公开(公告)号：US20060235609A1

公开(公告)日：2006-10-19

申请号：US10550606

申请日：2004-03-25

Applicant: Hannu Mäkelä

Inventor： Hannu Mäkelä

IPC: G06F17/00

CPC classification number: G05D1/0272 ,  G01C22/00 ,  G05D1/0236 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/021

Abstract: A method and a control system for positioning a mine vehicle. Measurement of a distance travelled by the mine vehicle (1) is based on monitoring rotation of a wheel (3). In the invention, an error caused in the distance measurement by wear of the wheel (3) is compensated for automatically when the distance value obtained from monitoring is corrected by a correction factor. The value of the correction factor is updated at predetermined intervals during use.

Abstract translation: 一种用于定位矿山车辆的方法和控制系统。 由矿山车辆（1）行进的距离的测量基于监视车轮（3）的旋转。 在本发明中，当通过校正因子校正从监视获得的距离值时，通过轮（3）磨损的距离测量引起的误差被自动补偿。 在使用期间以预定的间隔更新校正因子的值。

公开(公告)号：US20060190165A1

公开(公告)日：2006-08-24

申请号：US10562937

申请日：2004-06-28

Applicant: Hannu Makela ,  Riku Pulli ,  Timo Soikkeli

Inventor： Hannu Makela ,  Riku Pulli ,  Timo Soikkeli

IPC: G01C21/26

CPC classification number: G01S5/02 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/028 ,  G05D1/0285 ,  G05D2201/021

Abstract: A method and a system for monitoring the location of a mining vehicle in a mine. The first mine section (18) is provided with a wireless network (10) for data transmission between the mining vehicle (1, 1a, 1b) and the mine control system (11). In addition, the network is used for positioning. In the second mine section (21), the location is determined by means of measuring devices provided in the mining vehicle.

Abstract translation: 一种用于监测矿山中采矿车辆位置的方法和系统。 第一矿区（18）设置有用于采矿车辆（1,1a，1b）和矿井控制系统（11）之间的数据传输的无线网络（10）。 此外，网络用于定位。 在第二矿区（21）中，通过在采矿车辆中提供的测量装置确定位置。

公开(公告)号：US06898503B2

公开(公告)日：2005-05-24

申请号：US10704554

申请日：2003-11-12

Applicant: Hannu Mäkelä ,  Thomas Von Numers

Inventor： Hannu Mäkelä ,  Thomas Von Numers

IPC: G01C21/12 ,  G05D1/02 ,  B60B39/00

CPC classification number: G01C21/12 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/021

Abstract: A method and an apparatus for determining the position of a mining machine as its wheels skid with respect to the underlying surface. In the method, at least one detector detecting the operation of transmission detects skidding of at least one wheel with respect to the underlying surface, whereupon determination of the position by means of the rotation of the wheels and the direction of travel is interrupted. The apparatus includes at least one detector for detecting the operation of the transmission, the detector detecting the skidding of at least one wheel with respect to the underlying surface.

Abstract translation: 一种确定挖掘机的位置的方法和装置，因为其车轮相对于下面的表面滑动。 在该方法中，至少一个检测变速器操作的检测器检测到至少一个车轮相对于下面的表面的打滑，由此中断通过车轮的旋转和行进方向的位置的确定。 该装置包括至少一个用于检测变速器的操作的检测器，检测器检测至少一个轮相对于下面的表面的打滑。

公开(公告)号：US20040143375A1

公开(公告)日：2004-07-22

申请号：US10701427

申请日：2003-11-06

Inventor： Tsugio Sudou

IPC: G06F017/00

CPC classification number: G08G1/166 ,  G05D1/0289 ,  G05D2201/021

Abstract: This travel control apparatus for vehicles is provided with a fellow vehicle judgement device adapted to judge whether a fellow vehicle coming close to a subject vehicle traveling on a track is present or absent, and a device for shifting a traveling course of the subject vehicle when a judgement that a fellow vehicle coming close to the subject vehicle is present is given by the fellow vehicle judgement device, so as to have the subject vehicle traveling along a solo traveling course set on the track travel along a course set close to a shoulder of the track.

