Initializing position and direction of mining vehicle
First Claim
1. 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 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 coordinates calculated for the scanned points with the environmental model;
and selecting such a route point and direction as the initial values of the vehicle, the coordinates of the scanned points of which best match the environmental model.
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Accused Products
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.
27 Citations
11 Claims
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1. 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 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 coordinates calculated for the scanned points with the environmental model;
and selecting such a route point and direction as the initial values of the vehicle, the coordinates of the scanned points of which best match the environmental model. - View Dependent Claims (2, 3, 4, 5, 6, 7)
- and a route including at least the coordinates of route points of the route to be driven, the method comprising;
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8. A mining vehicle, comprising:
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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 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;
means for determining scanned points on the basis of the results of the scanning, and wherein the control system is arranged to determine 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 compare the coordinates calculated for 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, by which the generated coordinates of the scanned points best match the environmental model.
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9. 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 route including at least the coordinates of route points of the route to be driven,
and in which method;
the environment of the mining vehicle is scanned, and scanned points are determined 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 coordinates calculated for the scanned points with the environmental model;
and selecting such a route point and direction as the initial value of the vehicle, the coordinates of the scanned points of which fulfil a predetermined criterion. - View Dependent Claims (10)
- and a route including at least the coordinates of route points of the route to be driven,
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11. A mining vehicle:
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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 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;
means for determining scanned points on the basis of the results of the scanning, and wherein the control system is arranged to determine the position of one selected route point and at least one direction as the initial point by using the coordinates of the scanned points;
the control system is arranged to determine coordinates of the scanned points for a plurality of route points starting from the initial point;
the control system is arranged to compare the coordinates calculated for 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, by which the generated coordinates of the scanned points fulfil a predetermined criterion.
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Specification