CA2796638C - 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
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- CA2796638C CA2796638C CA2796638A CA2796638A CA2796638C CA 2796638 C CA2796638 C CA 2796638C CA 2796638 A CA2796638 A CA 2796638A CA 2796638 A CA2796638 A CA 2796638A CA 2796638 C CA2796638 C CA 2796638C
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- washing
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- vehicle
- manipulator arms
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- 238000005065 mining Methods 0.000 title claims abstract description 123
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005406 washing Methods 0.000 claims abstract description 207
- 238000004140 cleaning Methods 0.000 claims description 35
- 238000005507 spraying Methods 0.000 claims description 15
- 230000003213 activating effect Effects 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 241000282414 Homo sapiens Species 0.000 description 4
- 239000000243 solution Substances 0.000 description 3
- 239000003599 detergent Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000011538 cleaning material Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013527 degreasing agent Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
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] or 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] or 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] or 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]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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.
Description
Patent of invention for a "METHOD AND APPARATUS FOR
USING ROBOTS TO WASH TRUCKS USED IN MINING AND OTHER DIRTY
ENVIRONMENTS".
The present invention relates to a method and apparatus for us-ing robots to wash trucks used in mining and other dirty environments.
BACKGROUND OF THE INVENTION
Different types of trucks having large dimensions are used in mining and other dirty environments such as for example and without limita-tion agriculture and construction. These trucks need to be frequently cleaned for further use and to perform maintenance thereon. For example, mining trucks are subject to and are likely to become encrusted with ore dust and other types of impurities.
For these kind of trucks it is very difficult when manually washed to reach all of the areas and parts of the truck that need to be cleaned. Also for these kinds of trucks manually washing the trucks takes a lot of time and some of the cleaning products used in manual washing may be harmful to human health.
Usually mining trucks are manually washed. Although some of the prior art reference, such as described bellow, reveal some devices that are capable of cleaning large machines, including some equipment having automatized technology, none of them are able to avoid the shortcomings related to the manual washing process or the problems related to the several types of mining trucks and their large dimensions.
One relevant prior art is disclosed in US 5,273,059 which relates to a cleaning apparatus specially applied in airplanes and automotive surfac-es. According to the teachings of this prior art, a cleaning apparatus capable of removing coatings from large surface areas and for cleaning such surface areas, for example, on large structures such as aircraft bodies, buses, motor vehicles, and so forth, is provided with a manipulator arm having at one its
USING ROBOTS TO WASH TRUCKS USED IN MINING AND OTHER DIRTY
ENVIRONMENTS".
The present invention relates to a method and apparatus for us-ing robots to wash trucks used in mining and other dirty environments.
BACKGROUND OF THE INVENTION
Different types of trucks having large dimensions are used in mining and other dirty environments such as for example and without limita-tion agriculture and construction. These trucks need to be frequently cleaned for further use and to perform maintenance thereon. For example, mining trucks are subject to and are likely to become encrusted with ore dust and other types of impurities.
For these kind of trucks it is very difficult when manually washed to reach all of the areas and parts of the truck that need to be cleaned. Also for these kinds of trucks manually washing the trucks takes a lot of time and some of the cleaning products used in manual washing may be harmful to human health.
Usually mining trucks are manually washed. Although some of the prior art reference, such as described bellow, reveal some devices that are capable of cleaning large machines, including some equipment having automatized technology, none of them are able to avoid the shortcomings related to the manual washing process or the problems related to the several types of mining trucks and their large dimensions.
One relevant prior art is disclosed in US 5,273,059 which relates to a cleaning apparatus specially applied in airplanes and automotive surfac-es. According to the teachings of this prior art, a cleaning apparatus capable of removing coatings from large surface areas and for cleaning such surface areas, for example, on large structures such as aircraft bodies, buses, motor vehicles, and so forth, is provided with a manipulator arm having at one its
2 end portion, two outer spraying devices.
The solution described in the US 5,273,059 does not provide an efficient washing system in accordance with the requirements of the mining trucks, such as proposed by some embodiments of the present invention.
Furthermore, the apparatus, disclosed in US 5,273,059, does not show a system composed by a washing area and a robotic equipment having an automatic and optimized control capable of cleaning both sides of mining trucks, according to the teachings of some embodiments of the present invention.
Another prior art is known from US 5,833,762 which relates to a process and arrangement specially designed for cleaning the surface of air-planes. In that application, a large manipulator arranged on a truck is moved towards the airplane up to a predetermined position within its range of action and is parked in that position.
Although the solution taught by US 5,833,762 makes use of a distance camera, on which a laser beam is provided, and a parking field for the airplanes divided by a limited two-dimensional distance grid. The system however combines the information provided by the camera and the laser beam with the parking field simply to calculate the distance between the sur-face of the airplane and the manipulator. In this case the distance camera disclosed in the US 5,833,762 does not describe and does not provide a so-lution capable of calculating the specific position of a mining truck in an es-tablished washing area according to the truck shaft distance, such as pro-posed in some embodiments of the present invention.
A complete washing system for mining trucks, capable of clean-ing opposite sides of said trucks simultaneously, comprising two rails and two manipulator arms, was not described in the prior art US 5,833,762.
In a further prior art disclosed in GB 2391799, a robot suitable for cleaning aircraft, shuttles, helicopters and the like, and in particular to a robot which is able to clean an aircraft using this robot is provided with a cleaning head, a chassis, a solvent tank, a hose and a plurality of arms connected to a first adjacent arm by a hinge at a first end and to a second adjacent arm by a steering joint at a second end. In addition, the robot described in this prior art
The solution described in the US 5,273,059 does not provide an efficient washing system in accordance with the requirements of the mining trucks, such as proposed by some embodiments of the present invention.
Furthermore, the apparatus, disclosed in US 5,273,059, does not show a system composed by a washing area and a robotic equipment having an automatic and optimized control capable of cleaning both sides of mining trucks, according to the teachings of some embodiments of the present invention.
Another prior art is known from US 5,833,762 which relates to a process and arrangement specially designed for cleaning the surface of air-planes. In that application, a large manipulator arranged on a truck is moved towards the airplane up to a predetermined position within its range of action and is parked in that position.
Although the solution taught by US 5,833,762 makes use of a distance camera, on which a laser beam is provided, and a parking field for the airplanes divided by a limited two-dimensional distance grid. The system however combines the information provided by the camera and the laser beam with the parking field simply to calculate the distance between the sur-face of the airplane and the manipulator. In this case the distance camera disclosed in the US 5,833,762 does not describe and does not provide a so-lution capable of calculating the specific position of a mining truck in an es-tablished washing area according to the truck shaft distance, such as pro-posed in some embodiments of the present invention.
