EP4589078A1 - A mobile mining machine, a method for automatically dumping a load, and a control system - Google Patents

A mobile mining machine, a method for automatically dumping a load, and a control system

Info

Publication number
EP4589078A1
EP4589078A1 EP24153124.3A EP24153124A EP4589078A1 EP 4589078 A1 EP4589078 A1 EP 4589078A1 EP 24153124 A EP24153124 A EP 24153124A EP 4589078 A1 EP4589078 A1 EP 4589078A1
Authority
EP
European Patent Office
Prior art keywords
mining machine
mobile mining
bucket
dumping
distance
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.)
Pending
Application number
EP24153124.3A
Other languages
German (de)
French (fr)
Inventor
Seppo Aaltonen
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.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Mining and Construction Oy
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 Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Priority to EP24153124.3A priority Critical patent/EP4589078A1/en
Priority to PCT/EP2024/085425 priority patent/WO2025157481A1/en
Publication of EP4589078A1 publication Critical patent/EP4589078A1/en
Pending legal-status Critical Current

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
    • 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
    • E02F9/26—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
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions

Definitions

  • the present application relates to a control system.
  • the sensor device may be configured to measure a distance to a dumping target and/or the height of the dumping target.
  • the sensor device may be configured to measure a distance to an obstacle or a wall or a roof.
  • the threshold value may be a distance to a dumping target and/or a height of a dumping target.
  • the mobile mining machine may comprise a control system according to a any one of the example embodiments mentioned below alone or with a combination of other embodiments.
  • the present application provides a method for automatic dumping of a load from a bucket of a mobile mining machine, the mobile mining machine comprises at least one sensor device.
  • the method comprises a step of measuring a distance by the at least one sensor device between a dumping target and the mobile mining machine.
  • the method may comprise a step of measuring a height of the dumping target.
  • the method may comprise a step of communicating measured data to a control unit that may be configured to control an action of the mobile mining machine performing a predetermined action causing by the control unit on condition that a distance measured by the sensor device takes a value less than or equal to a threshold value.
  • the predetermined action may comprise moving of the mobile mining machine, and/or stopping the mobile mining machine, and/or raising and/or lowering the boom and/or tilting the bucket.
  • the pre-determined action may comprise altering a speed of the mobile mining machine and/or a speed of the motion of the boom and/or speed of the motion of the bucket.
  • a step of measuring a distance may comprise measuring a distance by a sensor device to a dumping target.
  • the method may comprise measuring a distance by a sensor device at least to one of: an obstacle, and/or a wall, and/or a roof of a space, such as a mine tunnel and/or measuring a height of a space, and/or a height of an obstacle.
  • the threshold value may be at least one of: a distance from a dumping target and/or a height of a dumping target.
  • the method may comprise a step of pre-activating the automatic dumping procedure by an operator of the mobile mining machine.
  • the method may comprise controlling by the control unit on a basis of the measurement data regarding an environment received from the sensor device, a route of the bucket to the dumping target and/or from the dumping target.
  • the method may comprise controlling movements of the boom and/or tilting of the bucket by the control unit on a basis of a predefined route of the bucket.
  • the method may comprise controlling movements of the boom and/or tilting of the bucket by the control unit on a basis of a speed of the mobile mining machine.
  • the present application provides a control system configured for control of a mobile mining machine.
  • the control system may comprise a control unit, a sensor device configured for measuring a distance to target, and operationally connected to the control unit.
  • the control system may be configured to control the mobile mining machine according to a method as defined in any one of the example embodiments of the method mentioned above alone or combined with any one of the example embodiments mentioned above.
  • the mobile mining machine described in this description may a mobile underground mining machine 100.
  • the machine may be a mine machine, or a construction machine, e.g. a loader, a transport vehicle, a loading or hauling machine.
  • Figure 1 shows one example of a mobile mining machine 100.
  • the mobile mining machine may be a mining vehicle.
  • the mobile mining machine 100 may be a loader.
  • the mobile underground mining machine 100 may have four wheels 111, 112.
  • the number of wheels may vary and instead of wheels, there may be different kinds of mechanisms for moving, for example track arrangements.
  • the mobile underground mining machine may comprise a frame 107.
  • a front part 108 of the frame of the mobile underground mining machine and a rear part 109 of the frame of the mobile underground mining machine may be arranged to turn in relation to each other and in relation to a vertical axis 110.
  • the mobile mining machine may comprise a boom 102 and a bucket 103.
  • the boom 102 may have a distal end connected to the bucket, and a proximal end rotatably supported by the frame.
  • the mobile mining machine may comprise hydraulic actuator 113 or several hydraulic actuators for moving the boom 102 in relation to the frame and/or tilting the bucket 103 in relation to the boom 102.
  • the mining machine may comprise a first actuator for moving the boom in relation to the frame.
  • the boom 102 may be arranged to rotate in relation to a pin 105.
  • the pin 105 may be arranged on a front part 108 of the frame.
  • the boom may be arranged to rotate up and down in relation to the pin 105.
  • the mobile mining machine may comprise a second actuator for tilting the bucket 103, as seen in figure 1 , in relation to the boom 102.
  • the boom 102 may be arranged at the front of the loader by using a horizontal articulation.
  • the boom can be lifted and lowered by a first actuator, typically a hydraulic cylinder, with respect to the articulation.
