CL2021002978A1 - Operación de vehículos mineros autónomos. - Google Patents

Operación de vehículos mineros autónomos.

Info

Publication number
CL2021002978A1
CL2021002978A1 CL2021002978A CL2021002978A CL2021002978A1 CL 2021002978 A1 CL2021002978 A1 CL 2021002978A1 CL 2021002978 A CL2021002978 A CL 2021002978A CL 2021002978 A CL2021002978 A CL 2021002978A CL 2021002978 A1 CL2021002978 A1 CL 2021002978A1
Authority
CL
Chile
Prior art keywords
mining vehicle
dust
handling mode
dead reckoning
dust handling
Prior art date
Application number
CL2021002978A
Other languages
English (en)
Inventor
Antti Lehtinen
Simo Sanerma
Teemu Parkkinen
Esa Pajala
Riku Pulli
Original Assignee
Sandvik Mining & Construction Oy
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 Sandvik Mining & Construction Oy filed Critical Sandvik Mining & Construction Oy
Publication of CL2021002978A1 publication Critical patent/CL2021002978A1/es

Links

Classifications

    • 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
    • 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
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
    • 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
    • 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
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0066—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for limitation of acceleration or stress
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

De acuerdo con un aspecto de ejemplo de la presente invención, se proporciona un método que comprende: detectar una condición de polvo para un vehículo minero que opera de manera autónoma realizando un escaneo del entorno óptico para posicionar el vehículo minero en un lugar de trabajo, cambiar el vehículo minero que opera en un modo de manejo automático a un modo de manejo de polvo en respuesta a la detección de la condición del polvo, estando asociado el modo de manejo de polvo con una o más acciones de control para la operación autónoma del vehículo minero, controlando el posicionamiento basado en navegación a estima para actualizar la posición del vehículo minero durante el modo de manejo de polvo, monitoreo de un parámetro de error de navegación a estima durante el modo de manejo de polvo, y en respuesta a que el parámetro de error de navegación a estima alcanza un umbral de error, controlar el vehículo minero para detener o reducir la velocidad.
CL2021002978A 2019-05-14 2021-11-10 Operación de vehículos mineros autónomos. CL2021002978A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19174444.0A EP3739419B1 (en) 2019-05-14 2019-05-14 Autonomous mine vehicle operation

Publications (1)

Publication Number Publication Date
CL2021002978A1 true CL2021002978A1 (es) 2022-06-24

Family

ID=66542157

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2021002978A CL2021002978A1 (es) 2019-05-14 2021-11-10 Operación de vehículos mineros autónomos.

Country Status (8)

Country Link
US (1) US20220251809A1 (es)
EP (1) EP3739419B1 (es)
CN (1) CN113795802A (es)
AU (1) AU2020274212A1 (es)
CA (1) CA3135016A1 (es)
CL (1) CL2021002978A1 (es)
WO (1) WO2020229489A1 (es)
ZA (1) ZA202107816B (es)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11236492B1 (en) * 2020-08-25 2022-02-01 Built Robotics Inc. Graphical user interface for real-time management of an earth shaping vehicle
CN114506212B (zh) * 2022-02-15 2023-09-22 国能神东煤炭集团有限责任公司 梭车的空间定位辅助驾驶系统和方法
US20230287655A1 (en) * 2022-03-08 2023-09-14 Caterpillar Sarl Maintenance-service system

