CA2796638A1 - Method and apparatus for using robots to wash trucks used in mining and other dirty environments - Google Patents
Method and apparatus for using robots to wash trucks used in mining and other dirty environments Download PDFInfo
- Publication number
- CA2796638A1 CA2796638A1 CA2796638A CA2796638A CA2796638A1 CA 2796638 A1 CA2796638 A1 CA 2796638A1 CA 2796638 A CA2796638 A CA 2796638A CA 2796638 A CA2796638 A CA 2796638A CA 2796638 A1 CA2796638 A1 CA 2796638A1
- Authority
- CA
- Canada
- Prior art keywords
- washing
- truck
- mining
- vehicle
- manipulator arms
- 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
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
There is described a robotic system and a method for washing trucks used in mining and other dirty environments. The system uses robotic manipulator arms (2,3) that are capable of automated washing of the mining trucks (10). The manipulator arm is driven by a washing electronic control in order to clean the mining truck according to an established mining truck position and truck model.
Claims (14)
1. Robotic system for washing mining trucks (1), comprising:
- at least first and second manipulator arms (2,3) - said first and second manipulator arms (2,3) comprising at least one cleaning spraying unit (4), at least one washing electronic control and at least one laser sensor unit, the laser sensor unit (5) selectively generating a laser beam, wherein the laser sensor unit (5) is configured to detect, by means of a laser beam information, a positioning of the mining truck (10) at a previously established washing area, the laser sensor unit (5) being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to a calculated axle distance (30) between first and second truck points (P1,P2), the washing electronic control being programmed according to the established truck model and according to the established mining truck (10) position, to establish a previously established washing recipe, the first and second manipulator arms (2,3) being driven by the washing electronic control in order to clean the mining truck (10) according to the established mining truck (10) position and the truck model.
- at least first and second manipulator arms (2,3) - said first and second manipulator arms (2,3) comprising at least one cleaning spraying unit (4), at least one washing electronic control and at least one laser sensor unit, the laser sensor unit (5) selectively generating a laser beam, wherein the laser sensor unit (5) is configured to detect, by means of a laser beam information, a positioning of the mining truck (10) at a previously established washing area, the laser sensor unit (5) being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to a calculated axle distance (30) between first and second truck points (P1,P2), the washing electronic control being programmed according to the established truck model and according to the established mining truck (10) position, to establish a previously established washing recipe, the first and second manipulator arms (2,3) being driven by the washing electronic control in order to clean the mining truck (10) according to the established mining truck (10) position and the truck model.
2. Robotic system for washing mining trucks (1) according to claim 1, wherein the axle distance (30) between first and second truck points (P1,P2) is calculated as a function of first and second truck tire points (P1A,P1B) and third and fourth truck tire points (P2A, P2B).
3. Robotic system for washing mining trucks (1) according to claim 1, wherein the first and second manipulator arms (2,3) are located on a first and second support bridges (6,7) respectively.
4. Robotic system for washing mining trucks (1) according to claim 3, wherein the first and second support bridges (6,7) are able to run in a pivotal manner with regard to first and second rails (41,42).
5. Robotic system for washing mining trucks (1) according to claim 1, wherein the cleaning spraying unit (4) is able to wash the mining truck (10) according to at least 6 degrees of freedom of the first and second manipulator arms (2,3).
6. Robotic system for washing mining trucks (1) according to claim 1, wherein the first and second manipulator arms (2,3) are capable of washing the mining truck (10) simultaneously in opposite sides.
7. Robotic system for washing mining trucks (1), according to claim 1, wherein the positioning of the mining truck (10) is further calculated using a GPS.
8. Robotic system for washing mining trucks (1), according to claim 1, wherein the truck model is identified using a tag system.
9. A robotic system for washing utility vehicles, said utility vehicle comprising at least first and second axles, said first and second axles defin-ing first and second vehicle points (P1,P2), said vehicle having a given dis-tance between said the first and second vehicle points (P1,P2), said system comprising:
a. at least first and second manipulator arms (2,3), each of said first and second manipulator arms (2,3) comprising:
(i) at least one spray cleaning unit (4), (ii) at least one washing electronic control; and (iii) at least one laser sensor unit (5), and b. a area (20) for washing said vehicles between said first and second manipulator arms (2,3);
said laser sensor unit (5) selectively generating a laser beam for interrogating said utility vehicle to obtain information from said utility vehicle to be used to determine a positioning of said utility vehicle at a previously established position in said washing area (20), said laser sensor unit (5) being further configured to calculate from said information obtained from said utility vehicle the axle distance (30) between said first and second vehicle points (P1,P2) and to select from said calculation a predetermined model for said utility vehicle previously stored in a washing electronic control, said washing electronic control being programmed according to said selected vehicle model and said detected vehicle position, to select a previously established washing recipe for said selected vehicle model.
a. at least first and second manipulator arms (2,3), each of said first and second manipulator arms (2,3) comprising:
(i) at least one spray cleaning unit (4), (ii) at least one washing electronic control; and (iii) at least one laser sensor unit (5), and b. a area (20) for washing said vehicles between said first and second manipulator arms (2,3);
said laser sensor unit (5) selectively generating a laser beam for interrogating said utility vehicle to obtain information from said utility vehicle to be used to determine a positioning of said utility vehicle at a previously established position in said washing area (20), said laser sensor unit (5) being further configured to calculate from said information obtained from said utility vehicle the axle distance (30) between said first and second vehicle points (P1,P2) and to select from said calculation a predetermined model for said utility vehicle previously stored in a washing electronic control, said washing electronic control being programmed according to said selected vehicle model and said detected vehicle position, to select a previously established washing recipe for said selected vehicle model.
