[go: up one dir, main page]

CL2016001781A1 - Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina. - Google Patents

Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina.

Info

Publication number
CL2016001781A1
CL2016001781A1 CL2016001781A CL2016001781A CL2016001781A1 CL 2016001781 A1 CL2016001781 A1 CL 2016001781A1 CL 2016001781 A CL2016001781 A CL 2016001781A CL 2016001781 A CL2016001781 A CL 2016001781A CL 2016001781 A1 CL2016001781 A1 CL 2016001781A1
Authority
CL
Chile
Prior art keywords
mining
mine
vehicle
mining vehicle
execute
Prior art date
Application number
CL2016001781A
Other languages
English (en)
Inventor
Jussi Puura
Essen Tomi Von
Original Assignee
Sandvik Mining & Construction Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=49958476&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CL2016001781(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Sandvik Mining & Construction Oy filed Critical Sandvik Mining & Construction Oy
Publication of CL2016001781A1 publication Critical patent/CL2016001781A1/es

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Environmental & Geological Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Earth Drilling (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Software Systems (AREA)
  • Architecture (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Operation Control Of Excavators (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

La invencion tiene relacion con un vehiculo minero y un metodo, el vehiculo minero comprende al menos un dispositivo de exploracion para explorar los alrededores del vehiculo minero y producir datos operacionales de la nube de puntos, el vehiculo minero comprende una unidad de control que esta provista con un dato de referencia de la nube de puntos de la mina, la unidad de control esta configurada para hacer coincidir el dato operacional de la nube de puntos con el dato de referencia de la nube de puntos con el fin de determinar la posicion del vehiculo minero, la unidad de control ademas comprende un plan de trabajo minero, el cual esta conectado a la posicion detectada del vehiculo minero.
CL2016001781A 2014-01-14 2016-07-12 Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina. CL2016001781A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/050598 WO2015106799A1 (en) 2014-01-14 2014-01-14 Mine vehicle, mine control system and mapping method

Publications (1)

Publication Number Publication Date
CL2016001781A1 true CL2016001781A1 (es) 2017-03-31

Family

ID=49958476

Family Applications (3)

Application Number Title Priority Date Filing Date
CL2016001754A CL2016001754A1 (es) 2014-01-14 2016-07-08 Sistema de control minero
CL2016001781A CL2016001781A1 (es) 2014-01-14 2016-07-12 Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina.
CL2016001780A CL2016001780A1 (es) 2014-01-14 2016-07-12 Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado.

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CL2016001754A CL2016001754A1 (es) 2014-01-14 2016-07-08 Sistema de control minero

Family Applications After (1)

Application Number Title Priority Date Filing Date
CL2016001780A CL2016001780A1 (es) 2014-01-14 2016-07-12 Un vehículo minero con un objeto monitorizado, una unidad de control y método para determinar la posición y dirección de un objeto monitorizado.

Country Status (12)

Country Link
US (3) US10260343B2 (es)
EP (1) EP3094805A1 (es)
JP (1) JP6273041B2 (es)
KR (1) KR101917937B1 (es)
CN (1) CN105917067B (es)
AU (3) AU2015206035B2 (es)
BR (1) BR112016016301B1 (es)
CA (3) CA2936686C (es)
CL (3) CL2016001754A1 (es)
EA (1) EA034130B1 (es)
PE (1) PE20160975A1 (es)
WO (4) WO2015106799A1 (es)

