公开(公告)号：US08606495B2

公开(公告)日：2013-12-10

申请号：US13696766

申请日：2011-05-06

Applicant: Hannu Makela ,  Jouni Sievila ,  Jarkko Uotila

Inventor： Hannu Makela ,  Jouni Sievila ,  Jarkko Uotila

IPC: G06F17/10

CPC classification number: G05D1/024 ,  E21C35/08 ,  E21F13/025 ,  G01S17/936 ,  G05D1/0274 ,  G05D2201/021

Abstract: A method for a safety system of a mining vehicle. The method comprises scanning the surroundings of the mining vehicle while the mining vehicle is driven and giving a collision warning if an obstacle is detected in a safety zone of the mining vehicle. In the system, there is stored obstacle information comprising at least location information of predetermined obstacles. Location information of the obstacle detected on the basis of the scanning is compared with the location information determined in the obstacle information. Stopping of the mining vehicle, caused by the safety system due to the detected obstacle, is prevented in response to the detected obstacle being determined safe on the basis of checking the obstacle information.

Abstract translation: 一种采矿车辆安全系统的方法。 该方法包括在采矿车辆被驱动时扫描采矿车辆的周围环境，并且如果在采矿车辆的安全区域中检测到障碍物则发出碰撞警告。 在系统中，存储至少包含预定障碍物的位置信息的障碍物信息。 将基于扫描检测到的障碍物的位置信息与在障碍物信息中确定的位置信息进行比较。 在检测到障碍物信息的基础上，响应于检测到的障碍物被确定为安全，防止了由检测到的障碍物引起的由安全系统引起的采矿车辆的停止。

公开(公告)号：US20130311153A1

公开(公告)日：2013-11-21

申请号：US13471834

申请日：2012-05-15

Applicant: Eric Alan Moughler ,  Craig Lawrence Koehrsen ,  Douglas William Horton

Inventor： Eric Alan Moughler ,  Craig Lawrence Koehrsen ,  Douglas William Horton

IPC: G06G7/70

CPC classification number: E02F9/2045 ,  E02F9/205 ,  E02F9/261 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/021 ,  G06Q10/047

Abstract: A method for sorting among a plurality of potential route plans for operating an autonomous ground based machine includes a step of creating a virtual model of a terrain of a work site. A first virtual lane having at least one measurable lane constraint is created within the virtual model. A first virtual machine footprint is created and has a first virtual movement profile corresponding to an actual autonomous movement profile of the autonomous machine. The first virtual machine footprint is moved from a starting position along the first virtual lane to an ending position according to the first virtual movement profile. During the moving step, the first virtual machine footprint is compared to the at least one measurable lane constraint. The first proposed route plan is then designated as either viable or unacceptable based on the comparison.

Abstract translation: 用于在用于操作自主地面机器的多个潜在路线图之间排序的方法包括创建工地的地形的虚拟模型的步骤。 在虚拟模型内创建具有至少一个可测量车道约束的第一虚拟车道。 创建第一虚拟机占用空间并具有与自主机器的实际自主运动配置文件相对应的第一虚拟移动配置文件。 根据第一虚拟移动简档，第一虚拟机占用面积从第一虚拟通道的起始位置移动到结束位置。 在移动步骤期间，将第一虚拟机占用空间与至少一个可测量的车道约束进行比较。 然后根据比较将第一个提出的路线图指定为可行的或不可接受的。

公开(公告)号：US08437900B2

公开(公告)日：2013-05-07

申请号：US12011805

申请日：2008-01-29

Applicant: Akiharu Nishijima ,  Masaki Mori

Inventor： Akiharu Nishijima ,  Masaki Mori

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0278 ,  G05D1/0274 ,  G05D2201/021

Abstract: A control device for guided travel of an unmanned vehicle, in which the unmanned vehicle is guided to travel by receiving a signal sent from a GPS satellite by the unmanned vehicle, measuring its own vehicle position based on the signal, and controlling such that a positional shift between the vehicle position and a target point that is a passing point sequentially set on a target traveling course falls into an allowable range for controlling error, wherein a guidable range is set in advance such that a position measurement error is added to the allowable range for controlling error; the position measurement error is obtained based on position measurement accuracy information from the signal; the allowable range for controlling error is changed according to the obtained position measurement error; and control is performed such that the positional shift falls into the changed allowable range for controlling error.

