JP6273041B2 - 採掘坑車両及び採掘坑作業タスクの開始方法 - Google Patents

採掘坑車両及び採掘坑作業タスクの開始方法 Download PDF

Info

Publication number
JP6273041B2
JP6273041B2 JP2016563261A JP2016563261A JP6273041B2 JP 6273041 B2 JP6273041 B2 JP 6273041B2 JP 2016563261 A JP2016563261 A JP 2016563261A JP 2016563261 A JP2016563261 A JP 2016563261A JP 6273041 B2 JP6273041 B2 JP 6273041B2
Authority
JP
Japan
Prior art keywords
mine
point cloud
cloud data
control unit
vehicle
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.)
Active
Application number
JP2016563261A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017503100A (ja
Inventor
ユッシ プーラ，
ユッシ プーラ，
エッセン， トミ フォン
エッセン， トミ フォン
Original Assignee
サンドヴィック マイニング アンド コンストラクション オーワイ
サンドヴィック マイニング アンド コンストラクション オーワイ
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=49958476&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP6273041(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by サンドヴィック マイニング アンド コンストラクション オーワイ, サンドヴィック マイニング アンド コンストラクション オーワイ filed Critical サンドヴィック マイニング アンド コンストラクション オーワイ
Publication of JP2017503100A publication Critical patent/JP2017503100A/ja
Application granted granted Critical
Publication of JP6273041B2 publication Critical patent/JP6273041B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • 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
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • 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
    • G05D1/0231—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
    • G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Earth Drilling (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Operation Control Of Excavators (AREA)
  • Architecture (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
JP2016563261A 2014-01-14 2015-01-14 採掘坑車両及び採掘坑作業タスクの開始方法 Active JP6273041B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
PCT/EP2014/050598 WO2015106799A1 (en) 2014-01-14 2014-01-14 Mine vehicle, mine control system and mapping method
EPPCT/EP2014/050598 2014-01-14
PCT/EP2015/050565 WO2015107068A1 (en) 2014-01-14 2015-01-14 Mine vehicle and method of initiating mine work task

Publications (2)

Publication Number Publication Date
JP2017503100A JP2017503100A (ja) 2017-01-26
JP6273041B2 true JP6273041B2 (ja) 2018-01-31

Family

ID=49958476

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016563261A Active JP6273041B2 (ja) 2014-01-14 2015-01-14 採掘坑車両及び採掘坑作業タスクの開始方法

Country Status (12)

Country Link
US (3) US20160341041A1 (enExample)
EP (1) EP3094805A1 (enExample)
JP (1) JP6273041B2 (enExample)
KR (1) KR101917937B1 (enExample)
CN (1) CN105917067B (enExample)
AU (3) AU2015206034A1 (enExample)
BR (1) BR112016016301B1 (enExample)
CA (3) CA2936683C (enExample)
CL (3) CL2016001754A1 (enExample)
EA (1) EA034130B1 (enExample)
PE (1) PE20160975A1 (enExample)
WO (4) WO2015106799A1 (enExample)

