformation mellan en maskinoperator och ett styrsystem i den 5tminstone delvis fjarrstyrda gruvmaskinen. Fjarrstyrningsinformationen Jr inrattad att overforas till kommunikationsenheten via en eller flera accesspunkter i ett tr5dlost kommunikationssystem i en gruva. Kommunikationsenhet innefattar en radioenhet och tv5 eller flera antenner, vilka inryms i ett av ett omgivande skyddsholje definierat utrymme. Namnda tv5 eller flera antenner Jr riktantenner. Radioenheten Jr inrattad for datakommunikation med den atminstone delvis fjarrstyrda gruvmaskinens styrsystem via en eller flera datalankar. According to one aspect of the invention, there is provided a communication unit in an at least partially remote controlled mining machine, which communication unit is arranged to transmit remote control information between a machine operator and a control system in the at least partially remote controlled mining machine. The remote control information is arranged to be transmitted to the communication unit via one or more access points in a wireless communication system in a mine. Communication unit comprises a radio unit and tv5 or more antennas, which are housed in a space defined by a surrounding protective housing. Named tv5 or more antennas Jr directional antennas. The radio unit Jr is arranged for data communication with the control system of the at least partially remote-controlled mining machine via one or more data links.
Genom den nya konstruktionslosningen for en kommunikationsenhet i en Atminstone delvis fjarrstyrd gruvmaskin, uppnAr man en kommunikationslosning vilken erbjuder kommunikationsfordelarna frAn antenndiversitet, lAga kablageforluster och en losning som är mindre kanslig for mekanisk pAverkan och de speciella fOrutsattningar som rAder i gruvrniljo. Through the new design solution for a communication unit in an at least partially remote-controlled mining machine, a communication solution is achieved which offers the communication advantages of antenna diversity, low cabling losses and a solution that is less likely to be mechanically impacted and the special conditions prevailing in the mining environment.
Enligt en aspekt av uppfinningen Jr datalankarna mellan kommunikationsenheten och gruvmaskinens styrsystem trAdlosa. 3 Tr5dlosa datalankar mellan kommunikationsenhet och styrenhet innebar att kabeldragningen i anslutning till kommunikationsenheten ytterligare kan reduceras, vilket är fordelaktigt vid montering pa' en gruvmaskin med manga rorliga delar och komplicerade rorelsemonster. According to one aspect of the invention, the data links between the communication unit and the control system of the mining machine trAdlosa. Wireless data links between the communication unit and the control unit meant that the cabling in connection with the communication unit can be further reduced, which is advantageous when mounting on a mining machine with many moving parts and complicated moving patterns.
Enligt en aspekt av uppfinningen är kommunikationsenheten inrattad for montering vid en position pa en karossyta av den kminstone delvis fjarrstyrda gruvmaskinen. According to one aspect of the invention, the communication unit is arranged for mounting at a position on a body surface of the at least partially remote-controlled mining machine.
Att kommunikationsenheten är inrattad for montering ph' gruvmaskinens karossytan, innebar att monteringen av kommunikationsenheten enkelt kan utforas, exempelvis pa' plats i gruvan. En fordel med denna utformning är vidare att kommunikationsenheter kan eftermonteras p5 gruvmaskiner som redan är i drift i en gruva eller bytas ut i de fall kommunikationsenheten inte fungerar tillfredsstallande av n5gon anledning. The fact that the communication unit is designed for mounting on the body surface of the mining machine meant that the mounting of the communication unit can be carried out easily, for example on site in the mine. An advantage of this design is further that communication units can be retrofitted to mining machines that are already in operation in a mine or replaced in cases where the communication unit does not function satisfactorily for any reason.
Enligt ytterligare en aspekt av uppfinningen är riktantennerna i kommunikationsenheten riktade med en fr5n varandra riktad antennlobsutbredning. According to a further aspect of the invention, the directional antennas in the communication unit are directed with a spaced apart antenna beam spread.
Genom att valja skarpa riktantenner och rikta dessa i foralande till varandra s5 att man undviker overlappande antennlobsutbredning, är det mojligt att uppn5 en kompakt, integrerad losning for kommunikationsenheten. By selecting sharp directional antennas and directing them in front of each other so as to avoid overlapping antenna beam propagation, it is possible to achieve a compact, integrated solution for the communication unit.
Enligt ytterligare en aspekt av uppfinningen är riktantennerna av typen patchantenner, var och en innefattande tv5 antennelement. En effektdelare är inkopplad mellan vane riktantenn och radioenheten. According to a further aspect of the invention, the directional antennas are of the patch antenna type, each comprising tv5 antenna elements. A power divider is connected between the usual directional antenna and the radio unit.
Denna typ av antenner är robusta och kan via sin kretskortsuppbyggnad enkelt inrymmas i en 20 integrerad kommunikationsenhet. Antennerna erbjuder vidare mycket bra elektriska egenska per. This type of antenna is robust and can easily be accommodated in an integrated communication unit via its circuit board structure. The antennas also offer very good electrical properties.
Enligt ytterligare en aspekt av uppfinningen är kommunikationsenheten inrktad for underjordsdrift. According to a further aspect of the invention, the communication unit is adapted for underground operation.
