CL2024002668A1 - Transformación de coordenadas para el posicionamiento de vehículos mineros. - Google Patents

Transformación de coordenadas para el posicionamiento de vehículos mineros.

Info

Publication number
CL2024002668A1
CL2024002668A1 CL2024002668A CL2024002668A CL2024002668A1 CL 2024002668 A1 CL2024002668 A1 CL 2024002668A1 CL 2024002668 A CL2024002668 A CL 2024002668A CL 2024002668 A CL2024002668 A CL 2024002668A CL 2024002668 A1 CL2024002668 A1 CL 2024002668A1
Authority
CL
Chile
Prior art keywords
workplace
coordinate transformation
mining vehicle
workplace model
model
Prior art date
Application number
CL2024002668A
Other languages
English (en)
Inventor
SIIVONEN Lauri
Hämäläinen Jyrki
HYYPPÄ Samuel
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
Application filed by Sandvik Mining & Construction Oy filed Critical Sandvik Mining & Construction Oy
Publication of CL2024002668A1 publication Critical patent/CL2024002668A1/es

Links

Classifications

    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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]
    • 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
    • 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
    • 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
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/22—Details of software or hardware architectures used for the control of position using off-board distributed computer resources for performing calculations, e.g. cloud-based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G05D2107/73—Mining

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mining & Mineral Resources (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

De acuerdo con un aspecto de ejemplo de la presente invención, se proporciona un método, que comprende: detectar una primera posición de un vehículo minero con referencia a un primer modelo de lugar de trabajo, recibir información sobre una pluralidad de matrices de transformación asociadas con el primer modelo de lugar de trabajo, seleccionando una matriz de transformación asociada con el primer modelo de lugar de trabajo basado en la primera posición del vehículo minero, realizar, basándose en la matriz de transformación seleccionada, una transformación de coordenadas a partir de coordenadas de entrada indicativas de una segunda posición del vehículo minero en el primer modelo de lugar de trabajo a coordenadas transformadas de un segundo modelo de lugar de trabajo, y proporcionar las coordenadas transformadas para representar la segunda posición del vehículo minero para realizar el control de automatización minera basado en el segundo modelo de lugar de trabajo.
CL2024002668A 2022-03-17 2024-09-05 Transformación de coordenadas para el posicionamiento de vehículos mineros. CL2024002668A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22162701.1A EP4246270B1 (en) 2022-03-17 2022-03-17 Coordinate transformation for mining vehicle positioning

Publications (1)

Publication Number Publication Date
CL2024002668A1 true CL2024002668A1 (es) 2025-02-07

Family

ID=80786609

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2024002668A CL2024002668A1 (es) 2022-03-17 2024-09-05 Transformación de coordenadas para el posicionamiento de vehículos mineros.

Country Status (7)

Country Link
US (1) US20250208623A1 (es)
EP (1) EP4246270B1 (es)
CN (1) CN118829955A (es)
AU (1) AU2023234622A1 (es)
CA (1) CA3245138A1 (es)
CL (1) CL2024002668A1 (es)
WO (1) WO2023174771A1 (es)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116295350B (zh) * 2023-03-21 2026-04-10 东软睿驰汽车技术（上海）有限公司 隧道建图方法、装置、设备及存储介质
CN117990110B (zh) * 2024-02-01 2024-11-12 内蒙古伊泰信息技术有限公司 井工矿中对象的定位方法以及装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI123638B (fi) * 2007-04-20 2013-08-30 Sandvik Mining & Constr Oy Menetelmä porauskaavion suuntaamiseksi kaarevissa tunneleissa, kallionporauslaite sekä ohjelmistotuote
EP3094807B1 (en) * 2014-01-14 2019-10-16 Sandvik Mining and Construction Oy Mine control system
CN111380545B (zh) * 2015-02-10 2024-11-12 御眼视觉技术有限公司 用于自主车辆导航的方法、服务器、自主车辆以及介质
CA2942553C (en) * 2016-02-01 2018-10-02 Komatsu Ltd. Work machine control system, work machine, and work machine management system
US11506502B2 (en) * 2019-07-12 2022-11-22 Honda Motor Co., Ltd. Robust localization

Also Published As

Publication number Publication date
CN118829955A (zh) 2024-10-22
CA3245138A1 (en) 2023-09-21
EP4246270A1 (en) 2023-09-20
AU2023234622A1 (en) 2024-10-03
EP4246270B1 (en) 2024-10-02
EP4246270C0 (en) 2024-10-02
WO2023174771A1 (en) 2023-09-21
US20250208623A1 (en) 2025-06-26

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