A complete washing system for mining trucks, capable of clean-ing opposite sides of said trucks simultaneously, comprising two rails and two manipulator arms, was not described in the prior art US 5,833,762.
In a further prior art disclosed in GB 2391799, a robot suitable for cleaning aircraft, shuttles, helicopters and the like, and in particular to a robot which is able to clean an aircraft using this robot is provided with a cleaning head, a chassis, a solvent tank, a hose and a plurality of arms connected to a first adjacent arm by a hinge at a first end and to a second adjacent arm by a steering joint at a second end. In addition, the robot described in this prior art
3 GB 2391799 is preferably movable and mounted to a lorry or other moveable devices.
On the other hand, the robot mentioned above is not applicable in mining trucks and equipments, such as proposed in some embodiments of the present invention, neither applied in a cleaning method able to calculate the truck model according to the laser beam information, such as further described in details in some embodiments of the present invention.
According to a further prior art disclosed in US 2007/0267043, a robot system and method for washing and unclogging procedures for ma-chines under maintenance, is provided with an anthropomorphous robotic manipulator of at least 5 degrees of freedom, provided with a set of tools which allows to wash and remove the material from the machine. This solu-tion, however does not meet the requirements related to the mining trucks cleaning, and specially to the use of a robotic system combined to the laser beam information capable of calculate a truck distance shaft, and estimate the truck model.
It should be noted that the system disclosed in the US 2007/
0267043 does not use a complete system for washing mining trucks, capable of working in opposite sides of said trucks, according to at least two manipu-lator arms installed in a specific washing area, neither a laser apparatus ded-icated to calculate, precisely, a truck position on the said washing area.
Thus, it is an object of some embodiments of the present invention provide a robotic system for washing mining trucks, as already mentioned, capable of cleaning the truck's structure and its parts, according to the laser beam information, and estimate a truck model through the shaft distance calculated by the cited laser beam data.
OBJECTIVES OF EMBODIMENTS OF THE INVENTION
In view of the foregoing, it is an objective of some embodiments of the invention to achieve the following objects individually or combination:
to provide a robotic mining truck washing system, wherein the truck shaft distance is calculated by a laser beam information, in order to de-termine the truck model which will be cleaned;
On the other hand, the robot mentioned above is not applicable in mining trucks and equipments, such as proposed in some embodiments of the present invention, neither applied in a cleaning method able to calculate the truck model according to the laser beam information, such as further described in details in some embodiments of the present invention.
According to a further prior art disclosed in US 2007/0267043, a robot system and method for washing and unclogging procedures for ma-chines under maintenance, is provided with an anthropomorphous robotic manipulator of at least 5 degrees of freedom, provided with a set of tools which allows to wash and remove the material from the machine. This solu-tion, however does not meet the requirements related to the mining trucks cleaning, and specially to the use of a robotic system combined to the laser beam information capable of calculate a truck distance shaft, and estimate the truck model.
It should be noted that the system disclosed in the US 2007/
0267043 does not use a complete system for washing mining trucks, capable of working in opposite sides of said trucks, according to at least two manipu-lator arms installed in a specific washing area, neither a laser apparatus ded-icated to calculate, precisely, a truck position on the said washing area.
Thus, it is an object of some embodiments of the present invention provide a robotic system for washing mining trucks, as already mentioned, capable of cleaning the truck's structure and its parts, according to the laser beam information, and estimate a truck model through the shaft distance calculated by the cited laser beam data.
OBJECTIVES OF EMBODIMENTS OF THE INVENTION
In view of the foregoing, it is an objective of some embodiments of the invention to achieve the following objects individually or combination:
to provide a robotic mining truck washing system, wherein the truck shaft distance is calculated by a laser beam information, in order to de-termine the truck model which will be cleaned;
4 to offer an efficient washing system, composed by at least two manipulator arms, wherein opposite sides of the mining trucks could be cleaned simultaneously;
to reduce the shortcomings related to the manual washing process, such as the long time spent with this job;
to provide a washing system with enhanced safety and reliability when compared to the manual washing process;
to make it possible washing a plurality of types of mining trucks with different dimensions;
to determine, precisely, the mining truck position in a previously established washing area in order to clean all desired surfaces of such equipment;
to provide a method of washing mining trucks having at least one robotic system as described above.
BRIEF DESCRIPTION OF EMBODIMENTS OF THE INVENTION
The objectives of some embodiments of the present invention are achieved by means of a robotic system for washing mining trucks. The system has at least first and second manipulator arms. The first and second manipulator arms each have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit. The laser sensor unit selectively generates a laser beam. The laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area. The laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model. The truck model is established according to a calculated axle distance between first and second truck points. The washing electronic control is programmed ac-cording to the established truck model and according to the established min-ing truck position, to establish a previously established washing recipe. The first and second manipulator arms are driven by the washing electronic con-trol in order to clean the mining truck according to the established mining truck position and the truck model.
The objectives of some embodiments of the present invention are also achieved by
to reduce the shortcomings related to the manual washing process, such as the long time spent with this job;
to provide a washing system with enhanced safety and reliability when compared to the manual washing process;
to make it possible washing a plurality of types of mining trucks with different dimensions;
to determine, precisely, the mining truck position in a previously established washing area in order to clean all desired surfaces of such equipment;
to provide a method of washing mining trucks having at least one robotic system as described above.
BRIEF DESCRIPTION OF EMBODIMENTS OF THE INVENTION
The objectives of some embodiments of the present invention are achieved by means of a robotic system for washing mining trucks. The system has at least first and second manipulator arms. The first and second manipulator arms each have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit. The laser sensor unit selectively generates a laser beam. The laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area. The laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model. The truck model is established according to a calculated axle distance between first and second truck points. The washing electronic control is programmed ac-cording to the established truck model and according to the established min-ing truck position, to establish a previously established washing recipe. The first and second manipulator arms are driven by the washing electronic con-trol in order to clean the mining truck according to the established mining truck position and the truck model.
