公开(公告)号：US09297256B2

公开(公告)日：2016-03-29

申请号：US13318465

申请日：2010-04-30

Applicant: Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Peter James Hatherly ,  Fabio Tozeto Ramos

Inventor： Eric Nettleton ,  Ross Hennessy ,  Hugh Durrant-Whyte ,  Ali Haydar Göktogan ,  Peter James Hatherly ,  Fabio Tozeto Ramos

IPC: E02F9/20 ,  E21C41/26 ,  A61B19/00 ,  E21F17/00

CPC classification number: E21C41/26 ,  A61B34/32 ,  E02F9/205 ,  E21F17/00 ,  G05B2219/45004 ,  G05D2201/021 ,  Y02P90/02

Abstract: Methods and systems are described for generating a data representation of a geographical region as an adjunct to conducting autonomous operations within the region. The method comprises receiving information specifying a plurality of localized caused zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localized zones; fusing the received data associated with the localized zones into data representations of the localized zones; and integrating the data representations of the localized zones into a common data representation of the geographical region.

Abstract translation: 描述了用于生成地理区域的数据表示作为在区域内进行自主操作的附加的方法和系统。 该方法包括：在该区域内接收指定具有操作定义的地理边界的多个本地化引导区域的信息; 接收描述该区域的异构数据; 将接收到的数据与相应的定位区域相关联; 将与局部区域相关联的接收数据融合到局部区域的数据表示中; 以及将本地化区域的数据表示集成到地理区域的公共数据表示中。

公开(公告)号：US09046371B2

公开(公告)日：2015-06-02

申请号：US13853934

申请日：2013-03-29

Applicant: Modular Mining Systems, Inc.

Inventor： William Casson ,  Lucas Van Latum ,  Michael Lewis

IPC: G01C17/38 ,  G01C21/00 ,  G08G1/00

CPC classification number: G08G1/164 ,  B60W2550/14 ,  G01C21/00 ,  G01C21/20 ,  G01C21/28 ,  G05B2219/45004 ,  G05D1/0217 ,  G05D1/0287 ,  G05D2201/021 ,  G08G1/0968 ,  G08G1/20 ,  G08G1/205

Abstract: A system and method for navigating a vehicle through a mining environment to a target destination is presented. The system and method may be utilized to avoid contention in the mining environment. A route through the mining environment to the target destination for the vehicle is identified and a first speed profile for at least a portion of the route is determined. A potential contention condition associated with the route is identified and the potential contention condition along the route is used to determine a second speed profile for at least a portion of the route. An optimized speed profile is determined using the first speed profile and the second speed profile, and at least a portion of the optimized speed profile is communicated to the vehicle.

Abstract translation: 提出了一种用于将车辆通过采矿环境导航到目标目的地的系统和方法。 可以利用该系统和方法来避免在采矿环境中的竞争。 识别通过采矿环境到车辆的目标目的地的路线，并且确定路线的至少一部分的第一速度轮廓。 识别与路线相关联的潜在争用条件，并且使用沿着路线的潜在竞争条件来确定路线的至少一部分的第二速度分布。 使用第一速度轮廓和第二速度轮廓来确定优化的速度轮廓，并且将优化的速度轮廓的至少一部分传送到车辆。

公开(公告)号：US20150094913A1

公开(公告)日：2015-04-02

申请号：US14396447

申请日：2013-04-25

Applicant: Atlas Copco Rock Drills AB

Inventor： Christoph Muller ,  George Biro

IPC: G05D1/02 ,  B62D6/00

CPC classification number: G05D1/024 ,  B62D6/00 ,  G05D1/0238 ,  G05D1/0248 ,  G05D2201/021

Abstract: Method of manoeuvring a mobile mining machine including two or more self steered and optionally self propelled interconnected units being connected as train units over a respective articulating joint, said mobile mining machine having a forward and a backward direction, wherein in a tunnel following mode the method includes: —producing a set of first signals representative of sideward distances between at least one side of the mobile mining machine and a respective nearby wall of said tunnel, and—evaluating said set of first signals so as to determine a sideways position of the mobile mining machine in respect of the walls of said tunnel during driving, and—producing steering commands to be sent to a propulsion arrangement in order to maintain a position of the mobile mining machine to ensure clearance to tunnel walls during driving. The invention also relates to a system and a mobile mining machine.

