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1. 发明申请

US20060167608A1 Arrangement for monitoring the location of a mining vehicle in a mine 有权
标题翻译：监测矿山中采矿车辆位置的安排
公开(公告)号：US20060167608A1
公开(公告)日：2006-07-27
申请号：US10562938
申请日：2004-06-28
申请人： Hannu Makela , Riku Pulli , Timo Soikkeli
发明人： Hannu Makela , Riku Pulli , Timo Soikkeli
IPC分类号： G06F7/70
CPC分类号： G01C21/12
摘要： A method and a system for monitoring the location of a mining vehicle in a mine. The mine comprises a first and a second work area. At least one identifier (29) whose exact location is known is arranged in the first work area (18a). The location of the mining vehicle (1) is determined continuously by means of a dead reckoning. The location data, based on the dead reckoning, can be updated by means of the identifier. The location data are transmitted to a mine control system for monitoring the mining vehicle.
摘要翻译：一种用于监测矿山中采矿车辆位置的方法和系统。该矿包括第一和第二工作区。至少一个其确切位置已知的标识符（29）被布置在第一工作区域（18a）中。采矿车辆（1）的位置通过航位推算连续确定。基于航位推算的位置数据可以通过标识符来更新。位置数据被传送到矿山控制系统，用于监控采矿车辆。

2. 发明申请

US20060190165A1 Method and system for monitoring location of mining vehicle 有权
标题翻译：采矿车辆位置监测方法及系统
公开(公告)号：US20060190165A1
公开(公告)日：2006-08-24
申请号：US10562937
申请日：2004-06-28
申请人： Hannu Makela , Riku Pulli , Timo Soikkeli
发明人： Hannu Makela , Riku Pulli , Timo Soikkeli
IPC分类号： G01C21/26
CPC分类号： G01S5/02 , G05D1/024 , G05D1/0255 , G05D1/027 , G05D1/028 , G05D1/0285 , G05D2201/021
摘要： 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.
摘要翻译：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。

3. 发明申请

US20130060425A1 METHOD AND APPARATUS FOR ARRANGING MINING VEHICLE POSITIONING 有权
标题翻译：用于安装采矿车辆定位的方法和装置
公开(公告)号：US20130060425A1
公开(公告)日：2013-03-07
申请号：US13696637
申请日：2011-04-21
申请人： Hannu Makela
发明人： Hannu Makela
IPC分类号： G01C21/00 , B62D6/00
CPC分类号： G05D1/027 , G05D1/024 , G05D1/0255 , G05D1/0272 , G05D2201/021
摘要： 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.
摘要翻译：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。

4. 发明申请

US20130060458A1 METHOD AND APPARATUS FOR MINING VEHICLE SAFETY ARRANGMENTS 有权
标题翻译：采购车辆安全装置的方法和装置
公开(公告)号：US20130060458A1
公开(公告)日：2013-03-07
申请号：US13696766
申请日：2011-05-06
申请人： Hannu Makela , Jouni Sievila , Jarkko Uotila
发明人： Hannu Makela , Jouni Sievila , Jarkko Uotila
IPC分类号： G05D1/02
CPC分类号： G05D1/024 , E21C35/08 , E21F13/025 , G01S17/936 , G05D1/0274 , G05D2201/021
摘要： The present invention relates to 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.
摘要翻译：本发明涉及采矿车辆的安全系统的方法。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，存储至少包括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。

5. 发明授权

US08924143B2 Method and apparatus for arranging mining vehicle positioning 有权
标题翻译：采矿车辆定位方法和装置
公开(公告)号：US08924143B2
公开(公告)日：2014-12-30
申请号：US13696637
申请日：2011-04-21
申请人： Hannu Makela
发明人： Hannu Makela
IPC分类号： G01C21/00 , G05D1/02
CPC分类号： G05D1/027 , G05D1/024 , G05D1/0255 , G05D1/0272 , G05D2201/021
摘要： 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.
摘要翻译：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。