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6633800B1 (en) * 2001-01-31 2003-10-14 Ainsworth Inc. Remote control system
FI115414B (fi) 2003-07-03 2005-04-29 Sandvik Tamrock Oy Järjestely kaivosajoneuvon sijainnin valvontaan kaivoksessa
US9522817B2 (en) * 2008-12-04 2016-12-20 Crown Equipment Corporation Sensor configuration for a materials handling vehicle
US9046895B2 (en) * 2009-12-30 2015-06-02 Caterpillar Inc. System and method for controlling fluid delivery
FI122157B (fi) * 2010-05-10 2011-09-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten
US9381916B1 (en) * 2012-02-06 2016-07-05 Google Inc. System and method for predicting behaviors of detected objects through environment representation
JP2015026312A (ja) * 2013-07-29 2015-02-05 日立建機株式会社 鉱山車両
WO2015106799A1 (en) 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Mine vehicle, mine control system and mapping method
EP2921363A1 (en) * 2014-03-18 2015-09-23 Volvo Car Corporation Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving
JP6385745B2 (ja) * 2014-07-22 2018-09-05 日立建機株式会社 鉱山用作業車両
CN104871106A (zh) * 2014-12-26 2015-08-26 株式会社小松制作所 矿山机械、矿山机械的管理系统和矿山机械的管理方法
US20160299511A1 (en) * 2015-04-07 2016-10-13 Caterpillar Inc. Systems and methods for identifying undue dust conditions
US20160298306A1 (en) * 2015-04-07 2016-10-13 Caterpillar Inc. Systems and methods for remedying undue dust conditions
US9869555B2 (en) * 2015-10-30 2018-01-16 Komatsu Ltd. Construction machine control system, construction machine, construction machine management system, and construction machine control method and program
WO2017199160A1 (en) * 2016-05-18 2017-11-23 Van Der Merwe Manfred Alexander Monitoring system and method
JP6816679B2 (ja) * 2017-09-05 2021-01-20 トヨタ自動車株式会社 車両の制御装置
US10611369B2 (en) * 2018-02-01 2020-04-07 GM Global Technology Operations LLC Systems and methods for collision detection in autonomous vehicles
CN108583579A (zh) * 2018-04-28 2018-09-28 李俊宏 车辆辅助或自动驾驶方法及系统
JP7203586B2 (ja) * 2018-12-14 2023-01-13 株式会社デンソーテン 画像処理装置および画像処理方法

Also Published As

Publication number Publication date
ZA202107816B (en) 2024-04-24
US20220251809A1 (en) 2022-08-11
EP3739419A1 (en) 2020-11-18
EP3739419B1 (en) 2021-11-10
CN113795802A (zh) 2021-12-14
AU2020274212A1 (en) 2021-11-18
CA3135016A1 (en) 2020-11-19
WO2020229489A1 (en) 2020-11-19

Similar Documents

Publication Publication Date Title
CL2021002978A1 (es) Operación de vehículos mineros autónomos.
ES2648295T3 (es) Robot industrial y procedimiento de control de un robot industrial
RU2015117920A (ru) Система для работы автономного транспортного средства
US10105846B2 (en) Robot control system having stop function
JP2019069774A5 (es)
CL2019002217A1 (es) Dispositivo robótico de inspección multiterreno y método para guiar el mismo.
US10245730B2 (en) Autonomous mobile robot and control method thereof
EA201990573A1 (ru) Робот-уборщик и способ управления роботом-уборщиком
EA201990007A1 (ru) Робот-уборщик и способ преодоления препятствия
RU2017146108A (ru) Способ управления мобильным роботом
BR112017017849A2 (pt) sistema para controlar um sistema de veículo ao longo de uma rota e método para controlar um sistema de um veículo
TW201711814A (en) Remote control robot system
CA2793055C (en) Drive system for unmanned vehicle and method of drive control of the same
RU2015108654A (ru) Автономное транспортное средство с автоматическими оконными шторками
JP6759852B2 (ja) Ｉ／ｏモジュール
SE1750013A1 (en) Improved collision detection for a robotic work tool
CL2013003118A1 (es) Metodo para controlar la operacion de excavacion de una maquina industrial que tiene un cucharon y un accionamiento de motor de elevacion; una maquina industrial que tiene, un cucharon, un accionamiento de motor de elevacion, y un controlador; y metodo para controlar el funcionamiento de una maquina industrial que tiene uno o mas componentes.
WO2008005883A3 (en) Multi-mode control algorithm
MX2017007899A (es) Deteccion de un objeto en la superficie exterior de un vehiculo.
CL2022003038A1 (es) Operaciones de carga autónoma de una máquina minera.
WO2011025197A3 (ko) 훨로더 작업기의 자동 운전 제어 장치 및 방법
US9909284B2 (en) Missed cut detection and reaction
WO2021053679A3 (en) Methods and systems for autonomous driving of vehicles
ATE552423T1 (de) Betriebssteuerungsvorrichtung für eine verdrängerpumpe, pumpensystem und verfahren zum betreiben eines solchen
AR112805A1 (es) Control y detección de bloqueos del impulsor de un dispositivo de infusión ambulatorio