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1. 发明申请

WO2010149856A3 TEACHING A MODEL FOR AUTOMATIC CONTROL OF MOBILE MINING MACHINE 审中-公开
标题翻译：教学机械自动控制模型
公开(公告)号：WO2010149856A3
公开(公告)日：2011-04-07
申请号：PCT/FI2010050539
申请日：2010-06-23
申请人： SANDVIK MINING & CONSTR OY , RUOKOJAERVI JARKKO , MAEKELAE HANNU , LEHTINEN ANTTI , SIEVILAE JOUNI
发明人： RUOKOJAERVI JARKKO , MAEKELAE HANNU , LEHTINEN ANTTI , SIEVILAE JOUNI
IPC分类号： G06Q50/00 , E21F13/02 , E21F13/06 , G05D1/02
CPC分类号： E21C35/24 , E21F17/18
摘要： The present invention relates to defining a model used for automatic control of a mobile mining machine (1), wherein the model is defined of a production area environment and/or route of the mining machine (1) in the production area in a computer-aided manner with a model definition application. The definition of said model is arranged as a route definition process comprising several steps that are executed in a predefined order. This means defining (51) according to predefined step-wise definitions the actions allowed in the current step of the model definition process; displaying (52) to the user,information defined to be displayed for the current step according to predefined stepwise definitions;executing (53) automatically at least some of the functions related said model definition step according to the predefined stepwise definitions;and allowing (52) a user to select only actions allowed in said step and to move only according to the predefined order to an allowed model definition process step.
摘要翻译：本发明涉及定义用于移动式挖掘机（1）的自动控制的模型，其中该模型被定义为在计算机可读介质中的生产区域中的采矿机（1）的生产区环境和/或路线，辅助的方式与模型定义应用程序。所述模型的定义被布置为包括按预定顺序执行的若干步骤的路线定义过程。这意味着根据预定义的逐步定义定义（51）模型定义过程当前步骤中允许的动作; 向用户显示（52）根据预定义的步进定义定义为当前步骤显示的信息;根据预定义的步进定义自动执行与所述模型定义步骤相关的功能中的至少一些功能;以及允许（52））用户仅选择所述步骤中允许的动作，并且仅仅根据预定义的顺序移动到允许的模型定义处理步骤。

2. 发明申请

WO2010149857A1 DEFINITION OF CONTROL DATA FOR AUTOMATIC CONTROL OF MOBILE MINING MACHINE 审中-公开
标题翻译：移动矿山机械自动控制控制数据的定义
公开(公告)号：WO2010149857A1
公开(公告)日：2010-12-29
申请号：PCT/FI2010/050540
申请日：2010-06-23
申请人： SANDVIK MINING AND CONSTRUCTION OY , LEHTINEN, Antti , MÄKELÄ, Hannu , RUOKOJÄRVI, Jarkko , SIEVILÄ, Jouni
发明人： LEHTINEN, Antti , MÄKELÄ, Hannu , RUOKOJÄRVI, Jarkko , SIEVILÄ, Jouni
IPC分类号： E02F3/43 , G05D1/02 , E21F13/02
CPC分类号： E02F3/434
摘要： The present invention relates to a method for arranging automatic control of a mobile mining machine equipped with a bucket. The method comprises generating 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 means. The bucket emptying model is fetched from the memory means 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：本发明涉及一种配备有铲斗的移动挖掘机的自动控制方法。该方法包括生成通用铲斗排空模型，该模型至少限定挖掘机的铲斗的路径以将其排空。铲斗排空模型存储在存储装置上。响应于需要定义清空路由的桶，从存储器装置取出铲斗排空模型。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。

