FI122157B - Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten - Google Patents
Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten Download PDFInfo
- Publication number
- FI122157B FI122157B FI20105505A FI20105505A FI122157B FI 122157 B FI122157 B FI 122157B FI 20105505 A FI20105505 A FI 20105505A FI 20105505 A FI20105505 A FI 20105505A FI 122157 B FI122157 B FI 122157B
- Authority
- FI
- Finland
- Prior art keywords
- obstacle
- mining vehicle
- data
- determined
- obstacles
- Prior art date
Links
- 238000005065 mining Methods 0.000 title claims description 124
- 238000000034 method Methods 0.000 title claims description 23
- 230000004888 barrier function Effects 0.000 claims description 40
- 238000012360 testing method Methods 0.000 claims description 20
- 230000004044 response Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005036 potential barrier Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
-
- 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
- E21F13/025—Shuttle cars
-
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of 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
- G05D1/0231—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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mining & Mineral Resources (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20105505A FI122157B (fi) | 2010-05-10 | 2010-05-10 | Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten |
AU2011251868A AU2011251868B2 (en) | 2010-05-10 | 2011-05-06 | Method and apparatus for mining vehicle safety arrangements |
PCT/FI2011/050421 WO2011141629A1 (en) | 2010-05-10 | 2011-05-06 | Method and apparatus for mining vehicle safety arrangements |
US13/696,766 US8606495B2 (en) | 2010-05-10 | 2011-05-06 | Method and apparatus for mining vehicle safety arrangements |
CN201180023654.0A CN102893176B (zh) | 2010-05-10 | 2011-05-06 | 采矿车辆安全布置的方法与装置 |
CA2796986A CA2796986C (en) | 2010-05-10 | 2011-05-06 | Method and apparatus for mining vehicle safety arrangements |
EP11780268.6A EP2569652B1 (en) | 2010-05-10 | 2011-05-06 | Method and apparatus for mining vehicle safety arrangements |
CL2012003115A CL2012003115A1 (es) | 2010-05-10 | 2012-11-07 | Metodo para un sistema de seguridad de un vehiculo minero que comprende escanear los alrededores del vehiculo minero durante la conduccion del mismo; aparato y vehiculo minero asociado |
ZA2012/08423A ZA201208423B (en) | 2010-05-10 | 2012-11-08 | Method and apparatus for mining vehicle safety arrangements |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20105505 | 2010-05-10 | ||
FI20105505A FI122157B (fi) | 2010-05-10 | 2010-05-10 | Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten |
Publications (2)
Publication Number | Publication Date |
---|---|
FI20105505A0 FI20105505A0 (fi) | 2010-05-10 |
FI122157B true FI122157B (fi) | 2011-09-15 |
Family
ID=42234289
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FI20105505A FI122157B (fi) | 2010-05-10 | 2010-05-10 | Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten |
Country Status (9)
Country | Link |
---|---|
US (1) | US8606495B2 (es) |
EP (1) | EP2569652B1 (es) |
CN (1) | CN102893176B (es) |
AU (1) | AU2011251868B2 (es) |
CA (1) | CA2796986C (es) |
CL (1) | CL2012003115A1 (es) |
FI (1) | FI122157B (es) |
WO (1) | WO2011141629A1 (es) |
ZA (1) | ZA201208423B (es) |
Families Citing this family (48)
