ATE261108T1 - Automatisch geführtes fahrzeug - Google Patents

Automatisch geführtes fahrzeug

Info

Publication number
ATE261108T1
ATE261108T1 AT99302997T AT99302997T ATE261108T1 AT E261108 T1 ATE261108 T1 AT E261108T1 AT 99302997 T AT99302997 T AT 99302997T AT 99302997 T AT99302997 T AT 99302997T AT E261108 T1 ATE261108 T1 AT E261108T1
Authority
AT
Austria
Prior art keywords
location
driven vehicle
environment
automatic driven
topes
Prior art date
Application number
AT99302997T
Other languages
English (en)
Inventor
Peter D Cunningham
Original Assignee
Inco Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inco Ltd filed Critical Inco Ltd
Application granted granted Critical
Publication of ATE261108T1 publication Critical patent/ATE261108T1/de

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
AT99302997T 1998-04-24 1999-04-19 Automatisch geführtes fahrzeug ATE261108T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US6588098A 1998-04-24 1998-04-24

Publications (1)

Publication Number Publication Date
ATE261108T1 true ATE261108T1 (de) 2004-03-15

Family

ID=22065778

Family Applications (1)

Application Number Title Priority Date Filing Date
AT99302997T ATE261108T1 (de) 1998-04-24 1999-04-19 Automatisch geführtes fahrzeug

Country Status (10)

Country Link
US (1) US6349249B1 (de)
EP (1) EP0952427B1 (de)
JP (1) JP3049053B1 (de)
CN (1) CN1087386C (de)
AT (1) ATE261108T1 (de)
AU (1) AU757632B2 (de)
CA (1) CA2269957C (de)
DE (1) DE69915156T2 (de)
NO (1) NO330901B1 (de)
ZA (1) ZA992905B (de)

