Determination of Route for Arranging Automatic Control of Mobile Mining Machine

• US 20120116666A1
• Filed: 06/22/2010
• Published: 05/10/2012
• Est. Priority Date: 06/24/2009
• Status: Active Grant

• Current Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Original Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Inventors: Mäkelä, Hannu
• Granted Patent: US 8,744,746 B2
• Time in Patent Office: Days
• US Class Current: 701/400
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

The present method relates to a method of determining a route for automatically controlling a mobile mining machine. The route is determined computer-aidedly by executing, by a data processing machine configured for generating routes, the following steps of: retrieving an environment model comprising wall location data, receiving from a user at least an input for determining a starting point of the route and an input for determining an end point of the route, determining the route between the starting point and the end point on the basis of the environment model and data concerning properties of the mining machine, wherein the route is determined as route points at least for which position data are calculated, and storing the data determining the route to be used for automatically guiding the mining machine.

Claims

1. A method of determining a route for automatically controlling a mobile mining machine, the method comprising, for the purpose of performing a task, determining a route the mining machine is to follow, wherein the method further comprises determining the route for the mining machine computer-aidedly by executing, by a data processing machine configured for generating routes, the following steps of:

retrieving an environment model comprising wall location data, receiving from a user at least an input for determining a starting point of the route and an input for determining an end point of the route, determining the route between the starting point and the end point on the basis of the environment model and data concerning properties of the mining machine by executing at least one route determination algorithm to determine route points for which at least position data are calculated, and

storing the data determining the route to be used for automatically guiding the mining machine.

2. A method as claimed in claim 1, comprising determining control data for each route point along the route to be used when the mining machine resides at the particular route point, the control data comprising at least position data and speed data.

3. A method as claimed in claim 1, comprising retrieving

a model modelling the mining machine and said data determining the route, and

testing the computer-aidedly generated route by simulating the driving of the mining machine on the route.

4. A method as claimed in any one of the preceding claims, comprising determining position data for a set of route points of the route on the basis of the environment model,

calculating a path curvature on the basis of the determined position data,

determining, on the basis of the calculated path curvature and route-point-specifically, a certain position of a steering angle by which the mining machine follows the route,

determining a space required by the mining machine at said position of the steering angle on the basis of the mining machine property data,

checking if a predetermined minimum distance from tunnel walls is exceeded on the basis of the determined space required by the mining machine, route point position data, and the tunnel wall location data determined by the environment model, and

updating the position of the route point in response to the predetermined minimum distance not being exceeded.

5. A method as claimed in claim 1, comprising receiving from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

determining a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

11. A computer program, comprising computer program code means configured to execute the steps of the method according to claim 1 when being run on a computer.

12. A method as claimed in claim 2, comprising retrieving a model modelling the mining machine and said data determining the route, and

testing the computer-aidedly generated route by simulating the driving of the mining machine on the route.

14. A method as claimed in claim 2, comprising receiving from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

determining a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

15. A method as claimed in claim 3, comprising receiving from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

determining a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

16. A method as claimed in claim 4, comprising receiving from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

determining a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

17. A method as claimed in claim 12, comprising receiving from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

determining a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

6. An apparatus comprising a data processing device for determining route data for automatically controlling a mobile mining machine, and an interface for receiving inputs from a user of the apparatus, wherein the apparatus is configured to determine a route computer-aidedly, the apparatus being configured to:

retrieve an environment model comprising wall location data,

receive from the user at least an input for determining a starting point of the route and an input for determining an end point of the route,

determine the route between the starting point and the end point on the basis of the environment model and data concerning properties of the mining machine by executing at least one route determination algorithm to determine route points for which at least position data are calculated, and

store the data determining the route to be used for automatically guiding the mining machine.

7. An apparatus as claimed in claim 6, wherein the apparatus is configured to determine control data for each route point of the route to be used when the mining machine resides at the particular route point, the control data comprising at least position data and speed data.

8. An apparatus as claimed in claim 6, wherein the apparatus is configured to retrieve a model modelling the mining machine and said data determining the route, and

the apparatus is configured to test the computer-aidedly generated route by simulating the driving of the mining machine on the route.

9. An apparatus as claimed in claim 6, wherein the apparatus is configured to:

determine position data for a set of route points of the route on the basis of the environment model,

calculate a path curvature on the basis of the determined position data,

determine, on the basis of the calculated path curvature and route-point-specifically, a certain position of a steering angle by which the mining machine follows the route,

determine a space required by the mining machine at said position of the steering angle on the basis of the mining machine property data,

check if a predetermined minimum distance from walls of the tunnel is exceeded on the basis of the determined space required by the mining machine, route point position data, and tunnel wall location data determined by the environment model, and

update the position of the route point in response to the predetermined minimum distance not being exceeded.

10. An apparatus as claimed in claim 6, wherein the apparatus is configured to receive from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and determine a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

13. An apparatus as claimed in claim 7, wherein the apparatus is configured to retrieve a model modelling the mining machine and said data determining the route, and

the apparatus is configured to test the computer-aidedly generated route by simulating the driving of the mining machine on the route.

18. An apparatus as claimed in claim 7, wherein the apparatus is configured to receive from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

to determine a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

19. An apparatus as claimed in claim 8, wherein the apparatus is configured to receive from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

to determine a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.

20. An apparatus as claimed in claim 13, wherein the apparatus is configured to receive from the user an input concerning the position of at least one route point that is to be followed accurately or that is suggestive, and

to determine a route point on the route to accurately or closely correspond with the position of the route point inputted by the user.