Families Citing this family (111)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10240457B2 (en) * 2014-03-31 2019-03-26 Komatsu Ltd. Mine management system
US10822208B2 (en) 2014-12-23 2020-11-03 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
US9850109B2 (en) * 2014-12-23 2017-12-26 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
US10162353B2 (en) 2015-03-03 2018-12-25 PreNav, Inc. Scanning environments and tracking unmanned aerial vehicles
CN107251093A (zh) * 2015-03-30 2017-10-13 沃尔沃建筑设备公司 用于确定材料移动机械的铲斗的材料装载状况的系统和方法
CN107407075B (zh) * 2015-09-30 2020-09-25 株式会社小松制作所 图像数据生成方法
US10248299B2 (en) * 2015-11-10 2019-04-02 Dassault Systemes Canada Inc. Ensuring tunnel designs stay within specified design parameters and tolerances
US10341639B2 (en) * 2015-11-16 2019-07-02 Abb Schweiz Ag Automatically scanning and representing an environment with collision avoidance
US10349035B2 (en) * 2015-11-16 2019-07-09 Abb Schweiz Ag Automatically scanning and representing an environment having a plurality of features
ITUB20159252A1 (it) * 2015-12-28 2017-06-28 Termigas S P A Apparato e metodo per eseguire fori per il montaggio di elementi di attrezzature su pareti di galleria
JP6754594B2 (ja) * 2016-03-23 2020-09-16 株式会社小松製作所 モータグレーダ
CA2962334C (en) * 2016-03-29 2023-01-24 Robert Lindsay Vanderbeck Tunnel convergence detection apparatus and method
US10564270B2 (en) 2016-04-13 2020-02-18 Caterpillar Inc. Methods and systems for calibrating sensors
US10570736B2 (en) 2016-06-09 2020-02-25 Abb Schweiz Ag Robot automated mining
CN107671868A (zh) * 2016-06-15 2018-02-09 钟红萍 一种反地雷机器人
GB2552940B (en) * 2016-08-08 2020-01-22 Jaguar Land Rover Ltd Path identification for off-road cruise control
DE112017003108B4 (de) 2016-06-24 2025-05-15 Jaguar Land Rover Limited Verbesserungen bei der fahrzeugsteuerung
GB2551711B (en) * 2016-06-24 2019-12-11 Jaguar Land Rover Ltd Path identification for off-road cruise control
WO2018009980A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Boom for material transport
ES2899284T3 (es) 2016-07-15 2022-03-10 Fastbrick Ip Pty Ltd Vehículo que incorpora una máquina de colocación de ladrillos
JP6727971B2 (ja) * 2016-07-19 2020-07-22 株式会社クボタ 作業車
US10094216B2 (en) * 2016-07-22 2018-10-09 Caterpillar Global Mining Europe Gmbh Milling depth compensation system and method
US10106951B2 (en) 2016-09-21 2018-10-23 Deere & Company System and method for automatic dump control
AU2017367754B2 (en) * 2016-12-02 2023-09-21 1854081 Ontario Ltd. Apparatus and method for preparing a blast hole in a rock face during a mining operation
WO2018144396A1 (en) 2017-02-02 2018-08-09 PreNav, Inc. Tracking image collection for digital capture of environments, and associated systems and methods
WO2018155590A1 (ja) * 2017-02-24 2018-08-30 国立研究開発法人理化学研究所 写真画像に映ったトンネル内の壁面の位置を同定する同定装置、同定方法、ならびに、プログラム
