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1. 发明授权

US08744746B2 Determination of route for arranging automatic control of mobile mining machine 有权
标题翻译：确定移动式采矿机自动化控制的路线
公开(公告)号：US08744746B2
公开(公告)日：2014-06-03
申请号：US13379943
申请日：2010-06-22
申请人： Hannu Mäkelä
发明人： Hannu Mäkelä
IPC分类号： G01C21/00 , G05F1/00
CPC分类号： G05D1/0246
摘要： The present method relates to a method of determining a route for automatically controlling a mobile mining machine. The route is determined computer-aidedly by executing, by a data processing machine configured for generating routes, the following steps of: retrieving an environment model comprising wall location data, receiving from a user at least an input for determining a starting point of the route and an input for determining an end point of the route, determining the route between the starting point and the end point on the basis of the environment model and data concerning properties of the mining machine, wherein the route is determined as route points at least for which position data are calculated, and storing the data determining the route to be used for automatically guiding the mining machine.
摘要翻译：本方法涉及一种确定用于自动控制移动式挖掘机的路线的方法。通过由配置用于生成路由的数据处理机执行以下步骤，计算机确定路由：检索包括墙位置数据的环境模型，至少从用户接收用于确定路线起始点的输入以及用于确定所述路线的终点的输入，基于所述环境模型和所述采矿机的属性的数据来确定所述起始点和所述终点之间的路线，其中所述路线被确定为至少为计算哪个位置数据，并存储确定用于自动引导采矿机的路线的数据。

2. 发明申请

US20100183422A1 ARRANGEMENT FOR MONITORING THE LOCATION OF A MINING VEHICLE IN A MINE 有权
标题翻译：监测矿山采矿车辆位置的安排
公开(公告)号：US20100183422A1
公开(公告)日：2010-07-22
申请号：US12748638
申请日：2010-03-29
申请人： Hannu MÄKELÄ , Riku Pulli , Timo Soikkeli
发明人： Hannu MÄKELÄ , Riku Pulli , Timo Soikkeli
IPC分类号： E21C41/16 , G06F19/00 , G05D3/00
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 includes a first and a second work area. At least one identifier whose exact location is known is arranged in the first work area. The location of the mining vehicle is determined continuously by use of a dead reckoning. The location data, based on the dead reckoning, can be updated by use 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。至少一个确切位置已知的标识符被布置在第一工作区域中。采矿车辆的位置是通过使用航位推算来连续确定的。基于航位推算的位置数据可以通过使用标识符来更新。位置数据被传送到矿山控制系统，用于监控采矿车辆。

3. 发明申请

US20060190124A1 Arrangement for collision prevention of mine vehicle 有权
标题翻译：矿山车辆防撞设计
公开(公告)号：US20060190124A1
公开(公告)日：2006-08-24
申请号：US10550310
申请日：2004-03-25
申请人： Hannu MÄKELÄ
发明人： Hannu MÄKELÄ
IPC分类号： G06F7/00
CPC分类号： G05D1/028 , G05D1/024 , G05D1/0255 , G05D1/0274 , G05D2201/021
摘要： A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).
摘要翻译：矿用车辆和防止矿山车辆碰撞的方法。矿山车辆（1）包括扫描车辆前方的环境的至少一个扫描器（13,14）。在扫描的基础上，确定作为存储点（21）存储侧向方向的最外点的无障碍路线。在车辆（1）周围已经预定了至少一个侧向安全区域（15b）。控制系统检查在安全区域（15b）内没有存储点（21）。

4. 发明授权

US08571765B2 Definition of control data for automatic control of mobile mining machine 有权
标题翻译：移动采矿机自动控制控制数据的定义
公开(公告)号：US08571765B2
公开(公告)日：2013-10-29
申请号：US13380243
申请日：2010-06-23
申请人： Antti Lehtinen , Hannu Mäkelä , Jarkko Ruokojärvi , Jouni Sievilä
发明人： Antti Lehtinen , Hannu Mäkelä , Jarkko Ruokojärvi , Jouni Sievilä
IPC分类号： G06F7/70
CPC分类号： E02F3/434
摘要： A method for arranging automatic control of a mobile mining machine equipped with a bucket is disclosed. The method generates a general purpose bucket emptying model that defines at least the path of the bucket of the mining machine for emptying it. The bucket emptying model is stored on a memory. The bucket emptying model is fetched from the memory in response to a need to define emptying the bucket for the route. At least data defining the path of the bucket in the fetched bucket emptying model are appended to the path data for use in the automatic control of the mining machine.
摘要翻译：公开了一种用于布置配备有铲斗的移动挖掘机的自动控制的方法。该方法生成通用铲斗排空模型，该模型至少定义挖掘机的铲斗的路径以将其排空。铲斗排空模型存储在内存中。响应于需要定义清空路由的桶，从存储器中取出铲斗清空模型。至少在取出的铲斗排空模型中定义铲斗的路径的数据被附加到用于采矿机的自动控制的路径数据中。