Abstract translation: 通过接收由无人驾驶车辆从GPS卫星发送的信号，无人驾驶车辆被引导行驶的无人驾驶车辆的驾驶控制装置，基于该信号测定其本身的车辆位置，并且控制该位置 作为在目标行驶路线上顺序设置的通过点的车辆位置与目标点之间的偏移落入用于控制误差的允许范围内，其中，引导范围被预先设定，使得位置测量误差被添加到允许范围 用于控制错误; 基于来自信号的位置测量精度信息获得位置测量误差; 根据获得的位置测量误差改变控制误差的允许范围; 并且执行控制，使得位置偏移落入用于控制误差的改变的允许范围内。

公开(公告)号：US20120095639A1

公开(公告)日：2012-04-19

申请号：US13379914

申请日：2010-06-22

Applicant: Hannu Mäkelä ,  Antti Lehtinen ,  Jarkko Ruokojärvi ,  Jouni Sievilä

Inventor： Hannu Mäkelä ,  Antti Lehtinen ,  Jarkko Ruokojärvi ,  Jouni Sievilä

IPC: G05D1/02

CPC classification number: G01C21/32 ,  E21F13/025 ,  G05D1/0274 ,  G05D2201/021

Abstract: The present invention relates to a method of determining routes for arranging automatic control of a mobile mining machine. A return route is determined computer-aidedly for the mining machine on the basis of data concerning a route taught by driving by executing, by a data processing device configured for generating return routes, at least the following steps: determining a route identifier for the return route, determining as route points of the return route at least some of the route points of the drive route in a reverse order, wherein when determining route point data of the return route on the basis of the route point data of the drive route, deleting additional control data associated with one or more route points of the drive route, and storing the data determining the return route to be used for automatically controlling the mining machine.

Abstract translation: 本发明涉及一种确定用于布置移动式采矿机的自动控制的路线的方法。 基于关于通过驾驶教导的路线的数据，通过由配置用于生成返回路线的数据处理装置执行至少以下步骤，对计算机进行计算机确定返回路线：确定返回的路线标识符 路线，以相反的顺序确定作为返回路线的至少一部分路线点的路线点，其中，当基于所述驱动路线的路线点数据确定返回路线的路线点数据时，删除 与驱动路线的一个或多个路线点相关联的附加控制数据，以及存储确定用于自动控制采矿机的返回路线的数据。

公开(公告)号：US07970508B2

公开(公告)日：2011-06-28

申请号：US11982769

申请日：2007-11-05

Applicant: Tomonori Ozaki

Inventor： Tomonori Ozaki

IPC: G01C22/00

CPC classification number: G05D1/0221 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/021

Abstract: The guided travel control method and guided travel control apparatus capable of creating a traveling course by teaching only target earth unloading points, without traveling through all passage points of the traveling course, prior to the guided traveling, when each traveling course to each target earth unloading point is taught, thereby increasing the efficiency of teaching operation and also increasing the operation efficiency. In the invention, a corrected traveling course for guiding an unmanned vehicle is created based on a hopper detour area, a corrected target earth unloading position, and a target movement direction in a target earth unloading position such that the unmanned vehicle moves in the target movement direction to the corrected target earth unloading position without interfering with the hopper detour area, then the unmanned vehicle is guided to travel along the created corrected traveling course.