SE540915C2 (en) * 2017-02-27 2018-12-18 Epiroc Rock Drills Ab Method and system for generating a drilling pattern, a computer program, a computer-readable medium and a rock drilling rig
AU2018253271B2 (en) * 2017-04-13 2022-09-29 Joy Global Underground Mining Llc System and method for measuring and aligning roof bolts
EP3415390B1 (en) 2017-06-12 2024-03-27 Hexagon Geosystems Services AG Driving assistance system for reversing a mining haulage vehicle
AU2018295572B2 (en) 2017-07-05 2022-09-29 Fastbrick Ip Pty Ltd Real time position and orientation tracker
CN111246976B (zh) 2017-08-17 2024-03-15 快砖知识产权私人有限公司 交互系统配置
AU2018317941B2 (en) 2017-08-17 2023-11-09 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
FR3073557B1 (fr) * 2017-11-13 2023-12-29 Dodin Campenon Bernard Procede de controle et/ou de guidage de la realisation d'une excavation
US11383679B2 (en) 2017-12-01 2022-07-12 Volvo Truck Corporation Method for maintenance of a vehicle
GB2571528A (en) 2018-02-28 2019-09-04 Rolls Royce Plc Controlling a robot in an environment
EP3769257A1 (en) 2018-03-20 2021-01-27 PCMS Holdings, Inc. System and method for dynamically adjusting level of details of point clouds
WO2019183113A1 (en) 2018-03-20 2019-09-26 Pcms Holdings, Inc. System and method for optimizing dynamic point clouds based on prioritized transformations
JP2019169018A (ja) * 2018-03-26 2019-10-03 前田建設工業株式会社 建設現場における資機材搬送システム
CN110389350B (zh) * 2018-04-16 2023-08-22 诺瓦特伦有限公司 运土机、测距仪布置和3d扫描方法
CA3044811C (en) * 2018-06-01 2021-12-07 Joy Global Underground Mining Llc Methods and systems for controlling the heading of a mining machine
CN108843331B (zh) * 2018-07-06 2019-10-11 山东科技大学 一种等效钻孔面积下小直径钻孔联合卸压布置方法
US12214500B2 (en) 2018-07-16 2025-02-04 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
AU2019304101A1 (en) 2018-07-16 2021-02-04 Fastbrick Ip Pty Ltd Active damping system
CN109100744B (zh) * 2018-07-27 2021-03-30 深圳蓝胖子机器人有限公司 用于agv的目标定位方法及系统
US11002075B1 (en) 2018-07-31 2021-05-11 J.H. Fletcher & Co. Mine drilling system and related method
JP7118803B2 (ja) * 2018-08-15 2022-08-16 鹿島建設株式会社 トンネル施工システム及びトンネルの施工方法
CN109268015B (zh) * 2018-08-30 2020-03-17 上海隧道工程有限公司 基于非连续通视下顶管法联络通道施工的导向系统及方法
EP3660453B1 (en) 2018-11-30 2023-11-29 Sandvik Mining and Construction Oy Positioning of mobile object in underground worksite
RS64904B1 (sr) 2018-11-30 2023-12-29 Sandvik Mining & Construction Oy Generisanje modela za planiranje trase ili pozicioniranje mobilnog objekta u podzemnom gradilištu
CN113227713A (zh) * 2018-12-13 2021-08-06 大陆汽车有限责任公司 生成用于定位的环境模型的方法和系统
CN113273211B (zh) 2018-12-14 2024-07-30 交互数字Vc控股公司 用于对空间数据进行程序化着色的系统和方法
SE1851620A1 (en) * 2018-12-20 2020-06-21 Epiroc Rock Drills Ab Method and device for determining the position of a mining and/or construction machine
CN109403946B (zh) * 2018-12-27 2022-07-29 北京三一智造科技有限公司 旋挖钻机回转动画显示的方法、装置及旋挖钻机
