US-12618327-B2 - Sensor system of underground mining vehicles and underground mining vehicle comprising sensor system

Abstract

A sensor system of underground mining vehicles, which system is arranged to be fastened at a perimeter of an underground mining vehicle, comprising a sensor ( 1 ) and a stand ( 2 ), wherein the stand comprises a mounting plate ( 3 ) for fastening the stand ( 2 ) to the underground mining vehicle, a movable plate ( 4 ) fastened moveably to the mounting plate ( 3 ), a guard member ( 7 a, 7 b , . . . ) fastened to the movable plate ( 4 ), and a biasing member ( 9 a, 9 b , . . . ) fastened between the movable plate ( 4 ) and the mounting plate ( 3 ). The sensor ( 1 ) is fastened to the movable plate ( 4 ). The movable plate ( 4 ) has two positions: a resting position, and a retracted position, and the biasing member ( 9 a, 9 b , . . . ) is biasing the movable plate ( 4 ) to the resting position.

Inventors

• Pekka TAMMINEN
• Jussi TUOMINEN
• Jani SAARINEN
• Juha HOFFREN
• Hannu HELEN
• Mikko HUURRE
• Marko VUOKILA

Assignees

• SANDVIK MINING AND CONSTRUCTION OY

Dates

Publication Date

20260505

Application Date

20230203

Priority Date

20220211

Claims (15)

1. 1 . A sensor system for an underground mining vehicle, which system is arranged to be fastened at a perimeter of the underground mining vehicle, comprising a sensor and a stand, wherein the stand comprises: a mounting plate for fastening the stand to the underground mining vehicle, a movable plate, having an inner end and an outer end, fastened moveably to the mounting plate, a guard member comprising a rim, which guard member is provided at the outer end so that the rim extends over the outer end of the movable plate, and a biasing member fastened between the movable plate and the mounting plate; wherein the sensor is fastened to the movable plate so that the sensor is between the rim of the guard member and the inner end of the movable plate, wherein the movable plate has two positions: a resting position, wherein the rim of the guard member is extending outside of the underground vehicle perimeter when the system is fastened to the underground mining vehicle, and a retracted position, wherein the outer end and the sensor are retracted inside the perimeter of the underground mining vehicle when the system is fastened to the underground mining vehicle, and wherein the biasing member is biasing the movable plate to the resting position.
2. 2 . The sensor system for an underground mining vehicle according to claim 1 , wherein the sensor is outside the perimeter of the underground mining vehicle when the movable plate is in the resting position.
3. 3 . The sensor system for an underground mining vehicle according to claim 1 , wherein the biasing member is a mechanical spring.
4. 4 . The sensor system for an underground mining vehicle according to claim 1 , wherein the biasing member is made of rubber.
5. 5 . The sensor system for an underground mining vehicle according to claim 1 , wherein the biasing member comprises a hydraulic cylinder or a pneumatic cylinder.
6. 6 . The sensor system for an underground mining vehicle according to claim 1 , wherein the guard member is a wheel fastened to the movable plate with an axle perpendicular to the movable plate.
7. 7 . The sensor system for an underground mining vehicle according to claim 1 , wherein the movable plate is arranged to move linearly between the resting position and the retracted position on top of the mounting plate.
8. 8 . The sensor system for an underground mining vehicle according to claim 1 , wherein the movable plate comprises at least two sections, a first section being parallel to the mounting plate, and a second section being perpendicular to the first section.
9. 9 . The sensor system for an underground mining vehicle according to claim 8 , wherein the movable plate comprises a third section, which is parallel to the first section, and the second section is arranged between the first section and the third section.
10. 10 . The sensor system for an underground mining vehicle according to claim 8 , wherein the mounting plate comprises a perpendicular part, and the biasing member is arranged between the perpendicular part and the second section of the movable plate.
11. 11 . The sensor system for an underground mining vehicle according to claim 1 , wherein the stand comprises guiding means for guiding the movement of the movable plate between the resting position and the retracted position.
12. 12 . The sensor system for an underground mining vehicle according to claim 11 , wherein the guiding means comprises at least one elongated opening in the mounting plate, and fastening means for fastening the movable plate to the mounting plate, wherein the fastening means are configured to extend from the movable plate through the at least one elongated opening.
13. 13 . The sensor system for an underground mining vehicle according to claim 10 , wherein the stand comprises guiding means for guiding the movement of the movable plate between the resting position and the retracted position, and wherein the guiding means comprises an elongated rod extending from the second section of the movable plate and a hole in the perpendicular part of the mounting plate, wherein the elongated rod extends from the second section through the hole in the perpendicular part.
14. 14 . The sensor system for an underground mining vehicle according to claim 1 , wherein the movable plate, together with the guard member and the sensor fastened to the movable plate, is arranged to move towards the retracted position when the rim is subjected to an external force exceeding the biasing force of the biasing member.
15. 15 . An underground mining vehicle comprising a sensor system according to claim 1 .

