Sandvik Mining and Construction Oy

Sandvik Tamrock Oy

Modulaire Oy

Savcor It Oy

Hannu Mäkelä

Antti Lehtinen

Riku Pulli

Timo Soikkeli

Jouni Sievilä

Jarkko Ruokojärvi

Thomas Von Numers

Kari Rintanen

Markku Ojala

Jarkko Uotila

Mikko Sampo

Jarmo Puputti

A method for controlling loading material to a bucket of a work machine from a stack of material is disclosed. The method includes the steps: of selecting a control profile to be used as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location; obtaining information of a distance traveled by the work machine while loading material to the bucket; examining at least one condition regarding the work machine during loading; and determining, on the basis of the examined condition, whether another position than indicated by the selected control profile is to be used for at least one of the bucket and the boom.

Arrangement for controlling a work machine

The present invention relates to a method for positioning a mobile mining vehicle, which method determines scanning data by scanning the environment of the mining vehicle while being driven. Location information is determined for the mining vehicle on the basis of the scanning data and prestored environment model data. Level information is associated with the environment model data, the location level of the mining vehicle () is determined and the environment model data to be used are selected on the basis of the determined location level.

Method and apparatus for arranging mining vehicle positioning

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.

Determination of route for arranging automatic control of mobile mining machine

The present invention relates to a method of determining routes for arranging automatic control of a mobile mining machine. A return route is determined computer-aidedly for the mining machine on the basis of data concerning a route taught by driving by executing, by a data processing device configured for generating return routes, at least the following steps: determining a route identifier for the return route, determining as route points of the return route at least some of the route points of the drive route in a reverse order, wherein when determining route point data of the return route on the basis of the route point data of the drive route, deleting additional control data associated with one or more route points of the drive route, and storing the data determining the return route to be used for automatically controlling the mining machine.

Determination of routes for arranging automatic control of mobile mining machine

A method for a safety system of a mining vehicle. The method comprises scanning the surroundings of the mining vehicle while the mining vehicle is driven and giving a collision warning if an obstacle is detected in a safety zone of the mining vehicle. In the system, there is stored obstacle information comprising at least location information of predetermined obstacles. Location information of the obstacle detected on the basis of the scanning is compared with the location information determined in the obstacle information. Stopping of the mining vehicle, caused by the safety system due to the detected obstacle, is prevented in response to the detected obstacle being determined safe on the basis of checking the obstacle information.

Method and apparatus for mining vehicle safety arrangements

A method for arranging automatic control of a mobile mining machine equipped with a bucket is disclosed. The method generates a general purpose bucket emptying model that defines at least the path of the bucket of the mining machine for emptying it. The bucket emptying model is stored on a memory. The bucket emptying model is fetched from the memory in response to a need to define emptying the bucket for the route. At least data defining the path of the bucket in the fetched bucket emptying model are appended to the path data for use in the automatic control of the mining machine.

Definition of control data for automatic control of mobile mining machine

A method and a system for monitoring the location of a mining vehicle in a mine. The mine includes a first and a second work area. At least one identifier whose exact location is known is arranged in the first work area. The location of the mining vehicle is determined continuously by use of a dead reckoning. The location data, based on the dead reckoning, can be updated by use of the identifier. The location data are transmitted to a mine control system for monitoring the mining vehicle.

Arrangement for monitoring the location of a mining vehicle in a mine

A method and a system for monitoring the location of a mining vehicle in a mine. The first mine section () is provided with a wireless network () for data transmission between the mining vehicle () and the mine control system (). In addition, the network is used for positioning. In the second mine section (), the location is determined by means of measuring devices provided in the mining vehicle.

Monitoring location of mining vehicle using base stations in at least two sections of mine

A method and a system for monitoring the location of a mining vehicle in a mine. The mine comprises a first and a second work area. At least one identifier () whose exact location is known is arranged in the first work area (). The location of the mining vehicle () is determined continuously by means of a dead reckoning. The location data, based on the dead reckoning, can be updated by means of the identifier. The location data are transmitted to a mine control system for monitoring the mining vehicle.

A method and a control system for positioning a mine vehicle. Measurement of a distance travelled by the mine vehicle is based on monitoring rotation of a wheel. In the invention, an error caused in the distance measurement by wear of the wheel is compensated for automatically when the distance value obtained from monitoring is corrected by a correction factor. The value of the correction factor is updated at predetermined intervals during use.

Method and control system for positioning a mine vehicle

A method and system for stopping an unmanned mine vehicle in a predetermined position. The mine vehicle is driven at a low speed towards a physical. When the mine vehicle encounters the obstacle (), a speed difference greater than a predetermined limit value is generated between the speed of the mine vehicle and the driving power transmission. The control system of the mine vehicle detects the exceeding of the limit value and stops the vehicle.

Accurate positioning of an unmanned mine vehicle using stationary obstacles

A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle () includes at least one scanner () to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (). At least one sideward safe area () has been predetermined around the vehicle (). A control system checks that no memory point () resides within the safe area ().

Arrangement for collision prevention of mine vehicle

A method for automatically controlling a mining machine. In the method a route is determined for a mining machine () 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 () to the mining machine.

Method for automatically guiding a mining machine

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.

Initializing position and direction of mining vehicle

A method for automatically guiding a mining machine () provided with a route determined as successive route determined as successive route points in the mine. In the method, data relating to the successive points are used for determining additional route between the successive route points for guiding the mining machine ().

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Helsinki, Finland

Hannu Mäkelä