US11048254B2 (en) * 2019-04-10 2021-06-29 Waymo Llc Generating simplified object models to reduce computational resource requirements for autonomous vehicles
CN110118550B (zh) * 2019-05-14 2021-02-05 中国矿业大学 一种综采工作面高精度三维导航地图的生成系统及方法
EP3739419B1 (en) * 2019-05-14 2021-11-10 Sandvik Mining and Construction Oy Autonomous mine vehicle operation
US11607804B2 (en) * 2019-05-28 2023-03-21 X Development Llc Robot configuration with three-dimensional lidar
CN110295917B (zh) * 2019-05-29 2021-06-04 中国铁建重工集团股份有限公司 凿岩台车翼展装置
EP3754157A1 (en) 2019-06-17 2020-12-23 Sandvik Mining and Construction Oy Underground worksite passage and model generation for path planning
EP3754450B1 (en) 2019-06-17 2022-04-27 Sandvik Mining and Construction Oy Autonomous vehicle monitoring
AU2020202698B2 (en) * 2019-07-18 2025-02-27 Commonwealth Scientific And Industrial Research Organisation Machine Guidance Integration
CN110428419A (zh) * 2019-09-02 2019-11-08 中国矿业大学(北京) 基于移动图像识别的矿井定位系统
FI3789579T3 (fi) * 2019-09-05 2023-03-02 Sandvik Mining & Construction Oy Laite, menetelmä ja ohjelmistotuote porauksen sarjan suunnittelemiseksi
EP3796264A1 (en) 2019-09-20 2021-03-24 Sandvik Mining and Construction Oy Modelling of underground worksite
EP3798408B1 (en) * 2019-09-27 2024-01-10 Sandvik Mining and Construction Oy Method, apparatus, rock drilling rig and computer program product for mining navigation
JP7300955B2 (ja) * 2019-10-01 2023-06-30 株式会社トプコン 土木工事データ処理装置、土木工事データ処理方法および土木工事データ処理用プログラム
CN110700839B (zh) * 2019-10-21 2021-08-13 北京易联创安科技发展有限公司 一种基于激光扫描仪的掘进机位姿测量装置及其测量方法
KR102246499B1 (ko) * 2019-12-13 2021-05-04 주식회사 이에스피 광산 안전 통합관리 시스템 및 방법
KR102225146B1 (ko) * 2019-12-13 2021-03-10 주식회사 이에스피 광산 안전관리를 위한 갱내 차량 v2x 시스템 및 광산 안전 관리 방법
EP3839203A1 (en) * 2019-12-16 2021-06-23 Sandvik Mining and Construction Oy Mine vehicle safety control
EP3839197B1 (en) * 2019-12-19 2023-10-11 Sandvik Mining and Construction Oy Positioning apparatus, rock drilling rig and method for positioning
CN111273270A (zh) * 2020-03-17 2020-06-12 北京宸控科技有限公司 一种掘进机定位定向方法
CN111622295A (zh) * 2020-04-22 2020-09-04 浙江大学 一种挖掘机行驶安全系统和方法
US12385265B2 (en) 2020-04-22 2025-08-12 Fastbrick Ip Pty Ltd Block transfer apparatus and improved clamping assembly for use therewith
CN111520146B (zh) * 2020-04-29 2021-08-31 重庆市能源投资集团有限公司 基于水力压裂技术的煤矿岩石巷道掘进方法
CN111578894B (zh) * 2020-06-02 2021-10-15 北京经纬恒润科技股份有限公司 一种确定障碍物航向角的方法及装置
CA3183059A1 (en) * 2020-06-18 2021-12-23 Kevin Saric Navigation of an underground mining machine
CN111897321B (zh) * 2020-06-19 2023-08-11 中国煤炭科工集团太原研究院有限公司 一种井下特种车辆的无人驾驶系统
CN111622667A (zh) * 2020-07-02 2020-09-04 辽宁工程技术大学 一种综采工作面过断层智能钻孔系统及方法
EP4179172A4 (en) 2020-07-08 2024-08-07 Fastbrick IP Pty Ltd ADHESIVE APPLICATION SYSTEM
CN114063090B (zh) * 2020-07-29 2025-05-09 北京图森未来科技有限公司 一种可移动设备的定位方法、装置及可移动设备
EP3961340B1 (en) 2020-09-01 2023-05-31 Sandvik Mining and Construction Oy Underground worksite vehicle positioning control
