• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:SE1151103A1
    申请号:SE1151103
    申请日:2011-11-18
    公开日:2013-05-19
    发明作者:Johan Larsson
    申请人:Atlas Copco Rock Drills Ab；
    IPC主号:
    专利说明:

    l0 l5 20 25 30 In many situations, therefore, such machines are instead driven by means of remote control, where the machine is driven without a driver, but where instead an operator in e.g. a control room controls the machine by means of applicable operating means such as e.g. joysticks.
    An example of such vehicles / machines, where remote control is often desirable, is so-called LHD (cargo transport (HAUL) dump) machines. Operation of machines of this type belongs to the more dangerous tasks found in mines, e.g. p.g.a. that they are often used to excavate and transport broken rock / ore from e.g. a place where blasting has been carried out to another place for further handling.
    Remote control thus has the advantage that the operator can be moved from the dangerous environment in which the machine operates to a significantly safer place, such as e.g. a control room.
    However, there are situations when manual operation of the machine, ie. where the machine is operated by an operator on board the machine, is still necessary, or other operation such as remote control or autonomous operation is not justified, for financial or other reasons.
    Manual operation of machines may, however, at least in certain situations be associated with monotonous elements, with the risk of lack of attention from the operator, and associated accidents, as a result.
    SUMMARY OF THE INVENTION It is an object of the present invention to provide a method of operating a mining and / or construction machine. This object is achieved by a method according to claim 1. 77107; The present invention relates to a method for operating a mining and / or construction machine, said machine being arranged to be controlled by an operator by means of operating means, said operator, when driving said machine, delivering control commands by means of said operating means for operating said machine. The method comprises, when said machine is operated in an environment with at least a first obstacle: - when said machine is at a first distance from said first obstacle, estimating a first route requested by said operator by means of said control commands, - by means of a control system determining whether said machine when moving according to said requested first route will be driven within a second distance from said first obstacle, and - when it is determined that said machine when driving according to said first route will be driven within said second distance from said first obstacle, with using said control system retard said machine.
    The present invention is applicable to e.g. situations where an operator drives a machine, and where the machine is arranged to be operated by the operator from an operating position on board said machine, for extended periods in environments where it is close to one or more surrounding obstacles.
    At e.g. mining, there are situations when a machine is moved by an operator for a long time and / or distance. For example. For example, mining machines can be moved between a ground level and a level very deep underground, whereby the journey can take a long time, especially if it is a slow-moving machine. This movement can lead to a long journey, moreover in a very monotonous environment where the machine moves along a ramp in a 77l07; 20ll ~ llel8 l0 l5 20 25 30 spiral shape up or down through the rock. In such situations, it can be difficult for the operator to be constantly focused, whereby the operator may temporarily lose his attention. However, this can quickly lead to a collision with surrounding obstacles, such as e.g. surrounding rock walls, or other machinery, resulting in damage. In severe cases, such a collision means that the machine cannot be moved from the site of its own machine but must be salvaged, which can lead to traffic in the ramp stopping, whereby production in the mine also stops. Such collisions can thus be very costly.
    According to the present invention, however, such situations can be avoided by the machine's control system estimating the route requested by the operator, and retarding said machine when said route may lead to a collision with obstacles. Itinerary can e.g. estimated by determining the path the machine will follow at the prevailing steering angle (such as, for example, the articulation angle of a articulated machine or wheel angle where steering wheels are applied). By then determining whether the machine will be driven within a second distance from said first obstacle (or other obstacle when the environment includes a plurality of obstacles), e.g. collisions are prevented by decelerating the machine when it is established that it will come within said second distance, which e.g. can be set to 0.0m and thus represent a collision. The deceleration can e.g. is set to a deceleration which causes the machine, where possible, to decelerate to a standstill before the machine reaches said obstacle, or a position within said second distance from said obstacle. The deceleration can thus e.g. determined based on said first distance and / or the prevailing speed of the machine. 77107; 20ll ~ llel8 l0 l5 20 25 30 According to one embodiment, the machine is decelerated as soon as it is detected that an obstacle occurs in the machine's travel path.