The objectives of some embodiments of the present invention are also achieved by
5 means of a robotic system for washing utility vehicles. The utility vehicle has at least first and second axles. The first and second axles define first and second vehicle points. The vehicle has a given distance between the first and second vehicle points. The system has:
5 a. at least first and second manipulator arms, each of the first and second manipulator arms having :
(i) at least one spray cleaning unit, (ii) at least one washing electronic control; and (iii) at least one laser sensor unit, and b. an area for washing the vehicles between the first and second manipulator arms;
the laser sensor unit selectively generates a laser beam for inter-rogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously estab-lished position in the washing area, the laser sensor unit is further configured to calculate from the information obtained from the utility vehicle the axle dis-tance between the first and second vehicle points and to select from the cal-culation a predetermined model for the utility vehicle previously stored in a washing electronic control, the washing electronic control is programmed according to the selected vehicle model and the detected vehicle position, to select a pre-viously established washing recipe for the selected vehicle model.
The objectives are further achieved by means of a method of washing mining trucks using a system having at least first and second mani-pulator arms and first and second traffic lights. The manipulator arms each have at least one cleaning spraying unit, at least one washing electronic con-trol and at least one laser sensor. The laser sensor is able to generate a la-ser beam. The method has the steps of:
a) positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
b) moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area
5 a. at least first and second manipulator arms, each of the first and second manipulator arms having :
(i) at least one spray cleaning unit, (ii) at least one washing electronic control; and (iii) at least one laser sensor unit, and b. an area for washing the vehicles between the first and second manipulator arms;
the laser sensor unit selectively generates a laser beam for inter-rogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously estab-lished position in the washing area, the laser sensor unit is further configured to calculate from the information obtained from the utility vehicle the axle dis-tance between the first and second vehicle points and to select from the cal-culation a predetermined model for the utility vehicle previously stored in a washing electronic control, the washing electronic control is programmed according to the selected vehicle model and the detected vehicle position, to select a pre-viously established washing recipe for the selected vehicle model.
The objectives are further achieved by means of a method of washing mining trucks using a system having at least first and second mani-pulator arms and first and second traffic lights. The manipulator arms each have at least one cleaning spraying unit, at least one washing electronic con-trol and at least one laser sensor. The laser sensor is able to generate a la-ser beam. The method has the steps of:
a) positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
b) moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area
6 to interrupt the laser beam from first manipulator;
c) detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
d) turning on a yellow light of the second traffic light when the la-ser beam from arm is interrupted;
e) moving the mining vehicle when the second traffic light is yel-low, in a sufficient distance after the input of the washing area;
f) stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
g) turning off the mining vehicle and raising the bucket of mining vehicle;
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 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 position; and I) 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 method of washing different models of mining trucks in a wash-ing area. The washing area has at least first and second manipulator arms.
Each of the manipulator arms have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit. The laser sensor unit is able to generate a laser beam. The method has the steps of:
a) positioning the first and second manipulator arms in a start point or home position and activating the laser sensor unit of each of the first and second manipulator arms to generate the laser beam;
b) detecting a first mining vehicle position when the mining ve-
c) detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
d) turning on a yellow light of the second traffic light when the la-ser beam from arm is interrupted;
e) moving the mining vehicle when the second traffic light is yel-low, in a sufficient distance after the input of the washing area;
f) stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
g) turning off the mining vehicle and raising the bucket of mining vehicle;
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 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 position; and I) 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 method of washing different models of mining trucks in a wash-ing area. The washing area has at least first and second manipulator arms.
Each of the manipulator arms have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit. The laser sensor unit is able to generate a laser beam. The method has the steps of:
a) positioning the first and second manipulator arms in a start point or home position and activating the laser sensor unit of each of the first and second manipulator arms to generate the laser beam;
b) detecting a first mining vehicle position when the mining ve-
7 hide is in the washing area and interrupts the laser beam from the first mani-pulator arm;
c) moving the mining vehicle in the washing area after the first vehicle position is detected further into the washing area to interrupt the laser beam from the second manipulator arm;
d) stopping movement of the mining vehicle in the washing area when the laser beam from the second manipulator arm is interrupted;
e) using the laser beams from the first and second manipulator arms to receive information from the truck that is used by the laser control unit to identify the truck model, the information from said laser beams including an axle distance between said first and second vehicle points calculated by the laser control unit, and confirming that the truck is in a predetermined position in the washing area to start washing of the truck; and f) the washing electronic control selecting a recipe for washing of the truck in accordance with the identified truck model when the truck is in the predetermined position in the washing area to start washing of the truck.
According to an aspect of the present invention, there is provided a robotic system for washing mining trucks, comprising:
at least first and second manipulator arms, said first and second manipulator arms comprising:
at least one cleaning spraying unit, at least one washing electronic control; and at least one laser sensor unit, the laser sensor unit selectively generating a laser beam, wherein the laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area, the laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to an axle distance between first and second truck points calculated by the laser sensor unit from the laser beam information, the washing electronic control being programmed according to the established truck model and according to the established mining truck position, to establish a previously established washing recipe, the first and second manipulator arms being driven by the washing electronic control in order to clean the mining truck according to the established mining truck position and the truck model.
According to another aspect of the present invention, there is provided a robotic system for washing utility vehicles, said utility vehicle comprising at least first and second axles, said first and second axles defining first and second vehicle points, said vehicle having a given distance between said the first and second vehicle points, said system comprising:
at least first and second manipulator arms, each of said first and second manipulator arms comprising:
at least one spray cleaning unit, at least one washing electronic control; and at least one laser sensor unit, and a area for washing said vehicles between said first and second manipulator arms;
said laser sensor unit selectively generating a laser beam for interrogating said utility vehicle to obtain information from said laser beam to be used to determine a positioning of said utility vehicle at a previously established position in said washing area, said laser sensor unit being further configured to calculate from said information obtained from said utility vehicle the axle distance between said first and second vehicle points 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.
According to a further aspect of the present invention, there is provided a method of washing mining trucks using a washing system comprising at least first and second manipulator arms and first and second traffic lights, the manipulator arms comprising at least one cleaning spraying unit, the manipulator arms having at least one washing electronic control, the manipulator arms having at least one laser sensor, the laser sensor being able to generate a laser beam, wherein the method comprises the steps of:
positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area to interrupt the laser beam from first manipulator;
7b detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
turning on a yellow light of the second traffic light when the laser beam from arm is interrupted;
moving the mining vehicle when the second traffic light is yellow, in a sufficient distance after the input of the washing area;
stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
turning off the mining vehicle and raising the bucket of mining vehicle;
informing to the washing electronic control a truck model;
selecting a washing recipe, if the truck model is correct;
turning on the laser beams, by the manipulator arms 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, the information from the truck reflected laser beams including an axle distance between said first and second vehicle points calculated by a laser control unit of the laser sensor;
defining a truck position according to the first and second mining vehicle position; and starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected laser beams and selected washing recipe.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 ¨ is a side view of a robotic system for washing mining trucks.