Abstract translation: 导向行驶控制方法和导向行驶控制装置，能够通过仅在目标地面卸载点之前仅教导目标地面卸载点，而不经过行进路线的所有通过点，在导航行驶之前，当每个目标地面卸载 教学点，从而提高教学效果，提高操作效率。 在本发明中，基于目标地面卸载位置中的料斗绕道区域，修正对象地卸载位置和目标移动方向，创建用于引导无人车辆的修正行驶路线，使得无人车辆在目标移动中移动 方向到校正的目标地面卸载位置，而不干扰料斗绕道区域，则无人驾驶车辆被引导沿着创建的校正行驶路线行驶。

公开(公告)号：US20110118900A1

公开(公告)日：2011-05-19

申请号：US12942682

申请日：2010-11-09

Applicant: Takayuki UCHIDA ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

Inventor： Takayuki UCHIDA ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

IPC: G05D1/02

CPC classification number: G05D1/0297 ,  G05D2201/0205 ,  G05D2201/021

Abstract: In an autonomic traveling apparatus for a vehicle, vehicles usually travel an independent travel lane and when there are two approaching vehicles on the independent travel lane, they switch to pass-by lanes to pass by each other. To do this switching operation effectively, respective vehicles check and obtain road conditions around them while they are traveling and the obtained road conditions are transmitted to and collected by a travel administration center so that the road conditions at various points along the lanes can be obtained from the travel administration center. Accordingly, when the autonomic traveling trucks approaching each other and supposed to pass by each other, switch to the associated pass-by lanes, they change travel lanes avoiding the point of bad road condition on the basis of the road conditions sent from the travel administration center.

Abstract translation: 在车辆的自主运动装置中，车辆通常行驶独立的行车道，并且当在独立行车道上有两辆接近的车辆时，他们切换到经过的路段。 为了有效地进行这种切换操作，各车辆在行驶时检查并获得他们周围的道路状况，并且所获得的道路状况被传送到行政管理中心并由行驶管理中心收集，使得可以从道路的各个点获得沿着车道的各个点的道路状况 旅行管理中心。 因此，当自主运输卡车彼此靠近并相互通过时，切换到相关的通行道路，根据从行政管理部门发送的道路状况，改变行车道，避免出现恶劣道路状况 中央。

公开(公告)号：US07831345B2

公开(公告)日：2010-11-09

申请号：US11992953

申请日：2006-10-02

Applicant: Timo Heino ,  Pekka Vauramo

Inventor： Timo Heino ,  Pekka Vauramo

IPC: B62D1/28 ,  E21C41/00 ,  G05D1/02 ,  B62D12/02

CPC classification number: B62D1/28 ,  B62D12/02 ,  E21C41/00 ,  G05D1/0297 ,  G05D2201/021

Abstract: A method of driving mine vehicles in a mine, and a transport system. A plurality of mine vehicles is arranged in succession and driven in convoy between working areas. A master vehicle in the convoy is driven manually, and slave vehicles follow the master, provided with no mechanical connection. In the working areas, the convoy is disassembled, since single vehicles are each driven separately. When assigned tasks in the working areas have been completed, the vehicles are reassembled into a convoy so as to be driven to a next working area.

Abstract translation: 一种在矿山内开采矿山车辆的方法，以及运输系统。 多个矿山车辆相继布置，并在工作区域之间的车队中驾驶。 车辆中的主车辆是手动驱动的，而从车辆跟随主机，没有机械连接。 在工作区内，车队拆卸，单车分开驱动。 当工作区内的任务完成时，将车辆重新组装成车队，以便被驱动到下一个工作区域。

公开(公告)号：US07392151B2

公开(公告)日：2008-06-24

申请号：US10550309

申请日：2004-03-25

Applicant: Hannu Mäkelä

Inventor： Hannu Mäkelä

IPC: G06F15/00

CPC classification number: G05D1/0038 ,  G01C21/30 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/027 ,  G05D2201/021

Abstract: A method of initializing the position and direction of a mining vehicle, and a mining vehicle. An environmental model and route points are stored in a control system of the vehicle. The environment of the vehicle is scanned, and scanned points are generated based on obstacles observed. The control system is arranged to determine coordinates of the scanned points by using the position of the route points within a search range and at least one direction. The coordinates calculated for the scanned points are compared with the environmental model. Such a route point and direction are selected as initial values for the mining vehicle, by which the generated coordinates of the scanned points best match the environmental model.