Den visade antennkonstruktioner är speciellt lamplig vid de flervagsutbredningsforhallanden som rAder i gruvg5ngar, d.v.s. for gruvor i underjordsdrift, varvid s5val positionen for kommunikationsenhetens placering p5 gruvmaskinen som kommunikationsenhetens antenn kan anpassas till radiov5gsutbredningen fr5n en accesspunkt i en gruvg5ng. 4 Enligt ytterligare en aspekt av uppfinningen innefattar kommunikationsenheten vidare ett positioneringssystem inrattat for tr5dlos positionsbestamning av den 5tminstone delvis fjarrstyrda gruvmaskinen. The antenna constructions shown are particularly suitable for the multipath propagation conditions prevailing in mining tunnels, i.e. for mines in underground operation, whereby the selection of the position of the communication unit on the mining machine as the communication unit's antenna can be adapted to the radio path propagation from an access point in a mining passage. According to a further aspect of the invention, the communication unit further comprises a positioning system provided for wireless position determination of the at least partially remote controlled mining machine.
Genom att aven integrera ett positioneringssystem i kommunikationsenheten erh5lls en annu mer kompakt enhet innefattande all kommunikationsutrustning erforderlig for en saker fjarrstyrning av gruvmaskinen. By also integrating a positioning system in the communication unit, an even more compact unit is obtained comprising all the communication equipment necessary for a remote control of the mining machine.
Enligt en aspekt av uppfinningen är positioneringssystemet integrerat med radioenheten och positionsbestamning Jr inrattad att utfOras baserat p5 avstAndet till en eller flera accesspunkter i det tr5dlosa kommunikationssystemet samt information om en gruvg5ng dar den 5tminstone delvis fjarrstyrda gruvmaskinen är inrattad att arbeta. According to one aspect of the invention, the positioning system is integrated with the radio unit and position determination is arranged to be performed based on the distance to one or more access points in the wireless communication system as well as information on a mining passage where the at least partially remote controlled mining machine is arranged to operate.
Enligt ytterligare en aspekt av uppfinningen Jr kommunikationsenheten inrattad for fjarrstyrning av en 5tminstone partiellt autonom gruvmaskin och att styrkommandon mottagna i kommunikationsenheten ges foretrade fore styrkommandon genererad i ett autonomt lage for den atminstone partiell autonoma gruvmaskinen. According to a further aspect of the invention, the communication unit is arranged for remote control of an at least partially autonomous mining machine and that control commands received in the communication unit are given preferred control commands generated in an autonomous mode for the at least partially autonomous mining machine.
Ytterligare en utforingsform av uppfinningen avser en gruvmaskin som innefattar en kommunikationsenhet enligt ovan namnda aspekter. A further embodiment of the invention relates to a mining machine which comprises a communication unit according to the above-mentioned aspects.
Enligt en annan aspekt av uppfinningen Jr positionen for montering av kommunikationsenheten pa karossytan beroende av ett rorelsemonster for en eller flera manovrerbara arbetande rorliga delar av gruvmaskinen. According to another aspect of the invention, the position for mounting the communication unit on the body surface depends on a motion pattern for one or more maneuverable working movable parts of the mining machine.
Monteringen kan cla anpassas utifran gruvmaskinens funktion, sa att placeringen av kommunikationsenheten anpassas till de rorliga delar som finns i gruvmaskinen och gruvmaskinens rorelsemonster. Positionen valjs s5 att en optimerad inriktning kan eras mellan kommunikationsenhetens antenner och infrastrukturen via de accesspunkter som finns i det tr5dlosa kommunikationssystemet. Positionen for montering av kommunikationsenhet pa en gruvlastare, kommer att skilja sig frail den position som anvands vid en borrningsmaskin. The assembly can be adapted based on the function of the mining machine, so that the location of the communication unit is adapted to the movable parts present in the mining machine and the mining pattern of the mining machine. The position is chosen so that an optimized orientation can be established between the antennas of the communication unit and the infrastructure via the access points present in the wireless communication system. The position for mounting the communication unit on a mining loader will differ from the position used in a drilling machine.
En annan utforingsform av uppfinningen avser en metod i en kommunikationsenhet for fjarrstyrning av en 5tminstone delvis fjarrstyrd gruvmaskin. Kommunikationsenheten innefattar en radioenhet och tv5 eller flera antenner. Metoden innefattar att motta tr5dlos fjarrstyrningsinformation i kommunikationsenheten via namnda tv5 eller flera antenner, vilka är inrattade att inrymmas i en av ett holje definierat utrymme som aven inrymmer radioenheten och effektdelarna. Fjarrstyrningsinformationen harror fran en maskinoperator och kommuniceras via tradltis overforing mellan kommunikationsenheten och en eller flera accesspunkter i ett tradlost kommunikationssystem i en gruva. Metoden innefattar vidare att sanda fjarrstyrningsinformation till den 5tminstone delvis fjarrstyrda gruvmaskinens styrsystem via en datalank Iran kommunikationsenheten till styrsystemet. Another embodiment of the invention relates to a method in a communication unit for remote control of an at least partially remote controlled mining machine. The communication unit comprises a radio unit and tv5 or more antennas. The method comprises receiving wireless remote control information in the communication unit via said tv5 or several antennas, which are arranged to be accommodated in a space defined by a housing which also houses the radio unit and the power parts. The remote control information is obtained from a machine operator and is communicated via traditional transmission between the communication unit and one or more access points in a wireless communication system in a mine. The method further comprises transmitting remote control information to the control system of the at least partially remote controlled mining machine via a data-long Iran communication unit to the control system.
Enligt en aspekt av uppfinningen innefattar metoden vidare att sanda styrningsassocierad information fran kommunikationsenheten till maskinoperatoren, vilken styrningsassocierad information innefattar bildupptagningar fran en eller flera kameror pa gruvmaskinen. According to one aspect of the invention, the method further comprises transmitting control-associated information from the communication unit to the machine operator, which control-associated information includes image recordings from one or more cameras on the mining machine.
