Method for automatically guiding a mining machine

• US 7,477,967 B2
• Filed: 09/23/2005
• Issued: 01/13/2009
• Est. Priority Date: 03/25/2003
• Status: Active Grant

• Current Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Original Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Inventors: Mäkelä, Hannu
• Primary Examiner(s): Tran; Khoi H.
• Assistant Examiner(s): WEISKOPF, MARIE
• Application Number:
  US11/232,960
• Publication Number:
  US 20060069472A1
• Time in Patent Office: 1,208 Days
• Field of Search: 701/23, 701/25, 701/200, 701/205, 701/50, 318/587, 180/167
• US Class Current: 701/23
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 40/00 Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method for automatically controlling a mining machine. In the method a route is determined for a mining machine (14) in the form of successive, interconnected segments in a coordinate system fixed in a relation to the mine, the segments in turn being determined as successive points located at a distance from one another. The location of each point is determined in the coordinate system fixed in relation to the mine and the data associated with the points is sent wirelessly (17) to the mining machine.

Claims

1. A method for automatically guiding a mining machine, comprising the steps of:

determining a route for a mining machine that is to perform a task, the route being determined in a coordinate system fixedly determined in relation to the mine, whereby the route is determined in the coordinate system as interconnected segments representing the route, each segment is determined as successive points located at a distance from one another, at least the location of each segment with a specific identifier code is determined and stored by a control system of the mine;

storing in the memory of the mining machine data about the segments and the associated route points;

supplying the data about the route to the mining machine by giving the identifier codes of the segments belonging to the route;

transmitting list of identifier codes of the segments relating to the route from the control system of the mine to control equipment of the mining machine;

storing the information of the segments to control equipment of the mining machine;

determining the route of the mining machine on the basis of the identifier codes and the route point data stored in its memory;

guiding the machine to complete the route determined by the segments; and

controlling the mining machine with the control system of the mining machine by adjusting the mining machine according to data associated with the next route point or segment.

2. A method according to claim 1, wherein the current location of the mining machine in the route is measured with separate measuring devices belonging to the control equipment of the mining machine, the measuring devices including gauges for measuring the traveled distance on the basis of the measured rolling of the wheels and direction in which the machine is guided to.

3. A method according to claim 1, wherein the current location of the mining machine on the route is further measured by means of separate scanners belonging to the control equipment of the mining machine and measuring the wall profile, and that the location data thus obtained is used, when necessary, for correcting the location data of the mining machine.

4. A method according to claim 1, wherein additional route points setting between the segment route points are determined and that the information relating to the additional route points is generated according to predetermined rules on the basis of the information on the existing route points.

5. A method according to claim 1, wherein one parameter determining the operation of the mining machine is the maximum allowed speed and that the control equipment of the mining machine determines the speed of the machine on the basis of a target speed set for the machine, taking into account maximum speeds determined in relation to the curvature of the route.

6. A method according to claim 1, wherein the speed of the mining machine is slowed down in advance as it approaches the last known route point.

7. A method according to claim 6, wherein the speed of movement of the mining machine is adjusted according to the curvature of the track.

8. A method according to claim 6, wherein the route points contain gearing data of the mining machine and that on the basis of these data a gear suitable to the speed of the mining machine is selected from the gear system.

9. A method according to claim 1, wherein the position of one of the mining machine actuators is determined in relation to at least some of the route points and that the control equipment of the mining machine controls the actuator according to the position data provided.