公开(公告)号：US10260343B2

公开(公告)日：2019-04-16

申请号：US15111290

申请日：2015-01-14

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jussi Puura ,  Tomi Von Essen

IPC: E21C41/16 ,  E21C35/24 ,  E21D9/00 ,  E21B7/02 ,  G01C7/06 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48 ,  G05D1/02 ,  E21B3/00 ,  G06F17/50 ,  G01S7/486

Abstract: A mine control system for monitoring mine operations includes a plurality of mine vehicles provided with on-board monitoring means. Monitoring data is transmitted from the mine vehicle to the mine control system, which is provided with a mine plan. The mine control unit is configured to compare the received monitoring data with the mine plan and to determine the current state of the mine relative to the mine plan on the basis of the monitoring data.

公开(公告)号：US10174614B2

公开(公告)日：2019-01-08

申请号：US15111297

申请日：2015-01-14

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jussi Puura ,  Tomi Von Essen

IPC: E21B7/02 ,  G01C7/06 ,  E21D9/00 ,  G05D1/02 ,  G01C21/16 ,  E21C35/24 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48 ,  E21B3/00 ,  E21C41/16 ,  G06F17/50 ,  G01S7/486

Abstract: A method and mine vehicle includes at least one scanning device for scanning surroundings of the mine vehicle and producing operational point cloud data. The mine vehicle has a control unit provided with reference point cloud data of the mine. The control unit is configured to match the operational point cloud data to the reference point cloud data in order to determine position of the mine vehicle. The control unit further includes a mine work plan, which is connected to the detected position of the mine vehicle.

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.