Abstract translation: 操纵包括两个或更多个自转和可选的自推进互连单元的移动采矿机的方法，其在各自的铰接接头上作为列车单元连接，所述移动式挖掘机具有前进和后退方向，其中在隧道跟随模式中，所述方法 包括：产生表示移动采矿机的至少一侧与所述隧道的相应附近墙之间的侧向距离的一组第一信号，以及评估所述一组第一信号，以便确定移动台的侧向位置 采矿机相对于所述隧道在行驶期间的墙壁，并且产生转向命令被发送到推进装置，以便维持移动采矿机的位置以确保在行驶期间对隧道壁的间隙。 本发明还涉及一种系统和移动式采矿机。

公开(公告)号：US08924143B2

公开(公告)日：2014-12-30

申请号：US13696637

申请日：2011-04-21

Applicant: Hannu Makela

Inventor： Hannu Makela

IPC: G01C21/00 ,  G05D1/02

CPC classification number: G05D1/027 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/021

Abstract: The present invention relates to a method for positioning a mobile mining vehicle, which method determines scanning data by scanning the environment of the mining vehicle while being driven. Location information is determined for the mining vehicle on the basis of the scanning data and prestored environment model data. Level information is associated with the environment model data, the location level of the mining vehicle (1) is determined and the environment model data to be used are selected on the basis of the determined location level.

Abstract translation: 本发明涉及一种定位移动采矿车辆的方法，该方法通过在被驱动时扫描采矿车辆的环境来确定扫描数据。 基于扫描数据和预先存储的环境模型数据确定采矿车辆的位置信息。 水平信息与环境模型数据相关联，确定采矿车辆（1）的位置水平，并且基于确定的位置水平选择要使用的环境模型数据。

公开(公告)号：US20140358382A1

公开(公告)日：2014-12-04

申请号：US14362714

申请日：2012-11-14

Applicant: Komatsu Ltd.

Inventor： Ryuuen Kou ,  Masanori Tojima ,  Tomonori Ozaki

IPC: G05D13/00 ,  E21C47/00

CPC classification number: G05D13/00 ,  B60K31/00 ,  B60W2300/17 ,  E21C47/00 ,  E21F17/18 ,  G05D1/0055 ,  G05D1/0223 ,  G05D2201/021

Abstract: An operation control system for a mining machine includes, based on travel path information including at least information on moisture content of a travel path on which a mining machine operating at a mine runs, and position information being information on a position of a travel path corresponding to the travel path information, generating speed limit information for changing a speed limit for the mining machine to run on the travel path corresponding to the travel path information.

Abstract translation: 用于采矿机的操作控制系统包括基于至少包括关于在矿井上运行的采矿机运行的行进路径的水分含量的信息的行驶路径信息，以及作为相应于行驶路径的位置的信息的位置信息 生成速度限制信息，生成用于使采矿机的速度限制在与行驶路径信息对应的行驶路径上行驶的速度限制信息。

公开(公告)号：US20140297182A1

公开(公告)日：2014-10-02

申请号：US13853934

申请日：2013-03-29

Applicant: MODULAR MINING SYSTEMS, INC.

Inventor： William Casson ,  Lucas Van Latum ,  Michael Lewis

IPC: G01C21/00

CPC classification number: G08G1/164 ,  B60W2550/14 ,  G01C21/00 ,  G01C21/20 ,  G01C21/28 ,  G05B2219/45004 ,  G05D1/0217 ,  G05D1/0287 ,  G05D2201/021 ,  G08G1/0968 ,  G08G1/20 ,  G08G1/205

Abstract: A system and method for navigating a vehicle through a mining environment to a target destination is presented. The system and method may be utilized to avoid contention in the mining environment. A route through the mining environment to the target destination for the vehicle is identified and a first speed profile for at least a portion of the route is determined. A potential contention condition associated with the route is identified and the potential contention condition along the route is used to determine a second speed profile for at least a portion of the route. An optimized speed profile is determined using the first speed profile and the second speed profile, and at least a portion of the optimized speed profile is communicated to the vehicle.

Abstract translation: 提出了一种用于将车辆通过采矿环境导航到目标目的地的系统和方法。 可以利用该系统和方法来避免在采矿环境中的竞争。 识别通过采矿环境到车辆的目标目的地的路线，并且确定路线的至少一部分的第一速度轮廓。 识别与路线相关联的潜在争用条件，并且使用沿着路线的潜在竞争条件来确定路线的至少一部分的第二速度分布。 使用第一速度轮廓和第二速度轮廓来确定优化的速度轮廓，并且将优化的速度轮廓的至少一部分传送到车辆。

公开(公告)号：US08838320B2

公开(公告)日：2014-09-16

申请号：US13436810

申请日：2012-03-30

Applicant: Ken L. Stratton ,  Eric J. Ruth

Inventor： Ken L. Stratton ,  Eric J. Ruth

IPC: G05D1/00 ,  B62D6/00

CPC classification number: G05D1/00 ,  B62D6/00 ,  B62D15/025 ,  G05D1/024 ,  G05D1/0278 ,  G05D2201/021

