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公开(公告)号：US20240077329A1
公开(公告)日：2024-03-07
申请号：US18271706
申请日：2021-01-12
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Jussi PUURA , Tomi VON ESSEN
IPC: G01C21/00
CPC classification number: G01C21/3848 , E21F13/00
Abstract: A method is provided and includes the steps of detecting a tunnel wall entry for a multi-dimensional worksite model of a worksite, processing at least some of scanning data based on scanning by the scanner by a virtual beam established between the first measurement location and the tunnel wall position, detecting a hit of the virtual beam to a candidate object on the basis of the processing of the at least some of the scanning data, identifying the candidate object to be a dynamic excess object between the position of the scanner and the tunnel wall position on the basis of distance between the candidate intermediate object and the tunnel wall position, and preventing data associated with the identified dynamic excess object to be included in the worksite model applied for controlling autonomous operation of a vehicle in a tunnel of the worksite.
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Patent Agency Ranking
2.发明申请MINE VEHICLE AND METHOD OF DETERMINING POSITION AND DIRECTION OF MONITORED OBJECT 审中-公开矿用车辆及监测对象位置及方向的方法公开(公告)号：US20160341041A1
公开(公告)日：2016-11-24
申请号：US15111301
申请日：2015-01-14
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Jussi PUURA , Tomi VON ESSEN
CPC classification number: E21C35/24 , E21B7/025 , E21C1/00 , E21C41/16 , E21D9/003 , E21D9/004 , G01C7/06 , G01S7/4808 , G01S7/4865 , G01S17/42 , G01S17/89 , G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/021 , G06F17/50
Abstract: A method of determining position and direction of an object of a mine vehicle, the mine vehicle including at least one scanning device for scanning surroundings of the mine vehicle and producing a point cloud data. The mine vehicle has a control unit, which is provided with reference data on the monitored object. The control unit is configured to search the monitored object from the scanned point cloud data and to determine position and direction of the object.
Abstract translation: 一种确定矿用车辆的物体的位置和方向的方法，所述矿用车辆包括用于扫描矿山车辆周围环境的至少一个扫描装置并产生点云数据。 矿山车辆有一个控制单元，在监控对象上提供参考数据。 控制单元被配置为从被扫描的点云数据中搜索所监视的对象并且确定对象的位置和方向。
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公开(公告)号：US20160333691A1
公开(公告)日：2016-11-17
申请号：US15111297
申请日：2015-01-14
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Jussi PUURA , Tomi VON ESSEN
CPC classification number: E21C35/24 , E21B7/025 , E21C1/00 , E21C41/16 , E21D9/003 , E21D9/004 , G01C7/06 , G01S7/4808 , G01S7/4865 , G01S17/42 , G01S17/89 , G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/021 , G06F17/50
Abstract: A method and mine vehicle includes at least one scanning device for scanning surroundings of the mine vehicle and producing operational point cloud data. The mine vehicle has a control unit provided with reference point cloud data of the mine. The control unit is configured to match the operational point cloud data to the reference point cloud data in order to determine position of the mine vehicle. The control unit further includes a mine work plan, which is connected to the detected position of the mine vehicle.
Abstract translation: 一种方法和矿用车辆包括至少一个用于扫描矿用车辆周围环境并产生操作点云数据的扫描装置。 矿山车辆具有提供矿山参考点云数据的控制单元。 控制单元被配置为将操作点云数据与参考点云数据相匹配，以便确定矿用车辆的位置。 控制单元还包括与矿用车辆的检测位置连接的排雷工作计划。
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4.发明申请公开(公告)号：US20220026236A1
公开(公告)日：2022-01-27
申请号：US17297602
申请日：2019-11-28
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Tomi VON ESSEN , Jussi PUURA
Abstract: A method includes the steps of: receiving a three-dimensional model of an underground tunnel; identifying floor points among points of the three-dimensional model; extracting the floor points; and applying at least a part of the extracted floor points as a floor model of the tunnel for positioning or route planning of a mobile object in the underground tunnel.
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公开(公告)号：US20220026215A1
公开(公告)日：2022-01-27
申请号：US17297591
申请日：2019-11-28
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Tuukka VAINIO , Jussi COLLIN , Lauri SIIVONEN , Jussi PUURA , Tomi VON ESSEN
Abstract: A method for positioning a mobile object in an underground tunnel includes the steps of determining horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object; determining horizontal position of the mobile object on the basis of a floor model of the tunnel and the estimated horizontal progression of the mobile object; and generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and a three-dimensional model of the tunnel.
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公开(公告)号：US20160333690A1
公开(公告)日：2016-11-17
申请号：US15111290
申请日：2015-01-14
Applicant: SANDVIK MINING AND CONSTRUCTION OY
Inventor： Jussi PUURA , Tomi VON ESSEN
CPC classification number: E21C35/24 , E21B7/025 , E21C1/00 , E21C41/16 , E21D9/003 , E21D9/004 , G01C7/06 , G01S7/4808 , G01S7/4865 , G01S17/42 , G01S17/89 , G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/021 , G06F17/50
Abstract: A mine control system for monitoring mine operations includes a plurality of mine vehicles provided with on-board monitoring means. Monitoring data is transmitted from the mine vehicle to the mine control system, which is provided with a mine plan. The mine control unit is configured to compare the received monitoring data with the mine plan and to determine the current state of the mine relative to the mine plan on the basis of the monitoring data.
Abstract translation: 一个用于监测矿山作业的矿山控制系统包括多个配有车载监控装置的矿山车辆。 监测数据从矿山车辆传送到提供矿山计划的矿山控制系统。 矿山控制单元配置为将接收到的监测数据与矿山计划进行比较，并根据监测数据确定矿井相对于矿山计划的现状。
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