    However, this can lead to undesirably many decelerations, so according to a preferred embodiment the deceleration is only started when said first distance to said first obstacle is less than a third distance, ie. the deceleration does not start unnecessarily but only when the distance to the obstacle is such that it is really necessary. This third distance can be determined at least in part based on a required stopping distance for said machine, at the prevailing speed, e.g. with the addition of a safety margin (offset), alternatively e.g. be set at a fixed distance.
    When determining distances to obstacles along said route, the route may be defined as an area in the direction of travel with a width corresponding to the width of the machine, whereby obstacles within said area mean that the machine will be driven within said second distance from said first obstacle when traveling according to said requested route. i.e. said second distance is in this position set to 0. The width of said area can also be defined as a width corresponding to the width of the machine and a first safety distance laterally, wherein said safety distance laterally can advantageously constitute said second distance.
    Once a deceleration has started, it can be determined whether the reduced speed due to the deceleration means that the machine will no longer reach a position within said second distance from said obstacle, whereby an acceleration of the machine can be started and a new determination performed.
    The method can also determine when the route requested by the operator is changed to another route, whereby the deceleration can be interrupted if said machine while traveling according to said second route will not be driven within said second distance from said first obstacle. 77107; 20ll ~ llel8 10 15 20 25 Said second distance can e.g. consists of a distance in the range O-0.5 meters, preferably in the range O-0.2 meters. The method can furthermore be arranged to be carried out only when the machine is driven at a speed exceeding a first speed, such as e.g. 0.5 m / s, l m / s or other applicable speed exceeding 0.l m / s.
    In one embodiment, the operator can be made aware that there is a risk of a collision, which can occur e.g. by applicable audio / light signal.
    The invention also relates to a device and a mining and / or construction machine.
    Brief Description of the Drawings Figures 1A-B show a vehicle from the side and from above, respectively, in which the present invention can be used to advantage.
    Figure 2 shows an exemplary method according to an embodiment of the present invention.
    Figure 3 shows an example of a representation of the machine shown in Figures 1A-B in a representation of the environment.
    Fig. 4A shows an example of a lateral safety distance.
    Fig. 4B shows an example of a lateral safety distance when cornering.
    Fig. 4C shows an example of a pivot angle-dependent safety distance laterally when cornering.
    Fig. 5A shows an example of a route with distance data for surrounding obstacles according to the present invention.
    Fig. 5B shows the route shown in Fig. 5A in a coordinate system where the origin coincides with the route 77107; 20ll ~ llel8 10 15 20 25 30 starting point and the x-axis are parallel to travel straight ahead in the longitudinal direction of the machine.
    Detailed description of an exemplary embodiment As mentioned above, there are situations which, due to for example inattention by the operator, can lead to unwanted collisions. The following is an example of a method according to the invention for preventing a machine from colliding by retarding it before the machine e.g. collides with a rock wall. The invention is exemplified for an exemplary machine 100 shown in Figs. 1A-B, which is shown from the side and from above, respectively, and to which the present invention can be applied. The machine 100 is a so-called LHD loader and is used to load and transport materials such as e.g. blasted rock or other masses. For example. said masses can be transported from a place deep underground to the soil surface for further treatment.
    However, the invention is particularly applicable to other types of machines, such as e.g. mining trucks. Mining trucks can be very large and load hundreds of tons of material, whereby a collision for a mining truck can generate a long downtime with large costs as a result. Returning to Figs. 1A-B, the exemplary machine 100 includes, in addition to the bucket 101, wheels 102-105 and a control system comprising at least one control unit 106 (Figs. 1B), which controls various of the functions of the machine. Machines of the type shown may comprise more than one control unit, where each respective control unit may be responsible for different of the machine's functions.
    The machine 100 shown further consists of an articulated vehicle, where a front portion 10a is joined to a rear portion 10b via a link 107. The machine is thus articulated to facilitate maneuvering. A hinge angle sensor 110 transmits signals regarding the current hinge angle to the control unit 106. 77107; 20ll ~ llel8 l0 l5 20 25 30 The joint l07 is further controlled via the applicable control unit / actuator (not shown). Machines of the type shown are often operated in environments where the distance to the surrounding rock walls is small, whereby operation of a non-articulated machine with conventional front and / or rear wheel steering can be difficult to carry out. However, the invention itself is also applicable to such types of machines / vehicles. The machine shown also comprises laser distance scanners 114, 115, the function of which according to the present invention is described in more detail below. The machine also comprises an operating area comprising operating means such as e.g. one or more control levers, the machine being arranged to be operated by an operator from said operating position.
