CA2935576C - Dispositif de commande de vehicule a chargement autonome - Google Patents

Dispositif de commande de vehicule a chargement autonome Download PDF

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Publication number
CA2935576C
CA2935576C CA2935576A CA2935576A CA2935576C CA 2935576 C CA2935576 C CA 2935576C CA 2935576 A CA2935576 A CA 2935576A CA 2935576 A CA2935576 A CA 2935576A CA 2935576 C CA2935576 C CA 2935576C
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CA
Canada
Prior art keywords
bucket
controller
dig
alv
sensor signal
Prior art date
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Active
Application number
CA2935576A
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English (en)
Other versions
CA2935576A1 (fr
Inventor
Andrew Dobson
Joshua MARSHALL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Publication of CA2935576A1 publication Critical patent/CA2935576A1/fr
Application granted granted Critical
Publication of CA2935576C publication Critical patent/CA2935576C/fr
Active legal-status Critical Current
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Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Selon des modes de réalisation, l'invention concerne un dispositif de commande d'excavation et un procédé de commande d'excavation pour un véhicule à chargement autonome (ALV) utilisé dans des applications telles que l'exploitation minière, la construction, et l'exploration. Des modes de réalisation peuvent comprendre au moins un dispositif de commande qui commande un godet et/ou le véhicule à chargement autonome (ALV) selon au moins un signal de capteur, ledit signal de capteur étant représentatif de l'interaction entre le godet et un tas de roches au cours d'une excavation. Certains modes de réalisation comprennent au moins un dispositif de commande d'admission et éventuellement au moins un contrôleur à apprentissage itératif (ILC) qui utilise une information de rétroaction issue d'au moins une excavation précédente pour modifier ledit signal de capteur qui est transmis audit dispositif de commande.
CA2935576A 2014-01-24 2015-01-23 Dispositif de commande de vehicule a chargement autonome Active CA2935576C (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461931243P 2014-01-24 2014-01-24
US61/931,243 2014-01-24
US201462033904P 2014-08-06 2014-08-06
US62/033.904 2014-08-06
PCT/CA2015/000044 WO2015109392A1 (fr) 2014-01-24 2015-01-23 Dispositif de commande de véhicule à chargement autonome

Publications (2)

Publication Number Publication Date
CA2935576A1 CA2935576A1 (fr) 2015-07-30
CA2935576C true CA2935576C (fr) 2022-08-02

Family

ID=53680534

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2935576A Active CA2935576C (fr) 2014-01-24 2015-01-23 Dispositif de commande de vehicule a chargement autonome

Country Status (7)

Country Link
EP (1) EP3102744B1 (fr)
AU (1) AU2015208631B2 (fr)
CA (1) CA2935576C (fr)
CL (1) CL2016001684A1 (fr)
MX (1) MX377011B (fr)
RU (1) RU2703086C2 (fr)
WO (1) WO2015109392A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9816248B2 (en) * 2015-10-30 2017-11-14 Deere & Company System and method for assisted bucket load operation
EP3390730B1 (fr) * 2015-12-18 2023-06-07 Volvo Construction Equipment AB Système et procédé permettant de déterminer une entité de matériau à éliminer d'un pieu et unité de commande pour un engin de chantier comprenant un tel système
JP7451240B2 (ja) * 2020-03-13 2024-03-18 株式会社小松製作所 作業システム、コンピュータによって実行される方法、および学習済みの姿勢推定モデルの製造方法
CN116490655B (zh) * 2020-11-09 2025-10-21 国立大学法人广岛大学 工程机械的自动运行装置
CA3129016A1 (fr) * 2021-04-07 2022-10-07 Queen's University At Kingston Classification automatique de materiaux d'excavation
AU2023452770A1 (en) * 2023-07-07 2026-01-22 Epiroc Rock Drills Aktiebolag Methods and loading systems for loading vehicles for loading material into loading vehicles from a pile

Family Cites Families (23)

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Publication number Priority date Publication date Assignee Title
US5461803A (en) * 1994-03-23 1995-10-31 Caterpillar Inc. System and method for determining the completion of a digging portion of an excavation work cycle
JPH07268897A (ja) * 1994-03-23 1995-10-17 Caterpillar Inc 自己適合性掘削制御システムとその方法
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5544055A (en) * 1994-07-29 1996-08-06 Vermeer Manufacturing Company Track trencher control system and process
US5553407A (en) * 1995-06-19 1996-09-10 Vermeer Manufacturing Company Excavator data acquisition and control system and method of use
US5681312A (en) * 1996-05-31 1997-10-28 Acromed Corporation Spine construct with band clamp
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
EP0990739A4 (fr) * 1998-03-18 2002-11-05 Hitachi Construction Machinery Excavatrice a commande automatique et systeme concasseur de pierres la comportant
US6363632B1 (en) * 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6510628B1 (en) * 2001-10-31 2003-01-28 Caterpillar Inc Method and apparatus for determining a contact force of a work tool
US6879899B2 (en) * 2002-12-12 2005-04-12 Caterpillar Inc Method and system for automatic bucket loading
US6845311B1 (en) * 2003-11-04 2005-01-18 Caterpillar Inc. Site profile based control system and method for controlling a work implement
US7630793B2 (en) * 2004-12-10 2009-12-08 Caterpillar S.A.R.L. Method of altering operation of work machine based on work tool performance footprint to maintain desired relationship between operational characteristics of work tool and work machine
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
US7979181B2 (en) * 2006-10-19 2011-07-12 Caterpillar Inc. Velocity based control process for a machine digging cycle
EP2183437B1 (fr) * 2007-07-13 2017-09-06 Volvo Construction Equipment AB Procédé pour fournir des instructions d'utilisation à l'opérateur d'une machine-outil et programme informatique pour mettre en oeuvre ce procédé
KR101572112B1 (ko) * 2008-05-27 2015-12-03 볼보 컨스트럭션 이큅먼트 에이비 유압 시스템을 제어하기 위한 방법
AU2009260176A1 (en) * 2008-06-16 2009-12-23 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
US8160783B2 (en) * 2008-06-30 2012-04-17 Caterpillar Inc. Digging control system
FI20105082A0 (fi) * 2010-01-29 2010-01-29 Waertsilae Finland Oy Kaasunvaihtoventtiilin sähköhydraulisen käyttöjärjestelmän säätöjärjestely
DE102010010718A1 (de) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Verfahren zur Montage von Bauteilen mittels eines Industrieroboters
KR101696292B1 (ko) * 2011-12-15 2017-01-13 현대중공업 주식회사 휠로더의 버켓 지면접촉 방지장치 및 제어방법

Also Published As

Publication number Publication date
EP3102744A1 (fr) 2016-12-14
MX2016008819A (es) 2016-09-08
MX377011B (es) 2025-03-04
CA2935576A1 (fr) 2015-07-30
CL2016001684A1 (es) 2016-11-18
AU2015208631B2 (en) 2019-07-25
EP3102744C0 (fr) 2023-07-05
WO2015109392A1 (fr) 2015-07-30
EP3102744A4 (fr) 2018-03-07
EP3102744B1 (fr) 2023-07-05
AU2015208631A1 (en) 2016-07-28
RU2016134403A3 (fr) 2018-08-21
RU2016134403A (ru) 2018-03-01
RU2703086C2 (ru) 2019-10-15

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