FI20030450A - Förfarande för automatisk styrning av en gruvmaskin - Google Patents

Förfarande för automatisk styrning av en gruvmaskin Download PDF

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Publication number
FI20030450A
FI20030450A FI20030450A FI20030450A FI20030450A FI 20030450 A FI20030450 A FI 20030450A FI 20030450 A FI20030450 A FI 20030450A FI 20030450 A FI20030450 A FI 20030450A FI 20030450 A FI20030450 A FI 20030450A
Authority
FI
Finland
Prior art keywords
procedure
automatic control
mining machine
mining
machine
Prior art date
Application number
FI20030450A
Other languages
English (en)
Finnish (fi)
Other versions
FI116748B (sv
FI20030450A0 (sv
Inventor
Hannu Maekelae
Original Assignee
Sandvik Tamrock 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 Tamrock Oy filed Critical Sandvik Tamrock Oy
Publication of FI20030450A0 publication Critical patent/FI20030450A0/sv
Priority to FI20030450A priority Critical patent/FI116748B/sv
Priority to CL200400623A priority patent/CL2004000623A1/es
Priority to CA2520013A priority patent/CA2520013C/en
Priority to PCT/FI2004/000169 priority patent/WO2004085965A1/en
Priority to AU2004223684A priority patent/AU2004223684B2/en
Publication of FI20030450A publication Critical patent/FI20030450A/sv
Priority to US11/232,960 priority patent/US7477967B2/en
Priority to ZA200507700A priority patent/ZA200507700B/en
Priority to SE0502110A priority patent/SE530538C2/sv
Application granted granted Critical
Publication of FI116748B publication Critical patent/FI116748B/sv

Links

Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G05D1/0231—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
    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • 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
    • 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)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
FI20030450A 2003-03-25 2003-03-25 Förfarande för automatisk styrning av en gruvmaskin FI116748B (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FI20030450A FI116748B (sv) 2003-03-25 2003-03-25 Förfarande för automatisk styrning av en gruvmaskin
CL200400623A CL2004000623A1 (es) 2003-03-25 2004-03-24 Metodo para guiar de manera automatica una maquina minera, en donde la informacion relacionada con la ruta es transmitida desde el sistema de control de la mina al equipo de control de la maquina minera para guiar a la maquina a fin de concretar la r
AU2004223684A AU2004223684B2 (en) 2003-03-25 2004-03-25 Method for automatically guiding a mining machine
PCT/FI2004/000169 WO2004085965A1 (en) 2003-03-25 2004-03-25 Method for automatically guiding a mining machine
CA2520013A CA2520013C (en) 2003-03-25 2004-03-25 Method for automatically guiding a mining machine
US11/232,960 US7477967B2 (en) 2003-03-25 2005-09-23 Method for automatically guiding a mining machine
ZA200507700A ZA200507700B (en) 2003-03-25 2005-09-23 Method for automatically guiding a mining machine
SE0502110A SE530538C2 (sv) 2003-03-25 2005-09-26 Förfarande för automatisk styrning av en gruvmaskin

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20030450 2003-03-25
FI20030450A FI116748B (sv) 2003-03-25 2003-03-25 Förfarande för automatisk styrning av en gruvmaskin

Publications (3)

Publication Number Publication Date
FI20030450A0 FI20030450A0 (sv) 2003-03-25
FI20030450A true FI20030450A (sv) 2004-09-26
FI116748B FI116748B (sv) 2006-02-15

Family

ID=8565872

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20030450A FI116748B (sv) 2003-03-25 2003-03-25 Förfarande för automatisk styrning av en gruvmaskin

Country Status (8)

