WO2004086084A1 - Arrangement for collision prevention of mine vehicle - Google Patents
Arrangement for collision prevention of mine vehicle Download PDFInfo
- Publication number
- WO2004086084A1 WO2004086084A1 PCT/FI2004/000174 FI2004000174W WO2004086084A1 WO 2004086084 A1 WO2004086084 A1 WO 2004086084A1 FI 2004000174 W FI2004000174 W FI 2004000174W WO 2004086084 A1 WO2004086084 A1 WO 2004086084A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- safe area
- mine
- control system
- mine vehicle
- Prior art date
Links
- 230000002265 prevention Effects 0.000 title description 4
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002604 ultrasonography 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/550,310 US7603235B2 (en) | 2003-03-25 | 2004-03-25 | Arrangement for collision prevention of mine vehicle |
CA2519283A CA2519283C (en) | 2003-03-25 | 2004-03-25 | Arrangement for collision prevention of mine vehicle |
AU2004223688A AU2004223688C1 (en) | 2003-03-25 | 2004-03-25 | Arrangement for collision prevention of mine vehicle |
SE0502086A SE529226C8 (en) | 2003-03-25 | 2005-09-22 | Mining vehicles and procedure for preventing a mining vehicle collision |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20030449 | 2003-03-25 | ||
FI20030449A FI115678B (en) | 2003-03-25 | 2003-03-25 | Arrangement for Mining Vehicle Collision Prevention |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004086084A1 true WO2004086084A1 (en) | 2004-10-07 |
Family
ID=8565871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FI2004/000174 WO2004086084A1 (en) | 2003-03-25 | 2004-03-25 | Arrangement for collision prevention of mine vehicle |
Country Status (8)
Country | Link |
---|---|
US (1) | US7603235B2 (en) |
AU (1) | AU2004223688C1 (en) |
CA (1) | CA2519283C (en) |
CL (1) | CL2004000622A1 (en) |
FI (1) | FI115678B (en) |
SE (1) | SE529226C8 (en) |
WO (1) | WO2004086084A1 (en) |
ZA (1) | ZA200507225B (en) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007048029A2 (en) * | 2005-10-21 | 2007-04-26 | Deere & Company | Systems and methods for obstacle avoidance |
GB2442776A (en) * | 2006-10-11 | 2008-04-16 | Autoliv Dev | Object detection arrangement and positioning system for analysing the surroundings of a vehicle |
WO2010149851A1 (en) | 2009-06-24 | 2010-12-29 | Sandvik Mining And Construction Oy | Determination of route for arranging automatic control of mobile mining machine |
WO2011141629A1 (en) * | 2010-05-10 | 2011-11-17 | Sandvik Mining And Construction Oy | Method and apparatus for mining vehicle safety arrangements |
CN102893232A (en) * | 2010-05-10 | 2013-01-23 | 山特维克矿山工程机械有限公司 | Method and apparatus for arranging mining vehicle positioning |
US8571765B2 (en) | 2009-06-24 | 2013-10-29 | Sandvik Mining And Construction Oy | Definition of control data for automatic control of mobile mining machine |
WO2013165303A1 (en) * | 2012-05-02 | 2013-11-07 | Atlas Copco Rock Drills Ab | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine |
WO2014191013A1 (en) * | 2013-05-27 | 2014-12-04 | Sandvik Mining And Construction Oy | Method and control system for a mining vehicle and a mining vehicle |
CN104360687A (en) * | 2014-11-06 | 2015-02-18 | 北京矿冶研究总院 | Multi-mode autonomous driving control method for underground carry scraper |
CN105159292A (en) * | 2015-08-19 | 2015-12-16 | 阜新博远科技有限公司 | Tramcar operating real-time obstacle automatic detection and video feedback system and method |
CN110148312A (en) * | 2019-04-30 | 2019-08-20 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of anti-collision warning method, apparatus and storage medium based on V2X system |
US10657823B2 (en) | 2017-10-26 | 2020-05-19 | Bendix Commercial Vehicle Systems Llc | System and method for determining when an object detected by a collision avoidance sensor on one member of an articulated vehicle comprises another member of the vehicle |
EP3839203A1 (en) | 2019-12-16 | 2021-06-23 | Sandvik Mining and Construction Oy | Mine vehicle safety control |
WO2022063406A1 (en) | 2020-09-24 | 2022-03-31 | Sandvik Mining And Construction Oy | Mine vehicle safety control |
EP4325319A1 (en) * | 2022-08-17 | 2024-02-21 | Sandvik Mining and Construction Oy | Obstacle avoidance trajectory for a mining vehicle |