Abstract translation: 该车辆用行驶控制装置设置有用于判断在轨道上行驶的本车辆附近的车辆是否存在的车辆判定装置，以及用于在本车辆的行驶过程中移动的装置 判断出车辆接近目标车辆的车辆是由车辆判断装置给出的，以使本车辆沿着设置在轨道上的单独行驶路线沿着靠近 跟踪。

公开(公告)号：US06321147B1

公开(公告)日：2001-11-20

申请号：US09574005

申请日：2000-05-19

Applicant: Shu Takeda ,  Masanori Tojima ,  Koji Takeda

Inventor： Shu Takeda ,  Masanori Tojima ,  Koji Takeda

IPC: G05D100

CPC classification number: G05D1/0038 ,  G05D2201/021

Abstract: An unmanned vehicle running system, capable of reducing a stop time of a vehicle by immediately judging whether or not an obstacle blocks the passage when detecting the obstacle. For this purpose, the unmanned vehicle running system has a plurality of vehicles (1) running without a driver in a predetermined course (3) while detecting the current position and a central monitor station (2) for monitoring operations of the plurality of vehicles, wherein each of said vehicles is provided with a phototaking device (24) for taking a photo of the course, with a vehicle communication unit (23) for transmitting the taken image to the central monitor station, and with an obstacle detecting unit (5) for detecting an obstacle (4) which blocks the passage, wherein the central monitor station is provided with a central communication unit (8) for receiving the image and with a monitor (9) for displaying the image, and wherein the phototaking device takes a photo when the obstacle detecting unit detects an obstacle.

Abstract translation: 一种无人驾驶车辆行驶系统，能够通过立即判断障碍物在检测到障碍物时是否堵塞通道，能够减少车辆的停车时间。 为此，无人驾驶车辆行驶系统在检测到当前位置的同时，在预定行程（3）中没有驾驶员的多个车辆（1），以及用于监视多个车辆的操作的中央监视站（2） 其特征在于，所述车辆中的每一个设置有用于拍摄所述路线的照片的摄影装置（24），其具有用于将拍摄图像发送到中央监视台的车辆通信单元（23），以及障碍物检测单元（5） 用于检测阻挡通道的障碍物（4），其中中央监测站设置有用于接收图像的中央通信单元（8）和用于显示图像的监视器（9），并且其中拍摄装置取出 当障碍物检测单元检测到障碍物时，照相。

公开(公告)号：US06296317B1

公开(公告)日：2001-10-02

申请号：US09430102

申请日：1999-10-29

Applicant: Mark Ollis ,  Christopher C. Fromme ,  Timothy Ennis Hegadorn ,  Alonzo James Kelly ,  John Bares ,  Herman Herman ,  Anthony J. Stentz ,  Richard McCargo Moore, Jr. ,  David K. Herdle ,  Frank Higgins ,  Bryan G. Campbell

Inventor： Mark Ollis ,  Christopher C. Fromme ,  Timothy Ennis Hegadorn ,  Alonzo James Kelly ,  John Bares ,  Herman Herman ,  Anthony J. Stentz ,  Richard McCargo Moore, Jr. ,  David K. Herdle ,  Frank Higgins ,  Bryan G. Campbell

IPC: E21C3508

CPC classification number: G05D1/0251 ,  G05D2201/021

Abstract: A mining machine having a position sensing and control apparatus is claimed. The mining machine has a vehicle body having forward and rearward ends and movable along a mine floor. A cutter head is mounted on the forward end of the mining machine for upward and downward movement relative to the vehicle body. A conveyor mounted on the vehicle body conveys material cut by the cutter head. The position sensing and control apparatus has at least one light source and at least one imaging device mounted on the machine. The position sensing and control apparatus captures images of natural features of an interior surface of a mine, digitizes the images and determines the distance between the imaging device and the natural feature to determine positional change of the machine.

Abstract translation: 要求具有位置感测和控制装置的采矿机。 采矿机具有前后端的车体，沿矿井可移动。 刀头安装在采矿机的前端，以相对于车身上下移动。 安装在车身上的输送机输送由切割头切割的材料。 位置检测和控制装置具有安装在机器上的至少一个光源和至少一个成像装置。 位置检测和控制装置捕获矿山内表面的自然特征的图像，数字化图像并确定成像装置与自然特征之间的距离，以确定机器的位置变化。

公开(公告)号：US5906646A

公开(公告)日：1999-05-25

申请号：US774943

申请日：1996-12-19

Applicant: Carl A. Kemner

Inventor： Carl A. Kemner

IPC: B65G63/00 ,  B65G67/02 ,  G05D1/02 ,  G05D1/00 ,  G01C22/00

CPC classification number: G05D1/0297 ,  G05D1/0236 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/021

Abstract: A system and method for managing access to a resource by at least one mobile machine including a queue manager adapted to generate a queue position request signal as a mobile machine approaches the resource and determine if access to the resource is unsuccessful. The queue manager also generates a access status signal after access the resource. The system and method also includes a resource manager adapted to control access to the resource by the mobile machine.

