EP3102744A4 - Autonomous loading vehicle controller - Google Patents

Autonomous loading vehicle controller Download PDF

Info

Publication number
EP3102744A4
EP3102744A4 EP15740514.3A EP15740514A EP3102744A4 EP 3102744 A4 EP3102744 A4 EP 3102744A4 EP 15740514 A EP15740514 A EP 15740514A EP 3102744 A4 EP3102744 A4 EP 3102744A4
Authority
EP
European Patent Office
Prior art keywords
vehicle controller
loading vehicle
autonomous loading
autonomous
controller
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP15740514.3A
Other languages
German (de)
French (fr)
Other versions
EP3102744C0 (en
EP3102744A1 (en
EP3102744B1 (en
Inventor
Andrew Dobson
Joshua MARSHALL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
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
Publication of EP3102744A1 publication Critical patent/EP3102744A1/en
Publication of EP3102744A4 publication Critical patent/EP3102744A4/en
Application granted granted Critical
Publication of EP3102744C0 publication Critical patent/EP3102744C0/en
Publication of EP3102744B1 publication Critical patent/EP3102744B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP15740514.3A 2014-01-24 2015-01-23 Autonomous loading vehicle controller Active EP3102744B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461931243P 2014-01-24 2014-01-24
US201462033904P 2014-08-06 2014-08-06
PCT/CA2015/000044 WO2015109392A1 (en) 2014-01-24 2015-01-23 Autonomous loading vehicle controller

Publications (4)

Publication Number Publication Date
EP3102744A1 EP3102744A1 (en) 2016-12-14
EP3102744A4 true EP3102744A4 (en) 2018-03-07
EP3102744C0 EP3102744C0 (en) 2023-07-05
EP3102744B1 EP3102744B1 (en) 2023-07-05

Family

ID=53680534

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15740514.3A Active EP3102744B1 (en) 2014-01-24 2015-01-23 Autonomous loading vehicle controller

Country Status (7)

Country Link
EP (1) EP3102744B1 (en)
AU (1) AU2015208631B2 (en)
CA (1) CA2935576C (en)
CL (1) CL2016001684A1 (en)
MX (1) MX2016008819A (en)
RU (1) RU2703086C2 (en)
WO (1) WO2015109392A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9816248B2 (en) 2015-10-30 2017-11-14 Deere & Company System and method for assisted bucket load operation
CN108431336B (en) * 2015-12-18 2022-02-01 沃尔沃建筑设备公司 System and method for determining an entity of material to be removed from a pile
CN116490655A (en) * 2020-11-09 2023-07-25 国立大学法人广岛大学 Automatic operation device of engineering machinery
CA3129016A1 (en) * 2021-04-07 2022-10-07 Queen's University At Kingston Automatic classification of excavation materials

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5682312A (en) * 1994-03-23 1997-10-28 Caterpillar Inc. Self-adapting excavation control system and method
EP0990739A1 (en) * 1998-03-18 2000-04-05 Hitachi Construction Machinery Co., Ltd. Automatically operated shovel and stone crushing system comprising the same
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
US6510628B1 (en) * 2001-10-31 2003-01-28 Caterpillar Inc Method and apparatus for determining a contact force of a work tool
US20040117092A1 (en) * 2002-12-12 2004-06-17 Budde Steven C. Method and system for automatic bucket loading
US6845311B1 (en) * 2003-11-04 2005-01-18 Caterpillar Inc. Site profile based control system and method for controlling a work implement
US20070168100A1 (en) * 2006-01-18 2007-07-19 George Danko Coordinated joint motion control system with position error correction
US20090326768A1 (en) * 2008-06-30 2009-12-31 Caterpillar Inc. Digging control system
US20110106384A1 (en) * 2008-06-16 2011-05-05 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
KR20130068544A (en) * 2011-12-15 2013-06-26 현대중공업 주식회사 Apparatus for preventing ground contact of a bucket for an wheel loader and method thereof