Den styrningsassocierade informationen underlattar fjarrstyrningen av gruvmaskinen genom att ge maskinoperatoren aterkoppling avseende gruvmaskinen och omgivande miljo for denna. The control-associated information facilitates the remote control of the mining machine by providing the machine operator with feedback regarding the mining machine and its surrounding environment.
FIGURBESKRIVNING For en mer komplett forstaelse av foreliggande uppfinning och ytterligare syften och fordelar clarav, Ors nu hanvisning till foljande detaljerade beskrivning som ska lasas tillsammans med de atfoljande ritningarna dar lika hanvisningsbeteckningar avser lika delar i de olika figurerna, och i vilka: figur 1 schematiskt illustrerar tradlos kommunikation mellan gruvmaskin och accesspunkter i ett tradlost kommunikationssystem i en underjordisk gruva; figur 2 schematiskt illustrerar ett blockschema over en radiokommunikationsenhet enligt en utforingsform av uppfinningen. figur3 schematiskt illustrerar en utforingsform av en kommunikationsenhet i perspektivvy; figur 4 schematiskt illustrerar en gruvmaskin innefattande en radiokommunikationsenhet, enligt en utforingsform av uppfinningen; samt figur 5 schematiskt illustrerar ett flodesschema for en metod i en kommunikationsenhet for fjarrstyrning av en gruvmaskin. 6 BESKRIVNING AV UTFORINGSFORMER Figur 1 illustrerar schematiskt tradlos kommunikation mellan gruvmaskiner 5 och accesspunkter for ett tradlost kommunikationssystem 1 i en underjordisk gruva. Sasom illustreras i figuren, är underjordiska gruvgangar vid modern gruvdrift utformade for forflyttning av tunga gruvmaskiner 5, sasom borrnings- lastnings- och transportmaskiner och fordon. Gruvdriften praglas aven av en alit hogre grad av automatisering, sasom fjarrstyrning eller autonom/halvautonom drift av gruvmaskiner 5. Fjarrstyrning och halvautonom drift sker Iran centralt belagna operatorstationer i ett manoverrum pa avstand Iran den plats dar brytningsarbetet pagar. For fjarrstyrning av gruvmaskinerna 5 anyands tradlos kommunikationen via accesspunkter 7, exempelvis baserat pa standarden IEEE 802.11, mer allmant kand under beteckningen WiFi. For att tradlos fjarrstyrning ska kunna uppnas pa ett tillforlitligt satt, är det viktigt att en tillforlitlig signaloverfOring kan astadkommas mellan operatorstationen och den styrda gruvmaskinen 5. Den tradlosa overforingen Iran kommunikationsenhet till accessnod, kan utforas genom att en kommunikationslank etableras direkt mellan kommunikationsenheten i en gruvmaskin och en accessnod. Det är aven mojligt att etablera ad-hoc natverk mellan gruvmaskinerna sa att kommunikationen Iran en gruvmaskin till en accessnod sker i ett multi-hopp scenario dar tva eller flera kommunikationsenheter är inrattade att kommunicera med varandra och dar en av kommunikationsenheterna far en aggregerande funktion for inkoppling mot det tradlosa WiFi- natverket. DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages of the invention, we will now turn to the following detailed description which is to be read in conjunction with the accompanying drawings in which like reference numerals refer to like parts throughout the figures, and in which: Figure 1 schematically illustrates wireless communication between a mining machine and access points in a wireless communication system in an underground mine; Figure 2 schematically illustrates a block diagram of a radio communication unit according to an embodiment of the invention. figure 3 schematically illustrates an embodiment of a communication unit in perspective view; Figure 4 schematically illustrates a mining machine comprising a radio communication unit, according to an embodiment of the invention; and Figure 5 schematically illustrates a flow chart of a method in a communication unit for remote control of a mining machine. DESCRIPTION OF EMBODIMENTS Figure 1 schematically illustrates wireless communication between mining machines 5 and access points for a wireless communication system 1 in an underground mine. As illustrated in the figure, underground mining tunnels in modern mining are designed for moving heavy mining machines 5, such as drilling, loading and transport machines and vehicles. Mining is also characterized by a higher degree of automation, such as remote control or autonomous / semi-autonomous operation of mining machines 5. Remote control and semi-autonomous operation takes place in Iran centrally located operating stations in a remote control room Iran where the mining work takes place. For remote control of the mining machines 5 anyands wireless communication via access points 7, for example based on the standard IEEE 802.11, more generally known as WiFi. In order for wireless remote control to be achieved in a reliable way, it is important that a reliable signal transmission can be achieved between the operator station and the controlled mining machine 5. The wireless transmission Iran communication unit to access node can be performed by establishing a communication link directly between the communication unit in a mining machine and an access node. It is also possible to establish ad-hoc networks between the mining machines so that the communication Iran a mining machine to an access node takes place in a multi-hop scenario where two or more communication units are set up to communicate with each other and where one of the communication units has an aggregating function for connection towards the wireless WiFi network.
En viktig komponent for tillforlitlig radiokommunikation med en mobil, fjarrstyrd gruvmaskin 5 är det antennsystem som a nvands vid den rorliga enheten for att ta emot den sanda signalen. Ett problem vid flertalet rorliga gruvmaskiner 5, sasom borrningsmaskiner och lastningsmaskiner, är att dessa innefattar voluminosa, rorliga metalldelar som ror sig i forhallande till de fast monterade antennerna. Dessa metalldelar har stor paverkan pa radioforhallanden och kan, beroende pa position, ha en signifikant negativ paverkan pa en radioenhets 9 mottagnings- och sandningsformaga. An important component for reliable radio communication with a mobile, remote controlled mining machine 5 is the antenna system used at the mobile unit to receive the true signal. A problem with most movable mining machines 5, such as drilling machines and loading machines, is that these comprise voluminosa, movable metal parts which move in relation to the fixedly mounted antennas. These metal parts have a great influence on the radio conditions and can, depending on the position, have a significant negative effect on the reception and sanding ability of a radio unit 9.