Families Citing this family (129)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI110806B (fi) 2000-03-17 2003-03-31 Sandvik Tamrock Oy Järjestely miehittämättömien kaivosajoneuvojen paikan määrittämiseksi
UA77662C2 (en) * 2000-10-10 2007-01-15 Dbt America Inc Automated continuous haulage apparatus
JP4229358B2 (ja) * 2001-01-22 2009-02-25 株式会社小松製作所 無人車両の走行制御装置
RU2220643C2 (ru) * 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты)
FI111414B (fi) 2001-05-14 2003-07-15 Sandvik Tamrock Oy Menetelmä ja laitteisto kaivoskoneen aseman määrittämiseksi sen pyörien luistaessa
DE10134055C1 (de) * 2001-07-13 2003-04-24 Eads Deutschland Gmbh Fahrzeug-Führungssystem und Verfahren zur Durchführung einer automatischen Fahrzeug-Führung
GB0208217D0 (en) 2002-04-10 2002-05-22 Trw Ltd Improvements relating to cameras
US7774113B2 (en) 2002-04-10 2010-08-10 Trw Limited Cameras to determine vehicle heading
KR100483548B1 (ko) * 2002-07-26 2005-04-15 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어 방법
KR100556612B1 (ko) * 2002-06-29 2006-03-06 삼성전자주식회사 레이저를 이용한 위치 측정 장치 및 방법
US7069124B1 (en) * 2002-10-28 2006-06-27 Workhorse Technologies, Llc Robotic modeling of voids
DE10256806C1 (de) * 2002-12-05 2003-09-18 Rag Ag System und Verfahren zur Orientierung im untertägigen Berg- und Tunnelbau
FI115668B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Kaivosajoneuvon paikan ja suunnan alustaminen
FI115678B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon törmäyksenestoon
FI115161B (fi) * 2003-03-25 2005-03-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon paikannukseen
FI115414B (fi) * 2003-07-03 2005-04-29 Sandvik Tamrock Oy Järjestely kaivosajoneuvon sijainnin valvontaan kaivoksessa
US20050004712A1 (en) * 2003-07-05 2005-01-06 Stevens Jeffrey W. Method and apparatus for determining time remaining for hot water flow
GB2419759B (en) * 2003-07-11 2007-02-14 Omnicom Engineering Ltd A system of surveying and measurement
DE10354290A1 (de) * 2003-11-20 2005-06-02 Daimlerchrysler Ag Fahrspurvorrichtung, Auswahlvorrichtung und Verfahren zur Ermittlung der Fahrspur eines Fahrzeugs
FR2876446B1 (fr) * 2004-02-19 2007-04-20 Measurix Sarl Dispositif et procede de mesure de la superficie de surfaces planes polygonales dans l'espace.
FR2867269A1 (fr) * 2004-03-04 2005-09-09 Elie Assaad Appareil roulant de mesure des dimensions d'une ouverture de batiment destinee a recevoir une menuiserie, consistant en deux roues codeuses et un inclinometre
WO2005108246A2 (en) 2004-05-03 2005-11-17 Jervis B. Webb Company Automatic transport loading system and method
US8210791B2 (en) 2004-05-03 2012-07-03 Jervis B. Webb Company Automatic transport loading system and method
US7980808B2 (en) 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
US8075243B2 (en) 2004-05-03 2011-12-13 Jervis B. Webb Company Automatic transport loading system and method
US8192137B2 (en) 2004-05-03 2012-06-05 Jervis B. Webb Company Automatic transport loading system and method
AU2005250916B2 (en) * 2004-06-02 2011-02-17 Rockwell Collins Control Technologies, Inc. Image-augmented inertial navigation system (IAINS) and method
US20060095171A1 (en) * 2004-11-02 2006-05-04 Whittaker William L Methods, devices and systems for high-speed autonomous vehicle and high-speed autonomous vehicle
DE102005012107B4 (de) * 2005-03-09 2010-04-29 Angermeier Ingenieure Gmbh Meßsystem und Verfahren zur geodätischen Vermessung von Objekten
US20060276958A1 (en) * 2005-06-02 2006-12-07 Jervis B. Webb Company Inertial navigational guidance system for a driverless vehicle utilizing laser obstacle sensors
JP4300199B2 (ja) * 2005-06-13 2009-07-22 株式会社東芝 移動ロボット、移動ロボットの位置姿勢算出方法、移動ロボットの自律走行システム
FI117570B (fi) * 2005-06-29 2006-11-30 Sandvik Tamrock Oy Menetelmä kallionporauslaitteen paikoittamiseksi porauspaikkaan ja kallionporauslaite
