Radar-Based Surface Scanning with the World's First Fully Digital Beam Forming Technology Sensor Especially Developed for Mining Productivity and Safety

摘要

Imaging sensor systems designed for the mining and minerals industry incorporate different physical measurement technologies that can be used to detect the machine environment, such as laser, ultrasonic/sonar, video and RF-sensors. The underlying physical measurement principles cannot be employed in most applications near the face without regular maintenance due to the harsh environmental conditions like dust, dirt or moisture. However, that is the area, where imaging sensors are most valuable to the machine operator. In the domain of 2D radar sensors these have been either restricted by the angular coverage area or by limited adaptability of signal processing algorithms. The unique full digital solid state design will establish a generation step in mining applications. In order to fill this gap of terrain imaging sensors, the Institute for Mining and Metallurgy Machinery (IMR) of the RWTH Aachen University, in cooperation with the radar company indurad, developed an imaging sensor based on radar technology employing the digital beam forming (DBF) concept. Through multiple transmitting and receiving antennas the sensor delivers high accuracy range and angular information. Using adaptive digital signal processing with multiple imaging algorithms and target detection routines, data of the surrounding environment can be used to enable automation functions in mining. A comprehensive range of radar scans in different environments have been evaluated and benchmarked by using laser scanners. Accuracy measurements in range and angular direction have shown minimal differences. Experimental measurements have been performed at slopes, on conveyor belts and hot cement clinker silos. The experimental system uses a frequency modulated continuous wave (FMCW) front-end combined with a processing unit for signal analysis and target detection.