Families Citing this family (114)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10240457B2 (en) * 2014-03-31 2019-03-26 Komatsu Ltd. Mine management system
US9850109B2 (en) * 2014-12-23 2017-12-26 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
US10822208B2 (en) 2014-12-23 2020-11-03 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
US10671066B2 (en) * 2015-03-03 2020-06-02 PreNav, Inc. Scanning environments and tracking unmanned aerial vehicles
WO2016159839A1 (en) * 2015-03-30 2016-10-06 Volvo Construction Equipment Ab System and method for determining the material loading condition of a bucket of a material moving machine
KR20170113604A (ko) * 2015-09-30 2017-10-12 가부시키가이샤 고마쓰 세이사쿠쇼 화상 데이터 생성 방법
US10248299B2 (en) * 2015-11-10 2019-04-02 Dassault Systemes Canada Inc. Ensuring tunnel designs stay within specified design parameters and tolerances
US10349035B2 (en) * 2015-11-16 2019-07-09 Abb Schweiz Ag Automatically scanning and representing an environment having a plurality of features
US10341639B2 (en) * 2015-11-16 2019-07-02 Abb Schweiz Ag Automatically scanning and representing an environment with collision avoidance
ITUB20159252A1 (it) * 2015-12-28 2017-06-28 Termigas S P A Apparato e metodo per eseguire fori per il montaggio di elementi di attrezzature su pareti di galleria
JP6754594B2 (ja) * 2016-03-23 2020-09-16 株式会社小松製作所 モータグレーダ
US9945668B2 (en) * 2016-03-29 2018-04-17 Queen's University At Kingston Tunnel convergence detection apparatus and method
US10564270B2 (en) 2016-04-13 2020-02-18 Caterpillar Inc. Methods and systems for calibrating sensors
US10570736B2 (en) 2016-06-09 2020-02-25 Abb Schweiz Ag Robot automated mining
CN107671868A (zh) * 2016-06-15 2018-02-09 钟红萍 一种反地雷机器人
GB2551711B (en) * 2016-06-24 2019-12-11 Jaguar Land Rover Ltd Path identification for off-road cruise control
US11772647B2 (en) 2016-06-24 2023-10-03 Jaguar Land Rover Limited Control system for a vehicle
GB2552940B (en) * 2016-08-08 2020-01-22 Jaguar Land Rover Ltd Path identification for off-road cruise control
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
ES2899585T3 (es) 2016-07-15 2022-03-14 Fastbrick Ip Pty Ltd Pluma para transporte de material
JP6727971B2 (ja) * 2016-07-19 2020-07-22 株式会社クボタ 作業車
US10094216B2 (en) * 2016-07-22 2018-10-09 Caterpillar Global Mining Europe Gmbh Milling depth compensation system and method
US10106951B2 (en) * 2016-09-21 2018-10-23 Deere & Company System and method for automatic dump control
CA3045884A1 (en) * 2016-12-02 2018-06-07 1854081 Ontario Ltd. Apparatus and method for preparing a blast hole in a rock face during a mining operation
WO2018144396A1 (en) 2017-02-02 2018-08-09 PreNav, Inc. Tracking image collection for digital capture of environments, and associated systems and methods
JP7045721B2 (ja) * 2017-02-24 2022-04-01 国立研究開発法人理化学研究所 写真画像に映ったトンネル内の壁面の位置を同定する同定装置、同定方法、ならびに、プログラム
SE540915C2 (en) * 2017-02-27 2018-12-18 Epiroc Rock Drills Ab Method and system for generating a drilling pattern, a computer program, a computer-readable medium and a rock drilling rig
EP3610223B1 (en) * 2017-04-13 2024-11-20 Joy Global Underground Mining LLC System and method for measuring and aligning roof bolts
ES2988538T3 (es) * 2017-06-12 2024-11-20 Hexagon Geosystems Services Ag Sistema de asistencia a la conducción para dar marcha atrás a un vehículo de transporte de minería
EP3649616B1 (en) 2017-07-05 2025-01-08 Fastbrick IP Pty Ltd Real time position and orientation tracker
AU2018317941B2 (en) 2017-08-17 2023-11-09 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
AU2018317937B2 (en) 2017-08-17 2023-11-23 Fastbrick Ip Pty Ltd Communication system for an interaction system
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
FR3073557B1 (fr) * 2017-11-13 2023-12-29 Dodin Campenon Bernard Procede de controle et/ou de guidage de la realisation d'une excavation
WO2019105573A1 (en) 2017-12-01 2019-06-06 Volvo Truck Corporation A method for maintenance of a vehicle