Figure 2 ¨ is a top view of the robotic system for washing mining trucks shown in Figure 1 with a typical mining truck in the system.
Figure 3 ¨ is a schematic view of the mining truck, highlighting the truck tire points that will be used by the system shown in Figures 1 and 2 when it washes the truck.
DETAILED DESCRIPTION
Figures 1 and 2 show a robotic system 1 for washing mining trucks 10. Fig. 2 shows a top view of a typical mining truck 10 and Fig. 3 shows a schematic view of the typical mining truck 10.
7c More particularly, the robotic system for washing mining trucks 1 comprises, such as shown in figures 1 to 3, at least first 2 and second 3 ro-botic manipulator arms. The first 2 and second 3 manipulator arms each comprise at least one cleaning spraying unit 4, at least one washing electron-ic control (not shown in the drawing figures) and at least one laser sensor unit 5. Preferably, the washing electronic control is part of the controller that
c) moving the mining vehicle in the washing area after the first vehicle position is detected further into the washing area to interrupt the laser beam from the second manipulator arm;
d) stopping movement of the mining vehicle in the washing area when the laser beam from the second manipulator arm is interrupted;
e) using the laser beams from the first and second manipulator arms to receive information from the truck that is used by the laser control unit to identify the truck model, the information from said laser beams including an axle distance between said first and second vehicle points calculated by the laser control unit, and confirming that the truck is in a predetermined position in the washing area to start washing of the truck; and f) the washing electronic control selecting a recipe for washing of the truck in accordance with the identified truck model when the truck is in the predetermined position in the washing area to start washing of the truck.
According to an aspect of the present invention, there is provided a robotic system for washing mining trucks, comprising:
at least first and second manipulator arms, said first and second manipulator arms comprising:
at least one cleaning spraying unit, at least one washing electronic control; and at least one laser sensor unit, the laser sensor unit selectively generating a laser beam, wherein the laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area, the laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to an axle distance between first and second truck points calculated by the laser sensor unit from the laser beam information, the washing electronic control being programmed according to the established truck model and according to the established mining truck position, to establish a previously established washing recipe, the first and second manipulator arms being driven by the washing electronic control in order to clean the mining truck according to the established mining truck position and the truck model.
According to another aspect of the present invention, there is provided a robotic system for washing utility vehicles, said utility vehicle comprising at least first and second axles, said first and second axles defining first and second vehicle points, said vehicle having a given distance between said the first and second vehicle points, said system comprising:
at least first and second manipulator arms, each of said first and second manipulator arms comprising:
at least one spray cleaning unit, at least one washing electronic control; and at least one laser sensor unit, and a area for washing said vehicles between said first and second manipulator arms;
said laser sensor unit selectively generating a laser beam for interrogating said utility vehicle to obtain information from said laser beam to be used to determine a positioning of said utility vehicle at a previously established position in said washing area, said laser sensor unit being further configured to calculate from said information obtained from said utility vehicle the axle distance between said first and second vehicle points 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.
According to a further aspect of the present invention, there is provided a method of washing mining trucks using a washing system comprising at least first and second manipulator arms and first and second traffic lights, the manipulator arms comprising at least one cleaning spraying unit, the manipulator arms having at least one washing electronic control, the manipulator arms having at least one laser sensor, the laser sensor being able to generate a laser beam, wherein the method comprises the steps of:
positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area to interrupt the laser beam from first manipulator;
7b detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
turning on a yellow light of the second traffic light when the laser beam from arm is interrupted;
moving the mining vehicle when the second traffic light is yellow, in a sufficient distance after the input of the washing area;
stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
turning off the mining vehicle and raising the bucket of mining vehicle;
informing to the washing electronic control a truck model;
selecting a washing recipe, if the truck model is correct;
turning on the laser beams, by the manipulator arms 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, the information from the truck reflected laser beams including an axle distance between said first and second vehicle points calculated by a laser control unit of the laser sensor;
defining a truck position according to the first and second mining vehicle position; and starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected laser beams and selected washing recipe.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 ¨ is a side view of a robotic system for washing mining trucks.
Figure 2 ¨ is a top view of the robotic system for washing mining trucks shown in Figure 1 with a typical mining truck in the system.
Figure 3 ¨ is a schematic view of the mining truck, highlighting the truck tire points that will be used by the system shown in Figures 1 and 2 when it washes the truck.
DETAILED DESCRIPTION
Figures 1 and 2 show a robotic system 1 for washing mining trucks 10. Fig. 2 shows a top view of a typical mining truck 10 and Fig. 3 shows a schematic view of the typical mining truck 10.
7c More particularly, the robotic system for washing mining trucks 1 comprises, such as shown in figures 1 to 3, at least first 2 and second 3 ro-botic manipulator arms. The first 2 and second 3 manipulator arms each comprise at least one cleaning spraying unit 4, at least one washing electron-ic control (not shown in the drawing figures) and at least one laser sensor unit 5. Preferably, the washing electronic control is part of the controller that
8 is associated with one of the two robots whose manipulator arms 2 and 3 are shown in Fig. 1 and more particularly in that one of the two robots that is con-figured as the master robot.
However, another computing device, or control device, such as a PLC (Programmable Logic Controller) could be used to control the manipula-tor arms. Thus the washing electronic control controls the six axes of each robot and the 7th and 8th external axes. These external parts are the axes of the structure of the washing system wherein the robots are installed.
As is well known, there is usually associated with a robot control-ler a device such as a teach pendant that allows the controller to be pro-grammed. Thus, having the washing electronic control in the robot controller allows the washer's parameters to be easily changed.
The laser sensor unit 5 selectively generates a laser beam in order to detect, by means of a laser beam information, the positioning of a mining truck 10 at previously established reference points in the washing area 20.
Preferably, the robotic system, is equipped with first 2 and second 3 manipulator arms, in order to develop the washing process more efficiently, however more than two arms could be applied in this type of appli-cation. Thus, the washing system in its preferred embodiment, controls two manipulator arms, however, the present system, in a second embodiment, is capable for controlling other robotic manipulator arms, such as third and fourth arms, in order to configure a line of automated washing. This second embodiment, for example, is able to wash a first truck already parked in the washing area 20, while a second truck is entering the washing area 20.
The first 2 and second 3 manipulator arms are located on an as-sociated one of first 6 and second 7 support bridges able to run in a pivotal manner with regard to an associated one of first 41 and second 42 rails. Fig-ure 2 shows a preferred embodiment, in which the present robotic system is composed by two rails 41,42.
