公开(公告)号：US20060190124A1

公开(公告)日：2006-08-24

申请号：US10550310

申请日：2004-03-25

Applicant: Hannu MÄKELÄ

Inventor： Hannu MÄKELÄ

IPC: G06F7/00

CPC classification number: G05D1/028 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/021

Abstract: A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).

Abstract translation: 矿用车辆和防止矿山车辆碰撞的方法。 矿山车辆（1）包括扫描车辆前方的环境的至少一个扫描器（13,14）。 在扫描的基础上，确定作为存储点（21）存储侧向方向的最外点的无障碍路线。 在车辆（1）周围已经预定了至少一个侧向安全区域（15b）。 控制系统检查在安全区域（15b）内没有存储点（21）。

公开(公告)号：US20060069472A1

公开(公告)日：2006-03-30

申请号：US11232960

申请日：2005-09-23

Applicant: Hannu Makela

Inventor： Hannu Makela

IPC: G05D1/00

CPC classification number: B60W40/00 ,  B60W40/06 ,  B60W2550/14 ,  G01C21/20 ,  G05D1/0212 ,  G05D1/0238 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/021

Abstract: A method for automatically controlling a mining machine. In the method a route is determined for a mining machine (14) in the form of successive, interconnected segments in a coordinate system fixed in a relation to the mine, the segments in turn being determined as successive points located at a distance from one another. The location of each point is determined in the coordinate system fixed in relation to the mine and the data associated with the points is sent wirelessly (17) to the mining machine.

Abstract translation: 一种自动控制采矿机的方法。 在该方法中，以与矿物关系固定的坐标系中连续相互连接的段的形式为采矿机（14）确定路线，这些段依次被确定为距离彼此相距一定距离的连续点 。 每个点的位置是在相对于矿山固定的坐标系中确定的，并且与点相关的数据被无线发送（17）到采矿机。

公开(公告)号：US06694233B1

公开(公告)日：2004-02-17

申请号：US10031775

申请日：2002-06-03

Applicant: Elliot Stanley Duff ,  Jonathan Michael Roberts ,  Peter Ian Corke ,  Jock Bernard Cunningham

Inventor： Elliot Stanley Duff ,  Jonathan Michael Roberts ,  Peter Ian Corke ,  Jock Bernard Cunningham

IPC: G06F1700

CPC classification number: G05D1/0246 ,  G05D2201/021

Abstract: A navigation system for navigating an autonomous vehicle along a path that is confined by walls that are within range of on-board sensors is described. The system determines the relative location and orientation of the walls with respect to the vehicle. The system controls the steering angle and the ground speed of the vehicle by employing: (a) range data to establish free space in front of vehicle; (b) active contours to generate a desired path; (c) driving hints to guide the active contours along arcs and open areas; (d) steering hints to confine the active contours to a specific domain of free space, at, for instance, intersections; and (e) a desired path to generate steering demand or velocity.

Abstract translation: 描述了一种用于沿着由车内传感器范围内的壁限制的路径导航自主车辆的导航系统。 该系统确定壁相对于车辆的相对位置和取向。 该系统通过采用以下方式控制车辆的转向角度和地面速度：（a）范围数据，在车辆前方建立自由空间; （b）主动轮廓以产生所需的路径; （c）驾驶提示沿弧线和开放区域引导主动轮廓; （d）指示提示将活动轮廓限制在特定的自由空间领域，例如交叉路口; 和（e）产生转向需求或速度的期望路径。

公开(公告)号：US06616244B2

公开(公告)日：2003-09-09

申请号：US10241438

申请日：2002-09-12

Applicant: Leo Häkkinen

Inventor： Leo Häkkinen

IPC: E21C3508

CPC classification number: G05D1/0038 ,  E21C35/24 ,  E21F17/18 ,  G05D1/0236 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/021

Abstract: A method of determining the position of unmanned mining vehicles. According to the method, control marks are provided in the mine, for positioning mining vehicles in production use by means of a marking device, such as a paint sprayer (14), provided in a specific measuring vehicle (3). The invention also relates to a measuring vehicle that is unmanned and comprises a measuring device for measuring a mine and also a marking device for providing a mine gallery with control marks.