DE602006021188D1 (de) * 2005-07-26 2011-05-19 Macdonald Dettwiler & Associates Inc Ahrzeug
EP1760256A1 (de) * 2005-08-18 2007-03-07 Welldone EDS GmbH Seitliche Schneidevorrichtung zum Bohren von Löchern
US20070102626A1 (en) * 2005-11-09 2007-05-10 Halsey J D Displacement and velocity sensor
US7302359B2 (en) * 2006-02-08 2007-11-27 Honeywell International Inc. Mapping systems and methods
DE202006005643U1 (de) * 2006-03-31 2006-07-06 Faro Technologies Inc., Lake Mary Vorrichtung zum dreidimensionalen Erfassen eines Raumbereichs
KR100772912B1 (ko) * 2006-05-16 2007-11-05 삼성전자주식회사 절대 방위각을 이용한 로봇 및 이를 이용한 맵 작성 방법
SE530113C2 (sv) * 2006-07-17 2008-03-04 Atlas Copco Rock Drills Ab Förfarande och anordning för positionsbestämning av en bergförstärkningsbult
US9746329B2 (en) * 2006-11-08 2017-08-29 Caterpillar Trimble Control Technologies Llc Systems and methods for augmenting an inertial navigation system
GB2448470B (en) * 2007-04-20 2012-04-04 Ultra Global Ltd Vehicle guidance system
US20090062958A1 (en) * 2007-08-31 2009-03-05 Morris Aaron C Autonomous mobile robot
US20090262974A1 (en) * 2008-04-18 2009-10-22 Erik Lithopoulos System and method for obtaining georeferenced mapping data
US8099205B2 (en) * 2008-07-08 2012-01-17 Caterpillar Inc. Machine guidance system
US8923602B2 (en) * 2008-07-22 2014-12-30 Comau, Inc. Automated guidance and recognition system and method of the same
DE102008038377B3 (de) * 2008-08-19 2010-02-11 Rag Aktiengesellschaft Verfahren zur Positions- und Lagebestimmung von Grubenräumen unter Nutzung der RFID-Technik
DE102009010465B3 (de) * 2009-02-13 2010-05-27 Faro Technologies, Inc., Lake Mary Laserscanner
KR101633889B1 (ko) * 2009-02-18 2016-06-28 삼성전자주식회사 격자지도를 이용한 경로 생성 장치 및 방법
JP5500709B2 (ja) * 2009-03-17 2014-05-21 株式会社ソーキ ３次元レーザスキャナを用いたトンネル掘削施工支援システム
JP5500708B2 (ja) * 2009-03-17 2014-05-21 株式会社ソーキ ３次元レーザスキャナを用いたトンネル掘削工事の施工方法
US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
DE102009015920B4 (de) 2009-03-25 2014-11-20 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102009035337A1 (de) 2009-07-22 2011-01-27 Faro Technologies, Inc., Lake Mary Verfahren zum optischen Abtasten und Vermessen eines Objekts
DE102009040468A1 (de) * 2009-09-08 2011-03-17 Hesse, Christian, Dr.-Ing. Tragbare mobile Erfassungseinrichtung und Verfahren zur dreidimensionalen geometrischen Erfassung einer Umgebung
AU2010312307B2 (en) * 2009-10-26 2013-07-11 Leica Geosystems Ag A method of calibrating inertial sensors
DE102009055988B3 (de) 2009-11-20 2011-03-17 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9210288B2 (en) 2009-11-20 2015-12-08 Faro Technologies, Inc. Three-dimensional scanner with dichroic beam splitters to capture a variety of signals
DE102009057101A1 (de) 2009-11-20 2011-05-26 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102009055989B4 (de) 2009-11-20 2017-02-16 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9529083B2 (en) 2009-11-20 2016-12-27 Faro Technologies, Inc. Three-dimensional scanner with enhanced spectroscopic energy detector
US9113023B2 (en) 2009-11-20 2015-08-18 Faro Technologies, Inc. Three-dimensional scanner with spectroscopic energy detector
US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9163922B2 (en) 2010-01-20 2015-10-20 Faro Technologies, Inc. Coordinate measurement machine with distance meter and camera to determine dimensions within camera images
CN102713499B (zh) 2010-01-20 2014-07-09 法罗技术股份有限公司 用于坐标测量设备的配重
US9879976B2 (en) 2010-01-20 2018-01-30 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
GB2489179B (en) 2010-02-05 2017-08-02 Trimble Navigation Ltd Systems and methods for processing mapping and modeling data
FI122035B (fi) * 2010-02-25 2011-07-29 Sandvik Mining & Constr Oy Menetelmä paikoitustiedon esittämiseksi reikäviuhkaa porattaessa, käyttöliittymä ja kallionporauslaite
ES2369185B1 (es) * 2010-04-16 2012-10-11 Euroconsult Nuevas Tecnologias, S.A. Sistema para la auscultación dinámica de revestimientos de túneles.