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US11835343B1 (en) * | 2004-08-06 | 2023-12-05 | AI Incorporated | Method for constructing a map while performing work |
EP3495607B1 (en) | 2011-08-03 | 2020-10-14 | Joy Global Underground Mining LLC | Stabilization system for a mining machine |
US8583361B2 (en) * | 2011-08-24 | 2013-11-12 | Modular Mining Systems, Inc. | Guided maneuvering of a mining vehicle to a target destination |
SE536333C2 (sv) | 2011-11-18 | 2013-08-27 | Atlas Copco Rock Drills Ab | Förfarande och anordning för att framföra en gruv- och/elleranläggningsmaskin |
SE537371C2 (sv) | 2011-11-18 | 2015-04-14 | Atlas Copco Rock Drills Ab | Förfarande och anordning vid framförande av en gruv- och/eller anläggningsmaskin |
EP3656197B1 (en) * | 2011-12-28 | 2024-07-10 | Husqvarna Ab | Yard maintenance vehicle obstacle avoidance/notification system and method |
KR20130087881A (ko) * | 2012-01-30 | 2013-08-07 | 한국전자통신연구원 | 원격 관제 시스템을 이용한 무인 감시 장치 및 방법, 무인 감시를 위한 로봇 제어 단말 |
JP6261157B2 (ja) * | 2012-03-15 | 2018-01-17 | 株式会社小松製作所 | 鉱山機械の運行管理システム及び鉱山機械の運行管理方法 |
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 |
WO2014206587A2 (en) * | 2013-06-27 | 2014-12-31 | Sandvik Mining And Construction Oy | Arrangement for controlling automated operation mode |
US9712949B2 (en) * | 2013-06-07 | 2017-07-18 | Strata Products Worldwide, Llc | Method and apparatus for protecting a miner |
WO2014206471A1 (en) | 2013-06-27 | 2014-12-31 | Sandvik Mining And Construction Oy | Arrangement for controlling percussive drilling process |
AU2013350342B2 (en) * | 2013-07-30 | 2015-08-13 | Komatsu Ltd. | Management system and management method of mining machine |
JP6263970B2 (ja) * | 2013-11-11 | 2018-01-24 | 村田機械株式会社 | 自律走行台車、及び、予定走行経路データのデータ構造 |
WO2015106799A1 (en) | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle, mine control system and mapping method |
US9886036B2 (en) * | 2014-02-10 | 2018-02-06 | John Bean Technologies Corporation | Routing of automated guided vehicles |
US9471060B2 (en) | 2014-12-09 | 2016-10-18 | General Electric Company | Vehicular traffic guidance and coordination system and method |
CN104536008B (zh) * | 2015-01-05 | 2017-01-25 | 大连理工大学 | 一种凿岩台车炮孔激光测距定位方法 |
AU2015394863A1 (en) | 2015-05-12 | 2018-01-04 | Pedro Renato GONZÁLEZ MÉNDEZ | Monitoring system for anticipating dangerous conditions during the transportation of a cargo over land |
CN105159292A (zh) * | 2015-08-19 | 2015-12-16 | 阜新博远科技有限公司 | 一种矿车运行实时障碍物自动探测和视频反馈系统及方法 |
CN105518557A (zh) * | 2015-08-31 | 2016-04-20 | 株式会社小松制作所 | 矿山的管理系统 |
CN105278443A (zh) * | 2015-10-27 | 2016-01-27 | 天时海洋工程及石油装备研究院(青岛)有限公司 | 一种钻井设备区域防碰控制方法及控制系统 |
JP6030778B2 (ja) | 2015-10-30 | 2016-11-24 | 株式会社小松製作所 | 鉱山の管理システム及び鉱山の管理方法 |
AU2017225005B2 (en) | 2016-09-19 | 2021-07-08 | The Goodyear Tire & Rubber Company | Mining vehicle monitoring and control system |
US9910434B1 (en) * | 2016-11-21 | 2018-03-06 | Caterpillar Inc. | Command for underground |
US9797247B1 (en) * | 2016-11-21 | 2017-10-24 | Caterpillar Inc. | Command for underground |
DE102016125408A1 (de) * | 2016-12-22 | 2018-06-28 | RobArt GmbH | Autonomer mobiler roboter und verfahren zum steuern eines autonomen mobilen roboters |
DE102017104466B4 (de) * | 2017-03-03 | 2020-09-03 | YUMARR Automation Pty. Ltd. | Vorrichtung, Anordnung und Verfahren zur Sicherung eines Gefahrenbereichs einer Untertage-Maschine |
AU2018201213B2 (en) * | 2017-03-07 | 2022-12-01 | Caterpillar Inc. | Command for underground |