Abstract translation: 确定无人采矿车辆位置的方法。 根据该方法，在矿山中设置控制标记，用于通过设置在特定测量车辆（3）中的诸如喷漆器（14）的标记装置来定位生产用途的采矿车辆。 本发明还涉及无人驾驶的测量车辆，并且包括用于测量矿井的测量装置以及用于为矿场提供控制标记的标记装置。

公开(公告)号：US20020143461A1

公开(公告)日：2002-10-03

申请号：US10156101

申请日：2002-05-28

Inventor： Ray L. Burns ,  Vadim Parfenov

IPC: G06G007/76

CPC classification number: G08G1/207 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/021 ,  G08G1/164

Abstract: A supervisory safety-control system is implemented by dividing a mine's territory into zones of free operation (nullpermission zonesnull) wherein a vehicle is allowed to move according to predetermined permission parameters but unhindered by other system constraints. Traffic of autonomous vehicles in each permission zone is controlled by the supervisory system in conjunction with and in addition to conventional safety constraints associated with the guidance system that effects the vehicle's tracking of predetermined trajectories. Permission zones are assigned and activated using criteria that ensure the vehicle will remain entirely within active zones so long as the vehicle acts within such predetermined permission parameters. Each permission zone is also associated with a maximum velocity profile that overrides guidance-system safety controls, if necessary, and ensures stoppage of the vehicle at the end of the permission zone.

Abstract translation: 通过将矿场的区域划分为自由运行区域（“许可区域”）来实施监控安全控制系统，其中允许车辆根据预定的许可参数移动，但不受其他系统限制的阻碍。 每个许可区域中的自主车辆的交通由监督系统控制，结合并且除了与影响车辆对预定轨迹的跟踪的引导系统相关联的常规安全约束之外。 使用标准来分配和激活许可区域，只要车辆在预定的许可参数范围内，车辆将保持完全在活动区域​​内。 每个许可区域还与最大速度曲线相关联，如果需要，可以覆盖指导系统的安全控制，并确保在许可区域结束时停止车辆。

公开(公告)号：US06349249B1

公开(公告)日：2002-02-19

申请号：US09515299

申请日：2000-02-29

Applicant: Peter D. Cunningham

Inventor： Peter D. Cunningham

IPC: G01C1100

CPC classification number: G01C7/06 ,  E21D9/004 ,  G01C21/16 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/027 ,  G05D2201/021

Abstract: An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit and a gray scale vision system processor/camera and/or a laser pointer is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views (“TOPES”) and also for guiding equipment through such environments.

Abstract translation: 一种自动引导装置，能够准确地确定其在诸如矿井或建筑物的围墙环境中的位置。 包括惯性测量单元和灰度级视觉系统处理器/照相机和/或激光指示器的移动单元能够初始化其位置，然后更新其在环境内的位置。 该设备特别适用于生产隧道平面图（“TOPES”），并且还用于通过这种环境引导设备。

公开(公告)号：US06247538B1

公开(公告)日：2001-06-19

申请号：US09254660

申请日：1999-05-11

Applicant: Shu Takeda ,  Masanori Tojima ,  Tomonori Ozaki ,  Megumi Hiyoshi

Inventor： Shu Takeda ,  Masanori Tojima ,  Tomonori Ozaki ,  Megumi Hiyoshi

IPC: E21B2106

CPC classification number: G05D1/0251 ,  E02F3/842 ,  E02F9/2045 ,  G05D1/0234 ,  G05D2201/021

Abstract: An automatic excavator for automatically excavating an excavation object and loading a loading object with the result excavation by utilizing a measuring instrument for determining the distance between the excavator and the excavation object and the loading object, an excavation object recognition system for recognizing a three-dimensional shape of the excavation object on the basis of an output from the measuring instrument, a target excavation position computing system for computing the target excavation position on the basis of the three-dimensional shape of the recognized excavation object, a target loading position computing system for computing a relative position of the loading object with respect to the excavator and a relative attitude of the excavator with respect to the loading object on the basis of an output from the measuring instrument, and computing a target loading position on the basis of the computed relative position, an automatic positioning system for automatically positioning the excavator in the computed target excavation position and the target loading position, an automatic excavation control system for automatically excavating the excavation object in the target excavation position, and an automatic loading control system for automatically loading the loading object with the excavation in the target loading position, whereby a series of operations from evacuation to loading can be carried out automatically and efficiently by using one automatic excavator.

