CN106460372A - 用于采矿挖掘设备的实际负载重量的方法和系统 - Google Patents
用于采矿挖掘设备的实际负载重量的方法和系统 Download PDFInfo
- Publication number
- CN106460372A CN106460372A CN201580017551.1A CN201580017551A CN106460372A CN 106460372 A CN106460372 A CN 106460372A CN 201580017551 A CN201580017551 A CN 201580017551A CN 106460372 A CN106460372 A CN 106460372A
- Authority
- CN
- China
- Prior art keywords
- excavating equipment
- scraper bowl
- weight
- mining
- volume
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 118
- 238000005065 mining Methods 0.000 title claims abstract description 88
- 239000000463 material Substances 0.000 claims abstract description 126
- 238000009412 basement excavation Methods 0.000 claims abstract description 45
- 238000003860 storage Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 6
- 238000013500 data storage Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 101100443249 Caenorhabditis elegans dig-1 gene Proteins 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009023 proprioceptive sensation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G9/00—Methods of, or apparatus for, the determination of weight, not provided for in groups G01G1/00 - G01G7/00
-
- 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
- E02F9/261—Surveying the work-site to be treated
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/14—Devices for determining tare weight or for cancelling out the tare by zeroising, e.g. mechanically operated
- G01G23/16—Devices for determining tare weight or for cancelling out the tare by zeroising, e.g. mechanically operated electrically or magnetically operated
- G01G23/163—Devices for determining tare weight or for cancelling out the tare by zeroising, e.g. mechanically operated electrically or magnetically operated involving digital counting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Fluid Mechanics (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Component Parts Of Construction Machinery (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Operation Control Of Excavators (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
Claims (27)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/230,041 US9267837B2 (en) | 2014-03-31 | 2014-03-31 | Methods and systems for active load weight for mining excavating equipment |
US14/230041 | 2014-03-31 | ||
PCT/US2015/023262 WO2015153412A1 (en) | 2014-03-31 | 2015-03-30 | A method and system for active load weight for mining excavating equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106460372A true CN106460372A (zh) | 2017-02-22 |
CN106460372B CN106460372B (zh) | 2019-10-18 |
Family
ID=53051901
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580017551.1A Active CN106460372B (zh) | 2014-03-31 | 2015-03-30 | 用于采矿挖掘设备的实际负载重量的方法和系统 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9267837B2 (zh) |
CN (1) | CN106460372B (zh) |
AU (1) | AU2015241095B2 (zh) |
CA (1) | CA2944410A1 (zh) |
CL (1) | CL2016002304A1 (zh) |
RU (1) | RU2652593C1 (zh) |
WO (1) | WO2015153412A1 (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108661107A (zh) * | 2018-04-12 | 2018-10-16 | 王海燕 | 液压能分配可控式挖掘机 |
CN110382790A (zh) * | 2017-08-24 | 2019-10-25 | 日立建机株式会社 | 工程机械 |
CN111201348A (zh) * | 2018-03-01 | 2020-05-26 | 包尔特殊基础工程有限公司 | 施工方法 |
CN111553604A (zh) * | 2020-05-06 | 2020-08-18 | 三一重机有限公司 | 铲斗适配检测方法、装置、检测设备及可读存储介质 |
CN111749243A (zh) * | 2020-06-09 | 2020-10-09 | 中国一冶集团有限公司 | 一种半自动挖掘机数字化土方场地标高控制施工方法 |
CN111771030A (zh) * | 2018-07-31 | 2020-10-13 | 株式会社小松制作所 | 作业机械 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9404239B2 (en) * | 2014-06-09 | 2016-08-02 | Caterpillar Inc. | Sub-bin refinement for autonomous machines |
US10186004B2 (en) * | 2015-05-20 | 2019-01-22 | Caterpillar Inc. | System and method for evaluating a material movement plan |