EP3961267B1 (en) 2020-09-01 2025-05-07 Sandvik Mining and Construction Oy Underground worksite vehicle positioning control
MX2023003045A (es) * 2020-09-15 2023-04-05 Sandvik Mining & Construction Oy Sistema de ayuda a la conduccion visual para una maquina de mineria.
AU2020468174A1 (en) * 2020-09-15 2023-03-02 Sandvik Mining And Construction Oy Mining machine with a support structure for measurement sensors
WO2022067218A1 (en) * 2020-09-28 2022-03-31 J.H. Fletcher & Co. Autonomous roof bolter with sensor and related methods
CN112327842B (zh) * 2020-10-29 2022-06-03 深圳市普渡科技有限公司 机器人定位充电桩的方法及系统
AR124035A1 (es) 2020-11-10 2023-02-08 Dyno Nobel Asia Pacific Pty Ltd Sistemas y métodos para determinar la profundidad del agua y la profundidad explosiva en barrenos
WO2022099428A1 (es) * 2020-11-13 2022-05-19 Enaex Servicios S.A. Sistema y procedimiento para el carguío robótico de explosivos en minería subterránea
CA3203645A1 (en) 2021-01-12 2022-07-21 Jussi Puura Underground worksite model generation
CA3208221A1 (en) * 2021-02-22 2022-08-25 Jeffrey James Sterling Apparatus and method for positioning equipment relative to a drill hole
JP2024508790A (ja) * 2021-02-22 2024-02-28 オフワールド，インコーポレイテッド ロボットアーム導波管を用いたマイクロ波ベースの採掘システム及び方法
CN113267140B (zh) * 2021-05-10 2022-09-23 贵州大学 一种隧道超挖欠挖检测的装置和检测方法
CN113639688B (zh) * 2021-07-19 2024-03-15 江苏徐工工程机械研究院有限公司 一种凿岩臂架、凿岩台车及凿岩臂架传感器校准方法
CN114506212B (zh) * 2022-02-15 2023-09-22 国能神东煤炭集团有限责任公司 梭车的空间定位辅助驾驶系统和方法
WO2023191672A1 (en) * 2022-03-30 2023-10-05 Epiroc Rock Drills Aktiebolag A cover system, an electronics equipment operating system and a mining machine
FI4261646T3 (fi) * 2022-04-14 2025-10-17 Sandvik Mining & Construction Oy Skannerin emulointi kaivosajoneuvoa varten
CN115126494B (zh) * 2022-06-13 2025-06-17 中煤科工机器人科技有限公司 一种巷道修复机
EP4322119A1 (en) * 2022-08-12 2024-02-14 Sandvik Mining and Construction Oy Data processing
CN116291486A (zh) * 2023-03-20 2023-06-23 中国铁建重工集团股份有限公司 凿岩台车施工方法、装置、凿岩台车及存储介质
CN116858098B (zh) * 2023-08-15 2024-02-09 中国铁路经济规划研究院有限公司 一种建设期隧道多元信息自动化采集方法和系统
CN119531947B (zh) * 2023-08-30 2025-10-03 中国石油天然气集团有限公司 一种井控应急抢险设备的远程操控方法及装置
EP4534797A1 (en) * 2023-10-06 2025-04-09 Sandvik Mining and Construction Oy Determining position for a bolt of a bolt fan
EP4571040A1 (en) * 2023-12-11 2025-06-18 Sandvik Mining and Construction Oy Controlling of a mining machine
CN117627528B (zh) * 2024-01-25 2024-05-03 中建五局第三建设有限公司 一种深基坑用锚杆钻机的施工装置及其施工方法
CN117706563B (zh) * 2024-02-05 2024-05-07 中南大学 矿井垂直断面钻孔定位方法、系统、设备及存储介质
KR20250145827A (ko) * 2024-03-29 2025-10-13 주식회사 한화 발파공의 자동설계가 가능한 천공장치 및 이를 이용한 발파공의 천공방법
CN119142332B (zh) * 2024-11-20 2025-01-28 山西承信新能源科技装备有限公司 井下无轨胶轮车驾驶车辆的自适应速度控制方法及系统
CN119288626B (zh) * 2024-11-26 2025-11-25 中煤科工集团重庆研究院有限公司 用于井下施工现场的监测预警处理系统及方法
CN120251317B (zh) * 2025-04-14 2025-09-26 山东黄金矿业股份有限公司新城金矿 金属矿山井下随行供电装置及掘进设备