Moreover, the first 6 and second 7 support bridges comprise a longitudinal movement with regard to its respective rail, 41 and 42, respec-tively. This longitudinal movement is controlled by a robot control panel using
However, another computing device, or control device, such as a PLC (Programmable Logic Controller) could be used to control the manipula-tor arms. Thus the washing electronic control controls the six axes of each robot and the 7th and 8th external axes. These external parts are the axes of the structure of the washing system wherein the robots are installed.
As is well known, there is usually associated with a robot control-ler a device such as a teach pendant that allows the controller to be pro-grammed. Thus, having the washing electronic control in the robot controller allows the washer's parameters to be easily changed.
The laser sensor unit 5 selectively generates a laser beam in order to detect, by means of a laser beam information, the positioning of a mining truck 10 at previously established reference points in the washing area 20.
Preferably, the robotic system, is equipped with first 2 and second 3 manipulator arms, in order to develop the washing process more efficiently, however more than two arms could be applied in this type of appli-cation. Thus, the washing system in its preferred embodiment, controls two manipulator arms, however, the present system, in a second embodiment, is capable for controlling other robotic manipulator arms, such as third and fourth arms, in order to configure a line of automated washing. This second embodiment, for example, is able to wash a first truck already parked in the washing area 20, while a second truck is entering the washing area 20.
The first 2 and second 3 manipulator arms are located on an as-sociated one of first 6 and second 7 support bridges able to run in a pivotal manner with regard to an associated one of first 41 and second 42 rails. Fig-ure 2 shows a preferred embodiment, in which the present robotic system is composed by two rails 41,42.
Moreover, the first 6 and second 7 support bridges comprise a longitudinal movement with regard to its respective rail, 41 and 42, respec-tively. This longitudinal movement is controlled by a robot control panel using
9 a rack and pinion system. The control panel, which is not shown in the draw-ing figures, is located outside of the metallic structure that supports the robot-ic manipulators 2,3 and inside a protected control room that is located adja-cent to the rail area.
On the first and second support bridges 6,7 at least one deter-gent pump, one water pump and one pump for a degreaser are installed. By using those cleaning materials, the cleaning spraying unit 4 is able to wash the mining truck 10 efficiently using at least the 6 degrees of freedom of the first 2 and second 3 manipulator arms.
The first 2 and second 3 manipulator arms, and more precisely, the cleaning spraying unit 4, comprise a movement around 180 degrees with regard to its respective rail.
The laser sensor unit 5 is configured, to detect, by means of a la-ser beam information, the positioning of the mining truck 10 at a previously established reference point in the washing area 20.
Figure 2 shows the washing area 20, wherein the mining truck 10 should stop for starting the washing process.
The laser sensor unit 5 is further configured to confirm, by means of the laser beam information, a truck model, while the truck model is estab-lished according to the calculated axle distance 30 between at least first P1 and second P2 truck points.
Additionally, the washing electronic control is programmed ac-cording to the established truck model and the established position for the mining truck in the washing area in order to determine a previously estab-fished recipe for washing that truck model.
Thus, the first 2 and second 3 manipulator arms are driven by the washing electronic control in order to clean the mining truck 10 according to the established mining truck position and the truck model.
The mining truck position could also be calculated using a GPS
(Global Position System) installed in a specific portion of the mining truck, in order to guide the operator for driving the vehicle in a start position of the washing area 20. In this case, the operator has the information where to stop the mining truck in the washing area 20.
It should be noted that the axle distance 30 is calculated as a function of the first PIA and second Pig truck tire points and third P2A and fourth P2g truck tire points shown in Figure 3.
5 The use of two manipulator arms 2,3, as shown in figures 1 and 2 offers the possibility of cleaning the mining truck 10 faster, when compared to the use of only one manipulator arm and the manual process. The first manipulator arm 2 and second manipulator arm 3 installed on its respective rails 41,42 are capable of simultaneously washing opposite sides of the min-
On the first and second support bridges 6,7 at least one deter-gent pump, one water pump and one pump for a degreaser are installed. By using those cleaning materials, the cleaning spraying unit 4 is able to wash the mining truck 10 efficiently using at least the 6 degrees of freedom of the first 2 and second 3 manipulator arms.
The first 2 and second 3 manipulator arms, and more precisely, the cleaning spraying unit 4, comprise a movement around 180 degrees with regard to its respective rail.
The laser sensor unit 5 is configured, to detect, by means of a la-ser beam information, the positioning of the mining truck 10 at a previously established reference point in the washing area 20.
Figure 2 shows the washing area 20, wherein the mining truck 10 should stop for starting the washing process.
The laser sensor unit 5 is further configured to confirm, by means of the laser beam information, a truck model, while the truck model is estab-lished according to the calculated axle distance 30 between at least first P1 and second P2 truck points.
Additionally, the washing electronic control is programmed ac-cording to the established truck model and the established position for the mining truck in the washing area in order to determine a previously estab-fished recipe for washing that truck model.
Thus, the first 2 and second 3 manipulator arms are driven by the washing electronic control in order to clean the mining truck 10 according to the established mining truck position and the truck model.
The mining truck position could also be calculated using a GPS
(Global Position System) installed in a specific portion of the mining truck, in order to guide the operator for driving the vehicle in a start position of the washing area 20. In this case, the operator has the information where to stop the mining truck in the washing area 20.
It should be noted that the axle distance 30 is calculated as a function of the first PIA and second Pig truck tire points and third P2A and fourth P2g truck tire points shown in Figure 3.
5 The use of two manipulator arms 2,3, as shown in figures 1 and 2 offers the possibility of cleaning the mining truck 10 faster, when compared to the use of only one manipulator arm and the manual process. The first manipulator arm 2 and second manipulator arm 3 installed on its respective rails 41,42 are capable of simultaneously washing opposite sides of the min-
10 ing truck 10.
The present system is used for washing utility vehicles. The utility vehicle has at least first and second axles which define first and second ve-hicle points. The vehicle has a given distance between the first and second vehicle points., The system has:
a. at least first and second manipulator arms 2,3, each of which have:
(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 the vehicles between the first and second manipulator arms 2,3.
The laser sensor unit 5 selectively generates a laser beam for in-terrogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously estab-lished position in the washing area 20, The laser sensor unit 5 is configured to calculate from the infor-mation obtained from the utility vehicle the axle distance (30) between the first and second vehicle points and to select from the calculation a predeter-mined model for the utility vehicle previously stored in a washing electronic control.