GB2571528A (en) 2018-02-28 2019-09-04 Rolls Royce Plc Controlling a robot in an environment
JP7376496B2 (ja) 2018-03-20 2023-11-08 ピーシーエムエス ホールディングス インコーポレイテッド 優先順位付けされた変換に基づいて動的点群を最適化するためのシステムおよび方法
CN112106063B (zh) 2018-03-20 2025-05-16 Pcms控股公司 用于动态调整点云的细节级别系统及方法
JP2019169018A (ja) * 2018-03-26 2019-10-03 前田建設工業株式会社 建設現場における資機材搬送システム
CN110389350B (zh) * 2018-04-16 2023-08-22 诺瓦特伦有限公司 运土机、测距仪布置和3d扫描方法
CN210660083U (zh) * 2018-06-01 2020-06-02 久益环球地下采矿有限责任公司 用于在采矿机执行切割操作时控制采矿机前进方向的系统
CN108843331B (zh) * 2018-07-06 2019-10-11 山东科技大学 一种等效钻孔面积下小直径钻孔联合卸压布置方法
US12311546B2 (en) 2018-07-16 2025-05-27 Fastbrick Ip Pty Ltd Active damping system
AU2019305681A1 (en) 2018-07-16 2021-02-04 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
CN109100744B (zh) * 2018-07-27 2021-03-30 深圳蓝胖子机器人有限公司 用于agv的目标定位方法及系统
US11002075B1 (en) 2018-07-31 2021-05-11 J.H. Fletcher & Co. Mine drilling system and related method
JP7118803B2 (ja) * 2018-08-15 2022-08-16 鹿島建設株式会社 トンネル施工システム及びトンネルの施工方法
CN109268015B (zh) * 2018-08-30 2020-03-17 上海隧道工程有限公司 基于非连续通视下顶管法联络通道施工的导向系统及方法
EP3660453B1 (en) 2018-11-30 2023-11-29 Sandvik Mining and Construction Oy Positioning of mobile object in underground worksite
RS64904B1 (sr) 2018-11-30 2023-12-29 Sandvik Mining & Construction Oy Generisanje modela za planiranje trase ili pozicioniranje mobilnog objekta u podzemnom gradilištu
CA3122868A1 (en) * 2018-12-13 2020-06-18 Continental Automotive Gmbh Method and system for generating an environment model for positioning
EP3895431A1 (en) 2018-12-14 2021-10-20 PCMS Holdings, Inc. System and method for procedurally colorizing spatial data
SE1851620A1 (en) * 2018-12-20 2020-06-21 Epiroc Rock Drills Ab Method and device for determining the position of a mining and/or construction machine
CN109403946B (zh) * 2018-12-27 2022-07-29 北京三一智造科技有限公司 旋挖钻机回转动画显示的方法、装置及旋挖钻机
US11048254B2 (en) * 2019-04-10 2021-06-29 Waymo Llc Generating simplified object models to reduce computational resource requirements for autonomous vehicles
EP3739419B1 (en) 2019-05-14 2021-11-10 Sandvik Mining and Construction Oy Autonomous mine vehicle operation
CN110118550B (zh) * 2019-05-14 2021-02-05 中国矿业大学 一种综采工作面高精度三维导航地图的生成系统及方法
US11607804B2 (en) * 2019-05-28 2023-03-21 X Development Llc Robot configuration with three-dimensional lidar
CN110295917B (zh) * 2019-05-29 2021-06-04 中国铁建重工集团股份有限公司 凿岩台车翼展装置
EP3754450B1 (en) 2019-06-17 2022-04-27 Sandvik Mining and Construction Oy Autonomous vehicle monitoring
EP3754157A1 (en) 2019-06-17 2020-12-23 Sandvik Mining and Construction Oy Underground worksite passage and model generation for path planning
AU2020202698B2 (en) * 2019-07-18 2025-02-27 Commonwealth Scientific And Industrial Research Organisation Machine Guidance Integration
CN110428419A (zh) * 2019-09-02 2019-11-08 中国矿业大学(北京) 基于移动图像识别的矿井定位系统
FI3789579T3 (fi) * 2019-09-05 2023-03-02 Sandvik Mining & Construction Oy Laite, menetelmä ja ohjelmistotuote porauksen sarjan suunnittelemiseksi
EP3796264B1 (en) 2019-09-20 2026-07-15 Sandvik Mining and Construction Oy Modelling of underground worksite
EP3798408B1 (en) * 2019-09-27 2024-01-10 Sandvik Mining and Construction Oy Method, apparatus, rock drilling rig and computer program product for mining navigation
JP7300955B2 (ja) * 2019-10-01 2023-06-30 株式会社トプコン 土木工事データ処理装置、土木工事データ処理方法および土木工事データ処理用プログラム
CN110700839B (zh) * 2019-10-21 2021-08-13 北京易联创安科技发展有限公司 一种基于激光扫描仪的掘进机位姿测量装置及其测量方法
KR102225146B1 (ko) * 2019-12-13 2021-03-10 주식회사 이에스피 광산 안전관리를 위한 갱내 차량 v2x 시스템 및 광산 안전 관리 방법
KR102246499B1 (ko) * 2019-12-13 2021-05-04 주식회사 이에스피 광산 안전 통합관리 시스템 및 방법
EP3839203A1 (en) * 2019-12-16 2021-06-23 Sandvik Mining and Construction Oy Mine vehicle safety control
FI3839197T3 (fi) * 2019-12-19 2023-11-08 Sandvik Mining & Construction Oy Asemointilaite, kallionporauskalusto ja menetelmä asemointia varten
CN111273270A (zh) * 2020-03-17 2020-06-12 北京宸控科技有限公司 一种掘进机定位定向方法
CN115443363A (zh) 2020-04-22 2022-12-06 快砖知识产权私人有限公司 块传送装置及用于与其一起使用的改进的夹紧组件