10. The system of claim 9 wherein in accordance with said se-lected previously established washing recipe said washing electronic control operates said at least one spray cleaning unit (4) to wash said utility vehicle.
11. Method of washing mining trucks (10) using a washing sys-tem comprising at least first and second manipulator arms (2,3) and first and second traffic lights (51,52), the manipulator arms (2,3) comprising at least one cleaning spraying unit (4), the manipulator arms (2,3) having at least one washing electronic control, the manipulator arms (2,3) having at least one laser sensor (5), the laser sensor (5) being able to generate a laser beam, wherein the method comprises the steps of:
a) positioning the first and second manipulator arms (2,3) in a start point or home position and activating the laser beam;
b) moving the mining vehicle (10) when the first and second traf-fic lights (51,52) are both green, in a sufficient distance into an input of the washing area (20) to interrupt the laser beam from first manipulator (2);
c) detecting a first mining vehicle (10) position if the laser beam from the first manipulator arm (2) is interrupted;
d) turning on a yellow light of the second traffic light (52) when the laser beam from arm is interrupted;
e) moving the mining vehicle (10) when the second traffic light (52) is yellow, in a sufficient distance after the input of the washing area (20);
f) stopping the mining vehicle (10) in the washing area (20), if the laser beam from the second manipulator arm (3) is interrupted and if the second traffic light (52) indicates a red light;
g) turning off the mining vehicle (10) and raising the bucket of mining vehicle (10);
h) informing to the washing electronic control a truck model;
i) selecting a washing recipe, if the truck model is correct;
j) turning on the laser beams, by the manipulator arms (2,3) in order to receive from the truck reflected laser beams with information therein that are used by the laser control unit to confirm the truck model;
k) defining a truck position according to the first and second min-ing vehicle (10) position; and l) starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected la-ser beams and selected washing recipe.
a) positioning the first and second manipulator arms (2,3) in a start point or home position and activating the laser beam;
b) moving the mining vehicle (10) when the first and second traf-fic lights (51,52) are both green, in a sufficient distance into an input of the washing area (20) to interrupt the laser beam from first manipulator (2);
c) detecting a first mining vehicle (10) position if the laser beam from the first manipulator arm (2) is interrupted;
d) turning on a yellow light of the second traffic light (52) when the laser beam from arm is interrupted;
e) moving the mining vehicle (10) when the second traffic light (52) is yellow, in a sufficient distance after the input of the washing area (20);
f) stopping the mining vehicle (10) in the washing area (20), if the laser beam from the second manipulator arm (3) is interrupted and if the second traffic light (52) indicates a red light;
g) turning off the mining vehicle (10) and raising the bucket of mining vehicle (10);
h) informing to the washing electronic control a truck model;
i) selecting a washing recipe, if the truck model is correct;
j) turning on the laser beams, by the manipulator arms (2,3) in order to receive from the truck reflected laser beams with information therein that are used by the laser control unit to confirm the truck model;
k) defining a truck position according to the first and second min-ing vehicle (10) position; and l) starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected la-ser beams and selected washing recipe.
12. Method of washing mining vehicles (10), according to claim 11, wherein the axle distance is calculated as a function of first and second truck tire points (P1A,P1B) and third and fourth truck tire points (P2A, P2B).
13. Method of washing mining vehicles (10) according to claim 11, characterized by said system further comprising first and second rails (41,42) wherein the first and second manipulator arms (2,3) are pivotally supported by first and second support bridges (6,7) installed on the said first and second rails (41,42) respectively, and capable of washing the mining vehicle (10) simultaneously in opposite sides.
14. A method of washing different models of mining trucks (10) in a washing area comprising at least first and second manipulator arms (2,3), each of said manipulator arms (2,3) comprising at least one cleaning spray-ing unit (4), at least one washing electronic control and at least one laser sensor unit (5), the laser sensor unit (5) being able to generate a laser beam, said method comprising the steps of:
a) positioning the first and second manipulator arms (2,3) in a start point or home position and activating the laser sensor unit (5) of each of said first and second manipulator arms (2,3) to generate said laser beam;
b) detecting a first mining vehicle (10) position when said mining vehicle (10) is in said washing area (20) and interrupts the laser beam from the first manipulator arm (2);
c) moving the mining vehicle (10) in said washing area (20) after said first vehicle position is detected further into said washing area (20) to interrupt the laser beam from said second manipulator arm (3);
d) stopping movement of the mining vehicle (10) in the washing area (20) when the laser beam from the second manipulator arm (3) is inter-rupted;
e) using said laser beams from said first and second manipulator arms (2,3) to receive information from said truck that is used by the laser control unit to identify the truck model and confirming that said truck is in a predetermined position in said washing area (20) to start washing of said truck; and f) said washing electronic control selecting a recipe for washing of said truck in accordance with said identified truck model when said truck is in said predetermined position in said washing area (20) to start washing of said truck.
