MX2016008819A - Autonomous loading vehicle controller. - Google Patents

Autonomous loading vehicle controller.

Info

Publication number
MX2016008819A
MX2016008819A MX2016008819A MX2016008819A MX2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A
Authority
MX
Mexico
Prior art keywords
controller
dig
loading vehicle
sensor signal
vehicle controller
Prior art date
Application number
MX2016008819A
Other languages
Spanish (es)
Inventor
Dobson Andrew
Marshall Joshua
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 MX2016008819A publication Critical patent/MX2016008819A/en

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)

Abstract

Provided are dig controller and dig control method embodiments for an autonomous loading vehicle (ALV) used in applications such as mining, construction, and exploration. Embodiments may comprise at least one controller that controls a bucket and/or the ALV in accordance with at least one sensor signal, wherein the at least one sensor signal is representative of interaction between the bucket and the rock pile during a dig. Some embodiments include at least one admittance controller and optionally at least one iterative learning controller (ILC) that uses feedback from at least one previous dig to modify the at least one sensor signal provided to the at least one controller.
MX2016008819A 2014-01-24 2015-01-23 Autonomous loading vehicle controller. MX2016008819A (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 (1)

Publication Number Publication Date
MX2016008819A true MX2016008819A (en) 2016-09-08

Family

ID=53680534

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016008819A MX2016008819A (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

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07268897A (en) * 1994-03-23 1995-10-17 Caterpillar Inc Self-adaptable excavation control system and method thereof
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
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
KR100404437B1 (en) * 1998-03-18 2003-11-03 히다치 겡키 가부시키 가이샤 Automatically operated shovel and stone crushing system comprising the same
US6363632B1 (en) * 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
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
US6879899B2 (en) * 2002-12-12 2005-04-12 Caterpillar Inc 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
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
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
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
WO2009152561A1 (en) * 2008-06-16 2009-12-23 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
US8160783B2 (en) * 2008-06-30 2012-04-17 Caterpillar Inc. Digging control 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
KR101696292B1 (en) * 2011-12-15 2017-01-13 현대중공업 주식회사 Apparatus for preventing ground contact of a bucket for an wheel loader and method thereof

Also Published As

Publication number Publication date
CA2935576C (en) 2022-08-02
RU2703086C2 (en) 2019-10-15
EP3102744A4 (en) 2018-03-07
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

Similar Documents

Publication Publication Date Title
EA201691137A1 (en) MINE VEHICLE AND METHOD OF INITIATING THE PROBLEM OF MINING WORKS
EP3474045A4 (en) Seismic rock physics inversion method based on a large area tight reservoir
MX342567B (en) Autonomous control in a dense vehicle environment.
MX2017002559A (en) Autonomous vehicle control transitioning.
MX2017012909A (en) Rig control system.
MX2022013057A (en) System and method for controlling a vehicle.
MX2016005410A (en) Flow control in subterranean wells.
EP3240939A4 (en) Systems and methods to control directional drilling for hydrocarbon wells
GB2546906A (en) Data processing apparatus and method using programmable significance data
MX2016008819A (en) Autonomous loading vehicle controller.
MX362753B (en) Fast viscoacoustic and viscoelastic full-wavefield inversion.
EP3218580A4 (en) Arrangement for rock bolts and a method for the use of the arrangement, and a reinforcement system comprising such an arrangement
GB2539817A (en) Controlling a bottom-hole assembly in a wellbore
MX2015007363A (en) Vehicle.
MX2017000130A (en) Method and arrangement for mounting bolts in a tunnel wall.
MX2018014396A (en) Interface and integration method for external control of drilling control system.
AU2015241937A1 (en) Mine management system
GB2559939A (en) Emulsifiers for wellbore strengthening
MX2018007123A (en) Remote controller for controlling apparatus by diverting feedback signal from native controller to the remote controller and methods for same.
TW201614428A (en) Wearable device, method of controlling the same, and mobile device configured to control the same
GB2547562A (en) Mud telemetry with rotating control device
SA521421044B1 (en) Managing storage of water
MX2016007403A (en) Method of exploiting hydrocarbons from a sedimentary basin comprising carbonate rocks, by means of stratigraphic simulation.
GB2594411B (en) Systems and methods to control drilling operations based on formation orientations
WO2014160619A3 (en) Back bias during program verify of non-volatile storage

Legal Events

Date Code Title Description
HC Change of company name or juridical status

Owner name: KOCH AGRONOMIC SERVICES, LLC.

FG Grant or registration