EP2446333A4 - Definition of data required for automatic control of mobile mining machine - Google Patents

Definition of data required for automatic control of mobile mining machine

Info

Publication number
EP2446333A4
EP2446333A4 EP10791678A EP10791678A EP2446333A4 EP 2446333 A4 EP2446333 A4 EP 2446333A4 EP 10791678 A EP10791678 A EP 10791678A EP 10791678 A EP10791678 A EP 10791678A EP 2446333 A4 EP2446333 A4 EP 2446333A4
Authority
EP
European Patent Office
Prior art keywords
definition
automatic control
data required
mining machine
mobile 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.)
Withdrawn
Application number
EP10791678A
Other languages
German (de)
French (fr)
Other versions
EP2446333A1 (en
Inventor
Jarkko Ruokojaervi
Hannu Maekelae
Antti Lehtinen
Jouni Sievilae
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.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Mining and 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 and Construction Oy filed Critical Sandvik Mining and Construction Oy
Publication of EP2446333A1 publication Critical patent/EP2446333A1/en
Publication of EP2446333A4 publication Critical patent/EP2446333A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • E21F13/00—Transport specially adapted to underground conditions
    • E21F13/02—Transport of mined mineral in galleries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP10791678A 2009-06-24 2010-06-22 Definition of data required for automatic control of mobile mining machine Withdrawn EP2446333A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20095716A FI20095716L (en) 2009-06-24 2009-06-24 Determining the data required for automatic control of a mobile mining machine
PCT/FI2010/050529 WO2010149852A1 (en) 2009-06-24 2010-06-22 Definition of data required for automatic control of mobile mining machine

Publications (2)

Publication Number Publication Date
EP2446333A1 EP2446333A1 (en) 2012-05-02
EP2446333A4 true EP2446333A4 (en) 2013-03-20

Family

ID=40825420

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10791678A Withdrawn EP2446333A4 (en) 2009-06-24 2010-06-22 Definition of data required for automatic control of mobile mining machine

Country Status (6)

Country Link
EP (1) EP2446333A4 (en)
AU (1) AU2010264552B2 (en)
CA (1) CA2765375C (en)
CL (1) CL2011003285A1 (en)
FI (1) FI20095716L (en)
WO (1) WO2010149852A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3199750B1 (en) * 2011-08-03 2018-11-21 Joy Global Underground Mining LLC Automated operations of a mining machine
WO2018220853A1 (en) * 2017-06-02 2018-12-06 本田技研工業株式会社 Vehicle control device and method for controlling autonomous driving vehicle
WO2021052598A1 (en) * 2019-09-20 2021-03-25 Volvo Construction Equipment Ab A navigation system for a vehicle arranged at a working space and a method of navigating a vehicle arranged at a working space
EP4298399A1 (en) 2021-02-24 2024-01-03 Epiroc Rock Drills Aktiebolag Method and system for autononomus driving of a mining machine in an underground environment

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090043439A1 (en) * 2005-07-26 2009-02-12 Macdonald, Dettwiler & Associates, Inc. Guidance, Navigation, and Control System for a Vehicle

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5999865A (en) * 1998-01-29 1999-12-07 Inco Limited Autonomous vehicle guidance system
FI115161B (en) * 2003-03-25 2005-03-15 Sandvik Tamrock Oy Arrangement for the location of mining vehicles
FI116747B (en) * 2003-03-25 2006-02-15 Sandvik Tamrock Oy Procedure for automatic control of a mining machine

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090043439A1 (en) * 2005-07-26 2009-02-12 Macdonald, Dettwiler & Associates, Inc. Guidance, Navigation, and Control System for a Vehicle

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
ARAUJO R ET AL: "Sensor-based learning of environment model and path planning with a Nomad 200 mobile robot", INTELLIGENT ROBOTS AND SYSTEMS, 1997. IROS '97., PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON GRENOBLE, FRANCE, vol. 2, 7 September 1997 (1997-09-07) - 11 September 1997 (1997-09-11), NEW YORK, NY, USA,IEEE, US, pages 539 - 544, XP010264699, ISBN: 978-0-7803-4119-7, DOI: 10.1109/IROS.1997.655064 *
DIOSI A ET AL: "Interactive SLAM using Laser and Advanced Sonar", ROBOTICS AND AUTOMATION, 2005. PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON BARCELONA, SPAIN, 18 April 2005 (2005-04-18) - 22 April 2005 (2005-04-22), PISCATAWAY, NJ, USA,IEEE, pages 1103 - 1108, XP010872068, ISBN: 978-0-7803-8914-4, DOI: 10.1109/ROBOT.2005.1570263 *
ONOGUCHI K ET AL: "A visual navigation system using a multi-information local map", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. CINCINNATI, vol. -, 13 May 1990 (1990-05-13) - 18 May 1990 (1990-05-18), LOS ALAMITOS, IEEE COMP. SOC. PRESS, US, pages 767 - 774, XP010033580, ISBN: 978-0-8186-9061-7, DOI: 10.1109/ROBOT.1990.126079 *
See also references of WO2010149852A1 *

Also Published As

Publication number Publication date
CA2765375A1 (en) 2010-12-29
CA2765375C (en) 2015-04-07
EP2446333A1 (en) 2012-05-02
AU2010264552B2 (en) 2014-05-08
FI20095716L (en) 2010-12-25
AU2010264552A1 (en) 2012-02-16
FI20095716A0 (en) 2009-06-24
CL2011003285A1 (en) 2012-07-20
WO2010149852A1 (en) 2010-12-29

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