Abstract translation: 初始化采矿车辆和采矿车辆的位置和方向的方法。 环境模型和路线点存储在车辆的控制系统中。 扫描车辆的环境，并根据观察到的障碍物生成扫描点。 控制系统被布置成通过使用搜索范围和至少一个方向上的路线点的位置来确定扫描点的坐标。 将扫描点计算的坐标与环境模型进行比较。 这样的路线点和方向被选择为采矿车辆的初始值，由此所产生的扫描点的坐标与环境模型最匹配。

公开(公告)号：US07191060B2

公开(公告)日：2007-03-13

申请号：US11232262

申请日：2005-09-22

Applicant: Hannu Mäkelä

Inventor： Hannu Mäkelä

IPC: G01C21/30

CPC classification number: G05D1/0212 ,  G01C21/20 ,  G05D2201/021

Abstract: A method for automatically guiding a mining machine (14) provided with a route determined as successive route determined as successive route points in the mine. In the method, data relating to the successive points are used for determining additional route between the successive route points for guiding the mining machine (14).

Abstract translation: 一种用于自动引导采矿机（14）的方法，所述采矿机（14）具有确定为作为所述矿井中的连续路线点的连续路线的路线。 在该方法中，与连续点相关的数据用于确定用于引导采矿机（14）的连续路线点之间的附加路线。

公开(公告)号：US20070027612A1

公开(公告)日：2007-02-01

申请号：US11493027

申请日：2006-07-26

Applicant: Timothy Barfoot ,  Joshua Marshall

Inventor： Timothy Barfoot ,  Joshua Marshall

IPC: G08G1/00

CPC classification number: G08G1/20 ,  B60W10/04 ,  B60W10/20 ,  B60W2050/0028 ,  B60W2550/14 ,  B60W2550/402 ,  G05B2219/40555 ,  G05B2219/45004 ,  G05D1/024 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/021 ,  G08G1/202

Abstract: The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment. Finally, real-time localization is provided by employing odometric sensors and range sensing devices to determine the system's global position and orientation with respect to said globally consistent map, both initially and as it travels through the passageway environment. A route planning method accepts higher-level goals for a set of multiple vehicles in said passageway environment and generates a route plan for each vehicle that minimizes the travel time for the group of vehicles, while at the same time avoiding collisions between vehicles. Route plans are sent to the vehicles for implementation and a monitoring method tracks the global positions and orientations of the vehicles and ensures that both safety and efficiency are maintained.

Abstract translation: 本发明提供了一种用于在通道环境（例如，在地下矿井中）协调多个车辆的系统。 该系统包括用于确定所述通道环境中的车辆的全球位置和方向的方法和装置，以及用于规划路线和监测所述通道环境中的多个车辆行驶的方法。 全球位置和姿态估计系统采用一个或多个测距传感器和一个或多个测距传感装置。 它有三个基本步骤。 在第一步中，它通过移动系统通过所述通道环境来记录和处理描述通道环境的传感器数据。 在第二步中，它生成所述通道环境的全局一致的映射。 最后，通过采用测距传感器和测距传感装置来提供实时定位，以便在最初和当它通过通道环境时，确定系统相对于所述全局一致的映射的全局位置和方位。 路线规划方法在所述通道环境中接受一组多个车辆的较高级目标，并且为每个车辆生成最小化车辆组的行驶时间的路线图，同时避免车辆之间的碰撞。 将路线图发送到车辆进行实施，监测方法跟踪车辆的全球位置和方向，确保维护安全和效率。