Abstract translation: 一种用于由至少一个移动机器管理对资源的访问的系统和方法，所述至少一个移动机器包括队列管理器，所述队列管理器适于随着移动机器接近所述资源而生成队列位置请求信号，并确定对所述资源的访问是否不成功。 队列管理器在访问资源后也会生成访问状态信号。 该系统和方法还包括适于由移动机器控制对资源的访问的资源管理器。

公开(公告)号：US5530330A

公开(公告)日：1996-06-25

申请号：US220385

申请日：1994-03-30

Applicant: Greg Baiden ,  Everett Henderson ,  Samir Zakaria

Inventor： Greg Baiden ,  Everett Henderson ,  Samir Zakaria

IPC: G05D1/02 ,  G05B11/01

CPC classification number: G05D1/0246 ,  G05D1/0234 ,  G05D2201/021

Abstract: A system for automatically steering a vehicle through an irregular structure. A flexible lighting tube, in proximity to the back of the structure, communicates with at least one canted video camera. A processor takes the output of the camera, determines the position of the vehicle, and provides guidance to the vehicle's steering mechanism.

Abstract translation: 一种用于通过不规则结构自动驾驶车辆的系统。 靠近结构背面的柔性照明管与至少一个倾斜摄像机通信。 处理器接收摄像机的输出，确定车辆的位置，并为车辆的转向机构提供引导。

公开(公告)号：US5469356A

公开(公告)日：1995-11-21

申请号：US299447

申请日：1994-09-01

Applicant: Mark R. Hawkins ,  Joel L. Peterson

Inventor： Mark R. Hawkins ,  Joel L. Peterson

IPC: G01P3/00 ,  B60R16/02 ,  B60W10/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W30/00 ,  G01C21/00 ,  G01C21/26 ,  G05D1/00 ,  G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0061 ,  G01C21/26 ,  G05D1/0038 ,  G05D2201/021

Abstract: A system for controlling autonomous operation of a vehicle in response to speed and steering angle request signals from a navigator allows manual operation of the vehicle. The system includes a machine control module, an engine control module, and a transmission control module. An auto/manual select signal indicates to the machine control module whether operation should be in a fully autonomous mode or a manual mode. In the autonomous mode, a navigator produces a speed request signal and a steering angle request signal for the vehicle. The machine control module receives the speed and steering angle request signals from the navigator. From these inputs, the machine control module produces an engine RPM (revolutions per minute) control signal for the engine control module, a transmission control signal for the transmission control module, a brake control signal, and a steering angle control signal. In the manual mode, the machine control module will not interfere with normal, manual (i.e., manned) control of all vehicle systems.

Abstract translation: 响应于来自导航器的速度和转向角请求信号来控制车辆的自主操作的系统允许车辆的手动操作。 该系统包括机器控制模块，发动机控制模块和变速器控制模块。 自动/手动选择信号向机器控制模块指示操作是否应处于完全自主模式或手动模式。 在自主模式中，导航器产生用于车辆的速度请求信号和转向角请求信号。 机器控制模块从导航器接收速度和转向角请求信号。 从这些输入中，机器控制模块产生用于发动机控制模块的发动机RPM（每分钟转数）控制信号，用于变速器控制模块的变速器控制信号，制动控制信号和转向角控制信号。 在手动模式下，机器控制模块将不会干扰所有车辆系统的正常的，手动的（即有人值班的）控制。

公开(公告)号：US11874115B2

公开(公告)日：2024-01-16

申请号：US17297591

申请日：2019-11-28

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Tuukka Vainio ,  Jussi Collin ,  Lauri Siivonen ,  Jussi Puura ,  Tomi Von Essen

IPC: G01C21/16 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01C21/16 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/021

Abstract: A method for positioning a mobile object in an underground tunnel includes the steps of determining horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object; determining horizontal position of the mobile object on the basis of a floor model of the tunnel and the estimated horizontal progression of the mobile object; and generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and a three-dimensional model of the tunnel.