Initializing position and direction of mining vehicle

• US 7,392,151 B2
• Filed: 03/25/2004
• Issued: 06/24/2008
• Est. Priority Date: 03/25/2003
• Status: Active Grant

• Current Assignee: Sandvik Tamrock Oy (Sandvik AB)
• Original Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Inventors: Makela, Hannu
• Primary Examiner(s): Nghiem; Michael P.
• Application Number:
  US10/550,309
• Publication Number:
  US 20060265166A1
• Time in Patent Office: 1,552 Days
• Field of Search: 702/94, 702/95, 702/150, 702/151, 701/202, 701207-209
• US Class Current: 702/150
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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

Abstract

A method of initializing the position and direction of a mining vehicle, and a mining vehicle. An environmental model and route points are stored in a control system of the vehicle. The environment of the vehicle is scanned, and scanned points are generated based on obstacles observed. The control system is arranged to determine coordinates of the scanned points by using the position of the route points within a search range and at least one direction. The coordinates calculated for the scanned points are compared with the environmental model. Such a route point and direction are selected as initial values for the mining vehicle, by which the generated coordinates of the scanned points best match the environmental model.

Claims

1. A method of initializing the position and direction of a mining vehicle when starting to drive the vehicle in the mine, the mining vehicle comprising a movable carrier and a control system, and wherein the control system is arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route;

and a preplanned route including at least the coordinates of route points of the route to be driven, the method comprising;

scanning the environment of the mining vehicle and determining scanned points on the basis of obstacles detected by the scanning;

determining a search range including at least part of the route points of the preplanned route of the mining vehicle;

selecting each route point within the search range at a time as the position of the mining vehicle;

calculating coordinates for the scanned points of the scanning by using each route point within the search range and at least one direction;

comparing the calculated coordinates of the scanned points with the coordinates of the points in the environmental model;

and selecting such a route point and direction as the initial values of the vehicle, by which the calculated coordinates of the scanned points best match the coordinates of the points in the environmental model, and the position of the selected route point and the selected direction are used as the initial values when starting to drive the vehicle in the mine.

2. A method as claimed in claim 1, comprising

estimating the position of the vehicle when starting to drive the vehicle in the mine,

and outlining the search range based on the position, the search range comprising only part of the route points specifying the route driven.

3. A method as claimed in claim 1, comprising

estimating the position of the vehicle when starting the drive the vehicle in the mine,

outlining the search range based on the position, the search range comprising only part of the route points specifying the route driven,

and outlining the search range manually by an operator.

4. A method as claimed in claim 1, comprising

giving the control system at least two points specifying the assumed route,

generating the assumed route in the control system based on the position of the points given,

and performing the initialization based on the assumed route and the environmental model.

5. A method of initializing the position and direction of a mining vehicle, the mining vehicle comprising a movable carrier and a control system, and wherein the control system is arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route:

and a preplanned route including at least the coordinates of route points of the route to be driven, the method comprising;

scanning the environment of the mining vehicle and determining scanned points on the basis of obstacles detected by the scanning;

determining a search range including at least part of the route points of the preplanned route of the mining vehicle;

selecting each route point within the search range at a time as the position of the mining vehicle;

calculating coordinates for the scanned points of the scanning by using each route point within the search range and at least one direction;

selecting the direction of the route at the route point observed as the direction,

changing the direction in steps by a predetermined tolerance for each route point observed relative to a direction of the route specified by the route point,

calculating the coordinates of the scanned points for each direction,

and comparing, based on each direction, the calculated coordinates of the scanned points with the environmental model;

selecting such a route point and direction as the initial values of the vehicle, by which the calculated coordinates of the scanned points best match the coordinates of the points in the environmental model, and the position of the selected route point and the selected direction are used as the initial values when starting to drive the vehicle in the mines.

