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Vol 275
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167-178
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Article
Geotechnical Engineering and Engineering Geology

Alternative frameworks for equipment positioning in mining operations

Authors:
Mikhail S. Nikitenko1
Danila Yu. Khudonogov2
Sergei A. Kizilov3
About authors
  • 1 — Ph.D. Head of Laboratory Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the RAS ▪ Orcid ▪ Elibrary ▪ Scopus ▪ ResearcherID
  • 2 — Researcher Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the RAS ▪ Orcid
  • 3 — Ph.D. Senior Researcher Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the RAS ▪ Orcid
Date submitted:
2025-04-10
Date accepted:
2025-10-09
Online publication date:
2025-10-31
Date published:
2025-10-31

Abstract

The purpose of the work is to review and consider alternative frameworks for object position determination, including for solving dispatching and navigation tasks in technological areas for the operation of highly automated autonomous vehicles without the use of satellite navigation equipment. The main problems associated with the use of satellite navigation equipment for the positioning of vehicles equipped with an automated driving system, as well as loading equipment interacting with them, are considered. The promise and relevance of developing alternative systems and methods for positioning the automated transport component during open-pit mining are shown. The review of technologies is presented, confirming the concept of current research direction related to the digital transformation of the mining industry, ensuring the positioning and position determination of mining equipment at mining enterprises without the use of satellite navigation means. An analysis of existing solutions, their advantages and disadvantages, is carried out. It is proposed to implement the solution to the problem based on machine vision algorithms, the radio direction-finding method, and laser range finding means. Options for the interaction of auxiliary and correcting devices in solving the problems of object orientation in a local coordinate system are provided. The results of field and laboratory studies of radio direction-finding and machine vision methods are presented. A patented, detailed algorithm for determining object coordinates in a designated area, developed by the authors, is described; based on this algorithm, a method for determining the position of loading equipment when interacting with transport vehicles equipped with an automated driving system without the use of global navigation satellite systems is proposed.

Область исследования:
Geotechnical Engineering and Engineering Geology
Keywords:
technological process mining equipment autonomous vehicle positioning position determination machine vision
Go to volume 275

Funding

The work was carried out within the framework of the State assignment of the Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the RAS, project FWEZ-2024-0025 “Development of scientific foundations for the creation of autonomous and automated mining machines, equipment, technical and control systems based on promising digital and robotic technologies (prolongation)” (N 125013101207-7).

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