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5461803A (en) * 1994-03-23 1995-10-31 Caterpillar Inc. System and method for determining the completion of a digging portion of an excavation work cycle
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5544055A (en) * 1994-07-29 1996-08-06 Vermeer Manufacturing Company Track trencher control system and process
US5553407A (en) * 1995-06-19 1996-09-10 Vermeer Manufacturing Company Excavator data acquisition and control system and method of use
US5681312A (en) * 1996-05-31 1997-10-28 Acromed Corporation Spine construct with band clamp
US6363632B1 (en) * 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
US7630793B2 (en) * 2004-12-10 2009-12-08 Caterpillar S.A.R.L. Method of altering operation of work machine based on work tool performance footprint to maintain desired relationship between operational characteristics of work tool and work machine
US7979181B2 (en) * 2006-10-19 2011-07-12 Caterpillar Inc. Velocity based control process for a machine digging cycle
RU2488663C2 (en) * 2007-07-13 2013-07-27 Вольво Констракшн Эквипмент Аб Provision of instruction manuals for working vehicle driver
KR101726350B1 (en) * 2008-05-27 2017-04-12 볼보 컨스트럭션 이큅먼트 에이비 A method for controlling a hydraulic system
FI20105082A0 (en) * 2010-01-29 2010-01-29 Waertsilae Finland Oy ELECTRIC HYDRAULIC OPERATING SYSTEM FOR GAS SHIFT VALVE
DE102010010718A1 (en) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Method for assembling components by means of an industrial robot

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5682312A (en) * 1994-03-23 1997-10-28 Caterpillar Inc. Self-adapting excavation control system and method
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
EP0990739A1 (en) * 1998-03-18 2000-04-05 Hitachi Construction Machinery Co., Ltd. Automatically operated shovel and stone crushing system comprising the same
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6510628B1 (en) * 2001-10-31 2003-01-28 Caterpillar Inc Method and apparatus for determining a contact force of a work tool
US20040117092A1 (en) * 2002-12-12 2004-06-17 Budde Steven C. Method and system for automatic bucket loading
US6845311B1 (en) * 2003-11-04 2005-01-18 Caterpillar Inc. Site profile based control system and method for controlling a work implement
US20070168100A1 (en) * 2006-01-18 2007-07-19 George Danko Coordinated joint motion control system with position error correction
US20110106384A1 (en) * 2008-06-16 2011-05-05 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
US20090326768A1 (en) * 2008-06-30 2009-12-31 Caterpillar Inc. Digging control system
KR20130068544A (en) * 2011-12-15 2013-06-26 현대중공업 주식회사 Apparatus for preventing ground contact of a bucket for an wheel loader and method thereof

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
See also references of WO2015109392A1 *
SERAJI H: "Adaptive admittance control: an approach to explicit force control in compliant motion", ROBOTICS AND AUTOMATION, 1994. PROCEEDINGS., 1994 IEEE INTERNATIONAL C ONFERENCE ON SAN DIEGO, CA, USA 8-13 MAY 1, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, 8 May 1994 (1994-05-08), pages 2705 - 2712, XP010097345, ISBN: 978-0-8186-5330-8, DOI: 10.1109/ROBOT.1994.350927 *

Also Published As

Publication number Publication date
CA2935576C (en) 2022-08-02
MX2016008819A (en) 2016-09-08
RU2703086C2 (en) 2019-10-15
EP3102744C0 (en) 2023-07-05
EP3102744A1 (en) 2016-12-14
RU2016134403A (en) 2018-03-01
EP3102744B1 (en) 2023-07-05
AU2015208631A1 (en) 2016-07-28
AU2015208631B2 (en) 2019-07-25
CL2016001684A1 (en) 2016-11-18
WO2015109392A1 (en) 2015-07-30
RU2016134403A3 (en) 2018-08-21
CA2935576A1 (en) 2015-07-30

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