DE102010020925B4 (de) 2010-05-10 2014-02-27 Faro Technologies, Inc. Verfahren zum optischen Abtasten und Vermessen einer Umgebung
CN102960035A (zh) 2010-05-19 2013-03-06 诺基亚公司 扩展的指纹产生
EP2572542A4 (de) * 2010-05-19 2017-01-04 Nokia Technologies Oy Crowd-sourced-vision vund sensorüberwachtes mapping
US10049455B2 (en) 2010-05-19 2018-08-14 Nokia Technologies Oy Physically-constrained radiomaps
DE102010032725B4 (de) 2010-07-26 2012-04-26 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010032723B3 (de) 2010-07-26 2011-11-24 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010032726B3 (de) 2010-07-26 2011-11-24 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010033561B3 (de) * 2010-07-29 2011-12-15 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9587491B2 (en) * 2010-09-22 2017-03-07 Joy Mm Delaware, Inc. Guidance system for a mining machine
IT1406298B1 (it) * 2010-11-02 2014-02-14 S I M I N S P A Apparecchiatura per spruzzare sostanze liquide, quali vernici o acqua, sulle pareti interne di gallerie
US9168654B2 (en) 2010-11-16 2015-10-27 Faro Technologies, Inc. Coordinate measuring machines with dual layer arm
JP6095369B2 (ja) * 2010-12-08 2017-03-15 株式会社コンピュータシステム研究所 Ｃａｄ情報生成システム、ｃａｄ情報生成プログラムおよびｃａｄ情報生成方法
US8948446B2 (en) 2011-01-19 2015-02-03 Honeywell International Inc. Vision based zero velocity and zero attitude rate update
RU2469268C1 (ru) * 2011-07-22 2012-12-10 Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Сибирский Федеральный Университет" Устройство для съемки сечений камерных выработок
US8825391B1 (en) 2011-08-04 2014-09-02 Google Inc. Building elevation maps from laser data
DE102012100609A1 (de) 2012-01-25 2013-07-25 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US8957355B1 (en) * 2012-01-26 2015-02-17 The Boeing Company Inertial measurement unit apparatus for use with guidance systems
SE537163C2 (sv) 2012-05-02 2015-02-24 Atlas Copco Rock Drills Ab Metod och system för manövrering av en mobil gruvmaskin i entunnel och en mobil gruvmaskin
CN102692210B (zh) * 2012-06-06 2014-10-22 上海隧道工程股份有限公司 定点扫描式快速隧道断面净空测量及收敛测量方法
CN103512490A (zh) * 2012-06-28 2014-01-15 中联重科股份有限公司 箱体内腔尺寸检测系统
US8997362B2 (en) 2012-07-17 2015-04-07 Faro Technologies, Inc. Portable articulated arm coordinate measuring machine with optical communications bus
DE102012107544B3 (de) 2012-08-17 2013-05-23 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9513107B2 (en) 2012-10-05 2016-12-06 Faro Technologies, Inc. Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner
US10067231B2 (en) 2012-10-05 2018-09-04 Faro Technologies, Inc. Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner
DE102012109481A1 (de) 2012-10-05 2014-04-10 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102012223970A1 (de) * 2012-12-20 2014-07-10 Continental Teves Ag & Co. Ohg Verfahren zum Bestimmen von Initialdaten für die Bestimmung von Lagedaten eines Fahrzeuges
CN103148812B (zh) * 2013-02-06 2016-03-02 中联重科股份有限公司 隧道轮廓扫描设备、方法及包含该设备的工程机械
EP2789971A1 (de) * 2013-04-12 2014-10-15 p3d systems GmbH Verfahren zur Kalibrierung einer Erfassungseinrichtung und Erfassungseinrichtung
EP2806248B1 (de) * 2013-04-12 2018-09-12 Leica Geosystems AG Verfahren zur Kalibrierung einer Erfassungseinrichtung und Erfassungseinrichtung
US9377310B2 (en) * 2013-05-02 2016-06-28 The Johns Hopkins University Mapping and positioning system
CN103869283B (zh) * 2014-02-14 2016-03-30 北京矿冶研究总院 一种井下无轨车辆的定位方法及系统
CN103869282B (zh) * 2014-02-14 2016-03-30 北京矿冶研究总院 井下巷道环境中无轨车辆的航向角快速获取方法及装置
CN103986913B (zh) * 2014-05-26 2017-08-11 中国矿业大学 一种综采工作面跟机视频动态切换监控系统
CN105318875A (zh) * 2014-07-31 2016-02-10 中国矿业大学 一种背包式井下煤炭开采量智能测量装置及其量测方法
EP3012695B1 (de) 2014-10-23 2017-10-11 Comau S.p.A. System zur Überwachung und Steuerung einer Industrieanlage
CN104360687B (zh) * 2014-11-06 2017-03-15 北京矿冶研究总院 一种地下铲运机多模式自主行驶控制方法
