Providing control information
AssigneeSandvik Mining and Construction Oy
InventorsSami HANSKI, Johannes VALIVAARA, Mikko PESOLA, Mikko VIINIKAINEN, Timo KORVA
Life of this patent
Estimating the term…
Abstract
An apparatus, method and computer program product for: determining a reference position of a feed beam, the feed beam being connected to a boom of a mobile mining machine; receiving measurement information provided by an inertial measurement unit associated with the feed beam, estimating, based on the measurement information, movement of the inertial measurement unit; and providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.
Claims15
An apparatus for controlling a mobile mining machine comprising a carrier and at least one boom, the apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to with the at least one processor, cause the apparatus at least to:
- determine a reference position of a feed beam connected to a boom of the mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;
- receive measurement information provided by an inertial measurement unit associated with the feed beam;
- estimate, based on the measurement information, movement of the inertial measurement unit associated with the feed beam;
- and
- provide, based on the reference position of the feed beam and the estimated movement of the inertial measurement unit, joint control information for controlling a position of the feed beam.
A method for controlling a feed beam of a mobile mining machine, the mobile mining machine comprising a carrier and at least one boom, the method comprising:
- determining a reference position of a feed beam connected to a boom of the mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;
- receiving measurement information provided by an inertial measurement unit associated with the feed beam;
- estimating, based on the measurement information, movement of the inertial measurement unit associated with the feed beam;
- and
- providing, based on the reference position of the feed beam and the estimated movement of the at inertial measurement unit, joint control information for controlling a position of the feed beam.
A computer program comprising instructions for causing an apparatus to perform at least the following:
- determining a reference position of a feed beam connected to a boom of a mobile mining machine, the reference position of the feed beam comprising a desired position of the feed beam;
- receiving measurement information provided by an inertial measurement unit associated with the feed beam;
- estimating, based on the measurement information, movement of the inertial measurement unit associated with the feed beam;
- and
- providing, based on the reference position of the feed beam and the estimated movement of the inertial measurement unit, joint control information for controlling a position of the feed beam.
Dependencies are inferred from the claim text.