WO2017152916A1 (en) * | 2016-03-09 | 2017-09-14 | Leica Geosystems Technology A/S | Measuring equipment for determining the result of earthmoving work |
EP3438356B1 (en) * | 2016-03-31 | 2022-05-11 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel |
JP6697955B2 (ja) * | 2016-05-26 | 2020-05-27 | 株式会社クボタ | 作業車及び作業車に適用される時間ベース管理システム |
GB2547292B (en) | 2016-08-19 | 2018-11-07 | Intertek Group Plc | Improved method, apparatus and system for estimating the mass of a stockpile |
US10115225B2 (en) * | 2016-09-07 | 2018-10-30 | Caterpillar Inc. | System and method for onboard and offboard visualization of material characteristics in mining |
CA3050718C (en) | 2017-01-23 | 2021-04-27 | Built Robotics Inc. | Excavating earth from a dig site using an excavation vehicle |
CN111902585A (zh) * | 2018-03-27 | 2020-11-06 | 住友重机械工业株式会社 | 挖土机 |
JP6946227B2 (ja) * | 2018-03-29 | 2021-10-06 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
JP7274831B2 (ja) * | 2018-07-31 | 2023-05-17 | 株式会社小松製作所 | 作業機械 |
US20210325848A1 (en) * | 2018-08-09 | 2021-10-21 | The Research Foundation For The State University Of New York | Method for automated 3d print quality assessment and redesign |
CA3129527C (en) | 2019-03-15 | 2023-09-26 | Built Robotics Inc. | Sensor retrofit to autonomously actuate an excavation vehicle |
CN110455368B (zh) * | 2019-09-26 | 2021-02-05 | 赣州有色冶金研究所 | 一种矿斗所载矿物体积测量方法及系统 |
Citations (6)
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US6052925A (en) * | 1997-12-22 | 2000-04-25 | Caterpillar Inc. | Method for determining the front and rear axle weight of an earth moving machine |
US6085583A (en) * | 1999-05-24 | 2000-07-11 | Carnegie Mellon University | System and method for estimating volume of material swept into the bucket of a digging machine |
CN1571872A (zh) * | 2001-10-18 | 2005-01-26 | 日立建机株式会社 | 油压挖掘机作业量的检测装置、检测方法和检测结果显示装置 |
CN101187582A (zh) * | 2007-12-19 | 2008-05-28 | 太原重型机械集团有限公司 | 挖掘机铲斗物料的称重方法 |
US20080282583A1 (en) * | 2007-05-17 | 2008-11-20 | Koellner Walter G | Systems, Devices, and/or Methods Regarding Excavating |
WO2013043087A1 (en) * | 2011-09-23 | 2013-03-28 | Volvo Construction Equipment Ab | Method for selecting an attack pose for a working machine having a bucket |
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SU1041879A1 (ru) * | 1982-02-18 | 1983-09-15 | Кемеровское Отделение Научно-Исследовательского И Проектно-Конструкторского Института По Автоматизации Угольной Промышленности "Гипроуглеавтоматизация" | Способ определени веса груза,перемещаемого ковшом экскаватора |
SU1254308A2 (ru) * | 1984-10-09 | 1986-08-30 | Криворожский Ордена Трудового Красного Знамени Горнорудный Институт | Способ определени веса груза,перемещаемого ковшом экскаватора |
SU1765318A1 (ru) * | 1991-01-31 | 1992-09-30 | Pevzner Leonid D | Способ определени объемов вынутой горной массы |
US6619406B1 (en) * | 1999-07-14 | 2003-09-16 | Cyra Technologies, Inc. | Advanced applications for 3-D autoscanning LIDAR system |
US7215811B2 (en) * | 2000-11-22 | 2007-05-08 | Osama Moselhi | Method and apparatus for the automated detection and classification of defects in sewer pipes |
JP4727068B2 (ja) * | 2001-05-29 | 2011-07-20 | 株式会社トプコン | 施工監視システム、施工管理方法 |
SE526913C2 (sv) | 2003-01-02 | 2005-11-15 | Arnex Navigation Systems Ab | Förfarande i form av intelligenta funktioner för fordon och automatiska lastmaskiner gällande kartläggning av terräng och materialvolymer, hinderdetektering och styrning av fordon och arbetsredskap |
US8373078B2 (en) | 2003-08-15 | 2013-02-12 | Siemens Industry, Inc. | System and method for load measuring by motor torque |
AU2005227398B1 (en) | 2005-10-28 | 2006-04-27 | Leica Geosystems Ag | Method and apparatus for determining the loading of a bucket |