CN111622295A (zh) * 2020-04-22 2020-09-04 浙江大学 一种挖掘机行驶安全系统和方法
CN111520146B (zh) * 2020-04-29 2021-08-31 重庆市能源投资集团有限公司 基于水力压裂技术的煤矿岩石巷道掘进方法
CN111578894B (zh) * 2020-06-02 2021-10-15 北京经纬恒润科技股份有限公司 一种确定障碍物航向角的方法及装置
US12475595B2 (en) * 2020-06-18 2025-11-18 Commonwealth Scientific And Industrial Research Organisation Navigation of an underground mining machine
CN111897321B (zh) * 2020-06-19 2023-08-11 中国煤炭科工集团太原研究院有限公司 一种井下特种车辆的无人驾驶系统
CN111622667A (zh) * 2020-07-02 2020-09-04 辽宁工程技术大学 一种综采工作面过断层智能钻孔系统及方法
AU2021304545B2 (en) 2020-07-08 2025-12-04 Fastbrick Ip Pty Ltd Adhesive application system
CN114063090B (zh) * 2020-07-29 2025-05-09 北京图森未来科技有限公司 一种可移动设备的定位方法、装置及可移动设备
EP3961267B1 (en) 2020-09-01 2025-05-07 Sandvik Mining and Construction Oy Underground worksite vehicle positioning control
PL3961340T3 (pl) 2020-09-01 2023-10-16 Sandvik Mining And Construction Oy Sterowanie ustawieniem pojazdu w podziemnym miejscu pracy wyrobiskowej
WO2022057999A1 (en) * 2020-09-15 2022-03-24 Sandvik Mining And Construction Oy Mining machine with a support structure for measurement sensors
EP4214680A1 (en) * 2020-09-15 2023-07-26 Sandvik Mining and Construction Oy Visual driving assistance system for a mining machine
MX2023003558A (es) 2020-09-28 2023-06-08 J H Fletcher & Co Empernadora de techo autónoma con sensor y métodos relacionados.
CN112327842B (zh) * 2020-10-29 2022-06-03 深圳市普渡科技有限公司 机器人定位充电桩的方法及系统
US12024997B2 (en) 2020-11-10 2024-07-02 Dyno Nobel Asia Pacific Pty Limited Systems and methods for determining water depth and explosive depth in blastholes
CA3201436A1 (en) * 2020-11-13 2022-05-19 Enaex Servicios S.A. System and process for the robotic loading of explosives in underground mining
CN116783456A (zh) 2021-01-12 2023-09-19 山特维克矿山工程机械有限公司 地下工地模型生成
EP4294606A4 (en) * 2021-02-22 2025-01-15 Off-World, Inc. MICROWAVE ENERGY APPLICATOR
US20240231375A9 (en) * 2021-02-22 2024-07-11 Universal Field Robots Pty Ltd Apparatus and method for positioning equipment relative to a drill hole
CN113267140B (zh) * 2021-05-10 2022-09-23 贵州大学 一种隧道超挖欠挖检测的装置和检测方法
CN113639688B (zh) * 2021-07-19 2024-03-15 江苏徐工工程机械研究院有限公司 一种凿岩臂架、凿岩台车及凿岩臂架传感器校准方法
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
EP4499983A1 (en) * 2022-03-30 2025-02-05 Epiroc Rock Drills Aktiebolag A cover system, an electronics equipment operating system and a mining machine
EP4261646B1 (en) * 2022-04-14 2025-09-10 Sandvik Mining and Construction Oy Scanner emulation for mining vehicle
CN115126494B (zh) * 2022-06-13 2025-06-17 中煤科工机器人科技有限公司 一种巷道修复机
EP4322119A1 (en) * 2022-08-12 2024-02-14 Sandvik Mining and Construction Oy Data processing
CN116291486A (zh) * 2023-03-20 2023-06-23 中国铁建重工集团股份有限公司 凿岩台车施工方法、装置、凿岩台车及存储介质
CN116858098B (zh) * 2023-08-15 2024-02-09 中国铁路经济规划研究院有限公司 一种建设期隧道多元信息自动化采集方法和系统
CN119531947B (zh) * 2023-08-30 2025-10-03 中国石油天然气集团有限公司 一种井控应急抢险设备的远程操控方法及装置
EP4534797A1 (en) * 2023-10-06 2025-04-09 Sandvik Mining and Construction Oy Determining position for a bolt of a bolt fan
EP4571040B1 (en) * 2023-12-11 2026-03-25 Sandvik Mining and Construction Oy Controlling of a mining machine
CN117627528B (zh) * 2024-01-25 2024-05-03 中建五局第三建设有限公司 一种深基坑用锚杆钻机的施工装置及其施工方法
CN117706563B (zh) * 2024-02-05 2024-05-07 中南大学 矿井垂直断面钻孔定位方法、系统、设备及存储介质
CN118254167A (zh) * 2024-03-01 2024-06-28 中国黄金集团建设有限公司 一种矿井下机械臂姿态检测控制方法
KR20250145827A (ko) * 2024-03-29 2025-10-13 주식회사 한화 발파공의 자동설계가 가능한 천공장치 및 이를 이용한 발파공의 천공방법
EP4671487A1 (en) * 2024-06-25 2025-12-31 Sandvik Mining and Construction Oy ORDER FOR A PROTECTIVE COVER ON A DRILLING EQUIPMENT'S SWEEPING DEVICE
WO2026010536A1 (en) * 2024-07-04 2026-01-08 Epiroc Rock Drills Aktiebolag Method and system for updating a representation of a mining environment
CN119142332B (zh) * 2024-11-20 2025-01-28 山西承信新能源科技装备有限公司 井下无轨胶轮车驾驶车辆的自适应速度控制方法及系统
CN119288626B (zh) * 2024-11-26 2025-11-25 中煤科工集团重庆研究院有限公司 用于井下施工现场的监测预警处理系统及方法
CN120251317B (zh) * 2025-04-14 2025-09-26 山东黄金矿业股份有限公司新城金矿 金属矿山井下随行供电装置及掘进设备