    An exemplary method 200 according to the present invention is shown in Fig. 2. The method begins in step 201, where it is determined whether collision risk according to the present invention is to be determined. If so, the process proceeds to step 202. Transition from step 201 to step 202 may e.g. occur in any of the following situations: when starting the machine; when the machine starts to move; when the speed of the machine exceeds a first speed; when the machine has been moving for the first time; or for any other applicable reason.
    In step 202, the expected path of the machine is estimated. This can e.g. performed by receiving one or more control commands from the operator, these control commands comprising at least one representation of a control angle command.
    The steering angle command can e.g. consists of a request for a specific steering angle, but also of a request for a steering angle change, where this steering angle change e.g. can be a speed at which the steering angle is to be changed.
    Using said control angle command, the machine's 77107 is estimated; 20ll ~ llel8 l0 l5 20 25 30 route, e.g. in the form of the path machine will follow at the steering angle represented by said control command.
    The estimation of the machine's route and obstacles in relation to the route should be performed frequently as laser data, waist angle, speed and steering angle are often changed during operation. The method according to the present invention can therefore be run through with any applicable update frequency, such as e.g. an arbitrary time in the range 0.1-100 ms or other applicable shorter or longer intervals, perhaps preferably in the range 0.1-100 ms so that the machine does not have time to move too far between updates of the route. Thus, in each determination in step 202, a path (path) for a just then prevailing steering angle can be determined and evaluated, whereby determination can thus take place even during ongoing steering angle change when the steering angle can be considered constant for the short moment a specific determination according to the present invention is performed. Said route can be approximated to an arc of a circle with a radius which is constituted by the radius of rotation of the machine at the prevailing waist angle. The circular arc can also have a first length, where this length e.g. may be of any applicable length and be dependent on the speed of the machine, where a higher speed generates a longer length, or a length which is limited by e.g. a range for rangefinders as below, or an applicable number of meters. The length can e.g. be set to said distance A3 below.
    Once said route has been estimated, the procedure proceeds to step 203, where it is determined by means of the control system whether the machine when moving according to the estimated route will be driven in such a way that the machine will end up closer to an obstacle than a certain distance A2 within a certain distance A3. Said distance A2 can e.g. consists of a 77107; 20ll ~ llel8 10 15 20 25 30 10 very small distance such as a distance in the range 0.0-0.5 meters. A distance A2 from said machine to an obstacle of 0.0 meters means a collision with said obstacle. The section A3 is exemplified below.
    This determination requires knowledge of obstacles in the environment of the machine. One way of obtaining this information is to determine, by means of the applicable positioning system, the position of the machine in a representation of the environment and then to calculate the movement of the machine in said representation of the environment.
    However, this type of determination can be difficult to perform, especially in e.g. underground mines where distances to obstacles are often very short and a very good knowledge of the position of the machine in relation to the obstacles present in the mine, such as e.g. rock walls, and also other machines, are required.
    In order to obtain a correct picture of the position of the machine in relation to these obstacles, according to a preferred embodiment, sensors arranged on the machine are therefore used to measure distances to surrounding obstacles, where these sensors e.g. can be constituted by a front 114 and a rear 115 laser distance scanner, which are also connected to the control unit 106, and which emit sensor signals representing measured distances, i.e. distance to the nearest obstacle that stops the path of the laser beam.
    In Fig. 3, the machine 100 is illustrated with the laser distance scanners 114, 115, and the laser distance scanners 114, 115 may, for example, be arranged to measure the distance in certain directions in an angular range. In the present example, laser distance scanners are used which measure the distance to the nearest object in the longitudinal direction 100a of the front portion 100a (respectively in the longitudinal direction 100b of the rear portion 100b backwards) and the distance to the nearest object (such as rock) for each degree 90 ° from . Each respective laser distance scanner thus measures 181 respective measuring points. 77107; 20ll ~ llel8 l0 l5 20 25 30 ll The distances are measured in a plane (eg at the height of the laser perpendicular to the vertical of the machine or horizontally to the position of the laser), the so-called the laser plane.