US8571745B2 (en) | 2008-04-10 | 2013-10-29 | Robert Todd Pack | Advanced behavior engine |
US8694258B2 (en) * | 2010-02-14 | 2014-04-08 | Vermeer Manufacturing Company | Derivative imaging for subsurface object detection |
US8320627B2 (en) * | 2010-06-17 | 2012-11-27 | Caterpillar Inc. | Machine control system utilizing stereo disparity density |
US8930091B2 (en) * | 2010-10-26 | 2015-01-06 | Cmte Development Limited | Measurement of bulk density of the payload in a dragline bucket |
WO2012170580A2 (en) * | 2011-06-06 | 2012-12-13 | Troxler Electronic Laboratories, Inc. | Optical method and apparatus for determining a characteristic such as volume and density of an excavated void in a construction material |
US8755977B2 (en) * | 2012-09-21 | 2014-06-17 | Siemens Industry, Inc. | Method and system for preemptive load weight for mining excavating equipment |
-
2014
- 2014-03-31 US US14/230,041 patent/US9267837B2/en active Active
-
2015
- 2015-03-30 CN CN201580017551.1A patent/CN106460372B/zh active Active
- 2015-03-30 WO PCT/US2015/023262 patent/WO2015153412A1/en active Application Filing
- 2015-03-30 RU RU2016142390A patent/RU2652593C1/ru active
- 2015-03-30 CA CA2944410A patent/CA2944410A1/en not_active Abandoned
- 2015-03-30 AU AU2015241095A patent/AU2015241095B2/en not_active Ceased
-
2016
- 2016-09-13 CL CL2016002304A patent/CL2016002304A1/es unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US6052925A (en) * | 1997-12-22 | 2000-04-25 | Caterpillar Inc. | Method for determining the front and rear axle weight of an earth moving machine |
US6085583A (en) * | 1999-05-24 | 2000-07-11 | Carnegie Mellon University | System and method for estimating volume of material swept into the bucket of a digging machine |
CN1571872A (zh) * | 2001-10-18 | 2005-01-26 | 日立建机株式会社 | 油压挖掘机作业量的检测装置、检测方法和检测结果显示装置 |
US20080282583A1 (en) * | 2007-05-17 | 2008-11-20 | Koellner Walter G | Systems, Devices, and/or Methods Regarding Excavating |
CN101680204A (zh) * | 2007-05-17 | 2010-03-24 | 西门子能量及自动化公司 | 关于挖掘的系统、装置和/或方法 |
CN101187582A (zh) * | 2007-12-19 | 2008-05-28 | 太原重型机械集团有限公司 | 挖掘机铲斗物料的称重方法 |
WO2013043087A1 (en) * | 2011-09-23 | 2013-03-28 | Volvo Construction Equipment Ab | Method for selecting an attack pose for a working machine having a bucket |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110382790A (zh) * | 2017-08-24 | 2019-10-25 | 日立建机株式会社 | 工程机械 |
CN110382790B (zh) * | 2017-08-24 | 2022-03-22 | 日立建机株式会社 | 工程机械 |
CN111201348A (zh) * | 2018-03-01 | 2020-05-26 | 包尔特殊基础工程有限公司 | 施工方法 |
CN108661107A (zh) * | 2018-04-12 | 2018-10-16 | 王海燕 | 液压能分配可控式挖掘机 |
CN111771030A (zh) * | 2018-07-31 | 2020-10-13 | 株式会社小松制作所 | 作业机械 |
CN111771030B (zh) * | 2018-07-31 | 2022-04-22 | 株式会社小松制作所 | 作业机械 |
US11933017B2 (en) | 2018-07-31 | 2024-03-19 | Komatsu Ltd. | Work machine |
CN111553604A (zh) * | 2020-05-06 | 2020-08-18 | 三一重机有限公司 | 铲斗适配检测方法、装置、检测设备及可读存储介质 |
CN111553604B (zh) * | 2020-05-06 | 2023-12-08 | 三一重机有限公司 | 铲斗适配检测方法、装置、检测设备及可读存储介质 |
CN111749243A (zh) * | 2020-06-09 | 2020-10-09 | 中国一冶集团有限公司 | 一种半自动挖掘机数字化土方场地标高控制施工方法 |
CN111749243B (zh) * | 2020-06-09 | 2022-07-15 | 中国一冶集团有限公司 | 一种半自动挖掘机数字化土方场地标高控制施工方法 |
Also Published As
Publication number | Publication date |
---|---|
US9267837B2 (en) | 2016-02-23 |
AU2015241095A1 (en) | 2016-09-08 |
CL2016002304A1 (es) | 2017-02-10 |
RU2652593C1 (ru) | 2018-04-27 |
AU2015241095B2 (en) | 2017-01-19 |
CN106460372B (zh) | 2019-10-18 |
CA2944410A1 (en) | 2015-10-08 |
US20150276468A1 (en) | 2015-10-01 |
WO2015153412A1 (en) | 2015-10-08 |
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Address after: Georgia, USA Patentee after: Yinmengda Co.,Ltd. Country or region after: U.S.A. Address before: Georgia, USA Patentee before: Siemens Large Drive GmbH Country or region before: U.S.A. |
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