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FI20095712L - Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin - Google Patents

Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin Download PDF

Info

Publication number
FI20095712L
FI20095712L FI20095712A FI20095712A FI20095712L FI 20095712 L FI20095712 L FI 20095712L FI 20095712 A FI20095712 A FI 20095712A FI 20095712 A FI20095712 A FI 20095712A FI 20095712 L FI20095712 L FI 20095712L
Authority
FI
Finland
Prior art keywords
mining machine
mobile mining
defining
control data
automatic control
Prior art date
Application number
FI20095712A
Other languages
English (en)
Finnish (fi)
Other versions
FI20095712A7 (sv
FI20095712A0 (sv
Inventor
Antti Lehtinen
Hannu Maekelae
Jarkko Ruokojaervi
Jouni Sievilae
Original Assignee
Sandvik Mining & Constr Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sandvik Mining & Constr Oy filed Critical Sandvik Mining & Constr Oy
Priority to FI20095712A priority Critical patent/FI20095712L/sv
Publication of FI20095712A0 publication Critical patent/FI20095712A0/sv
Priority to EP10791683.5A priority patent/EP2446091B1/en
Priority to PCT/FI2010/050540 priority patent/WO2010149857A1/en
Priority to CN201080028557.6A priority patent/CN102803618B/zh
Priority to ES10791683T priority patent/ES2719229T3/es
Priority to US13/380,243 priority patent/US8571765B2/en
Priority to AU2010264557A priority patent/AU2010264557C1/en
Priority to CA2765144A priority patent/CA2765144C/en
Publication of FI20095712A7 publication Critical patent/FI20095712A7/sv
Publication of FI20095712L publication Critical patent/FI20095712L/sv
Priority to CL2011003282A priority patent/CL2011003282A1/es
Priority to ZA2012/00572A priority patent/ZA201200572B/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E21F13/02—Transport of mined mineral in galleries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
FI20095712A 2009-06-24 2009-06-24 Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin FI20095712L (sv)

Priority Applications (10)

Application Number Priority Date Filing Date Title
FI20095712A FI20095712L (sv) 2009-06-24 2009-06-24 Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin
CA2765144A CA2765144C (en) 2009-06-24 2010-06-23 Definition of control data for automatic control of mobile mining machine
ES10791683T ES2719229T3 (es) 2009-06-24 2010-06-23 Definición de datos de control para el control automático de una máquina móvil de arranque
PCT/FI2010/050540 WO2010149857A1 (en) 2009-06-24 2010-06-23 Definition of control data for automatic control of mobile mining machine
CN201080028557.6A CN102803618B (zh) 2009-06-24 2010-06-23 用于定义控制数据的方法和包括用于定义控制数据的数据处理装置的设备
EP10791683.5A EP2446091B1 (en) 2009-06-24 2010-06-23 Definition of control data for automatic control of mobile mining machine
US13/380,243 US8571765B2 (en) 2009-06-24 2010-06-23 Definition of control data for automatic control of mobile mining machine
AU2010264557A AU2010264557C1 (en) 2009-06-24 2010-06-23 Definition of control data for automatic control of mobile mining machine
CL2011003282A CL2011003282A1 (es) 2009-06-24 2011-12-23 Un metodo para definir datos de control para el control automatico de una maquinaria movil equipada con un balde, un aparato que permite generar un modelo de vaciado del balde y un aparato que permite recuperar el modelo de vaciado del balde para usarlo en el control de la maquinaria para vaciar el balde en el paso por una ruta.
ZA2012/00572A ZA201200572B (en) 2009-06-24 2012-01-24 Definition of control data for automatic control of mobile mining machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20095712A FI20095712L (sv) 2009-06-24 2009-06-24 Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin

Publications (3)

Publication Number Publication Date
FI20095712A0 FI20095712A0 (sv) 2009-06-24
FI20095712A7 FI20095712A7 (sv) 2010-12-25
FI20095712L true FI20095712L (sv) 2010-12-25

Family

ID=40825416

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20095712A FI20095712L (sv) 2009-06-24 2009-06-24 Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin

Country Status (10)

Country Link
US (1) US8571765B2 (sv)
EP (1) EP2446091B1 (sv)
CN (1) CN102803618B (sv)
AU (1) AU2010264557C1 (sv)
CA (1) CA2765144C (sv)
CL (1) CL2011003282A1 (sv)
ES (1) ES2719229T3 (sv)
FI (1) FI20095712L (sv)
WO (1) WO2010149857A1 (sv)
ZA (1) ZA201200572B (sv)