6. A method of initializing the position and direction of a mining vehicle, the mining vehicle comprising a movable carrier and a control system, and wherein the control system is arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route;

and a preplanned route including at least the coordinates of route points of the route to be driven, the method comprising;

scanning the environment of the mining vehicle and determining scanned points on the basis of obstacles detected by the scanning;

determining a search range including at least part of the route points of the preplanned route of the mining vehicle;

selecting each route point within the search range at a time as the position of the mining vehicle;

calculating coordinates for the scanned points of the scanning by using each route point within the search range and at least one direction;

performing a plurality of scannings,

determining a median for each direction of the scanning based on the scannings,

and using the median determined for each direction in the determination of the scanned points;

comparing the calculated coordinates of the scanned points with the coordinates of the points in the environmental model;

selecting such a route point and direction as the initial values of the vehicle, by which the calculated coordinates of the scanned points best match the coordinates of the points in the environmental model, and the position of the selected route point and the selected direction are used as the initial values when starting to drive the vehicle in the mines.

7. A method of initializing the position and direction of a mining vehicle, the mining vehicle comprising a movable carrier and a control system, and wherein the control system is arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route;

and a preplanned route including at least the coordinates of route points of the route to be driven, the method comprising;

scanning the environment of the mining vehicle and determining scanned points on the basis of obstacles detected by the scanning;

determining a search range including at least part of the route points of the preplanned route of the mining vehicle;

selecting each route point within the search range at a time as the position of the mining vehicle;

calculating coordinates for the scanned points of the scanning by using each route point within the search range and at least one direction;

comparing the calculated coordinates of the scanned points with the coordinates of the points in the environmental model;

determining a correlation coefficient based on a comparison of the compatibility of the coordinates of each scanned point and the environmental model,

and selecting the initial values by comparing the generated correlation coefficients with each other;

selecting such a route point and direction as the initial values of the vehicle, by which the calculated coordinates of the scanned points best match the coordinates of the points in the environmental model, and the position of the selected route point and the selected direction are used as the initial values when starting to drive the vehicle in the mines.

8. A mining vehicle, comprising:

a movable carrier;

a control system including at least one control unit arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route; and

a preplanned route including at least the coordinates of route points of the route to be driven;

at least one scanner for detecting obstacles in the environment of the vehicle;

the control system is arranged to determine scanned points on the basis of the results of the scanning,

and wherein

the control system is arranged to calculated coordinates for the scanned points by using the position of the route points within a predetermined search range and at least one direction;

the control system is arranged to compared the calculated coordinates of the scanned points with the coordinates of the points in the environmental model;

and the control system is arranged to select such a route point and direction as the initial values of the vehicle when starting to drive the vehicle in the mine, by which the calculated coordinates of the scanned points best match the coordinates of the points in the environmental model.

9. A method of initializing the position and direction of a mining vehicle when starting to drive the vehicle in the mine,

the mining vehicle comprising a movable carrier and a control system, and wherein the control system is arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route;

and a preplanned route including at least the coordinates of route points of the route to be driven, said method comprising;

scanning the environment of the mine vehicle, and determining scanned points on the basis of obstacles detected by the scanning;

the method further comprising

selecting one route point as the initial point of the search;

selecting a plurality of other route points for observation starting from the initial point;

calculating coordinates for the scanned points of the scanning by using the selected route points and at least one direction;

comparing the calculated coordinates of the scanned points with the coordinates of the points in the environmental model;

and selecting such a route point and direction as the initial value of the vehicle, by which the calculated coordinates of the scanned points fulfill a predetermined criterion, and the position of the selected route point and the selected direction are used as the initial values when starting to drive the vehicle in the mine.

10. A method as claimed in claim 9, comprising delimiting the number of route points to be observed.

11. A mining vehicle, comprising:

a movable carrier;

a control system including at least one control unit arranged to read an electronic environmental model including data on coordinates of an environment delimiting a route; and

a preplanned route including at least the coordinates of route points of the route to be driven;

at least one scanner for detecting obstacles in the environment of the vehicle;

the control system is arranged to determine scanned points on the basis of the results of the scanning, and wherein

the control system is arranged to calculate the coordinates of the scanned points by using one selected route point and at least one direction as the initial point;

the control system is arranged to calculated coordinates of the scanned points by using a plurality of route points starting from the initial point;

the control system is arranged to compare the calculated coordinates of the scanned points with the environmental model;

and the control system is arranged to select such a route point and direction as the initial values of the vehicle when starting to drive the vehicle in the mine, by which the calculated coordinates of the scanned points fulfill a predetermined criterion.