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO149117C (no) * 1981-04-29 1984-02-29 Furuholmen As Fremgangsmaate og anordning for innstilling av en fjellboreriggs foeringsskinne i gitt avstand fra borestedet
US4514796A (en) * 1982-09-08 1985-04-30 Joy Manufacturing Company Method and apparatus for controlling the position of a hydraulic boom
FI98759C (fi) * 1995-01-20 1997-08-11 Tamrock Oy Menetelmä kallioporakoneen työkalun sijainnin määrittelemiseksi
FI110806B (fi) 2000-03-17 2003-03-31 Sandvik Tamrock Oy Järjestely miehittämättömien kaivosajoneuvojen paikan määrittämiseksi
US6608913B1 (en) * 2000-07-17 2003-08-19 Inco Limited Self-contained mapping and positioning system utilizing point cloud data
FI115678B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon törmäyksenestoon
EP1600564A1 (de) * 2004-05-24 2005-11-30 Leica Geosystems AG Verfahren zur Steuerung einer oberflächenverändernden Maschine
US20050283294A1 (en) * 2004-06-16 2005-12-22 Lehman Allen A Jr Method and apparatus for machine guidance at a work site
US7860301B2 (en) * 2005-02-11 2010-12-28 Macdonald Dettwiler And Associates Inc. 3D imaging system
FI118052B (fi) 2005-06-27 2007-06-15 Sandvik Tamrock Oy Menetelmä ja ohjelmistotuote porausyksikön paikoittamiseksi sekä kallionporauslaite
FI117570B (fi) * 2005-06-29 2006-11-30 Sandvik Tamrock Oy Menetelmä kallionporauslaitteen paikoittamiseksi porauspaikkaan ja kallionporauslaite
JP2008025163A (ja) * 2006-07-20 2008-02-07 Enzan Kobo:Kk 削岩機搭載台車における穿孔位置決め制御方法及び建設機械におけるブーム位置決め制御方法
SE530874C2 (sv) 2007-02-14 2008-09-30 Atlas Copco Rock Drills Ab Anordning och metod för positionsbestämning av en gruv- eller anläggningsmaskin
FI123638B (fi) * 2007-04-20 2013-08-30 Sandvik Mining & Constr Oy Menetelmä porauskaavion suuntaamiseksi kaarevissa tunneleissa, kallionporauslaite sekä ohjelmistotuote
FI20075661A7 (fi) * 2007-09-21 2009-03-22 Sandvik Mining & Construction Oy Menetelmä ja ohjelmistotuote porauskaavion laatimiseksi kalliotilan louhintaa varten
US8351684B2 (en) 2008-02-13 2013-01-08 Caterpillar Inc. Terrain map updating system
JP2010086031A (ja) * 2008-09-29 2010-04-15 Kajima Corp 誘導システム及び誘導方法
FI20095712A7 (fi) * 2009-06-24 2010-12-25 Sandvik Mining & Construction Oy Ohjaustietojen määrittäminen liikkuvan kaivoskoneen automaattista ohjaamista varten
FI20095715A7 (fi) * 2009-06-24 2010-12-25 Sandvik Mining & Construction Oy Liikkuvan kaivoskoneen automaattista ohjaamista varten käytettävän mallin opettaminen
FI122157B (fi) * 2010-05-10 2011-09-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten
FI125085B (fi) 2010-11-29 2015-05-29 Sandvik Mining & Constr Oy Menetelmä kallionporauslaitteen porausyksikön ohjaamiseksi ja kallionporauslaite
US9129211B2 (en) * 2012-03-15 2015-09-08 GM Global Technology Operations LLC Bayesian network to track objects using scan points using multiple LiDAR sensors
WO2013170348A1 (en) 2012-05-15 2013-11-21 Tesman Inc. Mapping of mining excavations
CN102798412B (zh) * 2012-07-31 2014-12-10 同济大学 一种基于三维激光扫描评定隧道钻爆施工质量的方法