Figur 2 illustrerar schematiskt ett blockschema Over en kommunikationsenhet 3 enligt en 30 utforingsform av uppfinningen. Kommunikationsenheten 3 är inrattad att overfora 7 fjarrstyrningsinformation fra'n en maskinoperator till ett styrsystem i gruvmaskinen, men ocks5 att kermata information frAn styrsystemet eller andra delar av gruvmaskinen 5 till operatoren. Kommunikationsenheten 3 är avsedd att anvandas for fjarrstyrning av gruvmaskiner, men Jr aven lamplig for kommunikation med gruvmaskiner S som drivs autonomt eller halvautonomt. Autonom eller halv-autonom drift forutsatter att forekomsten av en kommunikationslank mellan en operator och en gruvmaskin, varigenom operatoren kan ta over styrning av en maskin vid Adana fall d5 forutsattningar for autonom drift forsamras, till exempel vid kraftiga avvikelser fran sedvanliga driftsforutsattningar. Figure 2 schematically illustrates a block diagram of a communication unit 3 according to an embodiment of the invention. The communication unit 3 is arranged to transmit 7 remote control information from a machine operator to a control system in the mining machine, but also to transfer information from the control system or other parts of the mining machine 5 to the operator. The communication unit 3 is intended to be used for remote control of mining machines, but is also suitable for communication with mining machines S which are operated autonomously or semi-autonomously. Autonomous or semi-autonomous operation presupposes that the existence of a communication link between an operator and a mining machine, whereby the operator can take control of a machine in Adana case d5 assumptions for autonomous operation are distorted, for example in the event of sharp deviations from normal operating conditions.
Den illustrerade kommunikationsenheten innefattar tv5 riktantenner 13, anordnade ph' ett avstand fran varandra i kommunikationsenheten. Antennerna 13 är inrattade att ta emot och sanda information via accesspunkter till gruvans tr5dlosa kommunikationssystem, exempelvis kommunikation baserad p5 WiFi. Kommunikation kan ske via en accesspunkt 7 till WiFi-natet, men kommunikationsenheten kan aven vara inrattad for uppkoppling mot flera accesspunkter i natet, eller s5som angivits ovan mot andra kommunikationsenheter i natverket. The illustrated communication unit comprises two directional antennas 13, arranged ph 'at a distance from each other in the communication unit. The antennas 13 are arranged to receive and transmit information via access points to the mine's wireless communication system, for example communication based on WiFi. Communication can take place via an access point 7 to the WiFi network, but the communication unit can also be arranged for connection to several access points in the network, or as stated above to other communication units in the network.
Anvandningen av flera antenner, A kallad antenndiversitet innebar att man med flera antenner kan ta emot flera versioner av den utsanda signalen. En signal utsand fr5n en accesspunkt anordnad i en gruvg5ng, kommer att studsa och fasforskjutas ph' vagen fram till mottagaren. Signalen kommer att komma fram till mottagaren via flera olika vagar med olika styrka. I ett antennsystem dar flera antenner kombineras, kan detta forh5llande anvandas for forbattrad kommunikation. Plats och vinkel p5 antennen vid mottagningen pAverkar vilken av signalvagarna i gruvg5ngen som ger starkast signalstyrka. Med flera antenner kan man d5 plocka signaler Irk' olika signalvagar och i varje stund valja den signal som Jr bast. The use of several antennas, A called antenna diversity, meant that with several antennas you can receive several versions of the transmitted signal. A signal emitted from an access point arranged in a mining passage will bounce and be phased out of the path to the receiver. The signal will reach the receiver via several different scales with different strengths. In an antenna system where several antennas are combined, this ratio can be used for improved communication. The location and angle of the antenna at the reception affects which of the signal scales in the mine tunnel gives the strongest signal strength. With several antennas, you can pick up signals Irk 'different signal waves and at any moment select the signal that Jr bast.
Enligt en aspekt av uppfinningen är antennerna 13 patchantenner var och en innefattande tv5 antennelement. S5som illustreras i figur 2, Jr riktantennerna 13 positionerade p5 ett avst5nd Iran varandra i kommunikationsenheten. Riktantennerna 13 ges aven sadan inriktning att antennloberna for respektive antenn 13 vasentligen har en fr5n varandra riktad utbredning. Enligt en aspekt av uppfinningen Jr avst5nd och inriktning av riktantennerna 13 vasentligen anpassat till flervagsutbredningsforhallanden som racier i en gruvgang i en underjordisk gruva, dar radiov5gorna Jr forem5I for reflektion och fasforskjutning nar de tunnlas, utbreder sig i tunneln/gruvOngen, mellan sandare och mottagare. Genom valet av skarpa riktantenner 13, 8 uppna's en kommunikationsenhet 3 vars storlek är liten relativt en gruvmaskin 5 p5 vilken kommunikationsenheten 3 Jr avsedd att monteras. According to one aspect of the invention, the antennas are 13 patch antennas each comprising tv5 antenna elements. As illustrated in Figure 2, the directional antennas 13 are positioned at a distance from each other in the communication unit. The directional antennas 13 are also oriented in such a way that the antenna lobes of the respective antenna 13 essentially have a mutually directed propagation. According to one aspect of the invention, the spacing and alignment of the directional antennas 13 are substantially adapted to multipath propagation conditions such as racing in a mine tunnel in an underground mine, where the radio paths are intended for reflection and phase shift as they are tunneled, propagating in the tunnel / mine. By the selection of sharp directional antennas 13, 8 a communication unit 3 is obtained whose size is small relative to a mining machine 5 p5 which the communication unit 3 Jr is intended to be mounted.
