METHOD AND APPARATUS FOR ARRANGING MINING VEHICLE POSITIONING

• US 20130060425A1
• Filed: 04/21/2011
• Published: 03/07/2013
• Est. Priority Date: 05/10/2010
• Status: Active Grant

• Current Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Original Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Inventors: Makela, Hannu
• Granted Patent: US 8,924,143 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

The present invention relates to a method for positioning a mobile mining vehicle, which method determines scanning data by scanning the environment of the mining vehicle while being driven. Location information is determined for the mining vehicle on the basis of the scanning data and prestored environment model data. Level information is associated with the environment model data, the location level of the mining vehicle (1) is determined and the environment model data to be used are selected on the basis of the determined location level.

Claims

1. A method for positioning a mobile mining vehicle, wherein scanning data is determined by scanning an environment of the mining vehicle while the mining vehicle is driven, comprising the steps of:

determining location information for the mining vehicle with a positioning unit on the basis of the scanning data and pre-stored environment model data including location data of at least edges of an operating area, wherein level information is associated with at least some of the environment model data;

determining a location level of the mining vehicle from the positioning unit;

selecting environment model data from the positioning unit to be used on the basis of the determined location level; and

retrieving, in response to a change of location level during driving, environment model data associated with a new location level for use in the determination of the location information.

2. The method of claim 1, wherein the location level is initialized at a starting point of a driving event of the mining vehicle and environment model data associated with the initialized location level is retrieved for use during the driving of the mining vehicle.

3. The method of claim 1, wherein the mining vehicle is steered on the basis of the location data and pre-stored driving route point data, wherein at least one level data item is associated with at least some of the driving route point data, and the location level is determined in the mining vehicle on the basis of the driving route point data received from performing a driving task.

4. The method of claim 3, wherein the driving route is determined as a set of segments, each of which is associated with level information, and the location level is determined on the basis of the level data of a segment relating to the mining vehicle'"'"'s current location.

5. The method of claim 1, wherein the location level is determined based on identification information received in the operating area of the mining vehicle.

6. The method of claim 1, wherein the environment model data is determined from wall location data determined from the driving of the mining vehicle and the set location level.

15. The method of claim 1, wherein the location level is determined from information obtained from a detector placed on the mining vehicle.

16. The method of claim 1, wherein the location level is determined from the comparison of the location data associated with the level information and the location data of the mining vehicle.

17. The method of claim 1, further comprising the step of providing a computer program including computer program coding means that are arranged to carry out the steps of the method when said program is executed on a computer.

7. An apparatus, comprising at least one data processing device for positioning a mobile mining vehicle, wherein the apparatus is arranged to determine location information of the mining vehicle from a positioning unit on the basis of scanning data obtained by scanning the environment of the mining vehicle and pre-stored environment model data comprising location data on at least the edges of an operating area, such that level information is associated with at least some of the environment model data and that the apparatus is also arranged to determine a location level of the mining vehicle by the positioning unit to select with the positioning unit environment model data to be used on the basis of the location level, and to retrieve, in response to a change of location level during driving, environment model point data associated with a new location level for use in determination of the location information.

8. The apparatus of claim 7, wherein the apparatus is arranged to initialize the location level at the starting point of a driving event of the mining vehicle and the apparatus is arranged to retrieve environment model point data associated with the initialized location level for use during driving of the mining vehicle.

9. The apparatus of claim 7, wherein the mining vehicle is arranged to be steered on the basis of the location data and pre-stored driving route point data, wherein at least one level data item is associated with at least some of the driving route point data and the apparatus is arranged to determine the location level in the mining vehicle on the basis of the driving route point data received for performing a driving task.

10. The apparatus of claim 9, wherein the driving route is determined as a set of segments, wherein level information is associated with each of the segments, and the apparatus is arranged to determine the location level on the basis of the level information of a segment relating to the mining vehicle'"'"'s current location.

11. The apparatus of claim 7, wherein the apparatus is arranged to determine the location level on the basis of identification information received in the operating area of the mining vehicle.

12. The apparatus of claim 7, wherein the apparatus is arranged to determine the environment model data from wall location data determined from the driving of the mining vehicle and the set location level.

18. The apparatus of claim 7, wherein the apparatus is arranged to determine the location level from information obtained from a detector placed on the mining vehicle.

19. The apparatus of claim 7, wherein the apparatus is arranged to determine the location level from location data associated with the level data and the location information of the mining vehicle.

20. The apparatus of claim 7, wherein the apparatus is part of a mining machine.

13. (canceled)

14. (canceled)