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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

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。

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

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。

5. 发明申请

WO2011141629A1 METHOD AND APPARATUS FOR MINING VEHICLE SAFETY ARRANGEMENTS 审中-公开
标题翻译：采矿车辆安全装置的方法和装置
公开(公告)号：WO2011141629A1
公开(公告)日：2011-11-17
申请号：PCT/FI2011/050421
申请日：2011-05-06
申请人： SANDVIK MINING AND CONSTRUCTION OY , MÄKELÄ, Hannu , SIEVILÄ, Jouni , UOTILA, Jarkko
发明人： MÄKELÄ, Hannu , SIEVILÄ, Jouni , UOTILA, Jarkko
IPC分类号： G01S17/93 , G05D1/02 , E21F13/02
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的同时对采矿车辆的周围进行扫描，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。在该系统中，存储障碍物信息至少包括位置信息预定障碍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。

6. 发明申请

WO2011141619A1 METHOD AND APPARATUS FOR ARRANGING MINING VEHICLE POSITIONING 审中-公开
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：WO2011141619A1
公开(公告)日：2011-11-17
申请号：PCT/FI2011/050363
申请日：2011-04-21
申请人： SANDVIK MINING AND CONSTRUCTION OY , MÄKELÄ, Hannu
发明人： MÄKELÄ, Hannu
IPC分类号： G05D1/02 , E21F13/02 , G05D1/10
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来选择要使用的环境模型数据。

7. 发明申请

WO2010149851A1 DETERMINATION OF ROUTE 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：WO2010149851A1
公开(公告)日：2010-12-29
申请号：PCT/FI2010/050528
申请日：2010-06-22
申请人： SANDVIK MINING AND CONSTRUCTION OY , MÄKELÄ, Hannu
发明人： MÄKELÄ, Hannu
IPC分类号： G05D1/02 , E21F13/02
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：检索包括墙壁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路线的终点的输入，基于环境模型和与挖掘机的属性有关的数据来确定起始点和终点之间的路线，其中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。

8. 发明申请

WO2021122576A1 MINE VEHICLE SAFETY CONTROL 审中-公开
公开(公告)号：WO2021122576A1
公开(公告)日：2021-06-24
申请号：PCT/EP2020/086191
申请日：2020-12-15
申请人： SANDVIK MINING AND CONSTRUCTION OY
发明人： MÄKELÄ, Hannu , TARIQ, Usama
IPC分类号： E21C41/16 , E21F13/00 , G05D1/02 , G05D1/024 , G05D1/0291 , G05D2201/0202
摘要： According to an example aspect of the present invention, there is provided a method, comprising: (310) receiving a tunnel model of an underground tunnel system of a worksite, (320) receiving a route point entry indicative of a route point position for a mine vehicle in the tunnel system, (330) defining, for controlling obstacle detection for the mine vehicle, at least one lateral safety margin parameter on the basis of vehicle dimension data and processing the tunnel model in respect to the route point position, and (340) associating the at least one lateral safety margin parameter with the route point position.

9. 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。

10. 发明申请

WO2004085219A1 ARRANGEMENT IN CONNECTION WITH UNMANNED MINE VEHICLE 审中-公开
标题翻译：与不明火车相关的安排
公开(公告)号：WO2004085219A1
公开(公告)日：2004-10-07
申请号：PCT/FI2004/000173
申请日：2004-03-25
申请人： SANDVIK TAMROCK OY , MÄKELÄ, Hannu
发明人： MÄKELÄ, Hannu
IPC分类号： B60T7/22
CPC分类号： B60T7/22
摘要： The invention relates to a method and system for stopping an unmanned mine vehicle in a predetermined position. The mine vehicle (1, 1a, 1b) is driven at a low speed towards a physical obstacle (7, 7a, 7b). When the mine vehicle (1, 1a, 1b) 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 (20). The control system of the mine vehicle (1, 1a, 1b) detects the exceeding of the limit value and stops the vehicle.
摘要翻译：本发明涉及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（1,1a，1b）朝向物理障碍物（7,7a，7b）以低速驱动。当矿山车辆（1,1a，1b）遇到障碍物（7,7a，7b）时，在矿山车辆的速度与驱动力传递（20）之间产生大于预定极限值的速度差。矿山车辆（1,1a，1b）的控制系统检测到超过极限值并停止车辆。

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