Enligt en aspekt av uppfinningen innefattar kommunikationsenheten 3 vidare till varje patchantenn kopplad effektdelare 11 anpassad till frekvensbandet for det trAdlosa kommunikationssystemet 1, exempelvis ISM 2.4 GHz. Effektdelarna anvands for att bestamma vilken/vilka signaler som ska Rims vidare frAn de olika antennelementen. En radioenhet 9 i kommunikationsenheten 3 innefattar sedvanliga radiokomponenter sAsom sandtagare, minne och processor. Radioenheten 9 Jr vidare inrattad for datakommunikation med gruvmaskinens 5 styrsystem via en eller flera datalankar. Riktantennerna 13, effektdelarna 11 och radioenheten 9 är fysiskt forbundna i kommunikationsenheten 3 via kablar, exempelvis koaxialkablar. Radioenheten 9 processar de av kommunikationsenheten 3 mottagna signalerna, och tillhandahAller en eller flera styrsignal p5 namnda en eller flera datalankar till gruvmaskinens 5 styrsystem. According to one aspect of the invention, the communication unit 3 further comprises power divider 11 connected to each patch antenna adapted to the frequency band of the wireless communication system 1, for example ISM 2.4 GHz. The power components are used to determine which signal (s) to be forwarded from the various antenna elements. A radio unit 9 in the communication unit 3 comprises conventional radio components such as a sand receiver, memory and processor. The radio unit 9 is further provided for data communication with the control system 5 of the mining machine 5 via one or more data links. The directional antennas 13, the power parts 11 and the radio unit 9 are physically connected in the communication unit 3 via cables, for example coaxial cables. The radio unit 9 processes the signals received by the communication unit 3, and provides one or more control signals p5 called one or more data links to the control system of the mining machine 5.
I figur 3 illustreras schematiskt ett fysiskt utforande av kommunikationsenheten 3 i perspektiv. Figure 3 schematically illustrates a physical design of the communication unit 3 in perspective.
I den i figuren visade utforingsformen, omges de i blockschemat illustrerade komponenterna av ett skyddsholje 15. Skyddsholjet definierar ett utrymme i vilket ovannamnda komponenter inryms. I figur 3 visas en utforingsform av ett s5dant skyddsholje 15 innefattande en kombination av ett I5dformat utrymme och antennk5por. Det I5dformade utrymmet utgors av en bottensektion 17b och ett p5 denna bottensektion monterbart lock 17a, vilka tillsammans definierar det ladformade utrymmet. Skyddsholjet 15 innefattar vidare tva eller flera antennk5por 19 monterade utmed sidan av det I5dformade utrymmets bottensektion 17b s5 att varje antenn skyddas av en antennskApa 19. AntennkAporna 19 tillsammans med den visade bottensektionen 17b och locket 17a bildar ett omgivande skyddsholje 15 som definierar ett utrymme i vilket radioenheten, effektdelarna och de tv5 eller flera antenner inryms. In the embodiment shown in the figure, the components illustrated in the block diagram are surrounded by a protective cover 15. The protective cover defines a space in which the above-mentioned components are accommodated. Figure 3 shows an embodiment of such a protective cover 15 comprising a combination of a lead-shaped space and antenna cups. The I-shaped space consists of a bottom section 17b and a lid 17a mountable on this bottom section, which together define the charge-shaped space. The protective cover 15 further comprises two or more antenna cups 19 mounted along the side of the bottom section 17b of the I-shaped space so that each antenna is protected by an antenna cover 19. The antenna covers 19 together with the bottom section 17b shown and the cover 17a form a surrounding protective cover 15 which defines a space in the radio unit, the power components and the tv5 or more antennas are housed.
Namnda bottensektion 17b och lock 17a kan lampligen vara utformade av metall, medan antennk5porna utformas av ett plastmaterial eller annat material med minimal p5verkan p5 radiovAgsmottagning eller sandning. Andra utforanden av omgivande skyddsholje Jr naturligtvis aven mojliga och uppfinningen Jr inte begransad till det visade, exemplifierande utforandet. Den illustrerade utforingsformen, ha r realiserats med m5tten 25x25x14 cm. Andra mkt är naturligtvis aven mojliga inom ramen for uppfinningen, men konstruktionslosningen bygger p5 att kommunikationsenheten ha r en forh5llandevis liten volym, vilket innebar att en 9 sida/diameter for det omgivande holjet ligger i storleksordningen 5-50 cm, medan kommunikationsenhetens hojd forvantas ligga i storleksordningen 5-30 cm. Kommunikationsenhetens ringa storlek är viktig, eftersom det är den som mojliggor montering p5 m5nga olika typer av fjarrstyrda gruvmaskiner oberoende deras form eller funktion. Said bottom section 17b and lid 17a may suitably be formed of metal, while the antenna cups are formed of a plastic material or other material with minimal effect on radio wave reception or sanding. Other embodiments of the surrounding protective housing are of course also possible and the invention is not limited to the exemplary embodiment shown. The illustrated embodiment has been realized with the size 25x25x14 cm. Other features are of course also possible within the scope of the invention, but the construction solution is based on the communication unit having a relatively small volume, which meant that a 9 side / diameter of the surrounding cavity is in the order of 5-50 cm, while the height of the communication unit is expected to be on the order of 5-30 cm. The small size of the communication unit is important, as it is the one that enables mounting on many different types of remote-controlled mining machines, regardless of their shape or function.