The washing electronic control is programmed according to the
The present system is used for washing utility vehicles. The utility vehicle has at least first and second axles which define first and second ve-hicle points. The vehicle has a given distance between the first and second vehicle points., The system has:
a. at least first and second manipulator arms 2,3, each of which have:
(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 the vehicles between the first and second manipulator arms 2,3.
The laser sensor unit 5 selectively generates a laser beam for in-terrogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously estab-lished position in the washing area 20, The laser sensor unit 5 is configured to calculate from the infor-mation obtained from the utility vehicle the axle distance (30) between the first and second vehicle points and to select from the calculation a predeter-mined model for the utility vehicle previously stored in a washing electronic control.
The washing electronic control is programmed according to the
11 selected vehicle model and the detected vehicle position, to select a pre-viously established washing recipe for the selected vehicle model.
It should be noted that in accordance with said selected pre-viously established washing recipe, the washing electronic control operates the at least one spray cleaning unit 4 to wash the utility vehicle.
With regard to the method of washing the mining trucks, the present cleaning process has, as mentioned before, at least first 2 and second manipulator arms 3. In addition, and such as mentioned above, the first 2 and second 3 manipulator arms each have at least one cleaning spray-ing unit 4, one washing electronic control and at least one laser sensor 5 able to generate a laser beam.
Furthermore, the present method takes into account first 51 and second traffic lights 52. Thus, the method of washing the mining trucks has the steps of:
a) positioning the first 2 and second 3 manipulator arms in a start point or home position as shown in Fig. 1 and activating the laser beam;
b) moving the mining vehicle 10 when the first and second traffic lights 51,52 are both green (the rightmost of the three lights in each traffic light 51, 52), a sufficient distance into an input 100 of the washing area 20 to interrupt the laser beam from manipulator 2;
c) detecting a first mining vehicle 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 2 is interrupted (the yellow light is the middle light in each of traffic lights 51, 52);
e) moving the mining vehicle 10 when the second traffic light 52 is yellow, in a sufficient distance after the input 100 of the washing area 20;
f) stopping the mining vehicle 10 in the washing area 20, defining a second mining vehicle position, if the laser beam from the second manipu-lator arm 3 is interrupted and if the second traffic light 52 indicates a red light (the red light is the leftmost of the three lights in traffic lights 51, 52);
g) turning off the mining vehicle 10 and raising the bucket of min-
It should be noted that in accordance with said selected pre-viously established washing recipe, the washing electronic control operates the at least one spray cleaning unit 4 to wash the utility vehicle.
With regard to the method of washing the mining trucks, the present cleaning process has, as mentioned before, at least first 2 and second manipulator arms 3. In addition, and such as mentioned above, the first 2 and second 3 manipulator arms each have at least one cleaning spray-ing unit 4, one washing electronic control and at least one laser sensor 5 able to generate a laser beam.
Furthermore, the present method takes into account first 51 and second traffic lights 52. Thus, the method of washing the mining trucks has the steps of:
a) positioning the first 2 and second 3 manipulator arms in a start point or home position as shown in Fig. 1 and activating the laser beam;
b) moving the mining vehicle 10 when the first and second traffic lights 51,52 are both green (the rightmost of the three lights in each traffic light 51, 52), a sufficient distance into an input 100 of the washing area 20 to interrupt the laser beam from manipulator 2;
c) detecting a first mining vehicle 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 2 is interrupted (the yellow light is the middle light in each of traffic lights 51, 52);
e) moving the mining vehicle 10 when the second traffic light 52 is yellow, in a sufficient distance after the input 100 of the washing area 20;
f) stopping the mining vehicle 10 in the washing area 20, defining a second mining vehicle position, if the laser beam from the second manipu-lator arm 3 is interrupted and if the second traffic light 52 indicates a red light (the red light is the leftmost of the three lights in traffic lights 51, 52);
g) turning off the mining vehicle 10 and raising the bucket of min-
12 ing 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 or-der to receive from the truck reflected laser beams with information therein that are used by the laser control unit 5 to confirm the truck model;
k) defining a truck position according to the first and second min-ing vehicle position; and I) 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.
The steps above are preferably performed by an operator, how-ever, some other means could be used, such as for example having the truck on a mechanism which moves through the length of the washing area 20, or having the truck pulled through the washing area 20 etc.
With regard to step h, the truck model is manually informed to the washing electronic control using two buttons, one to increase and another to decrease a number that means the truck model code. Another button is used to validate the model code and to start the washing cycle.
The method described herein could be used for washing different models of mining trucks in a washing area 20. The washing area has at least first and second manipulator arms 2,3. Each of the manipulator arms has at least one cleaning spraying unit 4, at least one washing electronic control and at least one laser sensor unit 5. The laser sensor unit 5 is able to gener-ate a laser beam.
The method has 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 the first and second manipulator arms 2,3 to generate the laser beam;
b) detecting a first mining vehicle 10 position when the mining vehicle is in the washing area 20 and interrupts the laser beam from the first manipulator arm 2;
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 or-der to receive from the truck reflected laser beams with information therein that are used by the laser control unit 5 to confirm the truck model;
k) defining a truck position according to the first and second min-ing vehicle position; and I) 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.
The steps above are preferably performed by an operator, how-ever, some other means could be used, such as for example having the truck on a mechanism which moves through the length of the washing area 20, or having the truck pulled through the washing area 20 etc.
With regard to step h, the truck model is manually informed to the washing electronic control using two buttons, one to increase and another to decrease a number that means the truck model code. Another button is used to validate the model code and to start the washing cycle.
The method described herein could be used for washing different models of mining trucks in a washing area 20. The washing area has at least first and second manipulator arms 2,3. Each of the manipulator arms has at least one cleaning spraying unit 4, at least one washing electronic control and at least one laser sensor unit 5. The laser sensor unit 5 is able to gener-ate a laser beam.
The method has 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 the first and second manipulator arms 2,3 to generate the laser beam;
b) detecting a first mining vehicle 10 position when the mining vehicle is in the washing area 20 and interrupts the laser beam from the first manipulator arm 2;
13 c) moving the mining vehicle 10 in the washing area 20 after the first vehicle position is detected further into the washing area 20 to interrupt the laser beam from the 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 the laser beams from the first and second manipulator arms 2,3 to receive information from the truck that is used by the laser control unit 5 to identify the truck model and confirm that the truck is in a predeter-mined position in the washing area 20 to start washing of the truck; and f) the washing electronic control selecting a recipe for washing of the truck in accordance with the identified truck model when the truck is in the predetermined position in the washing area 20 to start washing of the truck.