WO2024038167A1 (en) * | 2022-08-17 | 2024-02-22 | Sandvik Mining And Construction Oy | Obstacle detection for a mining vehicle |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
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US10816986B2 (en) | 2016-08-02 | 2020-10-27 | Ge Global Sourcing Llc | Systems for vehicle collision avoidance |
FI115414B (en) * | 2003-07-03 | 2005-04-29 | Sandvik Tamrock Oy | Arrangement for monitoring the location of a mine vehicle in a mine |
DE102005006554B4 (en) | 2005-02-12 | 2019-03-07 | Sew-Eurodrive Gmbh & Co Kg | Method for operating a system and driverless transport system |
US8280573B2 (en) * | 2006-08-10 | 2012-10-02 | Komatsu Ltd. | Guided control device for unmanned vehicle |
US8554478B2 (en) * | 2007-02-23 | 2013-10-08 | Honeywell International Inc. | Correlation position determination |
DE102007026275A1 (en) * | 2007-06-05 | 2008-12-18 | General Dynamics Santa Bárbara Sistemas GmbH | Method for laying a military bridge |
US7852463B2 (en) * | 2007-08-13 | 2010-12-14 | Honeywell International Inc. | Range measurement device |
US8174562B2 (en) * | 2007-11-09 | 2012-05-08 | Honeywell International Inc. | Stereo camera having 360 degree field of view |
US8193965B2 (en) * | 2007-11-19 | 2012-06-05 | L-3 Communications Cyterra Corporation | Forward-looking detection radar |
JP4565229B2 (en) * | 2007-12-10 | 2010-10-20 | 本田技研工業株式会社 | robot |
DE102010012749A1 (en) * | 2010-03-25 | 2011-09-29 | Kuka Laboratories Gmbh | Method for operating an autonomous industrial truck |
FI20115338A (en) * | 2011-04-08 | 2012-07-06 | Sandvik Mining & Constr Oy | Arrangements for passage control of the mining operations area |
JP5767852B2 (en) * | 2011-05-10 | 2015-08-19 | 株式会社小松製作所 | Transport vehicle with current collector |
US9030332B2 (en) | 2011-06-27 | 2015-05-12 | Motion Metrics International Corp. | Method and apparatus for generating an indication of an object within an operating ambit of heavy loading equipment |
US8768583B2 (en) | 2012-03-29 | 2014-07-01 | Harnischfeger Technologies, Inc. | Collision detection and mitigation systems and methods for a shovel |
US8755966B2 (en) | 2012-04-03 | 2014-06-17 | Caterpillar Inc. | System and method for controlling autonomous machine within lane boundaries during position uncertainty |
US9110454B2 (en) * | 2013-02-14 | 2015-08-18 | Caterpillar Inc. | Machine detection system |
WO2015106799A1 (en) * | 2014-01-14 | 2015-07-23 | Sandvik Mining And Construction Oy | Mine vehicle, mine control system and mapping method |
US10099609B2 (en) * | 2014-07-03 | 2018-10-16 | InfoMobility S.r.L. | Machine safety dome |
AU2014409929B2 (en) * | 2014-10-29 | 2019-05-02 | Technological Resources Pty Ltd | A method of operating a vehicle and a vehicle operating system |
US9989636B2 (en) * | 2015-03-26 | 2018-06-05 | Deere & Company | Multi-use detection system for work vehicle |
US10690510B2 (en) | 2015-05-12 | 2020-06-23 | Pedro Renato Gonzalez Mendez | Monitoring system for anticipating dangerous conditions during transportation of a cargo over land |
US10815640B2 (en) * | 2016-08-31 | 2020-10-27 | Komatsu Ltd. | Wheel loader and method for controlling wheel loader |
JP6886258B2 (en) | 2016-08-31 | 2021-06-16 | 株式会社小松製作所 | Wheel loader and wheel loader control method |
US10604149B2 (en) * | 2017-03-30 | 2020-03-31 | Robert Bosch Gmbh | Alert reduction in vehicles using map data |
EP3415390B1 (en) | 2017-06-12 | 2024-03-27 | Hexagon Geosystems Services AG | Driving assistance system for reversing a mining haulage vehicle |
CA3120965A1 (en) | 2018-11-26 | 2020-06-04 | Uber Technologies, Inc. | Routing graph management in autonomous vehicle routing |
US11829135B2 (en) * | 2018-11-28 | 2023-11-28 | Uber Technologies, Inc. | Tuning autonomous vehicle dispatch using vehicle performance |
US11230273B2 (en) | 2019-05-02 | 2022-01-25 | Liebherr Mining Equipment Newport News Co. | Method for autonomously controlling a vehicle |
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 |
US11341781B2 (en) * | 2019-10-18 | 2022-05-24 | Toyota Motor Engineering And Manufacturing North America, Inc. | Vehicular communications through identifiers and online systems |
