FI121762B - Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi - Google Patents

Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi Download PDF

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Publication number
FI121762B
FI121762B FI20105506A FI20105506A FI121762B FI 121762 B FI121762 B FI 121762B FI 20105506 A FI20105506 A FI 20105506A FI 20105506 A FI20105506 A FI 20105506A FI 121762 B FI121762 B FI 121762B
Authority
FI
Finland
Prior art keywords
level
mining vehicle
data
information
basis
Prior art date
Application number
FI20105506A
Other languages
English (en)
Finnish (fi)
Swedish (sv)
Other versions
FI20105506A0 (fi
Inventor
Hannu Maekelae
Original Assignee
Sandvik Mining & Constr 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 & Constr Oy filed Critical Sandvik Mining & Constr Oy
Priority to FI20105506A priority Critical patent/FI121762B/fi
Publication of FI20105506A0 publication Critical patent/FI20105506A0/fi
Application granted granted Critical
Publication of FI121762B publication Critical patent/FI121762B/fi
Priority to EP20110780260 priority patent/EP2569676A4/en
Priority to PCT/FI2011/050363 priority patent/WO2011141619A1/en
Priority to CN201180023598.0A priority patent/CN102893232B/zh
Priority to AU2011251858A priority patent/AU2011251858B2/en
Priority to US13/696,637 priority patent/US8924143B2/en
Priority to CA2797135A priority patent/CA2797135A1/en
Priority to CL2012003114A priority patent/CL2012003114A1/es
Priority to ZA2012/08425A priority patent/ZA201208425B/en

Links

Classifications

    • 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
    • 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
    • G05D1/027—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, 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
FI20105506A 2010-05-10 2010-05-10 Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi FI121762B (fi)

Priority Applications (9)

Application Number Priority Date Filing Date Title
FI20105506A FI121762B (fi) 2010-05-10 2010-05-10 Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi
CA2797135A CA2797135A1 (en) 2010-05-10 2011-04-21 Method and apparatus for arranging mining vehicle positioning
US13/696,637 US8924143B2 (en) 2010-05-10 2011-04-21 Method and apparatus for arranging mining vehicle positioning
PCT/FI2011/050363 WO2011141619A1 (en) 2010-05-10 2011-04-21 Method and apparatus for arranging mining vehicle positioning
EP20110780260 EP2569676A4 (en) 2010-05-10 2011-04-21 METHOD AND DEVICE FOR ARRANGING A MINING VEHICLE POSITIONING
CN201180023598.0A CN102893232B (zh) 2010-05-10 2011-04-21 用于布置采矿车定位的方法和设备
AU2011251858A AU2011251858B2 (en) 2010-05-10 2011-04-21 Method and apparatus for arranging mining vehicle positioning
CL2012003114A CL2012003114A1 (es) 2010-05-10 2012-11-07 Metodo para organizar el posicionamiento de un vehiculo minero donde los datos de escaneo se determinan mediante el escaneo del entorno del vehiculo minero mientras se conduce dicho vehiculo minero; aparato y vehiculo minero asociados.
ZA2012/08425A ZA201208425B (en) 2010-05-10 2012-11-08 Method and apparatus for arranging mining vehicle positioning

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20105506A FI121762B (fi) 2010-05-10 2010-05-10 Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi
FI20105506 2010-05-10

Publications (2)

Publication Number Publication Date
FI20105506A0 FI20105506A0 (fi) 2010-05-10
FI121762B true FI121762B (fi) 2011-03-31

Family

ID=42234290

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20105506A FI121762B (fi) 2010-05-10 2010-05-10 Menetelmä ja laitteisto kaivosajoneuvon paikantamisen järjestämiseksi

Country Status (9)