In an alternative embodiment, the truck model could be automat-ically identified using a tag system, such as a label mounted on the truck body that has a bar code that identifies the model. In such case, the tag could be read by the washing control system in order to identify the truck model.
When the washing process has finished, an audible alarm sounds in order to warn the operators of the system for removing the mining truck from the washing area 20 or if the automatic means are used to move the truck to warn that the washing has ended and the truck will be moved out of the washing area 20.
In addition, if the operator or other human being enters into the washing area 20 during the automatic washing process, a security system having electrical relays will stop the first 2 and second 3 manipulator arms.
In this case, an audible alarm also sounds in order to warn the operator for presence of human beings in the washing area 20.
Moreover, for starting the washing process again, the operator must evaluate, by a closed-circuit TV, if there is human being present in the washing area 20.
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 the laser beams from the first and second manipulator arms 2,3 to receive information from the truck that is used by the laser control unit 5 to identify the truck model and confirm that the truck is in a predeter-mined position in the washing area 20 to start washing of the truck; and f) the washing electronic control selecting a recipe for washing of the truck in accordance with the identified truck model when the truck is in the predetermined position in the washing area 20 to start washing of the truck.
In an alternative embodiment, the truck model could be automat-ically identified using a tag system, such as a label mounted on the truck body that has a bar code that identifies the model. In such case, the tag could be read by the washing control system in order to identify the truck model.
When the washing process has finished, an audible alarm sounds in order to warn the operators of the system for removing the mining truck from the washing area 20 or if the automatic means are used to move the truck to warn that the washing has ended and the truck will be moved out of the washing area 20.
In addition, if the operator or other human being enters into the washing area 20 during the automatic washing process, a security system having electrical relays will stop the first 2 and second 3 manipulator arms.
In this case, an audible alarm also sounds in order to warn the operator for presence of human beings in the washing area 20.
Moreover, for starting the washing process again, the operator must evaluate, by a closed-circuit TV, if there is human being present in the washing area 20.
14 Furthermore, the system includes an emergency button in order to stop the first 2 and second 3 manipulator arms on fault conditions. This button, when pressed, opens the general stop channel in the robot safety system.
If the level of water, detergent or grease lubrication is determined to be low, the first 2 and second 3 manipulator arms will finish the washing process, and then the manipulator arms will be displaced to a refilling posi-tion.
It should be noted that, for the present method, and such as de-fined before, the axle distance 30 is calculated as a function of the first PIA
and second Pig truck tire points and third P2A and fourth P2B truck tire points which are shown in Fig. 3.
The use of a axle distance 30 gives greater precision to the washing system, when compared to other applications, since the truck model is established more precisely. Additionally, it should be noted that, the mining trucks usually have massive dimensions, so it is necessary to establish the model of each truck to be washed in a reliable way.
In a similar manner to the system for washing mining trucks above described, the present method takes into account the use of two rails 41,42, wherein the two manipulator arms 2,3 are pivotal supported by a sup-port bridges and capable of washing the mining vehicle 10 simultaneously in opposite sides.
Some preferred embodiments having been described, it should be understood that the scope of the present invention embraces other possi-ble variations, being limited only by the contents of the accompanying claims, which include the possible equivalents.
If the level of water, detergent or grease lubrication is determined to be low, the first 2 and second 3 manipulator arms will finish the washing process, and then the manipulator arms will be displaced to a refilling posi-tion.
It should be noted that, for the present method, and such as de-fined before, the axle distance 30 is calculated as a function of the first PIA
and second Pig truck tire points and third P2A and fourth P2B truck tire points which are shown in Fig. 3.
The use of a axle distance 30 gives greater precision to the washing system, when compared to other applications, since the truck model is established more precisely. Additionally, it should be noted that, the mining trucks usually have massive dimensions, so it is necessary to establish the model of each truck to be washed in a reliable way.
In a similar manner to the system for washing mining trucks above described, the present method takes into account the use of two rails 41,42, wherein the two manipulator arms 2,3 are pivotal supported by a sup-port bridges and capable of washing the mining vehicle 10 simultaneously in opposite sides.
Some preferred embodiments having been described, it should be understood that the scope of the present invention embraces other possi-ble variations, being limited only by the contents of the accompanying claims, which include the possible equivalents.
Claims (14)
1. A robotic system for washing mining trucks, comprising:
at least first and second manipulator arms, said first and second manipulator arms comprising:
at least one cleaning spraying unit, at least one washing electronic control; and at least one laser sensor unit, the laser sensor unit selectively generating a laser beam, wherein the laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area, the laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to an axle distance between first and second truck points calculated by the laser sensor unit from the laser beam information, the washing electronic control being programmed according to the established truck model and according to the established mining truck position, to establish a previously established washing recipe, the first and second manipulator arms being driven by the washing electronic control in order to clean the mining truck according to the established mining truck position and the truck model.
at least first and second manipulator arms, said first and second manipulator arms comprising:
at least one cleaning spraying unit, at least one washing electronic control; and at least one laser sensor unit, the laser sensor unit selectively generating a laser beam, wherein the laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area, the laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model, the truck model being established according to an axle distance between first and second truck points calculated by the laser sensor unit from the laser beam information, the washing electronic control being programmed according to the established truck model and according to the established mining truck position, to establish a previously established washing recipe, the first and second manipulator arms being driven by the washing electronic control in order to clean the mining truck according to the established mining truck position and the truck model.
2. The robotic system for washing mining trucks according to claim 1, wherein the axle distance between first and second truck points is calculated as a function of first and second truck tire points and third and fourth truck tire points.
3. The robotic system for washing mining trucks according to claim 1 or 2, wherein the first and second manipulator arms are located on a first and second support bridges respectively.
4. The robotic system for washing mining trucks according to claim 3, wherein the first and second support bridges are able to run in a pivotal manner with regard to first and second rails.
5. The robotic system for washing mining trucks according to any one of claims 1 to 4, wherein the cleaning spraying unit is able to wash the mining truck according to at least 6 degrees of freedom of the first and second manipulator arms.
6. The robotic system for washing mining trucks according to any one of claims 1 to 5, wherein the first and second manipulator arms are capable of washing the mining truck simultaneously in opposite sides.
7. The robotic system for washing mining trucks, according to any one of claims 1 to 6, wherein the positioning of the mining truck is further calculated using a GPS.