CA2879241C (en) * 2015-01-22 2017-08-29 Yves Nelson Drill positioning system for jumbo carrier unit
FR3035959A1 (fr) * 2015-05-04 2016-11-11 Cerene Services Dispositif et procede de cartographie en trois dimensions d'un conduit souterrain en tranchee fermee
GB2542762B (en) * 2015-09-21 2018-11-21 Imetrum Ltd Measuring device and method
DE102015122844A1 (de) 2015-12-27 2017-06-29 Faro Technologies, Inc. 3D-Messvorrichtung mit Batteriepack
CN105761597B (zh) * 2016-05-09 2018-04-13 中国矿业大学 一种互动式巷道顶板离层观测实验教学装置及其控制方法
US10745242B2 (en) 2016-08-30 2020-08-18 Inventio Ag Method for analysis and measurement system for measuring an elevator shaft of an elevator system
AU2018217444B2 (en) * 2017-02-13 2022-01-20 Serviço Nacional De Aprendizagem Industrial, Departamento Regional Da Bahia Multi-terrain inspection robotic device and methods for configuring and guiding the same
US10531065B2 (en) * 2017-03-30 2020-01-07 Microsoft Technology Licensing, Llc Coarse relocalization using signal fingerprints
US10600252B2 (en) * 2017-03-30 2020-03-24 Microsoft Technology Licensing, Llc Coarse relocalization using signal fingerprints
BR112019021542A2 (pt) * 2017-04-13 2020-08-04 Joy Global Underground Mining Llc máquina para medir e alinhar parafusos de teto
TWI632347B (zh) * 2017-07-04 2018-08-11 正修學校財團法人正修科技大學 立體影像與雷射掃描測距整合方法
CN107130975B (zh) * 2017-07-06 2019-03-01 中国矿业大学 基于线激光阵列旋转扫描的掘进机精确纠偏装置及方法
CN107860369B (zh) * 2017-12-18 2022-12-02 上海南汇建工建设(集团)有限公司 基于激光定位的基坑坑底监测系统及监测方法
CN108332758B (zh) * 2018-01-26 2021-07-09 上海思岚科技有限公司 一种移动机器人的走廊识别方法及装置
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
CN108592951B (zh) * 2018-05-30 2019-08-02 中国矿业大学 一种基于光流法的采煤机捷联惯导初始对准系统及方法
US11002075B1 (en) 2018-07-31 2021-05-11 J.H. Fletcher & Co. Mine drilling system and related method
AU2020202698A1 (en) * 2019-07-18 2021-02-04 Commonwealth Scientific And Industrial Research Organisation Machine Guidance Integration
CA3167960A1 (en) * 2020-02-14 2021-08-19 Jean BRASSARD System and method for underground mining environment positioning of a moving entity
CN111637888B (zh) * 2020-06-15 2021-06-15 中南大学 基于惯导和激光雷达单点测距的掘进机定位方法及系统
KR102357109B1 (ko) * 2021-02-17 2022-02-08 주식회사 비엘 시공중 터널 막장면 상태평가 시스템
CN113267140B (zh) * 2021-05-10 2022-09-23 贵州大学 一种隧道超挖欠挖检测的装置和检测方法
CN113550752B (zh) * 2021-08-05 2023-05-19 武汉长盈通光电技术股份有限公司 基于振镜的自动隧道断面仪及施工方法
CN113701754B (zh) * 2021-09-06 2023-05-12 中国矿业大学(北京) 一种井下三维精确定位系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2458514C3 (de) * 1974-12-11 1978-12-07 Gebr. Eickhoff, Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum Vortriebsmaschine mit einem an einem allseitig schwenkbaren Tragarm gelagerten Lösewerkzeug und Verfahren zu ihrem Betrieb
US4790402A (en) * 1987-09-28 1988-12-13 Tennant Company Automated guided vehicle
US4884847A (en) * 1988-02-19 1989-12-05 Consolidation Coal Co. Apparatus and method for mapping entry conditions in remote mining systems
US5155775A (en) * 1988-10-13 1992-10-13 Brown C David Structured illumination autonomous machine vision system
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
IT1242165B (it) * 1990-11-13 1994-02-16 Comitato Naz Le Per La Ricerca Sistema automatico per il rilevamento del profilo interno di gallerie ferroviarie e simili.
AT398491B (de) * 1991-02-27 1994-12-27 Hornyik Andreas Dipl Ing Verfahren zur vermessung des querschnittes eines hohlraums
AT403066B (de) * 1991-07-12 1997-11-25 Plasser Bahnbaumasch Franz Verfahren zum ermitteln der abweichungen der ist-lage eines gleisabschnittes
JPH0635533A (ja) * 1992-03-03 1994-02-10 Takenaka Komuten Co Ltd 追尾車両及びその連鎖
JP2802209B2 (ja) * 1993-03-05 1998-09-24 東海旅客鉄道株式会社 自立走行車及び自立走行車の位置決め方法
US5530330A (en) * 1994-03-30 1996-06-25 Inco Limited Automated guidance system for a vehicle
US5999865A (en) * 1998-01-29 1999-12-07 Inco Limited Autonomous vehicle guidance system

