EP3102744C0 - Autonomous loading vehicle controller - Google Patents

Autonomous loading vehicle controller

Info

Publication number
EP3102744C0
EP3102744C0 EP15740514.3A EP15740514A EP3102744C0 EP 3102744 C0 EP3102744 C0 EP 3102744C0 EP 15740514 A EP15740514 A EP 15740514A EP 3102744 C0 EP3102744 C0 EP 3102744C0
Authority
EP
European Patent Office
Prior art keywords
vehicle controller
loading vehicle
autonomous loading
autonomous
controller
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.)
Active
Application number
EP15740514.3A
Other languages
German (de)
French (fr)
Other versions
EP3102744A4 (en
EP3102744B1 (en
EP3102744A1 (en
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 EP3102744A1 publication Critical patent/EP3102744A1/en
Publication of EP3102744A4 publication Critical patent/EP3102744A4/en
Application granted granted Critical
Publication of EP3102744B1 publication Critical patent/EP3102744B1/en
Publication of EP3102744C0 publication Critical patent/EP3102744C0/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP15740514.3A 2014-01-24 2015-01-23 Autonomous loading vehicle controller Active EP3102744B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461931243P 2014-01-24 2014-01-24
US201462033904P 2014-08-06 2014-08-06
PCT/CA2015/000044 WO2015109392A1 (en) 2014-01-24 2015-01-23 Autonomous loading vehicle controller

Publications (4)

Publication Number Publication Date
EP3102744A1 EP3102744A1 (en) 2016-12-14
EP3102744A4 EP3102744A4 (en) 2018-03-07
EP3102744B1 EP3102744B1 (en) 2023-07-05
EP3102744C0 true EP3102744C0 (en) 2023-07-05

Family

ID=53680534

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15740514.3A Active EP3102744B1 (en) 2014-01-24 2015-01-23 Autonomous loading vehicle controller

Country Status (7)

Country Link
EP (1) EP3102744B1 (en)
AU (1) AU2015208631B2 (en)
CA (1) CA2935576C (en)
CL (1) CL2016001684A1 (en)
MX (1) MX2016008819A (en)
RU (1) RU2703086C2 (en)
WO (1) WO2015109392A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9816248B2 (en) 2015-10-30 2017-11-14 Deere & Company System and method for assisted bucket load operation
EP3390730B1 (en) * 2015-12-18 2023-06-07 Volvo Construction Equipment AB System and method for determining a material entity to be removed from a pile and a control unit for a working machine comprising such a system
WO2022097499A1 (en) * 2020-11-09 2022-05-12 国立大学法人広島大学 Autonomous driving device for work machine
CA3129016A1 (en) * 2021-04-07 2022-10-07 Queen's University At Kingston Automatic classification of excavation materials

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07268897A (en) * 1994-03-23 1995-10-17 Caterpillar Inc Self-adaptable excavation control system and method thereof
US5461803A (en) * 1994-03-23 1995-10-31 Caterpillar Inc. System and method for determining the completion of a digging portion of an excavation work cycle
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5544055A (en) * 1994-07-29 1996-08-06 Vermeer Manufacturing Company Track trencher control system and process
US5553407A (en) * 1995-06-19 1996-09-10 Vermeer Manufacturing Company Excavator data acquisition and control system and method of use
US5681312A (en) * 1996-05-31 1997-10-28 Acromed Corporation Spine construct with band clamp
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
CN1166841C (en) * 1998-03-18 2004-09-15 日立建机株式会社 Automatically operated shovel and stone crushing system comprising same
US6363632B1 (en) * 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6510628B1 (en) * 2001-10-31 2003-01-28 Caterpillar Inc Method and apparatus for determining a contact force of a work tool
US6879899B2 (en) * 2002-12-12 2005-04-12 Caterpillar Inc Method and system for automatic bucket loading
US6845311B1 (en) * 2003-11-04 2005-01-18 Caterpillar Inc. Site profile based control system and method for controlling a work implement
US7630793B2 (en) * 2004-12-10 2009-12-08 Caterpillar S.A.R.L. Method of altering operation of work machine based on work tool performance footprint to maintain desired relationship between operational characteristics of work tool and work machine
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
US7979181B2 (en) * 2006-10-19 2011-07-12 Caterpillar Inc. Velocity based control process for a machine digging cycle
WO2009011630A1 (en) * 2007-07-13 2009-01-22 Volvo Construction Equipment Ab A method for providing an operator of a work machine with operation instructions and a computer program for implementing the method
US8751114B2 (en) * 2008-05-27 2014-06-10 Volvo Construction Equipment Ab Method for controlling a hydraulic system
WO2009152561A1 (en) * 2008-06-16 2009-12-23 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
US8160783B2 (en) * 2008-06-30 2012-04-17 Caterpillar Inc. Digging control system
FI20105082A0 (en) * 2010-01-29 2010-01-29 Waertsilae Finland Oy ELECTRIC HYDRAULIC OPERATING SYSTEM FOR GAS SHIFT VALVE
DE102010010718A1 (en) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Method for assembling components by means of an industrial robot
KR101696292B1 (en) * 2011-12-15 2017-01-13 현대중공업 주식회사 Apparatus for preventing ground contact of a bucket for an wheel loader and method thereof

Also Published As

Publication number Publication date
MX2016008819A (en) 2016-09-08
RU2016134403A (en) 2018-03-01
AU2015208631A1 (en) 2016-07-28
EP3102744A4 (en) 2018-03-07
CA2935576C (en) 2022-08-02
RU2703086C2 (en) 2019-10-15
EP3102744B1 (en) 2023-07-05
AU2015208631B2 (en) 2019-07-25
CL2016001684A1 (en) 2016-11-18
EP3102744A1 (en) 2016-12-14
RU2016134403A3 (en) 2018-08-21
CA2935576A1 (en) 2015-07-30
WO2015109392A1 (en) 2015-07-30

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