Country Link
US (1) US7477967B2 (sv)
AU (1) AU2004223684B2 (sv)
CA (1) CA2520013C (sv)
CL (1) CL2004000623A1 (sv)
FI (1) FI116748B (sv)
SE (1) SE530538C2 (sv)
WO (1) WO2004085965A1 (sv)
ZA (1) ZA200507700B (sv)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI116747B (sv) * 2003-03-25 2006-02-15 Sandvik Tamrock Oy Förfarande för automatisk styrning av en gruvmaskin
DE102005006554B4 (de) * 2005-02-12 2019-03-07 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Betreiben einer Anlage und fahrerloses Transportsystem
FI123638B (sv) * 2007-04-20 2013-08-30 Sandvik Mining & Constr Oy Förfarande för riktning av borrplan i böjda tunnlar, bergborrningsanordning samt programvaruprodukt
FI20095713A (sv) 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Bestämmande av körrutt för att arrangera automatisk styrning av en rörlig gruvmaskin
FI20095714A (sv) 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Bestämmande av körrutt för att arrangera automatisk styrning av en rörlig gruvmaskin
FI20095712A (sv) 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin
FI20095715A (sv) 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Lärande av en modell som ska användas för automatisk styrning av en rörlig gruvmaskin
FI121762B (sv) 2010-05-10 2011-03-31 Sandvik Mining & Constr Oy Förfarande och anordning för att anordna lägesbestämning för ett gruvfordon
FI122157B (sv) 2010-05-10 2011-09-15 Sandvik Mining & Constr Oy Förfaranden och anordning för säkerhetsanordningar av gruvfordon
FI124051B (sv) 2010-05-25 2014-02-28 Sandvik Mining & Constr Oy Bergborrningsrigg och förfarande för parkering av denna
US8639393B2 (en) 2010-11-30 2014-01-28 Caterpillar Inc. System for automated excavation planning and control
US8548668B2 (en) 2010-11-30 2013-10-01 Caterpillar Inc. Control system having tool tracking
US8983707B2 (en) 2010-11-30 2015-03-17 Caterpillar Inc. Machine control system having autonomous dump queuing
US8868302B2 (en) 2010-11-30 2014-10-21 Caterpillar Inc. System for autonomous path planning and machine control
US8930043B2 (en) 2010-11-30 2015-01-06 Caterpillar Inc. Machine control system having autonomous resource queuing
PL2739824T3 (pl) 2011-08-03 2019-07-31 Joy Global Underground Mining Llc Układ stabilizacji dla maszyny górniczej
US8583361B2 (en) * 2011-08-24 2013-11-12 Modular Mining Systems, Inc. Guided maneuvering of a mining vehicle to a target destination
US9823082B2 (en) 2011-08-24 2017-11-21 Modular Mining Systems, Inc. Driver guidance for guided maneuvering
US9228315B2 (en) * 2012-12-20 2016-01-05 Caterpillar Inc. System and method for modifying a path for a machine
US9243923B2 (en) * 2013-08-30 2016-01-26 Komatsu Ltd. Mining machine management system and mining machine management method
JP6243687B2 (ja) * 2013-09-30 2017-12-06 株式会社小松製作所 運搬機械
US20150111184A1 (en) * 2013-10-23 2015-04-23 Harnischfeger Technologies, Inc. Optimal path of motion for training simulator
CA2953477C (en) 2016-04-28 2020-06-02 Komatsu Ltd. Work machine management apparatus
EP3415390B1 (en) 2017-06-12 2024-03-27 Hexagon Geosystems Services AG Driving assistance system for reversing a mining haulage vehicle
CN109361352B (zh) * 2018-11-09 2020-08-04 苏州瑞得恩光能科技有限公司 一种清洁系统的控制方法
CN113031602B (zh) * 2021-03-04 2022-08-02 上海申传电气股份有限公司 一种矿用轨道电机车动态包络线的构建方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5838562A (en) * 1990-02-05 1998-11-17 Caterpillar Inc. System and a method for enabling a vehicle to track a preset path
US5170352A (en) 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
JP2799375B2 (ja) 1993-09-30 1998-09-17 本田技研工業株式会社 衝突防止装置
US5752207A (en) * 1995-09-29 1998-05-12 Caterpillar Inc. Method and apparatus for determining a path for a machine between a predetermined route and a final position
US6163745A (en) * 1997-04-15 2000-12-19 Ainsworth Inc. Guidance system for automated vehicles, and guidance strip for use therewith
US5999865A (en) * 1998-01-29 1999-12-07 Inco Limited Autonomous vehicle guidance system
JP3508619B2 (ja) * 1999-05-13 2004-03-22 株式会社デンソー 車両用ナビゲーション装置
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

Also Published As

Publication number Publication date
US20060069472A1 (en) 2006-03-30
AU2004223684A1 (en) 2004-10-07
CL2004000623A1 (es) 2005-02-04
CA2520013A1 (en) 2004-10-07
WO2004085965A1 (en) 2004-10-07
SE0502110L (sv) 2005-11-22
AU2004223684B2 (en) 2009-03-05
SE530538C2 (sv) 2008-07-01
US7477967B2 (en) 2009-01-13
ZA200507700B (en) 2006-06-28
CA2520013C (en) 2013-09-10
FI116748B (sv) 2006-02-15
FI20030450A0 (sv) 2003-03-25

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