EP3390730A4 - 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 - Google Patents

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 Download PDF

Info

Publication number
EP3390730A4
EP3390730A4 EP15910863.8A EP15910863A EP3390730A4 EP 3390730 A4 EP3390730 A4 EP 3390730A4 EP 15910863 A EP15910863 A EP 15910863A EP 3390730 A4 EP3390730 A4 EP 3390730A4
Authority
EP
European Patent Office
Prior art keywords
pile
determining
control unit
working machine
material entity
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
Application number
EP15910863.8A
Other languages
German (de)
French (fr)
Other versions
EP3390730B1 (en
EP3390730C0 (en
EP3390730A1 (en
Inventor
Torbjörn MARTINSSON
Martin Magnusson
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.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment 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 Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP3390730A1 publication Critical patent/EP3390730A1/en
Publication of EP3390730A4 publication Critical patent/EP3390730A4/en
Application granted granted Critical
Publication of EP3390730B1 publication Critical patent/EP3390730B1/en
Publication of EP3390730C0 publication Critical patent/EP3390730C0/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
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • 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
    • 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
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
EP15910863.8A 2015-12-18 2015-12-18 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 Active EP3390730B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2015/051372 WO2017105308A1 (en) 2015-12-18 2015-12-18 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.

Publications (4)

Publication Number Publication Date
EP3390730A1 EP3390730A1 (en) 2018-10-24
EP3390730A4 true EP3390730A4 (en) 2019-09-18
EP3390730B1 EP3390730B1 (en) 2023-06-07
EP3390730C0 EP3390730C0 (en) 2023-06-07

Family

ID=59057407

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15910863.8A Active EP3390730B1 (en) 2015-12-18 2015-12-18 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

Country Status (4)

Country Link
US (1) US20180347154A1 (en)
EP (1) EP3390730B1 (en)
CN (1) CN108431336B (en)
WO (1) WO2017105308A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10472803B2 (en) * 2017-08-07 2019-11-12 Caterpillar Inc. System and method for determining stale terrain value of worksite
US11124947B2 (en) * 2018-08-22 2021-09-21 Deere & Company Control system for a work machine
JP7188941B2 (en) * 2018-08-31 2022-12-13 株式会社小松製作所 Work machine control device and control method
US11041291B2 (en) * 2018-09-14 2021-06-22 Deere & Company Controlling a work machine based on sensed variables
US11378964B2 (en) * 2019-10-28 2022-07-05 Caterpillar Inc. Systems and methods for autonomous movement of material
CN112144592B (en) * 2020-09-21 2022-05-06 江苏徐工工程机械研究院有限公司 Intelligent shoveling control system and method for backhoe loader and backhoe loader
CN113139721B (en) * 2021-04-16 2023-12-19 深圳市艾赛克科技有限公司 Aggregate storage yard management system and method
CN114837252B (en) * 2022-05-19 2023-12-12 瑞诺(济南)动力科技有限公司 Automatic warehouse cleaning method, equipment and medium in cabin
DE102022207664A1 (en) 2022-07-26 2024-02-01 Robert Bosch Gesellschaft mit beschränkter Haftung Method for operating a work vehicle, device and vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5631658A (en) * 1993-12-08 1997-05-20 Caterpillar Inc. Method and apparatus for operating geography-altering machinery relative to a work site
US20080162004A1 (en) * 2006-12-27 2008-07-03 Price Robert J Machine control system and method
WO2010148449A1 (en) * 2009-06-25 2010-12-29 Commonwealth Scientific And Industrial Research Organisation Autonomous loading

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6823616B1 (en) * 2001-07-06 2004-11-30 Boskalis Westminister Inc. Method of excavating
WO2004027164A1 (en) * 2002-09-17 2004-04-01 Hitachi Construction Machinery Co., Ltd. Excavation teaching apparatus for construction machine
JP2007077681A (en) * 2005-09-14 2007-03-29 Komatsu Ltd Guard member and work machine blade with the same
US8160783B2 (en) * 2008-06-30 2012-04-17 Caterpillar Inc. Digging control system
JP5920953B2 (en) * 2011-09-23 2016-05-24 ボルボ コンストラクション イクイップメント アーベー Method for selecting attack posture of work machine with bucket
CA2892544C (en) * 2012-09-14 2020-10-27 3D Image Automation Pty Ltd Reclaimer 3d volume rate controller
US8914199B2 (en) * 2012-10-05 2014-12-16 Komatsu Ltd. Excavating machine display system and excavating machine
US9014924B2 (en) * 2012-12-20 2015-04-21 Caterpillar Inc. System and method for estimating material characteristics
RU2703086C2 (en) * 2014-01-24 2019-10-15 Эпирок Рокк Дриллс Актиеболаг Autonomous loading vehicle controller
WO2015025986A1 (en) * 2014-09-10 2015-02-26 株式会社小松製作所 Utility vehicle
EP3086196B1 (en) * 2015-04-21 2017-04-05 Hexagon Technology Center GmbH Method and control system for surveying and mapping a terrain while operating a bulldozer
JP6925775B2 (en) * 2015-10-05 2021-08-25 株式会社小松製作所 Construction management system
US9803336B2 (en) * 2015-11-13 2017-10-31 Caterpillar Inc. System and method for determining dump locations