Abstract translation: 一种用于通过利用用于确定挖掘机与挖掘对象和装载物体之间的距离的测量仪器自动挖掘挖掘对象并加载装载物体的自动挖掘机，用于识别三维的挖掘对象识别系统 基于来自测量仪器的输出的挖掘对象的形状，用于基于识别的挖掘对象的三维形状来计算目标挖掘位置的目标挖掘位置计算系统，用于 基于所述测量仪器的输出计算所述装载物体相对于所述挖掘机的相对位置以及所述挖掘机相对于所述装载物体的相对姿态，以及基于所计算的相对位置计算目标装载位置 位置，自动定位系统 将挖掘机定位在计算出的目标挖掘位置和目标装载位置，用于在目标挖掘位置自动挖掘挖掘对象的自动挖掘控制系统，以及用于在挖掘中自动加载装载物体的自动装载控制系统 目标装载位置，从而可以通过使用一台自动挖掘机自动而有效地进行从抽空到装载的一系列操作。

公开(公告)号：US5586030A

公开(公告)日：1996-12-17

申请号：US328329

申请日：1994-10-24

Applicant: Carl A. Kemner ,  Craig L. Koehrsen ,  Joel L. Peterson

Inventor： Carl A. Kemner ,  Craig L. Koehrsen ,  Joel L. Peterson

IPC: G01C21/00 ,  G05D1/02 ,  G08G1/0968 ,  G08G1/123 ,  G06F165/00

CPC classification number: G08G1/096827 ,  G05D1/0257 ,  G05D1/0278 ,  G05D1/0297 ,  G08G1/202 ,  G05D1/0272 ,  G05D2201/021

Abstract: The invention is a system and method for managing a resource shared by a plurality of autonomous vehicles. Each vehicle includes a navigator for causing the vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource. A queue or fleet manager establishes a queue to control access to the resource. The queue manager generates a queue position in response to receipt of the queue position request from an approaching vehicle. Under control of the queue manager, autonomous vehicles are passed through the queue and allowed to access the resource in a first-in, first-out manner.

Abstract translation: 本发明是用于管理由多个自主车辆共享的资源的系统和方法。 每个车辆包括导航器，用于使车辆行驶到资源的指定路线，并且在接近资源时产生队列位置请求。 队列或队列管理器建立一个队列来控制对资源的访问。 队列管理器响应于从接近的车辆接收到队列位置请求而产生队列位置。 在队列管理器的控制下，自动车辆通过队列，并允许以先入先出的方式访问资源。

公开(公告)号：US5258755A

公开(公告)日：1993-11-02

申请号：US873767

申请日：1992-04-27

Applicant: Arthur F. Kuckes

Inventor： Arthur F. Kuckes

IPC: E21B7/06 ,  E21B47/022 ,  G05D1/02 ,  G01V1/00

CPC classification number: G05D1/0261 ,  E21B47/02216 ,  E21B7/068 ,  G05D2201/021

Abstract: A magnetic field guidance system for guiding a movable carrier such as a drill assembly with respect to a fixed target includes a pair of magnetic field sources at one location, such as the carrier, and a highly sensitive magnetic field detector at the other location, or target. The first field source is driven by an alternating current to produce a low frequency alternating axial field, while the second source is a magnet which produces a field perpendicular to the axis of the first field. Where the magnetic field sources are mounted on a rotatable drill assembly, the second source may be a permanent magnet which rotates with the drill assembly. The detector may be a fluxgate magnetometer which senses the direction of the target location with respect to the direction of the axial field by determining the deviation from perpendicular of the two magnetic fields at the target location.

Abstract translation: 用于相对于固定目标引导诸如钻头组件的可移动载体的磁场引导系统包括在一个位置处的一对磁场源，例如载体，以及在另一位置处的高灵敏度磁场检测器，或 目标。 第一场源由交流电驱动以产生低频交替轴向场，而第二源是产生垂直于第一场的轴的场的磁体。 当磁场源安装在可旋转的钻机组件上时，第二源可以是与钻机组件一起旋转的永磁体。 检测器可以是磁通门磁力计，其通过确定在目标位置处的两个磁场的垂直偏离来感测目标位置相对于轴向场的方向的方向。

公开(公告)号：US11940812B2

公开(公告)日：2024-03-26

申请号：US17053338

申请日：2018-05-09

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Janne Kallio ,  Antti Lehtinen ,  Jarkko Ruokojarvi

IPC: G05D1/02 ,  E02F9/20 ,  G05D1/00 ,  G08G1/01

CPC classification number: G05D1/0289 ,  E02F9/205 ,  E02F9/2054 ,  G05D1/0088 ,  G08G1/012 ,  G05D2201/021

Abstract: A method for a zone passage control system for an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of associating a first passage control unit with a first zone and a second zone, detecting state parameter information of the first zone and the second zone, merging the first zone and the second zone into a fusion zone on the basis of the state parameter information of the first zone and the second zone, and adapting the zone passage control system to allow a first autonomously operating mobile vehicle to pass the first passage control unit in the fusion zone without interrupting operation of a second autonomously operating mobile vehicle in the first zone and/or the second zone.