Abstract: A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Abstract translation: 用于引导越野车辆相对于小车线路的道路车辆的系统和方法通过感测两个或更多个路边物体来确定越野车辆在道路上的位置，并使用非公路卡车的确定位置 以及台车线相对于两个或更多路边物体的已知位置，以自动确定越野车辆在台车线下方的相对位置。 根据超车公路卡车在小车线下的相对位置，越野车卡车自动转向，以改变越野车相对于小车线的位置，例如维持从 小车线到越野卡车。

公开(公告)号：US08755966B2

公开(公告)日：2014-06-17

申请号：US13438167

申请日：2012-04-03

Applicant: Bibhrajit Halder ,  Ruchi Bhatia

Inventor： Bibhrajit Halder ,  Ruchi Bhatia

IPC: G05D1/02

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

Abstract: An autonomous machine control system includes a positioning unit measuring position and orientation, and a navigation unit storing a route plan including an intended travel path along a lane. The lane has a width defined by a left-hand boundary and a right-hand boundary. The navigation unit receives an uncertainty value associated with the position or orientation, and creates a virtual two-dimensional footprint based on an actual machine footprint and the uncertainty value. The navigation unit also simulates movement of the virtual footprint along the intended travel path, calculates a left-hand margin value defined by the virtual footprint and the left-hand boundary, and calculates a right-hand margin value defined by the virtual footprint and the right-hand boundary. The margin values are compared to a predetermined value, and speed or travel direction of the machine is controlled if either of the margin values is below the predetermined value.

Abstract translation: 自动机器控制系统包括测量位置和方向的定位单元和存储包括沿着车道的预期行进路径的路线图的导航单元。 车道具有由左边界和右边界定义的宽度。 导航单元接收与位置或方向相关联的不确定性值，并且基于实际的机器覆盖区域和不确定性值创建虚拟二维足迹。 导航单元还模拟虚拟足迹沿着预期行进路径的移动，计算由虚拟占地面积和左侧边界定义的左边距值，并计算由虚拟足迹定义的右边距值，并且 右边界 将余量值与预定值进行比较，并且如果任一裕度值低于预定值，则控制机器的速度或行进方向。

公开(公告)号：US20140081531A1

公开(公告)日：2014-03-20

申请号：US13722179

申请日：2012-12-20

Applicant: CATERPILLAR INC.

Inventor： David William Smith ,  Richard Kent Yates

IPC: G05D1/02 ,  G01C21/30 ,  G01S17/06

CPC classification number: G05D1/024 ,  G01C21/30 ,  G01S1/68 ,  G01S5/0257 ,  G01S5/0294 ,  G01S7/4808 ,  G01S13/74 ,  G01S13/865 ,  G01S17/06 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/021

Abstract: A positioning system and method for determining a position of a machine are disclosed. The system may have an optical sensing device configured to generate determined shape data associated with a portion of the worksite at the position of the machine. The system may have a first signal device configured to transmit a radio frequency signal and receive a response signal. The system may have a second signal configured to receive the transmitted radio frequency signal and transmit the response signal. The system may have a controller in communication with the optical sensing device and at least one of the first and second signal devices. The controller may be configured to determine an approximate position based on the radio frequency signal and the response signal, identify a reference shape data corresponding to the determined shape data, and determine the position based on the approximate position and the reference shape data.

Abstract translation: 公开了一种用于确定机器位置的定位系统和方法。 该系统可以具有光学感测装置，其被配置为在机器的位置处产生与工地的一部分相关联的确定的形状数据。 系统可以具有被配置为发送射频信号并且接收响应信号的第一信号装置。 系统可以具有被配置为接收所发送的射频信号并发送响应信号的第二信号。 该系统可以具有与光学感测装置以及第一和第二信号装置中的至少一个通信的控制器。 控制器可以被配置为基于射频信号和响应信号来确定近似位置，识别与所确定的形状数据相对应的参考形状数据，并且基于近似位置和参考形状数据来确定位置。

公开(公告)号：US08620530B2

公开(公告)日：2013-12-31

申请号：US13342563

申请日：2012-01-03

Applicant: Jeffrey Edward Jensen

Inventor： Jeffrey Edward Jensen

IPC: G06F7/70

CPC classification number: G05D1/0011 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0293 ,  G05D2201/0202 ,  G05D2201/021

Abstract: A control system is disclosed. The control system includes a first set of operator input devices and a laser target located on a first machine. The control system also includes a first laser measurement system located on a second machine and configured to measure a distance to the laser target. The control system further includes a communications system configured to selectively communicate a first mode of operation and a second mode of operation. In the first mode of operation, the second machine follows the first machine based on the measured distance. In the second mode of operation, the second machine moves based on a signal from the first set of operator input devices.