5. 发明申请

US20060195237A1 Arrangement in connection with unmanned mine vehicle 有权
标题翻译：有关无人矿山车辆的安排
公开(公告)号：US20060195237A1
公开(公告)日：2006-08-31
申请号：US10550605
申请日：2004-03-25
申请人： Hannu Mäkelä
发明人： Hannu Mäkelä
IPC分类号： G06F7/70 , G06F19/00
CPC分类号： B60T7/22
摘要： A method and system for stopping an unmanned mine vehicle in a predetermined position. The mine vehicle is driven at a low speed towards a physical. When the mine vehicle encounters the obstacle (7, 7a, 7b), a speed difference greater than a predetermined limit value is generated between the speed of the mine vehicle and the driving power transmission. The control system of the mine vehicle detects the exceeding of the limit value and stops the vehicle.
摘要翻译：一种在预定位置停止无人矿用车辆的方法和系统。矿山车辆以低速向物理驱动。当矿山车辆遇到障碍物（7,7a，7b）时，在矿山车辆的速度和驱动力传递之间产生大于预定极限值的速度差。矿山车辆的控制系统检测到超过极限值并停止车辆。

6. 发明授权

US08694193B2 Determination of routes for arranging automatic control of mobile mining machine 有权
标题翻译：确定移动式采矿机自动控制的路线
公开(公告)号：US08694193B2
公开(公告)日：2014-04-08
申请号：US13379914
申请日：2010-06-22
申请人： Hannu Mäkelä , Antti Lehtinen , Jarkko Ruokojärvi , Jouni Sievilä
发明人： Hannu Mäkelä , Antti Lehtinen , Jarkko Ruokojärvi , Jouni Sievilä
IPC分类号： G05D1/00 , G01C21/32
CPC分类号： G01C21/32 , E21F13/025 , G05D1/0274 , G05D2201/021
摘要： 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.
摘要翻译：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。

7. 发明申请

US20120095639A1 Determination of Routes for Arranging Automatic Control of Mobile Mining Machine 有权
标题翻译：移动矿山机械自动控制路线确定
公开(公告)号：US20120095639A1
公开(公告)日：2012-04-19
申请号：US13379914
申请日：2010-06-22
申请人： Hannu Mäkelä , Antti Lehtinen , Jarkko Ruokojärvi , Jouni Sievilä
发明人： Hannu Mäkelä , Antti Lehtinen , Jarkko Ruokojärvi , Jouni Sievilä
IPC分类号： G05D1/02
CPC分类号： G01C21/32 , E21F13/025 , G05D1/0274 , G05D2201/021
摘要： 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.
摘要翻译：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。

8. 发明授权

US07392151B2 Initializing position and direction of mining vehicle 有权
标题翻译：初始化采矿车辆的位置和方向
公开(公告)号：US07392151B2
公开(公告)日：2008-06-24
申请号：US10550309
申请日：2004-03-25
申请人： Hannu Mäkelä
发明人： Hannu Mäkelä
IPC分类号： G06F15/00
CPC分类号： G05D1/0038 , G01C21/30 , G05D1/024 , G05D1/0255 , G05D1/027 , G05D2201/021
摘要： 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.
摘要翻译：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。

9. 发明授权

US07191060B2 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：US07191060B2
公开(公告)日：2007-03-13
申请号：US11232262
申请日：2005-09-22
申请人： Hannu Mäkelä
发明人： Hannu Mäkelä
IPC分类号： G01C21/30
CPC分类号： G05D1/0212 , G01C21/20 , G05D2201/021
摘要： 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).
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。

10. 发明申请

US20060235609A1 Method and control system for positioning a mine vehicle 有权
标题翻译：矿山车辆定位方法和控制系统
公开(公告)号：US20060235609A1
公开(公告)日：2006-10-19
申请号：US10550606
申请日：2004-03-25
申请人： Hannu Mäkelä
发明人： Hannu Mäkelä
IPC分类号： G06F17/00
CPC分类号： G05D1/0272 , G01C22/00 , G05D1/0236 , G05D1/024 , G05D1/027 , G05D1/0274 , G05D2201/021
摘要： 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.
摘要翻译：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。

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