Den uppfinningsenliga kommunikationsenheten 3 innefattar foretradesvis ett flertal fastelement 21 for infastning av kommunikationsenheten mot gruvmaskinen. SAdana fastelement 21 utgors foretradesvis av vinkelbeslag som ansluts till kommunikationsenheten via skruv- eller nitforband. Namnda vinkelbeslag ger darefter forutsattningar for montering av kommunikationsenheten p5 en karossytan av gruvmaskinen. Andra typer av fastelement är naturligtvis aven mojliga, sasom en skena eller profil utmed en langsriktning av kommunikationsenheten och som faster i en skena med motsvarande profil anordnad vid onskad position p5 gruvmaskinens karossyta. Fastelementen 21 kan aven vara magnetiska for magnetisk infastning av kommunikationsenheten 3 p5 gruvmaskinens 5 karossyta. The communication unit 3 according to the invention preferably comprises a plurality of fastening elements 21 for fastening the communication unit to the mining machine. SAdana fastening element 21 preferably consists of angular fittings which are connected to the communication unit via screw or rivet connections. The said angle bracket then provides conditions for mounting the communication unit on a body surface of the mining machine. Other types of fastening elements are of course also possible, such as a rail or profile along a longitudinal direction of the communication unit and which fastens in a rail with a corresponding profile arranged at the desired position on the body surface of the mining machine. The fastening elements 21 can also be magnetic for magnetic mounting of the communication unit 3 on the body surface of the mining machine 5.
De schematiska illustrationerna 3 av kommunikationsenhet innefattar inte anslutningar till och Irk' kommunikationsenheten. SAclan forutsatts naturligtvis for inkoppling av kommunikationsenheten 3 till gruvmaskinen 5. Kommunikationsenheten är utrustad med en eller flera dataportar samt anslutning for strommatning. Respektive dataport ansluts till fordonets styrsystem via datakabel. Enligt en aspekt av uppfinningen kan aven dataliverforingen fr5n kommunikationsenheten till fordonets styrsystem utforas via trklos kommunikation. The schematic illustrations 3 of communication unit do not include connections to and Irk 'communication unit. SAclan is of course provided for connecting the communication unit 3 to the mining machine 5. The communication unit is equipped with one or more data ports and a connection for power supply. The respective data port is connected to the vehicle's control system via a data cable. According to one aspect of the invention, the data delivery from the communication unit to the vehicle control system can also be performed via wireless communication.
Enligt en aspekt av uppfinningen innefattar den i figur 2 visade kommunikationsenheten 3, vidare ett positioneringssystem inrattat for tradlos positionsbestamning av gruvmaskinen 5. Ett s5dant positioneringssystem kan utgora en separat komponent i kommunikationsenheten 3 (ej illustrerat), men kan aven utgora en del av radioenheten 9. Enligt en annan aspekt av uppfinningen utnyttjas det tr5dlosa kommunikationssystemet 1 for positionering av gruvmaskinen 5, s5 att positioneringssystemet integreras med radioenheten och positionsbestamning utfors baserat pa avstandet till en eller flera accesspunkter i det tradlosa kommunikationssystemet 1 samt information om en gruvgAng dar maskinen är inrattad att arbeta. Positionering i underjordiska gruvor kan vara problematisk eftersom kontakt d5 saknas med allmant tillgangliga kommunikationslosningar. IstaIlet maste kanda referenspunkter i gruvan nyttjas for positionering. Genom att tillhandah51Ia aven positioneringsmojlighet i kommunikationsenheten 3, kan sAval fjarrstyrningen som autonom drift av gruvmaskinen underlattas och forbattras. According to one aspect of the invention, the communication unit 3 shown in Figure 2 further comprises a positioning system provided for wireless position determination of the mining machine 5. Such a positioning system may form a separate component in the communication unit 3 (not illustrated), but may also form part of the radio unit 9. According to another aspect of the invention, the wireless communication system 1 is used for positioning the mining machine 5, so that the positioning system is integrated with the radio unit and position determination is performed based on the distance to one or more access points in the wireless communication system 1. work. Positioning in underground mines can be problematic because contact d5 is lacking with generally available communication solutions. Instead, the reference points in the mine must be used for positioning. By providing a positioning possibility in the communication unit 3, the remote control as an autonomous operation of the mining machine can be facilitated and improved.
SAsom tidigare namnt, är sakra kommunikationslosningar en viktig aspekt aven vid autonom drift av en gruvmaskin 5. Vid oforutsedda handelser som det autonoma systemet inte är utrustat att hantera, ska styrkommandon mottagna i kommunikationsenheten ges foretrade fore styrkommandon generade i ett autonomt lage for gruvmaskinen. As mentioned earlier, secure communication solutions are an important aspect even in the autonomous operation of a mining machine 5. In the event of unforeseen actions that the autonomous system is not equipped to handle, control commands received in the communication unit must be given preferred control commands generated in an autonomous mode of the mining machine.