    As will be appreciated, of course, laser distance scanners that measure distances in significantly more directions can be used, i.e. also for parts of degrees, and / or larger angular ranges compared to those specified in 90 °. Conversely, the laser distance scanners can be arranged to measure distances in fewer directions, ie. with greater distribution between the directions, ie. more sparse than at any degree and / or for smaller angular ranges compared to those specified in 90 °. Likewise, a single omnidirectional laser can instead be used, and / or lasers for measurement in several planes. Instead of lasers, other distance meters suitable for the purpose can also be used.
    In Fig. 3, the machine 100 is graphically represented in a representation of the environment of the machine, in this case a T-junction in a mine.
    The hits of the laser beams against surrounding obstacles are ll marked with an "x" where each x "represents a distance reading in one direction from a laser distance scanner.
    The laser distance scanners thus constantly generate a set of distances to obstacles in the machine's environment, seen from the machine's current position, ie. as soon as the machine has moved, new distances will be measured.
    These measured distances are then used to determine distances to obstacles in the vicinity of the machine in relation to said route. An example of a route, starting from the front axle of the machine in the direction of travel, is illustrated in Fig. 3, where the line 301 shown in front of the machine thus represents the expected route of the machine for the center of the front axle of the machine in the direction of travel.
    As above, in step 203, using the laser distance measurements and the estimated route, it is calculated whether the machine will get too close or collide with 77107; 20ll ~ llel8 10 15 20 25 30 12 surrounding obstacles. In this calculation, however, it is not sufficient to determine the distance to obstacles from the line 301 representing the path of the machine. This is because the machine by definition has a certain width, and the whole machine must move free from the obstacle and not only the line 301 which represents the route for the center of the front axle of the machine in the direction of travel. According to the present invention, therefore, the route is expanded laterally to an area 302 which defines the space which must be free from obstacles in order for the machine to be able to be driven according to the route without collision. A basic rule in the formation of this area is that the route is expanded by half the width of the machine in the respective direction from the line 301.
    In addition, a side clearance distance is preferably added, which e.g. may depend on the prevailing speed of the machine. This side clearance distance can e.g. consists of the above-mentioned distance A2. This is illustrated in Fig. 4A, where the machine is shown with the width w and the side clearance distance denoted as d ". The marked area 401 represents the expanded route, indicated by a length lf. This offset d ”ensures that the machine can navigate along the road defined by the route even with some deviation without this posing a risk of collision. The side clearance distance d ”can thus be speed-dependent, and e.g. consists of an applicable distance in the order of 0.05-0.3 meters at low speeds and 0.4-1 meters or more at higher speeds.
    The requirement for clearance can also be different depending on the angle of rotation. If obstacles occur within the side clearance distance, the machine will thus be driven closer to an obstacle than said distance A2.
    When the machine turns, it must also be ensured that the machine does not hit the outer wall. On machines with the overhang in front of 77107; 20ll ~ llel8 10 l5 20 25 30 l3 the front wheel axle in the direction of travel, such as e.g. a bucket, the outer corners of the machine may extend outward past the side clearance distance dm. Either the side clearance distance d ”must therefore take this into account, or alternatively an additional margin is also required which depends on the turning radius of the route. This is illustrated in Fig. 4B with the oscillation margin dcc, 402. This extra oscillation margin dcc required on the outer side of the machine can be easily calculated using the oscillation radius r, the distance from each axis to each corner lH and Ü and the machine width w and Pythagoras' theorem as dCC = (r + W / Z) Z + (XX) Z where ch corresponds to ch if the machine is driven forwards and chs if the machine is driven backwards. The radius of rotation r, the distance from each axis to the respective corners lm and lm fl and the machine width w are defined in Figure 4C. Furthermore, the area used by the extra oscillation margin dcc is limited to the area in front of the machine as shown in Fig. 4B.