Description

TECHNICAL FIELD The present invention relates to sensor systems of underground mining vehicles and underground mining vehicles comprising a sensor system. BACKGROUND OF THE ART Underground mining vehicles operate in harsh conditions undergrounds where is dark, roads are narrow, and the road network is constantly changing. Due to poor visibility, it is hard to see people, other machines or any other obstacles, e.g. loose rocks, on the road and the underground mining vehicle may be damaged if it runs into an obstacle. Further, the underground mining vehicles are big, and the operator's view from the cab is therefore restricted. Especially right next to the underground mining vehicle. Therefore, underground mining vehicles may comprise sensors to help the operator to see or be aware of the surroundings of the vehicle. Even if the underground mining vehicle has sensors, it is still possible to hit obstacles on the road or walls or ceiling of the mine. Due the collision, the sensors may break or at least their position may change, and they may be useless after the collision. OBJECTIVE OF THE INVENTION The objective of the system is to alleviate the disadvantages mentioned above. In particular, it is an objective of the present system to provide a sensor system of underground mining vehicles that protects the sensor from impacts, i.e. external forces subjected to the sensor system, while providing better visibility of the surroundings of the underground mining vehicle. SUMMARY According to a first aspect, the present invention provides a system for protecting a sensor fastened to the underground mining vehicle. The sensor system of underground mining vehicles, which system is arranged to be fastened at a perimeter of an underground mining vehicle, comprising a sensor and a stand, wherein the stand comprises a mounting plate for fastening the stand to the underground mining vehicle; a movable plate, having an inner end and an outer end, fastened moveably to the mounting plate; a guard member comprising a rim, which guard member is provided at the outer end so that the rim extends over the outer end of the movable plate; and a biasing member fastened between the movable plate and the mounting plate. The sensor is fastened to the movable plate so that the sensor is between the rim of the guard member and the inner end of the movable plate. The movable plate has two positions: a resting position, wherein the rim of the guard member is extending outside of the underground vehicle perimeter when the system is fastened to the underground mining vehicle, and a retracted position, wherein the outer end and the sensor are retracted inside the perimeter of the underground mining vehicle when the system is fastened to the underground mining vehicle, and the biasing member is biasing the movable plate to the resting position. The advantage of the system is that the underground mining vehicle operator has better visibility and/or understanding of the surroundings of the vehicle as the system may be fastened to the underground mining vehicle so that the sensor is outside of the perimeter of the vehicle while the sensor is protected from external impacts. According to an embodiment of the system, the sensor is outside the perimeter of the underground mining vehicle when the movable plate is in the resting position. According to an embodiment of the system, the biasing member is a mechanical spring. According to an embodiment of the system, the biasing member is made of rubber. According to an embodiment of the system, the biasing member comprises a hydraulic cylinder or a pneumatic cylinder. According to an embodiment of the system, the guard member is a wheel fastened to the movable plate with an axle perpendicular to the movable plate. According to an embodiment of the system, the movable plate is arranged to move linearly between the resting position and the retracted position on top of the mounting plate. According to an embodiment of the system, the movable plate comprises at least two sections, a first section being parallel to the mounting plate, and a second section being perpendicular to the first section. According to an embodiment of the system, the movable plate comprises a third section, which is parallel to the first section, and the second section is arranged between the first section and the third section. According to an embodiment of the system, the mounting plate comprises a perpendicular part, and the biasing member is arranged between the perpendicular part and the second section of the movable plate. According to an embodiment of the system, the stand comprises guiding means for guiding the movement of the movable plate between the resting position and the retracted position. According to an embodiment of the system, the guiding means comprises at least one elongated opening in the mounting plate and fastening means for fastening the movable plate to the mounting plate, wherein the fastening means are confi