CA2949360C - Safety system for automated operation of mining vehicles and method for such a safety system - Google Patents

Safety system for automated operation of mining vehicles and method for such a safety system Download PDF

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Publication number
CA2949360C
CA2949360C CA2949360A CA2949360A CA2949360C CA 2949360 C CA2949360 C CA 2949360C CA 2949360 A CA2949360 A CA 2949360A CA 2949360 A CA2949360 A CA 2949360A CA 2949360 C CA2949360 C CA 2949360C
Authority
CA
Canada
Prior art keywords
control unit
barrier
safety
safety zone
mining
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CA2949360A
Other languages
English (en)
French (fr)
Other versions
CA2949360A1 (en
Inventor
Richard Hendeberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
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 Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of CA2949360A1 publication Critical patent/CA2949360A1/en
Application granted granted Critical
Publication of CA2949360C publication Critical patent/CA2949360C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Pulmonology (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Architecture (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CA2949360A 2014-06-05 2015-05-29 Safety system for automated operation of mining vehicles and method for such a safety system Active CA2949360C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE1450691-9 2014-06-05
SE1450691A SE538029C2 (sv) 2014-06-05 2014-06-05 Säkerhetssystem för automatiserad drift av gruvfordon samt förfarande för ett sådant säkerhetssystem
PCT/SE2015/050627 WO2015187081A1 (en) 2014-06-05 2015-05-29 Safety system for automated operation of mining vehicles and method for such a safety system

Publications (2)

Publication Number Publication Date
CA2949360A1 CA2949360A1 (en) 2015-12-10
CA2949360C true CA2949360C (en) 2023-06-13

Family

ID=54767045

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2949360A Active CA2949360C (en) 2014-06-05 2015-05-29 Safety system for automated operation of mining vehicles and method for such a safety system

Country Status (6)

Country Link
AU (1) AU2015268954B2 (sv)
CA (1) CA2949360C (sv)
CL (1) CL2016003104A1 (sv)
SE (1) SE538029C2 (sv)
WO (1) WO2015187081A1 (sv)
ZA (1) ZA201607812B (sv)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2762985C1 (ru) * 2018-05-09 2021-12-24 Сандвик Майнинг Энд Констракшн Ой Управление прохождением зоны на рабочем участке
CN109339859A (zh) * 2018-11-22 2019-02-15 宁波敬业控股集团有限公司 一种基于可见光通信的矿井搜救系统及搜救方法
US11242067B2 (en) 2019-05-14 2022-02-08 Liebherr Mining Equipment Newport News Co. Interlock system for autonomous vehicle
US11703859B2 (en) 2019-07-05 2023-07-18 Liebherr Mining Equipment Newport News Co. Method for autonomously controlling a vehicle
SE543708C2 (en) * 2019-08-23 2021-06-22 Epiroc Rock Drills Ab Method and system for controlling a machine behaviour of a mining and/or construction machine
US11892836B2 (en) * 2020-01-27 2024-02-06 Liebherr Mining Equipment Newport News Co. System for controlling a plurality of autonomous vehicles on a mine site
SE544397C2 (en) * 2020-09-10 2022-05-10 Epiroc Rock Drills Ab Method and system for restricting operation of at least one automated mining vehicle
EP4155857A1 (en) * 2021-09-28 2023-03-29 Sandvik Mining and Construction Oy Mining automation system operation zone control
US20230265640A1 (en) * 2022-02-24 2023-08-24 Caterpillar Inc. Work machine 3d exclusion zone
US20230272599A1 (en) * 2022-02-28 2023-08-31 Caterpillar Inc. Work machine safety zone control
EP4270133A1 (en) * 2022-04-25 2023-11-01 Sandvik Mining and Construction Oy Controlling operation of a work machine

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2387366C (en) * 1999-10-29 2008-04-29 Sandvik Ab Method and arrangement for preventing the passage of a mining vehicle
WO2001088827A1 (en) * 2000-05-15 2001-11-22 Modular Mining Systems, Inc. Permission system for control of autonomous vehicles
FI114938B (sv) * 2003-04-04 2005-01-31 Sandvik Tamrock Oy Arrangemang för passagekontroll av gruvfordon
AU2009326849B2 (en) * 2008-12-08 2015-02-19 Technological Resources Pty. Limited A method of mining ore
WO2010124336A1 (en) * 2009-05-01 2010-11-04 The University Of Sydney Method and system for regulating movement of an autonomous entity between zones
FI124526B (sv) * 2009-10-27 2014-09-30 Sandvik Mining & Constr Oy Arrangemang för övervakning av gruvfordons rörelse
US8428790B2 (en) * 2009-12-22 2013-04-23 Caterpillar Inc. Systems and methods for machine control in designated areas
FI20115338A (sv) * 2011-04-08 2012-07-06 Sandvik Mining & Constr Oy Arrangemang för passagekontroll av gruvapparatens verksamhetsområde
AU2013227999A1 (en) * 2012-09-13 2014-03-27 Technological Resources Pty Ltd A system for, and a method of, controlling operation of a vehicle in a defined area

Also Published As

Publication number Publication date
AU2015268954B2 (en) 2019-01-03
ZA201607812B (en) 2018-05-30
SE1450691A1 (sv) 2015-12-06
WO2015187081A1 (en) 2015-12-10
SE538029C2 (sv) 2016-02-16
AU2015268954A1 (en) 2016-12-15
CA2949360A1 (en) 2015-12-10
CL2016003104A1 (es) 2017-04-17

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