6. 发明申请

US20060069472A1 Method for automatically guiding a mining machine 有权
标题翻译：自动引导采矿机的方法
公开(公告)号：US20060069472A1
公开(公告)日：2006-03-30
申请号：US11232960
申请日：2005-09-23
申请人： Hannu Makela
发明人： Hannu Makela
IPC分类号： G05D1/00
CPC分类号： B60W40/00 , B60W40/06 , B60W2550/14 , G01C21/20 , G05D1/0212 , G05D1/0238 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/021
摘要： 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.
摘要翻译：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。

7. 发明申请

US20060069471A1 Method for automatically guiding a mining machine 有权
标题翻译：自动引导采矿机的方法
公开(公告)号：US20060069471A1
公开(公告)日：2006-03-30
申请号：US11232262
申请日：2005-09-22
申请人： Hannu Makela
发明人： Hannu Makela
IPC分类号： G05D1/00
CPC分类号： G05D1/0212 , G01C21/20 , G05D2201/021
摘要： A method for automatically guiding a mining machine (14) provided with a mute 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).
摘要翻译：一种用于自动引导采矿机（14）的方法，所述采矿机（14）具有在所述矿井中确定为连续路线点的静音。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。

8. 发明授权

US08606495B2 Method and apparatus for mining vehicle safety arrangements 有权
标题翻译：采矿车辆安全装置的方法和装置
公开(公告)号：US08606495B2
公开(公告)日：2013-12-10
申请号：US13696766
申请日：2011-05-06
申请人： Hannu Makela , Jouni Sievila , Jarkko Uotila
发明人： Hannu Makela , Jouni Sievila , Jarkko Uotila
IPC分类号： G06F17/10
CPC分类号： G05D1/024 , E21C35/08 , E21F13/025 , G01S17/936 , G05D1/0274 , G05D2201/021
摘要： 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.
摘要翻译：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。

9. 发明授权

US5923270A Automatic steering system for an unmanned vehicle 失效
标题翻译：无人驾驶车辆的自动转向系统
公开(公告)号：US5923270A
公开(公告)日：1999-07-13
申请号：US737554
申请日：1997-01-22
申请人： Mikko Sampo , Jarmo Puputti , Kari Rintanen , Hannu Makela , Markku Ojala
发明人： Mikko Sampo , Jarmo Puputti , Kari Rintanen , Hannu Makela , Markku Ojala
IPC分类号： A01B69/04 , A01B79/00 , G05D1/02 , G08G1/123
CPC分类号： A01B69/008 , A01B79/005 , G05D1/027 , G05D1/0278 , G05D1/0272 , G05D1/0274 , G05D2201/0201
摘要： The invention relates to an autonomous navigation system for an unmanned vehicle. The tracks or wheels are driven by hydraulic reversible motors, having the output thereof regulated by valves whose relative control can be used for controlling both heading and speed. The vehicle carries a navigation computer which receives positional information from an external positioning sytems. A ground station computer has been supplied with a digitized map over a predetermined path and the ground station computer is in a two-way radio communication with the vehicle navigation computer which is supplied with the information relating to the path. An established path, which is received from the external positioning system, is compared to the predetermined path and the vehicle navigation is modified for compensating the deviations.
摘要翻译： PCT No.PCT / FI95 / 00253 Sec。 371日期1997年1月22日 102（e）日期1997年1月22日PCT提交1995年5月12日PCT公布。公开号WO95 / 31759 日期：1995年11月23日本发明涉及一种无人驾驶车辆的自主导航系统。轨道或车轮由液压可逆电动机驱动，其输出由阀门调节，其相对控制可用于控制航向和速度。该车载有从外部定位系统接收位置信息的导航计算机。已经在预定路径上提供了地面站计算机的数字化地图，并且地面站计算机与被提供有与路径有关的信息的车载导航计算机进行双向无线电通信。将从外部定位系统接收的建立路径与预定路径进行比较，并修改车辆导航以补偿偏差。

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