公开(公告)号：US20210263534A1

公开(公告)日：2021-08-26

申请号：US17053338

申请日：2018-05-09

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Janne KALLIO ,  Antti LEHTINEN ,  Jarkko RUOKOJARVI

IPC: G05D1/02 ,  E02F9/20 ,  G05D1/00 ,  G08G1/01

Abstract: A method for a zone passage control system for an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of 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.

公开(公告)号：US20170351264A1

公开(公告)日：2017-12-07

申请号：US15538412

申请日：2015-12-16

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jarkko RUOKOJARVI ,  Antti LEHTINEN ,  Janne KALLIO

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  E21F17/18 ,  F16P3/142 ,  G05D1/0287 ,  G05D2201/021

Abstract: A system for zone passage control for a zone of an autonomously operating mobile object includes at least a set of detection units to detect at least one mobile object entering and/or exiting the zone, a set of identification units arranged to identify the mobile object entering and/or exiting the zone, and a central controller being arranged in operational connection with the set of the detection units and with the set of the identification units. An admissibility level for a mobile object to enter the zone is determined and a control signal to stop at least one autonomously operating mobile object existing in the zone is provided in response to the determined admissibility level being negative for the mobile object entered the zone.

公开(公告)号：US20240012428A1

公开(公告)日：2024-01-11

申请号：US18035875

申请日：2020-11-12

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Antti LEHTINEN ,  Bjorn IVARSSON ,  Fredrik SCHMIDT

IPC: G05D1/02

CPC classification number: G05D1/0291 ,  G05D1/0223 ,  G05D2201/021 ,  E21F13/00

Abstract: A method includes the steps of detecting a trigger for speed scale setting for a vehicle autonomously operating at an underground worksite and executing a drive order, defining a speed scale for the vehicle on the basis of traffic flow of vehicles at the work site, transmitting 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, in response to detecting 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.

公开(公告)号：US20220251809A1

公开(公告)日：2022-08-11

申请号：US17610576

申请日：2020-05-12

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Simo SANERMA ,  Antti LEHTINEN ,  Teemu PARKKINEN ,  Esa PAJALA ,  Riku PULLI

IPC: E02F9/26 ,  E02F9/20 ,  G05D1/00 ,  G05D1/02

Abstract: A method for controlling autonomous mine vehicle operations includes the steps of detecting a dust condition for an autonomously operating mine vehicle performing optical environment scanning for positioning the mine vehicle at a worksite, transitioning the mine vehicle operating in an automatic driving mode to a dust driving mode in response to detecting the dust condition, the dust driving mode being associated with one or more control actions for autonomous operation of the mine vehicle, controlling dead-reckoning based positioning for updating the position of the mine vehicle during the dust driving mode, monitoring of a dead-reckoning error parameter during the dust driving mode, and in response to the dead-reckoning error parameter reaching an error threshold, controlling the mine vehicle to stop or reduce speed.

公开(公告)号：US20210232155A1

公开(公告)日：2021-07-29

申请号：US17053339

申请日：2018-05-09

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jarkko RUOKOJARVI ,  Antti LEHTINEN ,  Janne KALLIO

IPC: G05D1/02

Abstract: A method for zone passage control in an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of 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.

公开(公告)号：US20170247860A1

公开(公告)日：2017-08-31

申请号：US15518505

申请日：2014-10-13

Applicant: Sandvik Mining and Construction Oy

Inventor： Antti LEHTINEN ,  Hannu MÄKELÄ

IPC: E02F9/20 ,  E02F3/43 ,  E02F3/28

CPC classification number: E02F9/205 ,  E02F3/283 ,  E02F3/40 ,  E02F3/434 ,  E02F9/2029 ,  E02F9/2037 ,  E02F9/2041 ,  E02F9/2271 ,  E02F9/2292 ,  E02F9/262

Abstract: A method for controlling loading material to a bucket of a work machine from a stack of material is disclosed. The method includes the steps: of selecting a control profile to be used as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location; obtaining information of a distance traveled by the work machine while loading material to the bucket; examining at least one condition regarding the work machine 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.