Figur 4 illustrerar schematiskt en gruvmaskin 5 innefattande en kommunikationsenhet 3. SAsom illustreras i figuren, är det aven mojligt att utrusta gruvmaskinen med flera kommunikationsenheter 3. Ytterligare en kommunikationsenhet 3 har streckmarkerats i figuren. Kommunikationsenheten 3 monteras vid en forutbestamd position p5 gruvmaskinen 5. Den forutbestamda positionen utgors av en sadan position pa gruvmaskinens 5 karossyta dar bast radioforh5llanden r5der for kommunikationsenheten utifr5n de rorliga delar som forekommer p5 gruvmaskinen och aven gruvmaskinens 5 rorelsemonster. Vid gruvmaskiner som innefattar ett flertal rorliga delar som ror sig i alla riktningar i forhAllande till gruvmaskinen 5, kan en losning med montering av flera kommunikationsenheter 3 vara lamplig. Positionen for montering av kommunikationsenheten 3 p5 gruvmaskinen 5 bestams lampligen genom utprovning av radioforh5llandena nar gruvmaskinen ar i drift, exempelvis en position dar man bast kan garantera eller forvanta sig fri sikt mellan kommunikationsenheten 13 och antennerna/accesspunkterna till det tradlosa kommunikationssystemet. Nar lamplig position konstaterats for en gruvmaskin 5 av en viss typ kan karossen forses med markering av denna position, exempelvis i form av forborrade h51 for infastning av kommunikationsenhetens 3 fastelement. Andra positionsmarkeringar är naturligtvis ocks5 mojliga, exempelvis via markeringar karossytans lackering. Mojligheten att utprova och forutbestamma positionering av en kommunikationsenhet for olika typer av gruvmaskiner är en viktig fordel med uppfinningen. Genom anpassning av kommunikationsenhetens 3 position till arbetsform och rorelsemonster for specifika gruvmaskiner 5 kan tillracklig radioprestanda uppnas aven vid sadana gruvmaskiner 5 som kraver hog radioprestanda, exempelvis truckar och lastare. 11 Figur 5 illustrerar schematiskt ett flodesschema for en metod i en kommunikationsenhet for fjarrstyrning av en Atminstone delvis fjarrstyrd gruvmaskin. Kommunikationsenheten forutsatts innefatta en radioenhet och tva eller flera antenner. Figure 4 schematically illustrates a mining machine 5 comprising a communication unit 3. As illustrated in the figure, it is also possible to equip the mining machine with several communication units 3. Another communication unit 3 has been marked in dash in the figure. The communication unit 3 is mounted at a predetermined position on the mining machine 5. The predetermined position is such a position on the body surface of the mining machine 5 where the best radio conditions prevail for the communication unit based on the moving parts present on the mining machine and also the movement pattern of the mining machine 5. In the case of mining machines which comprise a plurality of movable parts which move in all directions in relation to the mining machine 5, a solution with mounting of several communication units 3 may be suitable. The position for mounting the communication unit 3 on the mining machine 5 is suitably determined by testing the radio conditions when the mining machine is in operation, for example a position where one can best guarantee or expect clear view between the communication unit 13 and the antennas / access points to the wireless communication system. When a suitable position has been ascertained for a mining machine 5 of a certain type, the body can be provided with marking of this position, for instance in the form of pre-drilled h51 for fastening of the fixed elements of the communication unit 3. Other position markings are of course also possible, for example via markings on the body surface paint. The possibility of testing and predetermining the positioning of a communication unit for different types of mining machines is an important advantage of the invention. By adapting the position of the communication unit 3 to the working form and movement pattern for specific mining machines 5, sufficient radio performance can also be achieved with such mining machines 5 which require high radio performance, for example trucks and loaders. Figure 5 schematically illustrates a flow chart of a method in a communication unit for remote control of an at least partially remote controlled mining machine. The communication unit is assumed to comprise a radio unit and two or more antennas.
Enligt en aspekt av uppfinningen innefattar metoden ett valbart steg s51 dar kommunikationsenheten sander styrningsassocierad information till en operatorsstation i en manovercentral med information avseende gruvmaskinen och omgivande miljo for denna. Denna styrningsassocierade information ges exempelvis i form av bildupptagningar fr5n en eller flera kameror p5 gruvmaskinen. Informationen anvands av operatorsstationens operator vid fjarrstyrning av gruvmaskinen. According to one aspect of the invention, the method comprises an selectable step s51 in which the communication unit transmits control-associated information to an operator station in a control center with information regarding the mining machine and surrounding environment therefor. This control-associated information is provided, for example, in the form of image recordings from one or more cameras on the mining machine. The information is used by the operator of the operating station for remote control of the mining machine.
Enligt ett grundutforande av metoden i kommunikationsenheten, innefattar metoden att i kommunikationsenheten motta s52 trAdlos fjarrstyrningsinformation via namnda tv5 eller flera antenner, vilka är inrattade att inrymmas i en av holje definierat utrymme som aven inrymmer radioenheten och eventuella effektdelare. Fjarrstyrningsinformationen harror fr5n en maskinoperator och kommuniceras via trAdlos overforing mellan kommunikationsenheten och en eller flera accesspunkter i ett trAdlost kommunikationssystem i en gruva. According to a basic embodiment of the method in the communication unit, the method comprises receiving in the communication unit s52 trAdlos remote control information via said tv5 or several antennas, which are arranged to be accommodated in a space defined by housing which also houses the radio unit and any power dividers. The remote control information is obtained from a machine operator and is communicated via wireless transmission between the communication unit and one or more access points in a wireless communication system in a mine.
I nasta steg s53, sander kommunikationsenheten en datasignal extraherad fr5n den mottagna fjarrstyrningssignalen till gruvmaskinens styrsystem via en datalank fr5n kommunikationsenheten till styrsystemet. In the next step s53, the communication unit sends a data signal extracted from the received remote control signal to the control system of the mining machine via a data link from the communication unit to the control system.
Den uppfinningsenliga kommunikationsenheten är s5ledes, enligt en aspekt av uppfinningen, inrattad for tv5-vagskommunikation med en operatorsstation. The communication unit according to the invention is thus, according to an aspect of the invention, arranged for two-way communication with an operator station.