Country Link
US (1) US8924143B2 (zh)
EP (1) EP2569676A4 (zh)
CN (1) CN102893232B (zh)
AU (1) AU2011251858B2 (zh)
CA (1) CA2797135A1 (zh)
CL (1) CL2012003114A1 (zh)
FI (1) FI121762B (zh)
WO (1) WO2011141619A1 (zh)
ZA (1) ZA201208425B (zh)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL3199751T3 (pl) 2011-08-03 2019-05-31 Joy Global Underground Mining Llc Zautomatyzowane operacje maszyny górniczej
US8755966B2 (en) * 2012-04-03 2014-06-17 Caterpillar Inc. System and method for controlling autonomous machine within lane boundaries during position uncertainty
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
JP6243687B2 (ja) * 2013-09-30 2017-12-06 株式会社小松製作所 運搬機械
CN105629967B (zh) * 2014-10-30 2019-01-22 丹东东方测控技术股份有限公司 基于高精度定位导航终端的井下矿机车无人驾驶系统
CN104881025B (zh) * 2015-04-10 2018-11-27 北京科技大学 一种地下矿用车辆的反应式导航控制方法
US20180010954A1 (en) * 2016-07-11 2018-01-11 Dublin Lowndes, LLC Material handling system
EP3415390B1 (en) 2017-06-12 2024-03-27 Hexagon Geosystems Services AG Driving assistance system for reversing a mining haulage vehicle
EP4031900A4 (en) 2019-09-18 2023-11-01 Thales Canada Inc. METHOD AND SYSTEM FOR HIGHLY INTEGRATED VEHICLE LOCALIZATION AND SPEED DETERMINATION
FI3795798T3 (fi) * 2019-09-20 2023-12-14 Sandvik Mining & Construction Oy Liikkuvan koneen paikannus maanalaisella työmaalla
US11520009B2 (en) * 2020-02-05 2022-12-06 Caterpillar Inc. Method and system for detecting an obstacle

Family Cites Families (15)

* 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
AU6894100A (en) * 1999-08-06 2001-03-05 Roadrisk Technologies, Llc Methods and apparatus for stationary object detection
US6608913B1 (en) * 2000-07-17 2003-08-19 Inco Limited Self-contained mapping and positioning system utilizing point cloud data
UA77662C2 (en) * 2000-10-10 2007-01-15 Dbt America Inc Automated continuous haulage apparatus
DE10256806C1 (de) * 2002-12-05 2003-09-18 Rag Ag System und Verfahren zur Orientierung im untertägigen Berg- und Tunnelbau
SE526913C2 (sv) * 2003-01-02 2005-11-15 Arnex Navigation Systems Ab Förfarande i form av intelligenta funktioner för fordon och automatiska lastmaskiner gällande kartläggning av terräng och materialvolymer, hinderdetektering och styrning av fordon och arbetsredskap
FI115678B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon törmäyksenestoon
FI116748B (fi) 2003-03-25 2006-02-15 Sandvik Tamrock Oy Menetelmä kaivoskoneen automaattiseksi ohjaamiseksi
FI115668B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Kaivosajoneuvon paikan ja suunnan alustaminen
US7593798B2 (en) 2003-10-30 2009-09-22 Deere & Company Vehicular guidance system having compensation for variations in ground elevation
US20050283294A1 (en) * 2004-06-16 2005-12-22 Lehman Allen A Jr Method and apparatus for machine guidance at a work site
MX2007002363A (es) * 2004-09-01 2007-05-11 Siemens Energy & Automat Metodo para una pala mecanica de carga autonoma.
DE602006021188D1 (de) * 2005-07-26 2011-05-19 Macdonald Dettwiler & Associates Inc Ahrzeug
US7899584B2 (en) 2007-02-28 2011-03-01 Caterpillar Inc. Method of controlling a vehicle based on operation characteristics
US8060269B2 (en) 2008-04-16 2011-11-15 Cnh America Llc Swath line creation including slope compensation for an automatic guidance system of a work vehicle

Also Published As

Publication number Publication date
US8924143B2 (en) 2014-12-30
FI20105506A0 (fi) 2010-05-10
AU2011251858B2 (en) 2014-07-24
CL2012003114A1 (es) 2013-11-04
CN102893232A (zh) 2013-01-23
CN102893232B (zh) 2015-07-15
EP2569676A4 (en) 2015-05-20
US20130060425A1 (en) 2013-03-07
ZA201208425B (en) 2013-09-25
EP2569676A1 (en) 2013-03-20
CA2797135A1 (en) 2011-11-17
WO2011141619A1 (en) 2011-11-17
AU2011251858A1 (en) 2012-12-06

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