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO149117C (no) 1981-04-29 1984-02-29 Furuholmen As Fremgangsmaate og anordning for innstilling av en fjellboreriggs foeringsskinne i gitt avstand fra borestedet
US4514796A (en) * 1982-09-08 1985-04-30 Joy Manufacturing Company Method and apparatus for controlling the position of a hydraulic boom
FI98759C (fi) 1995-01-20 1997-08-11 Tamrock Oy Menetelmä kallioporakoneen työkalun sijainnin määrittelemiseksi
FI110806B (fi) 2000-03-17 2003-03-31 Sandvik Tamrock Oy Järjestely miehittämättömien kaivosajoneuvojen paikan määrittämiseksi
US6608913B1 (en) * 2000-07-17 2003-08-19 Inco Limited Self-contained mapping and positioning system utilizing point cloud data
FI115678B (fi) * 2003-03-25 2005-06-15 Sandvik Tamrock Oy Järjestely kaivosajoneuvon törmäyksenestoon
EP1600564A1 (de) * 2004-05-24 2005-11-30 Leica Geosystems AG Verfahren zur Steuerung einer oberflächenverändernden Maschine
US20050283294A1 (en) * 2004-06-16 2005-12-22 Lehman Allen A Jr Method and apparatus for machine guidance at a work site
WO2006084385A1 (en) * 2005-02-11 2006-08-17 Macdonald Dettwiler & Associates Inc. 3d imaging system
FI118052B (fi) 2005-06-27 2007-06-15 Sandvik Tamrock Oy Menetelmä ja ohjelmistotuote porausyksikön paikoittamiseksi sekä kallionporauslaite
FI117570B (fi) 2005-06-29 2006-11-30 Sandvik Tamrock Oy Menetelmä kallionporauslaitteen paikoittamiseksi porauspaikkaan ja kallionporauslaite
JP2008025163A (ja) 2006-07-20 2008-02-07 Enzan Kobo:Kk 削岩機搭載台車における穿孔位置決め制御方法及び建設機械におけるブーム位置決め制御方法
SE530874C2 (sv) * 2007-02-14 2008-09-30 Atlas Copco Rock Drills Ab Anordning och metod för positionsbestämning av en gruv- eller anläggningsmaskin
FI123638B (fi) * 2007-04-20 2013-08-30 Sandvik Mining & Constr Oy Menetelmä porauskaavion suuntaamiseksi kaarevissa tunneleissa, kallionporauslaite sekä ohjelmistotuote
FI20075661A7 (fi) * 2007-09-21 2009-03-22 Sandvik Mining & Construction Oy Menetelmä ja ohjelmistotuote porauskaavion laatimiseksi kalliotilan louhintaa varten
US8351684B2 (en) 2008-02-13 2013-01-08 Caterpillar Inc. Terrain map updating system
JP2010086031A (ja) * 2008-09-29 2010-04-15 Kajima Corp 誘導システム及び誘導方法
FI20095715L (fi) * 2009-06-24 2010-12-25 Sandvik Mining & Constr Oy Liikkuvan kaivoskoneen automaattista ohjaamista varten käytettävän mallin opettaminen
FI20095712A7 (fi) * 2009-06-24 2010-12-25 Sandvik Mining & Construction Oy Ohjaustietojen määrittäminen liikkuvan kaivoskoneen automaattista ohjaamista varten
FI122157B (fi) * 2010-05-10 2011-09-15 Sandvik Mining & Constr Oy Menetelmä ja laitteisto kaivosajoneuvon turvajärjestelyitä varten
FI125085B (fi) * 2010-11-29 2015-05-29 Sandvik Mining & Constr Oy Menetelmä kallionporauslaitteen porausyksikön ohjaamiseksi ja kallionporauslaite
US9129211B2 (en) * 2012-03-15 2015-09-08 GM Global Technology Operations LLC Bayesian network to track objects using scan points using multiple LiDAR sensors
CA2912432C (en) 2012-05-15 2020-09-15 Tesman Inc. Mapping of mining excavations
CN102798412B (zh) * 2012-07-31 2014-12-10 同济大学 一种基于三维激光扫描评定隧道钻爆施工质量的方法