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5631658A (en) * 1993-12-08 1997-05-20 Caterpillar Inc. Method and apparatus for operating geography-altering machinery relative to a work site
US20080162004A1 (en) * 2006-12-27 2008-07-03 Price Robert J Machine control system and method
WO2010148449A1 (en) * 2009-06-25 2010-12-29 Commonwealth Scientific And Industrial Research Organisation Autonomous loading

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SHIGERU SARATA ET AL: "Planning of scooping position and approach path for loading operation by wheel loader", 22 ND INTERNATIONAL SYMPOSIUM ON AUTOMATION AND ROBOTICS IN CONSTRUCTION ISARC 2005 -SEPTEMBER 11-14, 14 September 2005 (2005-09-14), pages 1, XP055202319, Retrieved from the Internet <URL:http://www.iaarc.org/publications/fulltext/isarc2005-16sarata.pdf> [retrieved on 20150714] *

Also Published As

Publication number Publication date
EP3390730B1 (en) 2023-06-07
EP3390730C0 (en) 2023-06-07
CN108431336A (en) 2018-08-21
CN108431336B (en) 2022-02-01
WO2017105308A1 (en) 2017-06-22
EP3390730A1 (en) 2018-10-24
US20180347154A1 (en) 2018-12-06

Similar Documents

Publication Publication Date Title
EP3390730A4 (en) 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
EP3303084A4 (en) A method and system for predicting a risk for rollover of a working machine
EP3278304A4 (en) System and method for determining the material loading condition of a bucket of a material moving machine
EP3370153A4 (en) Method and device for generating virtual machine snapshot
EP3106983A4 (en) Virtual machine migration control method and apparatus
EP3117311A4 (en) Method and system for implementing virtual machine images
EP3214514A4 (en) Machine tool control method and machine tool control device
EP3670748C0 (en) Soil working machine and method for wear-optimized operation of a soil working machine
EP3279383A4 (en) Washing machine and method for controlling washing machine
EP3187290A4 (en) Machine tool and control apparatus for machine tool
EP3142011A4 (en) Anomaly recovery method for virtual machine in distributed environment
EP3138948A4 (en) Washing machine and method for controlling same
EP3118362A4 (en) Control device for washing machine and method therefor
EP3135826A4 (en) Construction machine and method for controlling construction machine
EP3226131A4 (en) Scaling method and device for virtual machine (vm)
EP3157820A4 (en) Bagging machine and method
EP3196349A4 (en) Washing machine and method for controlling same
EP3231922A4 (en) Control method for dual-tub washing machine
GB201419486D0 (en) A machine and method for its operation
EP3268982A4 (en) A method for processing silicon material
EP3110569A4 (en) An improved machine for grading small sized irregular objects and a process thereof
EP3179367A4 (en) Method for creating virtual machine and apparatus for creating virtual machine
EP3193024A4 (en) Hydraulic control device for work machine
EP2963192B8 (en) A computer-implemented method for providing a warning to a material handling machine operator
EP3234261A4 (en) Method for applying a wallpaper material

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180615

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20190816

RIC1 Information provided on ipc code assigned before grant

Ipc: E02F 9/20 20060101ALI20190809BHEP

Ipc: E02F 9/26 20060101ALI20190809BHEP

Ipc: E02F 3/43 20060101AFI20190809BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: E02F 9/26 20060101ALI20221019BHEP

Ipc: E02F 9/20 20060101ALI20221019BHEP

Ipc: E02F 3/43 20060101AFI20221019BHEP

INTG Intention to grant announced

Effective date: 20221123

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 1575374

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230615

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602015084083

Country of ref document: DE

U01 Request for unitary effect filed

Effective date: 20230607

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT SE SI

Effective date: 20230612

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230907

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230908

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231007

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231007

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

U20 Renewal fee paid [unitary effect]

Year of fee payment: 9

Effective date: 20231226

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602015084083

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20240308