    By limiting the area to which the extra oscillation margin dcct is applied, the method becomes very applicable in narrow tunnels in mines. By extending the safety margin only when necessary, such as when turning, the safety margin can be kept as small as possible when traveling in directions straight ahead and with small turning angles. If the safety margin constantly had to take into account the "worst case", the machine would often not be able to be driven without obstacles in the safety area and thus the route as above, with the result that the machine would be stopped unnecessarily according to the present invention. Calculation of the angle dæ, which is shown in Figure 4C, and which defines in front of which angle the oscillation margin dcc is to be used, is trivial and can e.g. performed according to: 77107; 20ll ~ llel8 10 15 20 25 30 14 mn @ ff) dXXKr + wM2), where lm fl r and w are defined as above.
    With the aid of the expanded route, a determination can be made as to whether or not there are obstacles in the route, which takes into account the actual width of the machine, and which takes into account a safety distance.
    This determination can be performed as follows.
    Fig. 5A shows the route 501 of the machine for an exemplary situation where the machine travels in a certain direction of travel. The route is represented by an arc of a circle with a radius corresponding to the angle of rotation of the machine. The machine shown is further at a position where it reaches a T-junction (for the understanding, the rock walls are indicated by dashed lines), ie. Fig. 5A represents a different situation than that shown in Fig. 3.
    The route f starts from a point 501, which in this example is the center of the front axle of the machine. Data from the laser scanners, or in this case the front laser scanner in the direction of travel, are indicated as stars, "*", in the figure.
    Thus, as in Fig. 3, each star ("x" in Fig. 3) represents a distance reading in one direction from the laser scanner, and these stars thus represent distances to the schematically indicated rock walls.The estimated route 501 (in expanded form as above) is compared with sensor data from the laser scanner, to determine the distance to a first obstacle, and how far the machine can be driven before an obstacle occurs in the machine's route.
    The distance to the nearest obstacle for the route can be calculated in a simple way as follows, where the example is based on the route f shown in Fig. 5A. First, all obstacles are transformed, i.e. the laser measurements, to a coordinate system originating in the starting point of the route (501 in Fig. 5A) and an x-axis parallel to the route of the vehicle when driving in a direction 77107; 20ll ~ llel8 10 l5 20 25 l5 straight ahead, see Fig. 5B. d fi i, such as e.g. df¿4, (see Fig. 5B) is the distance from the center of the arc of the path f to the obstacle (laser measurement) oi, and can be calculated as d¿i = Jxf + (y¿-Q) 2, where rf represents the radius of the path. Note that the radius of routes that turn right in this example is defined as negative numbers. d¿i = arcsin (xi / d fl i) is the corresponding angle along the circular periphery of the route, and can be used together with the radius of the route to calculate the distance to obstacles, and thus the obstacle-free length of the route.
    The distance to lateral obstacles (such as laser measurement o fl) along the route, Af¿4, can thus generally be calculated as A¿í = d¿i-PA.
    As long as Af¿ exceeds the desired distance díi (ie half the machine width w / 2 plus the safety distance laterally dæ plus any extra swing margin dm according to Fig. 4B-C) for the respective obstacles i, where df¿ is calculated as: 0 afj <0 C _ SC CC CC dm- w / 2 + d + d Afyí> 0 ^ afyí> af w / 2 + dSC otherwise the obstacle ii in relation to the route f is outside the expanding route, and the route is therefore drivable in relation to the laser measurement i.
    By comparing distances to the different laser measuring points for the route, the shortest distance to an obstacle within the expanded area of the route, ie. within the radius of the route with addition and subtraction of the lateral safety distance, respectively, is determined.
    If several obstacles are within the area of the expanded route, the travelable length of the route can be determined as: 77107; 20ll ~ llel8 l0 l5 20 25 30 16 Ü == §0§¿_, ie. the radius of the route multiplied by the angle to the nearest obstacle (expressed in radians), which can be easily determined using a representation according to Fig. 5B.
    As long as the distance [0 for the route exceeds a distance A3, which e.g. constitutes the minimum distance required to be able to stop the machine, plus preferably an offset, the route is drivable and continued travel is therefore allowed without further measures. The distance A3 thus constitutes the smallest distance that the machine must be able to be driven without hindrance in order for action according to the invention not to be taken. Therefore, if the distance lo> A1, the procedure returns from step 203 to step 201 for re-determination. If, on the other hand, the distance to an obstacle is less than A3, the process proceeds to step 204 to decelerate the machine according to the invention. According to the present invention, the machine is thus decelerated if it is found that the prevailing route leads to an obstacle within a distance A3. According to an alternative embodiment, the machine is decelerated as soon as it is detected that an obstacle occurs in the machine's route. However, this can lead to undesirably many decelerations, so according to a preferred embodiment the deceleration starts only when the distance to the first obstacle is less than an applicable distance, such as A3, so that the deceleration does not start unnecessarily but only when it is really necessary. This distance can be determined based on a required stopping distance at the prevailing speed, alternatively e.g. be set at any applicable distance.