Also Published As

Publication number Publication date
NO991939D0 (no) 1999-04-23
CA2269957A1 (en) 1999-10-24
EP0952427A2 (de) 1999-10-27
DE69915156D1 (de) 2004-04-08
CA2269957C (en) 2002-01-22
CN1087386C (zh) 2002-07-10
JP3049053B1 (ja) 2000-06-05
NO330901B1 (no) 2011-08-15
AU2398299A (en) 1999-11-04
EP0952427A3 (de) 2000-09-13
CN1233706A (zh) 1999-11-03
AU757632B2 (en) 2003-02-27
US6349249B1 (en) 2002-02-19
ZA992905B (en) 1999-10-26
NO991939L (no) 1999-10-25
DE69915156T2 (de) 2004-10-28
JP2000275045A (ja) 2000-10-06
EP0952427B1 (de) 2004-03-03

Similar Documents

Publication Publication Date Title
ATE261108T1 (de) Automatisch geführtes fahrzeug
CN101377547B (zh) 基于遥操作移动机器人的核化污染检测方法
HK1039884A1 (en) Motion tracking system
DE59812593D1 (de) Wartezeitvorhersagesystem
ES2155445T3 (es) Procedimiento de determinacion de la posicion de un organo.
NL191216C (nl) Inrichting voor het controleren van de maatnauwkeurigheid van een groot voorwerp.
MXPA02004003A (es) Medicion del desgaste del revestimiento refractario de un recipiente metalurgico.
UA66784C2 (en) Method and device for locating radiation sources
DE69019589T2 (de) Vorrichtung zur Ermittlung eines Bildbewegungsvektors.
DE3674206D1 (de) Vermessungssystem und vermessungsverfahren.
BR0206646A (pt) Estações móveis ativadas por gps e métodos de localização para as mesmas
SE9501694L (sv) Förfarande vid lägesbestämning
US8332181B1 (en) System and method for alignment using a portable inertial device
DE69739885D1 (de) Bewegungsmessvorrichtung
SE9803702L (sv) Mätsystem med en tröghetsstödd mätanordning
GB2014309A (en) A Method of Determining the Drift of a Gyro of a Vehicle Position Determining System, and an Apparatus Operable with the Method
ATE112076T1 (de) Verfahren zur manipulation in unzugänglichen arbeitsräumen.
SE9003500D0 (sv) Hoeghastighetsmaetning
WO2003044457A3 (en) Method and device for enlarging the measurement volume of an optical measurement system
ATE333633T1 (de) Mikrofotogrammatische messeinrichtung
EP1273882A3 (de) Vorrichtung und Verfahren zum Vermessen von Räumlichkeiten und Maschinen
ATE235695T1 (de) Messverfahren zur bestimmung und dokumentation des abstandes zweier fahrzeuge
WO2018230828A1 (ko) 거리 측정 장치 및 그 제어 방법
FR2672144B1 (fr) Dispositif pour le controle de vehicules a l'endroit d'un poste de controle ou similaire.
RU2010158C1 (ru) Дальномер

Legal Events

Date Code Title Description
UEP Publication of translation of european patent specification

Ref document number: 0952427

Country of ref document: EP