Also Published As

Publication number Publication date
CA2936491C (en) 2018-02-06
KR20160106753A (ko) 2016-09-12
CN105917067A (zh) 2016-08-31
US20160333691A1 (en) 2016-11-17
CL2016001780A1 (es) 2017-05-19
AU2015206035A1 (en) 2016-07-14
CA2936683C (en) 2018-04-17
JP2017503100A (ja) 2017-01-26
WO2015106799A1 (en) 2015-07-23
EP3094805A1 (en) 2016-11-23
CL2016001781A1 (es) 2017-03-31
CA2936686A1 (en) 2015-07-23
AU2015206034A1 (en) 2016-07-14
WO2015107068A1 (en) 2015-07-23
CL2016001754A1 (es) 2017-01-20
AU2015206033B2 (en) 2017-06-15
KR101917937B1 (ko) 2018-11-12
US10174614B2 (en) 2019-01-08
AU2015206035B2 (en) 2017-07-20
WO2015107070A1 (en) 2015-07-23
US10260343B2 (en) 2019-04-16
US20160333690A1 (en) 2016-11-17
EA201691137A1 (ru) 2016-12-30
CA2936491A1 (en) 2015-07-23
CN105917067B (zh) 2018-12-07
CA2936686C (en) 2019-06-04
US20160341041A1 (en) 2016-11-24
AU2015206033A1 (en) 2016-07-14
PE20160975A1 (es) 2016-10-06
CA2936683A1 (en) 2015-07-23
BR112016016301A2 (enExample) 2017-08-08
WO2015107069A1 (en) 2015-07-23
BR112016016301B1 (pt) 2022-03-22
EA034130B1 (ru) 2020-01-09

Similar Documents

Publication Publication Date Title
CN105917067B (zh) 采矿车辆以及初始化采矿工作任务的方法
EP3094806B1 (en) Mine vehicle and method of initiating mine work task
EP3094807B1 (en) Mine control system
US12146407B2 (en) Mine vehicle boom positioning control
US7392151B2 (en) Initializing position and direction of mining vehicle
EP3303772B1 (en) Adaptation of mining operations satellite coverage
EP2631729A1 (en) Apparatus and method for drive path search
US11532162B2 (en) Information presenting device and information presenting method
WO2020130921A1 (en) Method and device for determining the position of a mining and/or construction machine
EP4459098A1 (en) Meshing plan update based on actual surface model of a rock surface
EP4459099A1 (en) Controlling mesh installation based on a mesh deformation parameter
CN120380240A (zh) 控制网片安装

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20161020

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20161020

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170609

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170620

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170915

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20171205

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180104

R150 Certificate of patent or registration of utility model

Ref document number: 6273041

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250