    The size of the deceleration is set so that the machine can be safely braked to a standstill before the obstacle is reached. The process then proceeds to step 205, where it is determined if the machine has been decelerated to a standstill, in which case the process is terminated in step 206. If it is determined in step 205 that the machine is not stationary, the process proceeds to step 207 where 77107; The path of the machine is again determined as above, wherein in step 208 it is determined whether the distance to the nearest obstacle is still less than the distance A3. This relationship may have changed, e.g. pga. new control command from the operator, or because it due. the deceleration reduced speed has reduced the requirement for lateral clearance / braking distance, whereby a previous obstacle no longer has to constitute an obstacle. As long as the distance is still less than the distance A3, the process returns to step 205 to determine if the machine has stopped. If it is found in step 208 that the distance to the nearest obstacle is no longer less than the distance A3, the deceleration is interrupted and the process proceeds to step 209 where an acceleration is activated to control the speed against the speed requested by the operator. This acceleration can e.g. be set to some applicable value so that the speed increase occurs as desired quickly, and can e.g. be dependent on the difference between the speed prevailing due to the deceleration and the speed requested by the operator, or simply controlled by the operator's required throttle. The procedure then returns to step 202 for a new estimation of the route as above with ev. new following deceleration, etc.
    The invention thus provides a method which can effectively avoid undesired collisions. In addition, the present invention can be used to drive the machine at a higher speed, as the operator is given support to weigh increase the speed because the control system will directly decelerate the machine if risk of collision arises.
    In addition to the above, a signal can be generated, e.g. in the form of an audible and / or light signal to alert the operator that the machine is decelerating, whereby the operator can contribute to reducing the risk of collision by e.g. 77107; 20ll ~ llel8 10 15 18 actively activate additional braking action or change direction of travel.
    The invention has so far been described in connection with an underground mine. However, the invention is also applicable to e.g. tunneling and other applications where a mining and / or construction machine is used. The invention is thus also applicable to above-ground applications. The invention is also applicable to other types of vehicles than articulated angles.
    Furthermore, the invention has been described in connection with laser distance scanners for generating the representation of the environment. However, it is not essential to the invention that the representation of the environment be determined by means of laser distance scanners, but arbitrary distance meters can be used, as long as these can provide distance measurements with acceptable accuracy.
    The invention is thus not limited except as stated in the appended claims. 77107; 20ll ~ llel8
    权利要求:
    Claims (18)
    [1]
    A method of operating a mining and / or construction machine, said machine being arranged to be controlled by an operator by means of operating means, said operator, when driving said machine, issuing control commands by means of said operating means for operating said machine, characterized in that the method comprises, when said machine is driven in an environment with at least a first obstacle: - when said machine is at a first distance from said first obstacle, estimating a first route requested by said operator by means of said control commands, - by means of determining by a control system whether said machine when moving according to said requested first route will be driven within a second distance from said first obstacle, and - when it is determined that said machine when driving according to said first route will be driven within said second distance from said first obstacles, by means of said control system retarding said machine.
    [2]
    A method according to claim 1, wherein said first distance is a representation of a distance from a position on said machine to said first obstacle.
    [3]
    A method according to claim 1 or 2, further comprising in said deceleration retarding said machine to a standstill before said machine reaches a position within said second distance from said first obstacle.
    [4]
    A method according to any one of the preceding claims, further comprising determining a deceleration for decelerating said machine based on said first distance. 77107; 20ll ~ llel8 l0 l5 20 25 30 20
    [5]
    A method according to any one of the preceding claims, further comprising: - determining a representation of said first distance from said machine to said first obstacle, and - starting said deceleration when said first distance to said first obstacle is less than a third distance.