8. The robotic system for washing mining trucks, according to any one of claims 1 to 7, 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 defining first and second vehicle points, said vehicle having a given distance between said the first and second vehicle points, said system comprising:
at least first and second manipulator arms, each of said first and second manipulator arms comprising:
at least one spray cleaning unit, at least one washing electronic control; and at least one laser sensor unit, and a area for washing said vehicles between said first and second manipulator arms;
said laser sensor unit selectively generating a laser beam for interrogating said utility vehicle to obtain information from said laser beam to be used to determine a positioning of said utility vehicle at a previously established position in said washing area, said laser sensor unit being further configured to calculate from said information obtained from said utility vehicle the axle distance between said first and second vehicle points 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.
at least first and second manipulator arms, each of said first and second manipulator arms comprising:
at least one spray cleaning unit, at least one washing electronic control; and at least one laser sensor unit, and a area for washing said vehicles between said first and second manipulator arms;
said laser sensor unit selectively generating a laser beam for interrogating said utility vehicle to obtain information from said laser beam to be used to determine a positioning of said utility vehicle at a previously established position in said washing area, said laser sensor unit being further configured to calculate from said information obtained from said utility vehicle the axle distance between said first and second vehicle points 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 selected previously established washing recipe said washing electronic control operates said at least one spray cleaning unit to wash said utility vehicle.
11. A method of washing mining trucks using a washing system comprising at least first and second manipulator arms and first and second traffic lights, the manipulator arms comprising at least one cleaning spraying unit, the manipulator arms having at least one washing electronic control, the manipulator arms having at least one laser sensor, the laser sensor being able to generate a laser beam, wherein the method comprises the steps of:
positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area to interrupt the laser beam from first manipulator;
detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
turning on a yellow light of the second traffic light when the laser beam from arm is interrupted;
moving the mining vehicle when the second traffic light is yellow, in a sufficient distance after the input of the washing area;
stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
turning off the mining vehicle and raising the bucket of mining vehicle;
informing to the washing electronic control a truck model;
selecting a washing recipe, if the truck model is correct;
turning on the laser beams, by the manipulator arms 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, the information from the truck reflected laser beams including an axle distance between said first and second vehicle points calculated by a laser control unit of the laser sensor;
defining a truck position according to the first and second mining vehicle position; and starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected laser beams and selected washing recipe.
positioning the first and second manipulator arms in a start point or home position and activating the laser beam;
moving the mining vehicle when the first and second traffic lights are both green, in a sufficient distance into an input of the washing area to interrupt the laser beam from first manipulator;
detecting a first mining vehicle position if the laser beam from the first manipulator arm is interrupted;
turning on a yellow light of the second traffic light when the laser beam from arm is interrupted;
moving the mining vehicle when the second traffic light is yellow, in a sufficient distance after the input of the washing area;
stopping the mining vehicle in the washing area, if the laser beam from the second manipulator arm is interrupted and if the second traffic light indicates a red light;
turning off the mining vehicle and raising the bucket of mining vehicle;
informing to the washing electronic control a truck model;
selecting a washing recipe, if the truck model is correct;
turning on the laser beams, by the manipulator arms 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, the information from the truck reflected laser beams including an axle distance between said first and second vehicle points calculated by a laser control unit of the laser sensor;
defining a truck position according to the first and second mining vehicle position; and starting a washing process according to the confirmed truck model, truck position confirmed by information contained in the reflected laser beams and selected washing recipe.
12. The method of washing mining vehicles, according to claim 11, wherein the axle distance is calculated as a function of first and second truck tire points and third and fourth truck tire points.
13. The method of washing mining vehicles according to claim 11, wherein the system further comprises first and second rails and the first and second manipulator arms are pivotally supported by first and second support bridges installed on the said first and second rails respectively, and capable of washing the mining vehicle simultaneously in opposite sides.
14. A method of washing different models of mining trucks in a washing area comprising at least first and second manipulator arms, each of said manipulator arms comprising at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit, the laser sensor unit being able to generate a laser beam, said method comprising the steps of:
positioning the first and second manipulator arms in a start point or home position and activating the laser sensor unit of each of said first and second manipulator arms to generate said laser beam;
detecting a first mining vehicle position when said mining vehicle is in said washing area and interrupts the laser beam from the first manipulator arm;
moving the mining vehicle in said washing area after said first vehicle position is detected further into said washing area to interrupt the laser beam from said second manipulator arm;
stopping movement of the mining vehicle in the washing area when the laser beam from the second manipulator arm is interrupted;
using said laser beams from said first and second manipulator arms to receive information from said truck that is used by the laser control unit to identify the truck model, the information from said laser beams including an axle distance between said first and second vehicle points calculated by the laser control unit, and confirming that said truck is in a predetermined position in said washing area to start washing of said truck; and 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 to start washing of said truck.
positioning the first and second manipulator arms in a start point or home position and activating the laser sensor unit of each of said first and second manipulator arms to generate said laser beam;
detecting a first mining vehicle position when said mining vehicle is in said washing area and interrupts the laser beam from the first manipulator arm;
moving the mining vehicle in said washing area after said first vehicle position is detected further into said washing area to interrupt the laser beam from said second manipulator arm;
stopping movement of the mining vehicle in the washing area when the laser beam from the second manipulator arm is interrupted;
using said laser beams from said first and second manipulator arms to receive information from said truck that is used by the laser control unit to identify the truck model, the information from said laser beams including an axle distance between said first and second vehicle points calculated by the laser control unit, and confirming that said truck is in a predetermined position in said washing area to start washing of said truck; and 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 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 CA2796638A1 (en) | 2011-10-06 |
| CA2796638C true 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 |
| DE4428734A1 (en) | 1993-08-13 | 1995-02-23 | Fraunhofer Ges Forschung | Method of treating an object, in particular an aeroplane |
| 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 CA CA2796638A patent/CA2796638C/en active Active
- 2011-03-28 WO PCT/BR2011/000082 patent/WO2011120115A2/en active Application Filing
- 2011-03-28 AU AU2011235557A patent/AU2011235557B2/en active Active
- 2011-03-28 BR BR112012025100-7A patent/BR112012025100A2/en not_active Application Discontinuation
Also Published As
| Publication number | Publication date |
|---|---|
| CA2796638A1 (en) | 2011-10-06 |
| AU2011235557B2 (en) | 2016-05-12 |
| BRPI1001981A2 (en) | 2011-11-22 |
| BR112012025100A2 (en) | 2020-08-11 |
| AU2011235557A1 (en) | 2012-11-01 |
| WO2011120115A3 (en) | 2011-12-29 |
| WO2011120115A2 (en) | 2011-10-06 |
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