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Publication number Priority date Publication date Assignee Title
WO2010149851A1 (en) 2009-06-24 2010-12-29 Sandvik Mining And Construction Oy Determination of route for arranging automatic control of mobile mining machine

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CA2760725C (en) * 2009-05-01 2018-08-14 The University Of Sydney Planning system for autonomous operation
FI20095712L (sv) 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Bestämmande av styrdata för automatisk styrning av en rörlig gruvmaskin
CL2012000933A1 (es) 2011-04-14 2014-07-25 Harnischfeger Tech Inc Un metodo y una pala de cable para la generacion de un trayecto ideal, comprende: un motor de oscilacion, un motor de izaje, un motor de avance, un cucharon para excavar y vaciar materiales y, posicionar la pala por medio de la operacion del motor de izaje, el motor de avance y el motor de oscilacion y; un controlador que incluye un modulo generador de un trayecto ideal.
EP3199750B1 (en) 2011-08-03 2018-11-21 Joy Global Underground Mining LLC Automated operations of a mining machine
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WO2014191013A1 (en) * 2013-05-27 2014-12-04 Sandvik Mining And Construction Oy Method and control system for a mining vehicle and a mining vehicle
CN104603820B (zh) * 2013-08-30 2016-08-17 株式会社小松制作所 矿山机械的管理系统及矿山机械的管理方法
US20150097412A1 (en) * 2013-10-09 2015-04-09 Caterpillar Inc. Determing an activity of a mobile machine
WO2015106799A1 (en) * 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Mine vehicle, mine control system and mapping method
EP3207187B1 (en) 2014-10-13 2019-11-20 Sandvik Mining and Construction Oy Arrangement for controlling a work machine
BR112017025487B1 (pt) * 2015-05-28 2023-10-17 Joy Global Longview Operations Llc Veículo de transporte e método de operação de um veículo de transporte
US9575491B1 (en) 2015-09-03 2017-02-21 Caterpillar Underground Mining Pty Ltd System and method for automated machine operation
US9910434B1 (en) 2016-11-21 2018-03-06 Caterpillar Inc. Command for underground
US10838422B2 (en) * 2017-04-13 2020-11-17 Panasonic Intellectual Property Corporation Of America Information processing method and information processing apparatus
WO2020156652A1 (en) * 2019-01-30 2020-08-06 Sandvik Mining And Construction G.M.B.H. A mining machine adapted for extracting material from a deposit, and method for control thereof
AU2019205002B2 (en) * 2019-07-11 2025-12-11 Caterpillar Inc. System and method for operating underground machines
CN112376521A (zh) * 2020-11-10 2021-02-19 安徽省六安恒源机械有限公司 一种抓臂式清污机器人智能搜索清污系统
CN114851209B (zh) * 2022-06-21 2024-04-19 上海大学 一种基于视觉的工业机器人工作路径规划优化方法及系统
US12460375B2 (en) * 2023-05-17 2025-11-04 Caterpillar Inc. Systems and methods for controlling a digging machine and positioning a transport vehicle
US12480277B2 (en) * 2023-05-17 2025-11-25 Caterpillar Inc. Systems and methods for controlling a digging and dumping machine

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010149851A1 (en) 2009-06-24 2010-12-29 Sandvik Mining And Construction Oy Determination of route for arranging automatic control of mobile mining machine

Also Published As

Publication number Publication date
ZA201200572B (en) 2012-09-26
EP2446091B1 (en) 2019-01-16
CN102803618B (zh) 2016-03-02
CA2765144C (en) 2014-09-09
EP2446091A4 (en) 2017-06-07
AU2010264557C1 (en) 2014-08-14
FI20095712A7 (sv) 2010-12-25
US8571765B2 (en) 2013-10-29
WO2010149857A1 (en) 2010-12-29
CL2011003282A1 (es) 2012-07-06
CA2765144A1 (en) 2010-12-29
AU2010264557A1 (en) 2012-02-02
EP2446091A1 (en) 2012-05-02
FI20095712A0 (sv) 2009-06-24
AU2010264557B2 (en) 2014-04-03
CN102803618A (zh) 2012-11-28
ES2719229T3 (es) 2019-07-09
US20120095640A1 (en) 2012-04-19

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