Abstract: Provided is a machine-readable structure for the spatial orientation of robots, vehicles or other self-orienting systems are applied to a landmark tape. The landmark tape has a multiplicity of separation points for separating tape segments of selectable size that are usable as landmarks. Here, the machine-readable structures are randomly distributed over the landmark tape. A landmark dispenser according to the embodiments comprise a separating apparatus for separating tape segments of a landmark tape. Here, it is possible to dispense with separation points in the landmark tape itself.

Abstract: A method for determining an N+1-dimensional environmental model is provided. According to the method, environmental information in N dimensions is determined using a sensor. In a further step, position and/or orientation of the sensor is/are determined. Then, the N+1-dimensional environmental model is determined based on the determined environmental information in N dimensions and the determined position and/or orientation of the sensor. Further, a device and a mining apparatus are provided.

Abstract: A method for calibrating a first movable part of a crane. Position a first crane part above a calibration point at a first predetermined co-ordinate in a reference system. Measure a first distance between a first transmitter/receiver element of a first distance measuring device mounted on the first movable crane part and a second transmitter/receiver element of the first distance measuring device disposed in a stationary manner in the reference system. Measure an orientation of the first transmitter/receiver element in accordance with the first predetermined co-ordinate, the measured first distance and a first item of information concerning the surroundings. Perform a transformation in the reference system in accordance with the ascertained orientation of the first transmitter/receiver element for transforming distance measured during operating of the crane by means of the first and second transmitter/receiver elements to determine a position of the first movable crane part.

Abstract: A method for determining an N+1—dimensional environmental model is provided. According to the method, environmental information in N dimensions is determined using a sensor. In a further step, position and/or orientation of the sensor is/are determined. Then, the N+1—dimensional environmental model is determined based on the determined environmental information in N dimensions and the determined position and/or orientation of the sensor. Further, a device and a mining apparatus are provided.

Abstract: A method for calibrating a first movable part of a crane. Position a first crane part above a calibration point at a first predetermined co-ordinate in a reference system. Measure a first distance between a first transmitter/receiver element of a first distance measuring device mounted on the first movable crane part and a second transmitter/receiver element of the first distance measuring device disposed in a stationary manner in the reference system. Measure an orientation of the first transmitter/receiver element in accordance with the first predetermined co-ordinate, the measured first distance and a first item of information concerning the surroundings. Perform a transformation in the reference system in accordance with the ascertained orientation of the first transmitter/receiver element for transforming distance measured during operating of the crane by means of the first and second transmitter/receiver elements to determine a position of the first movable crane part.

Abstract: A range-measuring sensor is arranged on a vehicle. The direction of measurement or plane of measurement of the sensor can be altered by driving a sensor motor. A map of the environment is produced by using natural landmarks. A predetermined route along which the vehicle is intended to move is stipulated. Landmarks which can serve as a localization aid along the predetermined route are determined. The environment is scanned at different times by using the sensor in order to detect the previously determined landmarks while the vehicle is moving along the predetermined route. The vehicle is localized by comparing the detected landmarks with the landmarks recorded on the map. The sensor motor is actively controlled, at least in areas of the environment with only a few previously determined landmarks, such that the sensor is oriented to these landmarks in order to ensure that they are detected.

Abstract: A range-measuring sensor is arranged on a vehicle. The direction of measurement or plane of measurement of the sensor can be altered by driving a sensor motor. A map of the environment is produced by using natural landmarks. A predetermined route along which the vehicle is intended to move is stipulated. Landmarks which can serve as a localization aid along the predetermined route are determined. The environment is scanned at different times by using the sensor in order to detect the previously determined landmarks while the vehicle is moving along the predetermined route. The vehicle is localized by comparing the detected landmarks with the landmarks recorded on the map. The sensor motor is actively controlled, at least in areas of the environment with only a few previously determined landmarks, such that the sensor is oriented to these landmarks in order to ensure that they are detected.