SE0801276L - Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine - Google Patents

Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine

Info

Publication number
SE0801276L
SE0801276L SE0801276A SE0801276A SE0801276L SE 0801276 L SE0801276 L SE 0801276L SE 0801276 A SE0801276 A SE 0801276A SE 0801276 A SE0801276 A SE 0801276A SE 0801276 L SE0801276 L SE 0801276L
Authority
SE
Sweden
Prior art keywords
reliability
parameter value
estimated position
mining
environment
Prior art date
Application number
SE0801276A
Other languages
Swedish (sv)
Other versions
SE532430C2 (en
Inventor
Johan Larsson
Michael Krasser
Original Assignee
Atlas Copco Rock Drills Ab
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
Application filed by Atlas Copco Rock Drills Ab filed Critical Atlas Copco Rock Drills Ab
Priority to SE0801276A priority Critical patent/SE532430C2/en
Priority to CL2009001309A priority patent/CL2009001309A1/en
Priority to PCT/SE2009/000273 priority patent/WO2009145694A1/en
Publication of SE0801276L publication Critical patent/SE0801276L/en
Publication of SE532430C2 publication Critical patent/SE532430C2/en

Links

Classifications

    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G05D1/0268—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
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)
  • Navigation (AREA)

Abstract

The present invention concerns a method and a device for calculating the reliability of an estimated position for a point on a mining and/or construction machine, wherein estimation of said position involves an estimation based on at least a first parameter value from at least one sensor and a representation of the environment where said machine is located, wherein said machine's position in said environment can be estimated by means of said at least one first parameter value. Said calculation of the reliability involves - calculating, from said estimated position in said representation of the environment, at least one second expected parameter value, - comparing said calculated at least one second expected parameter value with at least one actual parameter value for said machine's position in said environment, and - calculating with the help of said comparison a measure of the reliability of said estimated position.
SE0801276A 2008-05-30 2008-05-30 Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine SE532430C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE0801276A SE532430C2 (en) 2008-05-30 2008-05-30 Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine
CL2009001309A CL2009001309A1 (en) 2008-05-30 2009-05-28 Method for calculating the reliability of an estimated position of a point in a mining machine and / or public works.
PCT/SE2009/000273 WO2009145694A1 (en) 2008-05-30 2009-05-28 Method and device for calculating the reliability of an estimated position

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0801276A SE532430C2 (en) 2008-05-30 2008-05-30 Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine

Publications (2)

Publication Number Publication Date
SE0801276L true SE0801276L (en) 2009-12-01
SE532430C2 SE532430C2 (en) 2010-01-19

Family

ID=41377326

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0801276A SE532430C2 (en) 2008-05-30 2008-05-30 Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine

Country Status (3)

Country Link
CL (1) CL2009001309A1 (en)
SE (1) SE532430C2 (en)
WO (1) WO2009145694A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013020056A1 (en) 2011-08-03 2013-02-07 Joy Mm Delaware, Inc. Automated operations of a mining machine
SE537163C2 (en) 2012-05-02 2015-02-24 Atlas Copco Rock Drills Ab Method and system for operating a mobile mining machine in a tunnel and a mobile mining machine
US9969283B2 (en) 2013-09-10 2018-05-15 General Electric Company Battery changing system and method
CN103760517B (en) * 2014-01-14 2016-03-23 中国矿业大学 Underground scanning satellite high-precision method for tracking and positioning and device
JP6432468B2 (en) * 2015-08-28 2018-12-05 株式会社デンソー VEHICLE CONTROL DEVICE AND TRAVEL ESTIMATION METHOD

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5999866A (en) * 1996-11-05 1999-12-07 Carnegie Mellon University Infrastructure independent position determining system
US6608913B1 (en) * 2000-07-17 2003-08-19 Inco Limited Self-contained mapping and positioning system utilizing point cloud data
FI111414B (en) * 2001-05-14 2003-07-15 Sandvik Tamrock Oy Method and apparatus for determining the position of a mining machine as its wheels spin
JP4682870B2 (en) * 2006-02-24 2011-05-11 株式会社デンソー Driving assistance device

Also Published As

Publication number Publication date
CL2009001309A1 (en) 2009-11-06
SE532430C2 (en) 2010-01-19
WO2009145694A1 (en) 2009-12-03

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Legal Events

Date Code Title Description
NUG Patent has lapsed