CN113031602B (en) * | 2021-03-04 | 2022-08-02 | 上海申传电气股份有限公司 | Construction method of dynamic envelope line of mining rail electric locomotive |
CN117734683A (en) * | 2024-02-19 | 2024-03-22 | 中国科学院自动化研究所 | Underground vehicle anti-collision safety early warning decision-making method |
Citations (4)
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US5572428A (en) * | 1993-09-30 | 1996-11-05 | Honda Giken Kogyo Kabushiki Kaisha | Anti-collision system for vehicles |
US5999865A (en) * | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
US6055042A (en) * | 1997-12-16 | 2000-04-25 | Caterpillar Inc. | Method and apparatus for detecting obstacles using multiple sensors for range selective detection |
US6393362B1 (en) * | 2000-03-07 | 2002-05-21 | Modular Mining Systems, Inc. | Dynamic safety envelope for autonomous-vehicle collision avoidance system |
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-
2003
- 2003-03-25 FI FI20030449A patent/FI115678B/en active IP Right Grant
-
2004
- 2004-03-24 CL CL200400622A patent/CL2004000622A1/en unknown
- 2004-03-25 CA CA2519283A patent/CA2519283C/en not_active Expired - Lifetime
- 2004-03-25 AU AU2004223688A patent/AU2004223688C1/en not_active Expired
- 2004-03-25 WO PCT/FI2004/000174 patent/WO2004086084A1/en active Application Filing
- 2004-03-25 US US10/550,310 patent/US7603235B2/en active Active
-
2005
- 2005-09-08 ZA ZA200507225A patent/ZA200507225B/en unknown
- 2005-09-22 SE SE0502086A patent/SE529226C8/en not_active IP Right Cessation
Patent Citations (4)
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US6055042A (en) * | 1997-12-16 | 2000-04-25 | Caterpillar Inc. | Method and apparatus for detecting obstacles using multiple sensors for range selective detection |
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Cited By (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9429944B2 (en) | 2005-10-21 | 2016-08-30 | Deere & Company | Versatile robotic control module |
WO2007048029A3 (en) * | 2005-10-21 | 2007-07-26 | Deere & Co | Systems and methods for obstacle avoidance |
US8874300B2 (en) | 2005-10-21 | 2014-10-28 | Deere & Company | Systems and methods for obstacle avoidance |
WO2007048029A2 (en) * | 2005-10-21 | 2007-04-26 | Deere & Company | Systems and methods for obstacle avoidance |
US7894951B2 (en) | 2005-10-21 | 2011-02-22 | Deere & Company | Systems and methods for switching between autonomous and manual operation of a vehicle |
US8020657B2 (en) | 2005-10-21 | 2011-09-20 | Deere & Company | Systems and methods for obstacle avoidance |
DE112006003007B4 (en) | 2005-10-21 | 2021-09-02 | Deere & Company | Systems and methods for avoiding obstacles |
US9043016B2 (en) | 2005-10-21 | 2015-05-26 | Deere & Company | Versatile robotic control module |
US9098080B2 (en) | 2005-10-21 | 2015-08-04 | Deere & Company | Systems and methods for switching between autonomous and manual operation of a vehicle |
US8558679B2 (en) | 2006-10-11 | 2013-10-15 | Autoliv Development Ab | Method of analyzing the surroundings of a vehicle |
GB2442776A (en) * | 2006-10-11 | 2008-04-16 | Autoliv Dev | Object detection arrangement and positioning system for analysing the surroundings of a vehicle |
CN102460331A (en) * | 2009-06-24 | 2012-05-16 | 山特维克矿山工程机械有限公司 | Determination of route for arranging automatic control of mobile mining machine |
EP2446332A4 (en) * | 2009-06-24 | 2013-02-20 | Sandvik Mining & Constr Oy | Determination of route for arranging automatic control of mobile mining machine |
CN102460331B (en) * | 2009-06-24 | 2014-09-24 | 山特维克矿山工程机械有限公司 | Determination of route for arranging automatic control of mobile mining machine |
US8571765B2 (en) | 2009-06-24 | 2013-10-29 | Sandvik Mining And Construction Oy | Definition of control data for automatic control of mobile mining machine |
EP2446332A1 (en) * | 2009-06-24 | 2012-05-02 | Sandvik Mining and Construction Oy | Determination of route for arranging automatic control of mobile mining machine |
WO2010149851A1 (en) | 2009-06-24 | 2010-12-29 | Sandvik Mining And Construction Oy | Determination of route for arranging automatic control of mobile mining machine |