Den foreg5ende beskrivningen av de foredragna utforingsformerna av foreliggande uppfinning har tillhandahAllits i syftet att illustrera och beskriva uppfinningen. Det Jr inte avsett att vara uttommande eller begransa uppfinningen till de beskrivna varianterna. Uppenbarligen kommer m5nga modifieringar och variationer att framg5 for fackmannen. Utforingsformerna valdes och beskrevs for att bast forklara principerna av uppfinningen och dess praktiska tinmpningar, och darmed mojliggora for fackman att forsta uppfinningen for olika utforingsformer och med de olika modifieringarna som Jr lampliga for det avsedda bruket. 12 The foregoing description of the preferred embodiments of the present invention has been provided for the purpose of illustrating and describing the invention. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments were selected and described in order to best explain the principles of the invention and its practical implications, thereby enabling those skilled in the art to understand the invention for various embodiments and with the various modifications which may be appropriate to the intended use. 12
Claims (13)
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450741A SE538027C2 (en) | 2014-06-16 | 2014-06-16 | Communication unit in at least partially remote controlled mining machine |
| CA2951418A CA2951418C (en) | 2014-06-16 | 2015-06-01 | Communication unit in a mining machine |
| AU2015278274A AU2015278274B2 (en) | 2014-06-16 | 2015-06-01 | Communication unit in a mining machine |
| PCT/SE2015/050634 WO2015195026A1 (en) | 2014-06-16 | 2015-06-01 | Communication unit in a mining machine |
| CL2016003205A CL2016003205A1 (en) | 2014-06-16 | 2016-12-14 | Communication unit in a mining machine. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450741A SE538027C2 (en) | 2014-06-16 | 2014-06-16 | Communication unit in at least partially remote controlled mining machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE1450741A1 SE1450741A1 (en) | 2015-12-17 |
| SE538027C2 true SE538027C2 (en) | 2016-02-16 |
Family
ID=54935864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1450741A SE538027C2 (en) | 2014-06-16 | 2014-06-16 | Communication unit in at least partially remote controlled mining machine |
Country Status (5)
| Country | Link |
|---|---|
| AU (1) | AU2015278274B2 (en) |
| CA (1) | CA2951418C (en) |
| CL (1) | CL2016003205A1 (en) |
| SE (1) | SE538027C2 (en) |
| WO (1) | WO2015195026A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11346938B2 (en) | 2019-03-15 | 2022-05-31 | Msa Technology, Llc | Safety device for providing output to an individual associated with a hazardous environment |
| PT3944209T (en) * | 2020-07-24 | 2023-03-30 | Caterpillar Inc | Retrofit remote control system for a machine |
| CN116261064B (en) * | 2023-02-20 | 2024-01-05 | 山西科达自控股份有限公司 | Remote 5G wireless control device and method for coal mining machine |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3808365A1 (en) * | 1988-03-12 | 1989-09-21 | Eickhoff Geb | Protective housing for transmitters and/or radio receivers of a device which is used in underground mining |
| FI942218A0 (en) * | 1994-05-13 | 1994-05-13 | Modulaire Oy | Automatic storage system Foer obemannat fordon |
| JPH1079616A (en) * | 1996-09-03 | 1998-03-24 | Hino Motors Ltd | On-vehicle radar antenna |
| US5974347A (en) * | 1997-03-14 | 1999-10-26 | Nelson; Russell G. | Automated lawn mower |
| US6037912A (en) * | 1998-09-22 | 2000-03-14 | Allen Telecom Inc. | Low profile bi-directional antenna |
| JP3573683B2 (en) * | 2000-05-15 | 2004-10-06 | 株式会社日立製作所 | In-vehicle radio radar system |
| US6643576B1 (en) * | 2000-11-15 | 2003-11-04 | Integrinautics Corporation | Rapid adjustment of trajectories for land vehicles |
| JP3883847B2 (en) * | 2001-11-19 | 2007-02-21 | 株式会社日立製作所 | In-vehicle signal processor |
| FI115161B (en) * | 2003-03-25 | 2005-03-15 | Sandvik Tamrock Oy | Arrangement for the location of mining vehicles |
| FI115414B (en) * | 2003-07-03 | 2005-04-29 | Sandvik Tamrock Oy | Arrangement for monitoring the location of a mine vehicle in a mine |
| JP2005091082A (en) * | 2003-09-16 | 2005-04-07 | Denso Corp | Antenna-integrated navigation system |
| DE10351863A1 (en) * | 2003-11-06 | 2005-06-09 | Ghh Fahrzeuge Gmbh | Signal transfer unit e.g. for underground vehicles, has main unit and several transceivers for digital transmission with signals transfer data to one or more self-sufficient transceiver units |
| US8026848B2 (en) * | 2008-08-01 | 2011-09-27 | Freeport Mcmoran Copper & Gold Inc. | Radio-based position location systems, antenna configurations, and methods for determining antenna configurations |
-
2014
- 2014-06-16 SE SE1450741A patent/SE538027C2/en unknown
-
2015
- 2015-06-01 WO PCT/SE2015/050634 patent/WO2015195026A1/en active Application Filing
- 2015-06-01 CA CA2951418A patent/CA2951418C/en active Active
- 2015-06-01 AU AU2015278274A patent/AU2015278274B2/en active Active
-
2016
- 2016-12-14 CL CL2016003205A patent/CL2016003205A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CA2951418C (en) | 2023-06-13 |
| WO2015195026A1 (en) | 2015-12-23 |
| SE1450741A1 (en) | 2015-12-17 |
| AU2015278274A1 (en) | 2017-01-05 |
| AU2015278274B2 (en) | 2019-07-11 |
| CL2016003205A1 (en) | 2017-02-17 |
| CA2951418A1 (en) | 2015-12-23 |
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