a) positioning the first and second manipulator arms (2,3) in a start point or home position and activating the laser sensor unit (5) of each of said first and second manipulator arms (2,3) to generate said laser beam;
b) detecting a first mining vehicle (10) position when said mining vehicle (10) is in said washing area (20) and interrupts the laser beam from the first manipulator arm (2);
c) moving the mining vehicle (10) in said washing area (20) after said first vehicle position is detected further into said washing area (20) to interrupt the laser beam from said second manipulator arm (3);
d) stopping movement of the mining vehicle (10) in the washing area (20) when the laser beam from the second manipulator arm (3) is inter-rupted;
e) using said laser beams from said first and second manipulator arms (2,3) to receive information from said truck that is used by the laser control unit to identify the truck model and confirming that said truck is in a predetermined position in said washing area (20) to start washing of said truck; and f) said washing electronic control selecting a recipe for washing of said truck in accordance with said identified truck model when said truck is in said predetermined position in said washing area (20) to start washing of said truck.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BRPI1001981-2 | 2010-03-31 | ||
| BRPI1001981-2A BRPI1001981A2 (en) | 2010-03-31 | 2010-03-31 | robotic method and system for washing mining trucks, utility vehicles and other dirty environments |
| PCT/BR2011/000082 WO2011120115A2 (en) | 2010-03-31 | 2011-03-28 | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2796638A1 true CA2796638A1 (en) | 2011-10-06 |
| CA2796638C CA2796638C (en) | 2017-09-19 |
Family
ID=44359419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2796638A Active CA2796638C (en) | 2010-03-31 | 2011-03-28 | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU2011235557B2 (en) |
| BR (2) | BRPI1001981A2 (en) |
| CA (1) | CA2796638C (en) |
| WO (1) | WO2011120115A2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270349A (en) * | 2014-07-22 | 2016-01-27 | 昝士录 | Special digital program-control four-arm multi-finger clean-keeping mechanical hand for outer surface of car |
| CN104260694B (en) * | 2014-08-01 | 2017-01-18 | 兖州煤业股份有限公司 | Spray cleaning method and system of underground mining vehicle |
| CN105365790A (en) * | 2015-11-24 | 2016-03-02 | 至库停车信息服务有限公司 | 3D fast car washer |
| CN109220869A (en) * | 2018-09-18 | 2019-01-18 | 合肥启迪农业发展有限公司 | A kind of agricultural livestock-raising cleaning device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61111863A (en) * | 1984-11-05 | 1986-05-29 | Nissan Motor Co Ltd | Assembling work by using robots |
| GB8501776D0 (en) * | 1985-01-24 | 1985-02-27 | Haden Drysys Int Ltd | System for applying material to surface areas of the body |
| DE4102797C1 (en) | 1991-01-31 | 1992-05-27 | Mbb Foerder- Und Hebesysteme Gmbh, 2870 Delmenhorst, De | |
| US5318254A (en) * | 1991-06-28 | 1994-06-07 | Conceptual Solutions, Inc. | Aircraft maintenance robot |
| JPH09501373A (en) | 1993-08-13 | 1997-02-10 | プッツマイスター・ヴェルク マシーネンファブリーク ゲゼルシャフト ミット ベシュレンクテル ハフツング | How to handle objects, especially airplanes |
| GB2391799B (en) | 2002-08-11 | 2007-04-18 | Ibrahim Ghulam Murad Ali | Robot |
| US20070267043A1 (en) | 2005-11-10 | 2007-11-22 | Hugo Salamanca | Robot system and method for washing and unclogging procedures of machines under maintenance |
-
2010
- 2010-03-31 BR BRPI1001981-2A patent/BRPI1001981A2/en not_active IP Right Cessation
-
2011
- 2011-03-28 AU AU2011235557A patent/AU2011235557B2/en active Active
- 2011-03-28 BR BR112012025100-7A patent/BR112012025100A2/en not_active Application Discontinuation
- 2011-03-28 CA CA2796638A patent/CA2796638C/en active Active
- 2011-03-28 WO PCT/BR2011/000082 patent/WO2011120115A2/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CA2796638C (en) | 2017-09-19 |
| WO2011120115A3 (en) | 2011-12-29 |
| WO2011120115A2 (en) | 2011-10-06 |
| BRPI1001981A2 (en) | 2011-11-22 |
| BR112012025100A2 (en) | 2020-08-11 |
| AU2011235557B2 (en) | 2016-05-12 |
| AU2011235557A1 (en) | 2012-11-01 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20150224 |