US8744746B2 (en) | 2009-06-24 | 2014-06-03 | Sandvik Mining And Construction Oy | Determination of route for arranging automatic control of mobile mining machine |
CN102893176B (en) * | 2010-05-10 | 2014-11-05 | 山特维克矿山工程机械有限公司 | Method and apparatus for mining vehicle safety arrangements |
CN102893176A (en) * | 2010-05-10 | 2013-01-23 | 山特维克矿山工程机械有限公司 | Method and apparatus for mining vehicle safety arrangements |
US8606495B2 (en) | 2010-05-10 | 2013-12-10 | Sandvik Mining And Construction Oy | Method and apparatus for mining vehicle safety arrangements |
WO2011141629A1 (en) * | 2010-05-10 | 2011-11-17 | Sandvik Mining And Construction Oy | Method and apparatus for mining vehicle safety arrangements |
EP2569652A4 (en) * | 2010-05-10 | 2017-10-25 | Sandvik Mining and Construction Oy | Method and apparatus for mining vehicle safety arrangements |
CN102893232A (en) * | 2010-05-10 | 2013-01-23 | 山特维克矿山工程机械有限公司 | Method and apparatus for arranging mining vehicle positioning |
AU2011251868B2 (en) * | 2010-05-10 | 2014-09-04 | Sandvik Mining And Construction Oy | Method and apparatus for mining vehicle safety arrangements |
WO2013165303A1 (en) * | 2012-05-02 | 2013-11-07 | Atlas Copco Rock Drills Ab | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine |
US9310805B2 (en) | 2012-05-02 | 2016-04-12 | Atlas Copco Rock Drills Ab | Method and system for maneuvering a mobile mining machine in a tunnel and a mobile mining machine |
AU2013257296B2 (en) * | 2012-05-02 | 2016-08-25 | Epiroc Rock Drills Aktiebolag | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine |
CN104272209B (en) * | 2012-05-02 | 2017-03-08 | 阿特拉斯·科普柯凿岩设备有限公司 | For manipulating the method and system of portable Mars Miner and portable Mars Miner in tunnel |
CN104272209A (en) * | 2012-05-02 | 2015-01-07 | 阿特拉斯·科普柯凿岩设备有限公司 | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine |
US9500079B2 (en) | 2013-05-27 | 2016-11-22 | Sandvik Mining & Construction Oy | Method and control system for a mining vehicle and a mining vehicle |
WO2014191013A1 (en) * | 2013-05-27 | 2014-12-04 | Sandvik Mining And Construction Oy | Method and control system for a mining vehicle and a mining vehicle |
CN104360687A (en) * | 2014-11-06 | 2015-02-18 | 北京矿冶研究总院 | Multi-mode autonomous driving control method for underground carry scraper |
CN105159292A (en) * | 2015-08-19 | 2015-12-16 | 阜新博远科技有限公司 | Tramcar operating real-time obstacle automatic detection and video feedback system and method |
US10657823B2 (en) | 2017-10-26 | 2020-05-19 | Bendix Commercial Vehicle Systems Llc | System and method for determining when an object detected by a collision avoidance sensor on one member of an articulated vehicle comprises another member of the vehicle |
CN110148312A (en) * | 2019-04-30 | 2019-08-20 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of anti-collision warning method, apparatus and storage medium based on V2X system |
EP3839203A1 (en) | 2019-12-16 | 2021-06-23 | Sandvik Mining and Construction Oy | Mine vehicle safety control |
WO2021122576A1 (en) | 2019-12-16 | 2021-06-24 | Sandvik Mining And Construction Oy | Mine vehicle safety control |
WO2022063406A1 (en) | 2020-09-24 | 2022-03-31 | Sandvik Mining And Construction Oy | Mine vehicle safety control |
EP4325319A1 (en) * | 2022-08-17 | 2024-02-21 | Sandvik Mining and Construction Oy | Obstacle avoidance trajectory for a mining vehicle |
WO2024038141A1 (en) * | 2022-08-17 | 2024-02-22 | Sandvik Mining And Construction Oy | Obstacle avoidance trajectory for a mining vehicle |
WO2024038167A1 (en) * | 2022-08-17 | 2024-02-22 | Sandvik Mining And Construction Oy | Obstacle detection for a mining vehicle |
Also Published As
Publication number | Publication date |
---|---|
AU2004223688A1 (en) | 2004-10-07 |
ZA200507225B (en) | 2006-06-28 |
US7603235B2 (en) | 2009-10-13 |
AU2004223688C1 (en) | 2009-05-21 |
SE0502086L (en) | 2005-09-22 |
SE529226C2 (en) | 2007-06-05 |
US20060190124A1 (en) | 2006-08-24 |
FI115678B (en) | 2005-06-15 |
CL2004000622A1 (en) | 2005-02-04 |
SE529226C8 (en) | 2007-09-18 |
CA2519283A1 (en) | 2004-10-07 |
AU2004223688B2 (en) | 2008-10-30 |
FI20030449A (en) | 2004-09-26 |
FI20030449A0 (en) | 2003-03-25 |
CA2519283C (en) | 2011-05-24 |
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