3. 发明申请

WO2010149856A2 TEACHING A MODEL FOR AUTOMATIC CONTROL OF MOBILE MINING MACHINE 审中-公开
标题翻译：教学机械自动控制模型
公开(公告)号：WO2010149856A2
公开(公告)日：2010-12-29
申请号：PCT/FI2010/050539
申请日：2010-06-23
申请人： SANDVIK MINING AND CONSTRUCTION OY , RUOKOJÄRVI, Jarkko , MÄKELÄ, Hannu , LEHTINEN, Antti , SIEVILÄ, Jouni
发明人： RUOKOJÄRVI, Jarkko , MÄKELÄ, Hannu , LEHTINEN, Antti , SIEVILÄ, Jouni
CPC分类号： E21C35/24 , E21F17/18
摘要： The present invention relates to defining a model used for automatic control of a mobile mining machine (1), wherein the model is defined of a production area environment and/or route of the mining machine (1) in the production area in a computer-aided manner with a model definition application. The definition of said model is arranged as a route definition process comprising several steps that are executed in a predefined order. This means defining (51) according to predefined step-wise definitions the actions allowed in the current step of the model definition process; displaying (52) to the user,information defined to be displayed for the current step according to predefined stepwise definitions;executing (53) automatically at least some of the functions related said model definition step according to the predefined stepwise definitions;and allowing (52) a user to select only actions allowed in said step and to move only according to the predefined order to an allowed model definition process step.
摘要翻译：本发明涉及定义用于移动式挖掘机（1）的自动控制的模型，其中该模型被定义为在计算机可读介质中的生产区域中的采矿机（1）的生产区环境和/或路线，辅助的方式与模型定义应用程序。所述模型的定义被布置为包括按预定顺序执行的若干步骤的路线定义过程。这意味着根据预定义的逐步定义定义（51）模型定义过程当前步骤中允许的动作; 向用户显示（52）根据预定义的步进定义定义为当前步骤显示的信息;根据预定义的步进定义自动执行与所述模型定义步骤相关的功能中的至少一些功能;以及允许（52））用户仅选择所述步骤中允许的动作，并且仅仅根据预定义的顺序移动到允许的模型定义处理步骤。

4. 发明申请

WO2010149853A1 DETERMINATION OF ROUTES FOR ARRANGING AUTOMATIC CONTROL OF MOBILE MINING MACHINE 审中-公开
标题翻译：确定移动式矿山机械自动控制路线
公开(公告)号：WO2010149853A1
公开(公告)日：2010-12-29
申请号：PCT/FI2010/050530
申请日：2010-06-22
申请人： SANDVIK MINING AND CONSTRUCTION OY , MÄKELÄ, Hannu , LEHTINEN, Antti , RUOKOJÄRVI, Jarkko , SIEVILÄ, Jouni
发明人： MÄKELÄ, Hannu , LEHTINEN, Antti , RUOKOJÄRVI, Jarkko , SIEVILÄ, Jouni
IPC分类号： G05D1/02 , E21F13/02
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。基于通过由配置为生成返回路线的数据处理装置执行由驾驶教导的路线的数据，对计算机进行计算机确定返回路线，至少以下步骤：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。

5. 发明申请

WO2010149852A1 DEFINITION OF DATA REQUIRED FOR AUTOMATIC CONTROL OF MOBILE MINING MACHINE 审中-公开
标题翻译：移动矿山机械自动控制所需数据的定义
公开(公告)号：WO2010149852A1
公开(公告)日：2010-12-29
申请号：PCT/FI2010/050529
申请日：2010-06-22
申请人： SANDVIK MINING AND CONSTRUCTION OY , RUOKOJÄRVI, Jarkko , MÄKELÄ, Hannu , LEHTINEN, Antti , SIEVILÄ, Jouni
发明人： RUOKOJÄRVI, Jarkko , MÄKELÄ, Hannu , LEHTINEN, Antti , SIEVILÄ, Jouni
IPC分类号： G05D1/02 , E21F13/02
CPC分类号： G05D1/0246 , G05D1/0221 , G05D1/0274
摘要： The present invention relates to a method for defining an environment model and route for the purpose of arranging automatic control of a mobile mining machine.In the method, an initialisation point is defined for the definition of the environment model in a first area. Data for the environment model are defined on the basis of first location data, when driving the mining machine from the first area to a second area, the first location data being relative to said initialisation point. Data for route points of the route are defined by using at least some of the environment model data and second location data obtained when driving the mining machine between the second and first areas, the second location data being relative to said initialisation point. The data defining the route are stored for use in automatically controlling the mining machine.
摘要翻译：本发明涉及一种用于定义环境模型和路线的方法，用于布置移动采矿机的自动控制。在该方法中，为第一区域中的环境模型的定义定义了初始化点。在将采矿机从第一区域驱动到第二区域时，基于第一位置数据定义环境模型的数据，第一位置数据相对于所述初始化点。通过使用在第二和第一区域之间驱动采矿机时获得的环境模型数据和第二位置数据中的至少一些来定义路线的路线点的数据，第二位置数据相对于所述初始化点。存储定义路线的数据，用于自动控制采矿机。

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