CL2016001780A1 - Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado. - Google Patents

Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado.

Info

Publication number
CL2016001780A1
CL2016001780A1 CL2016001780A CL2016001780A CL2016001780A1 CL 2016001780 A1 CL2016001780 A1 CL 2016001780A1 CL 2016001780 A CL2016001780 A CL 2016001780A CL 2016001780 A CL2016001780 A CL 2016001780A CL 2016001780 A1 CL2016001780 A1 CL 2016001780A1
Authority
CL
Chile
Prior art keywords
monitored object
control unit
coordinate system
point cloud
data
Prior art date
Application number
CL2016001780A
Other languages
English (en)
Inventor
Jussi Puura
Essen Tomi Von
Original Assignee
Sandvik Mining & Construction 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=49958476&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CL2016001780(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Sandvik Mining & Construction Oy filed Critical Sandvik Mining & Construction Oy
Publication of CL2016001780A1 publication Critical patent/CL2016001780A1/es

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Earth Drilling (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Software Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Architecture (AREA)
  • Operation Control Of Excavators (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Un vehículo minero que comprende: - un portador móvil; - al menos un brazo y al menos un dispositivo para trabajo minero en una porción del extremo distal del brazo; - al menos un objeto monitorizado; - un sistema de coordenadas de máquina del vehículo minero; - al menos un dispositivo de escaneo para escanear el entorno del vehículo minero y el al menos un objeto monitorizado dentro de un área de alcance del dispositivo de escaneo para producir datos de escaneo operacional 3D en el sistema de coordenadas de máquina; - el vehículo minero estando en comunicación operacional con al menos una unidad de control configurada para recibir y procesar los datos de escaneo operacional comprendiendo datos de la nube de puntos; CARACTERIZADO porque: - la unidad de control está provista con datos de referencia de entrada en el al menos un objeto monitorizado en el sistema de coordenadas de máquina; - la unidad de control está provista con al menos un procesador y al menos un programa de procesamiento de la nube de puntos permitido para ser ejecutado en el procesador; - la unidad de control está configurada para ejecutar el programa de procesamiento de la nube de puntos para comparar los datos de referencia con los datos de escaneo operacional con el fin de buscar y detectar el objeto monitorizado en los datos de la nube de puntos producidos y para determinar la posición y dirección del objeto monitorizado en el sistema de coordenadas de máquina sobre la base de coordenadas provistas en los datos de la nube de puntos; y - donde al menos parte del dispositivo del trabajo minero es el objeto monitorizado y la unidad de control está configurada para determinar la posición y dirección de al menos parte del dispositivo de trabajo minero en el sistema de coordenadas de la máquina.
CL2016001780A 2014-01-14 2016-07-12 Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado. CL2016001780A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/050598 WO2015106799A1 (en) 2014-01-14 2014-01-14 Mine vehicle, mine control system and mapping method

Publications (1)

Publication Number Publication Date
CL2016001780A1 true CL2016001780A1 (es) 2017-05-19

Family

ID=49958476

Family Applications (3)

Application Number Title Priority Date Filing Date
CL2016001754A CL2016001754A1 (es) 2014-01-14 2016-07-08 Sistema de control minero
CL2016001781A CL2016001781A1 (es) 2014-01-14 2016-07-12 Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina.
CL2016001780A CL2016001780A1 (es) 2014-01-14 2016-07-12 Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado.

Family Applications Before (2)

Application Number Title Priority Date Filing Date
CL2016001754A CL2016001754A1 (es) 2014-01-14 2016-07-08 Sistema de control minero
CL2016001781A CL2016001781A1 (es) 2014-01-14 2016-07-12 Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina.

Country Status (12)

Country Link
US (3) US10174614B2 (es)
EP (1) EP3094805A1 (es)
JP (1) JP6273041B2 (es)
KR (1) KR101917937B1 (es)
CN (1) CN105917067B (es)
AU (3) AU2015206033B2 (es)
BR (1) BR112016016301B1 (es)
CA (3) CA2936686C (es)
CL (3) CL2016001754A1 (es)
EA (1) EA034130B1 (es)
PE (1) PE20160975A1 (es)
WO (4) WO2015106799A1 (es)

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