Also Published As

Publication number Publication date
CN105917067B (zh) 2018-12-07
AU2015206034A1 (en) 2016-07-14
WO2015107069A1 (en) 2015-07-23
JP6273041B2 (ja) 2018-01-31
CN105917067A (zh) 2016-08-31
CL2016001754A1 (es) 2017-01-20
CA2936491A1 (en) 2015-07-23
US20160333690A1 (en) 2016-11-17
CL2016001780A1 (es) 2017-05-19
CA2936683C (en) 2018-04-17
EP3094805A1 (en) 2016-11-23
WO2015107070A1 (en) 2015-07-23
AU2015206035A1 (en) 2016-07-14
AU2015206035B2 (en) 2017-07-20
AU2015206033A1 (en) 2016-07-14
EA201691137A1 (ru) 2016-12-30
JP2017503100A (ja) 2017-01-26
WO2015107068A1 (en) 2015-07-23
US10174614B2 (en) 2019-01-08
KR101917937B1 (ko) 2018-11-12
US20160341041A1 (en) 2016-11-24
CA2936683A1 (en) 2015-07-23
WO2015106799A1 (en) 2015-07-23
AU2015206033B2 (en) 2017-06-15
CA2936686C (en) 2019-06-04
BR112016016301A2 (es) 2017-08-08
CA2936491C (en) 2018-02-06
PE20160975A1 (es) 2016-10-06
EA034130B1 (ru) 2020-01-09
US10260343B2 (en) 2019-04-16
CA2936686A1 (en) 2015-07-23
KR20160106753A (ko) 2016-09-12
BR112016016301B1 (pt) 2022-03-22
US20160333691A1 (en) 2016-11-17

Similar Documents

Publication Publication Date Title
CL2016001781A1 (es) Un vehículo minero y método para ejecutar tareas de trabajo minero en una mina.
CO2017011274A2 (es) Sistema de control ambiental
DE112015006988T8 (de) Quantenpunkt basierte optoelektronische Vorrichtung
BR112017004869A2 (pt) sinalização de controle em um sistema de formação de feixes.
MX378453B (es) Sistema de pesa ajustable que tiene sensor de peso.
EP3490857A4 (en) VEHICLE BRAKING SYSTEM HAVING A PISTON SUPPLY SOURCE
BR112017004209A2 (pt) derivados de tetrahidronaftaleno que inibem a proteína mcl-1.
MX344195B (es) Envio de mensajes mediante el volante.
HUE046902T2 (hu) Elektromos mûködtetésû aeroszolképzõ rendszer
PL3035245T3 (pl) Sposób rozpoznawania typu pojazdu i system szybkiej kontroli pojazdu przy użyciu wspomnianego sposobu
PH12016502004A1 (en) Runway arrangement
MX2016009658A (es) Sistema y metodos de señalizacion portatiles.
MX2016009413A (es) Control de sistema de demolicion.
DK3554983T3 (da) Arbejdskøretøj, omfattende en kran
MX2016011368A (es) Un eje de entrada entre un aparato y un aparato separado.
EP3508308A4 (en) HYDRAULIC IMPACT DEVICE
GT201500010S (es) Botella
ES1121380Y (es) Caja de seguridad para hamacas, sombrillas y similares.
CL2014002273S1 (es) Lampara de seguridad de uso industrial y minero.
TH1501005782B (th) โครงสร้างสำหรับการจ่ายของแหล่งกำเนิดกำลังของยานพาหนะชนิดขี่คร่อม
UA99683U (uk) Спосіб впливу на атмосферу
AU360639S (en) Label
CR20140457S (es) Grúa de pórtico
TH1601003387A (th) ยานพาหนะแบบนั่งคร่อมซึ่งมีหน่วยเครื่องยนต์
ES1183337Y (es) Rótulo luminoso autónomo.