KR102514740B1 (ko) * | 2017-05-09 | 2023-03-28 | 브레인 코퍼레이션 | 로봇의 동작 제어를 위한 시스템 및 방법 |
FI3415390T3 (fi) | 2017-06-12 | 2024-05-30 | Hexagon Geosystems Services Ag | Ajoavustinjärjestelmä kaivoskuljetusajoneuvon peruuttamista varten |
US10409287B2 (en) * | 2017-11-30 | 2019-09-10 | Komatsu America Corp. | Vehicle guide display and path navigation method |
GB2569320B (en) * | 2017-12-13 | 2021-09-22 | Caterpillar Sarl | Worksite Management system |
CN108873902A (zh) * | 2018-07-04 | 2018-11-23 | 北京踏歌智行科技有限公司 | 一种无人驾驶矿用车辆的远程控制方法及装置 |
CN112513957A (zh) * | 2018-07-23 | 2021-03-16 | 纽瑞科斯控股公司 | 用于在情境感知环境中确认存在的方法和系统 |
EP3617828A1 (en) * | 2018-08-28 | 2020-03-04 | Nilfisk A/S | Autonomous surface treatment vehicle with fast wall mode |
CN110377019B (zh) * | 2018-09-05 | 2022-08-12 | 北京京东乾石科技有限公司 | 一种路由生成方法和装置 |
CN109322698B (zh) * | 2018-10-29 | 2024-03-15 | 中国恩菲工程技术有限公司 | 铲运机安全隔离装置及铲运机 |
EP3739419B1 (en) * | 2019-05-14 | 2021-11-10 | Sandvik Mining and Construction Oy | Autonomous mine vehicle operation |
US11860643B2 (en) | 2019-07-02 | 2024-01-02 | Liebherr Mining Equipment Newport News Co. | System for controlling a plurality of autonomous vehicles on a mine site |
EP3839203A1 (en) * | 2019-12-16 | 2021-06-23 | Sandvik Mining and Construction Oy | Mine vehicle safety control |
EP3859382B1 (de) * | 2020-01-28 | 2022-08-03 | Sick Ag | Sicherheitssystem und verfahren zur lokalisierung einer person oder eines objektes in einem überwachungsbereich mit einem sicherheitssystem |
CN111255008A (zh) * | 2020-02-27 | 2020-06-09 | 山东黄金矿业(莱西)有限公司 | 一种矿用铲运机的雷达预警防撞系统 |
CN111506066B (zh) * | 2020-04-16 | 2023-06-02 | 雄狮汽车科技(南京)有限公司 | 感知障碍物的方法及系统 |
EP3974935A1 (en) * | 2020-09-24 | 2022-03-30 | Sandvik Mining and Construction Oy | Underground vehicle monitoring system |
CN112837530A (zh) * | 2020-12-25 | 2021-05-25 | 石家庄开发区天远科技有限公司 | 一种基于车联网数据的车辆行驶趟次识别算法 |
CN114355876A (zh) * | 2021-11-22 | 2022-04-15 | 中国煤炭科工集团太原研究院有限公司 | 安全控制系统及方法 |
CN114253257A (zh) * | 2021-11-23 | 2022-03-29 | 广东嘉腾机器人自动化有限公司 | 一种移动机器人路径行驶控制方法及存储装置 |
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JP5135321B2 (ja) * | 2009-11-13 | 2013-02-06 | 株式会社日立製作所 | 自律走行装置 |
-
2010
- 2010-05-10 FI FI20105505A patent/FI122157B/fi active IP Right Grant
-
2011
- 2011-05-06 AU AU2011251868A patent/AU2011251868B2/en active Active
- 2011-05-06 EP EP11780268.6A patent/EP2569652B1/en active Active
- 2011-05-06 WO PCT/FI2011/050421 patent/WO2011141629A1/en active Application Filing
- 2011-05-06 US US13/696,766 patent/US8606495B2/en active Active
- 2011-05-06 CA CA2796986A patent/CA2796986C/en active Active
- 2011-05-06 CN CN201180023654.0A patent/CN102893176B/zh active Active
-
2012
- 2012-11-07 CL CL2012003115A patent/CL2012003115A1/es unknown
- 2012-11-08 ZA ZA2012/08423A patent/ZA201208423B/en unknown
Also Published As
Publication number | Publication date |
---|---|
AU2011251868A1 (en) | 2012-12-06 |
AU2011251868B2 (en) | 2014-09-04 |
FI20105505A0 (fi) | 2010-05-10 |
ZA201208423B (en) | 2013-09-25 |
CN102893176A (zh) | 2013-01-23 |
CN102893176B (zh) | 2014-11-05 |
US20130060458A1 (en) | 2013-03-07 |
EP2569652A1 (en) | 2013-03-20 |
US8606495B2 (en) | 2013-12-10 |
EP2569652B1 (en) | 2021-03-10 |
EP2569652A4 (en) | 2017-10-25 |
CL2012003115A1 (es) | 2013-05-03 |
CA2796986A1 (en) | 2011-11-17 |
WO2011141629A1 (en) | 2011-11-17 |
CA2796986C (en) | 2015-09-08 |
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