    [6]
    A method according to claim 5, wherein said third distance is determined at least in part based on a required stopping distance for said machine at a prevailing speed.
    [7]
    A method according to any one of the preceding claims, wherein, in determining said first distance to said first obstacle for said requested first route, said route is defined as an area in the direction of travel with a first length and a width corresponding to the width of the machine, area means that the machine will be driven within said second distance from said first obstacle when traveling according to said requested route.
    [8]
    A method according to claim 7, wherein the width of said area is defined as a width corresponding to the width of the machine and a first lateral safety distance.
    [9]
    A method according to any one of the preceding claims, further comprising, in the event of an ongoing deceleration: - determining whether said route requested by the operator is changed to a second, separate from said first, route, and - interrupting said deceleration of said machine while traveling according to said second route will not be advanced within said second distance from said first obstacle.
    [10]
    A method according to any one of the preceding claims, wherein said second distance constitutes a distance in the range O-0.5 meters, preferably in the range O-0.2 meters. 77107; 20ll ~ llel8 10 15 20 25 21
    [11]
    A method according to any one of the preceding claims, further comprising determining whether said machine will be driven within a first distance from said first obstacle when said machine is driven at a speed exceeding a first speed.
    [12]
    A method according to any one of the preceding claims, wherein said estimated route is estimated based on a control angle command.
    [13]
    A method according to any one of the preceding claims, wherein said distance to said obstacle is determined by means of sensors arranged on said machine.
    [14]
    A method according to any one of the preceding claims, wherein said operating means are arranged at said machine, and wherein said machine is arranged to be operated from an operating position on board said machine.
    [15]
    A method according to any one of the preceding claims, further comprising the step of: - generating a signal to alert said driver that said vehicle is decelerating.
    [16]
    A method according to any one of the preceding claims, wherein said environment comprises a plurality of obstacles, the method further comprising: - by means of said control system determining whether said machine when moving according to said first route will be driven within said second distance from at least one of said a plurality of obstacles, and - when said machine when traveling according to said route will be driven within said second distance from at least one of said plurality of obstacles, retarding said machine. 77107; 20ll ~ llel8 l0 l5 20 22
    [17]
    A system for operating a mining and / or construction machine, said machine being arranged to be controlled by an operator by means of operating means, said operator, when driving said machine, issuing control commands by means of said operating means for operating said machine, characterized by that the system comprises means for, when said machine is operated in an environment with at least a first obstacle: - estimating a first route requested by said operator by means of said control commands when said machine is at a first distance from said first obstacle, - by means of a control system determining whether said machine when moving according to said requested first route will be driven within a second distance from said first obstacle, and - retarding said machine when it is determined that said machine while driving according to said first route will be driven within said second distance from said first obstacle.
    [18]
    18. l8. Mining and / or construction machinery (100), characterized in that it comprises a system according to claim 17. 77107; 20ll ~ llel8
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    同族专利:
    公开号 | 公开日
    US20140297135A1|2014-10-02|
    ZA201402007B|2015-11-25|
    US10343680B2|2019-07-09|
    CL2014000741A1|2014-08-08|
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    WO2013074035A1|2013-05-23|
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    AU2012337399A1|2014-07-03|
    AU2012337399B2|2016-11-24|
    MX2014005464A|2014-08-22|
    CA2855949C|2019-07-02|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1151103A|SE536333C2|2011-11-18|2011-11-18|Method and apparatus for operating a mining and / or construction machine|SE1151103A| SE536333C2|2011-11-18|2011-11-18|Method and apparatus for operating a mining and / or construction machine|
    CA2855949A| CA2855949C|2011-11-18|2012-11-15|Method and system for driving a mining and/or construction machine|
    PCT/SE2012/051263| WO2013074035A1|2011-11-18|2012-11-15|Method and system for driving a mining and/or construction machine|
    AU2012337399A| AU2012337399B2|2011-11-18|2012-11-15|Method and system for driving a mining and/or construction machine|
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    MX2014005464A| MX2014005464A|2011-11-18|2012-11-15|Method and system for driving a mining and/or construction machine.|
    ZA2014/02007A| ZA201402007B|2011-11-18|2014-03-19|Method and system for driving a mining and/or construction machine|
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