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1. 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。

2. 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。

3. 发明申请

WO2019214818A1 ZONE PASSAGE CONTROL IN WORKSITE 审中-公开
公开(公告)号：WO2019214818A1
公开(公告)日：2019-11-14
申请号：PCT/EP2018/061954
申请日：2018-05-09
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： RUOKOJÄRVI, Jarkko , LEHTINEN, Antti , KALLIO, Janne
IPC分类号： G05D1/02
摘要： According to an example aspect of the present invention, there is provided a method for zone passage control in an underground worksite comprising a plurality of operation zones for autonomously operating mobile vehicle operations, the method comprising: receiving position information of at least one autonomously operating mobile vehicle in a fusion zone merged of at least a first zone and a second zone associated with a first passage control unit, and in response to detecting a mobile object by a second passage control unit associated with the first zone, performing: checking position of the at least one autonomously operating mobile vehicle, in response to an autonomously operating mobile vehicle being positioned in the second zone, preventing a control command to stop the autonomously operating mobile vehicle in the second zone, and demerging the first zone and the second zone.

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

WO2016058625A1 ARRANGEMENT FOR CONTROLLING A WORK MACHINE 审中-公开
标题翻译：控制工作机器的安排
公开(公告)号：WO2016058625A1
公开(公告)日：2016-04-21
申请号：PCT/EP2014/071871
申请日：2014-10-13
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： LEHTINEN, Antti , MÄKELÄ, Hannu
IPC分类号： E02F3/43 , E02F9/20 , E02F9/26
CPC分类号： E02F9/205 , E02F3/283 , E02F3/40 , E02F3/434 , E02F9/2029 , E02F9/2037 , E02F9/2041 , E02F9/2271 , E02F9/2292 , E02F9/262
摘要： A method for controlling loading material to a bucket (106) of a work machine (100) from a stack of material (204) is disclosed. The method comprises selecting a control profile to be used as a basic control profile comprising indications for positions of at least one of the bucket (106) and the boom (104) of the work machine (100) as a function of a distance travelled by the work machine with reference to a reference location; obtaining information of a distance travelled by the work machine (100) while loading material to the bucket (106); examining at least one condition regarding the work machine (100) during loading; and determining, on the basis of the examined condition, whether another position than indicated by the selected control profile is to be used for at least one of the bucket and the boom. If it is determined that another position than indicated by the selected control profile is to be used for at least one of the bucket and the boom, the method further comprises selecting said another position. There is also disclosed an apparatus, a computer program product, and a work machine.
摘要翻译：公开了一种用于从材料堆（204）控制对作业机械（100）的铲斗（106）的装载材料的方法。该方法包括选择要用作基本控制轮廓的控制轮廓，其包括作业机器（100）的铲斗（106）和悬臂（104）中的至少一个的位置的指示，作为由工作机器参考参考位置; 在将材料装载到所述铲斗（106）的同时获取由所述作业机械（100）行进的距离的信息; 在加载期间检查关于作业机器（100）的至少一个条件; 以及基于所检查的条件，确定是否将所选择的控制简档中指示的另一位置用于铲斗和悬臂中的至少一个。如果确定比所选择的控制轮廓指示的另一位置将用于铲斗和起重臂中的至少一个，则该方法还包括选择所述另一位置。还公开了一种装置，计算机程序产品和作业机器。

6. 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。

7. 发明申请

WO2022100837A1 MINE VEHICLE AUTONOMOUS DRIVE CONTROL 审中-公开
公开(公告)号：WO2022100837A1
公开(公告)日：2022-05-19
申请号：PCT/EP2020/081930
申请日：2020-11-12
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： LEHTINEN, Antti , IVARSSON, Björn , SCHMIDT, Fredrik
IPC分类号： G05D1/02
摘要： According to an example aspect of the present invention, there is provided a method, comprising: detecting (310) a trigger for speed scale setting for a vehicle (20) autonomously operating at an underground worksite (1) and executing a drive order, defining (320) a speed scale for the vehicle on the basis of traffic flow of vehicles at the work site, transmitting (330) a speed scale control message to the vehicle during execution of the drive order, the speed scale control message comprising a speed scale information element indicative of the speed scale, and transmitting (350), in response to detecting (340) trigger for speed scale cancellation on the basis of updated traffic flow information, a speed scale cancel control message to the vehicle executing the drive order, wherein the speed scale cancel control message indicates cancellation of the speed scale.

8. 发明申请

WO2019214817A1 ZONE PASSAGE CONTROL IN WORKSITE 审中-公开
公开(公告)号：WO2019214817A1
公开(公告)日：2019-11-14
申请号：PCT/EP2018/061951
申请日：2018-05-09
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： KALLIO, Janne , LEHTINEN, Antti , RUOKOJÄRVI, Jarkko
IPC分类号： G05D1/02
摘要： According to an example aspect of the present invention, there is provided a method for a zone passage control system for an underground worksite comprising a plurality of operation zones for autonomously operating mobile vehicle operations, comprising: associating a first passage control unit with a first zone and a second zone, detecting state parameter information of the first zone and the second zone, merging the first zone and the second zone into a fusion zone on the basis of the state parameter information of the first zone and the second zone, and adapting the zone passage control system to allow a first autonomously operating mobile vehicle to pass the first passage control unit in the fusion zone without interrupting operation of a second autonomously operating mobile vehicle in the first zone and/or the second zone.

9. 发明申请

WO2016107743A1 ZONE PASSAGE CONTROL IN WORKSITE 审中-公开
标题翻译：工作场所的区域通行权控制
公开(公告)号：WO2016107743A1
公开(公告)日：2016-07-07
申请号：PCT/EP2015/079914
申请日：2015-12-16
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： RUOKOJÄRVI, Jarkko , LEHTINEN, Antti , KALLIO, Janne
IPC分类号： E21F17/18 , F16P3/08
CPC分类号： G05D1/0246 , F16P3/142 , G05D1/0287 , G05D2201/021
摘要： A system (13) for zone passage control for a zone (OZ23, OZ4, OZ5, OZ6, OZ9) of an autonomously operating mobile object (9) comprises at least a set of detection units (14a, 14b, 14c, 14d, 14e, 14f) to detect at least one mobile object (9, 10) entering and/or exiting the zone, a set of identification units (15a, 15b, 15c, 15d, 15e, 5f) to identify the mobile object (9, 10) entering and/or exiting the zone, and a central controller (19) being arranged in operational connection with the set of the detection units and with the set of the identification units. An admissibility level (AL) for a mobile object (9, 10) to enter the zone is determined and a control signal (CS) to stop at least one autonomously operating mobile object (9) existing in the zone is provided in response to the determined admissibility level being negative for the mobile object (9, 0) entered the zone.
摘要翻译：用于自主操作的移动物体（9）的区域（OZ23，OZ4，OZ5，OZ6，OZ9）的区段通过控制的系统（13）至少包括一组检测单元（14a，14b，14c，14d，14e ，14f）以检测进入和/或退出所述区域的至少一个移动对象（9,10），一组识别单元（15a，15b，15c，15d，15e，5f）以识别移动对象（9,10 ）进入和/或离开区域，以及中央控制器（19），其布置成与所述检测单元组以及所述识别单元的集合可操作地连接。确定移动对象（9,10）进入该区域的可接受性级别（AL），并且响应于所述控制信号（CS），停止存在于该区域中的至少一个自主操作的移动对象（9）移动对象（9,0）进入区域的确定的可接受程度级别为负。

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