  • the bucket 103 may be arranged at the distal end of the boom by using a horizontal articulation.
  • the second actuator can be used for varying the angular position of the bucket with respect to the boom.
  • the mobile mining machine may comprise a bucket tipping device 106 which may be arranged to tilt the bucket 103 in relation to the boom 102 by the second actuator.
  • a front end 104 of the mobile mining machine may be a tip of the bucket, when the bucket 103 is in a load L carrying position i.e. in a transport position as illustrated in figure 1 .
  • the sensors 10 may be placed in other locations on the mobile mining machine, such as front or back-end side, so that the sensors are able to measure the distance between the target and the mobile mining machine.
  • the sensor device 10 may be based on light detection and ranging (LIDAR) that is a method for determining ranges by targeting an object of a surface with a laser and measuring the time for reflected light to return to the receiver. Distance to the object is determined by recording the time between transmitted and backscattered pulses and by using the speed of light or ultrasound to calculate the distance traveled.
  • LIDAR light detection and ranging
  • the sensor device 10 may be configured to measure a distance to a target.
  • the target may be for example a wall or a roof R or a barrier or a dumping target, such as a box of a dumper 200 or a crusher.
  • control unit CU may cause the mining machine to perform a predetermined action on condition that a distance measured by the sensor device during the dumping procedure takes a value less than or equal to a threshold value (pre-determined value or calculated by using measurement data).
  • a threshold value may be a certain distance from the dumping target D AD and/or a measured height H M of a dumping target (i.e. dumper or a crusher or a barrier).
  • the predetermined action may comprise moving of the mining machine 100, and/or stopping the mining machine and/or raising and/or lowering the boom 102 and/or tilting the bucket 103.
  • the predetermined action may comprise altering a moving direction of the mobile mining machine and/or steering the mobile mining machine.
  • control unit CU may be configured for control the position of the bucket 103 and the boom 102.
  • the mining machine 100 may further comprise at least two sensors; a first sensor configured for monitoring the position of the boom 102 with respect to the frame, and a second sensor configured for monitoring the position of the bucket 103 with respect to the boom 102, frame and/or support surface S.
  • the sensors may be, for example, angle sensors.
  • the angle sensors may measure the angle in relation to the horizontal level.
  • the connection point between the bucket and the boom has angle sensor, incremental sensor, pulse sensor or absolute angle sensor, and the bucket angle may be calculated using the data provided by the mentioned sensor and the boom angle sensor.
  • the position of the bucket with respect to the frame may be known for example on the basis of the information provided by the sensors.
  • the control unit may give a control signal to valves or the like controlling the first and the second actuators to enable the bucket 103 to be driven into a desired position with respect to the frame 107.
  • the control unit may be configured to move the bucket and/or the boom by controlling the first and/or second actuators.
  • control unit may be configured to move the boom and the bucket in a dumping phase on basis of data received from the sensor device 10.
  • data may comprise distance data to the dumping target 200, such as a dumping box, and/or height data of the dumping target.
  • control unit may be configured to move the bucket 103 and/or the boom 102 by controlling the first and/or second actuators. The movement of the bucket and/or bucket is adjusted so that collisions with any obstacles are prevented and the bucket is ready for dumping, i.e. above the dumping target.
  • a sensor device 10 such as a 2D-scanner/3D scanner or other measuring device, may be provided for measuring a distance to a dumping target 200, for example a dumper or a barrier or a crusher, and for measuring a height of the dumping target 200.
  • the method of automatic dumping procedure may comprise a step of determining height of the dumping target 200 for a theorical model of an effective dumping, i.e. the minimal height for the bucket for the dumping phase.
  • control unit may drive the bucket 103 and/or the boom 102 from start to end of the automatic dumping process.
  • movement of the boom and/or the bucket may be performed in an optimal way, for example according to a theoretical model of the effective dumping.
  • a position of the boom and the position of the bucket 103 may be in relation to the target, for example to the dumping target 200, such as a distance to a dumper or a barrier or a crusher, and/or to distance to the roof R for optimizing the movement of the boom and the bucket without collisions.
  • the boom 102 and the bucket 103 may be automatically driven to transport position in reversed order when the mobile mining machine is reversed after the dumping phase.
  • the boom 102 and the bucket 103 may move also when the mobile mining machine 100 is moving.
  • a dumping speed may be related (and controlled) by a machine speed.
  • the operator of the mobile mining machine may determine the speed of the mobile mining machine.
  • a lifting route of the boom 102 and the bucket 103 may be determined by a measured height of the dumping target 200, such as dumper or barrier or crusher, measured by the sensor device 10.
  • the height of the dumping target 200, or another object, may not need to be known before.
  • the height of the dumping target 200 may be measured by the sensor device 10.
  • a safety marginal to the dumping target 200, and/or the roof R, and/or to an obstacle may be taken into account when a route point of the boom 102 and/or the bucket 103 and/or the mobile mining machine 100 is determined.
  • control unit CU may be configured to drive the mobile mining machine and/or boom and/or bucket on a different route for different measured heights, and/or to different heights of route points.
  • a lifting route may comprise several different sections.
  • one of the sections may be reserved for weighing.
  • the weighing may comprise weighing of the load L existing in the bucket 103.
  • each section of the lifting route may be determined by the turning points.
  • main turn points of the boom and/or the bucket may be determined by the height measuring, for example with the sensor device 10. Some of the turning points of the lifting route may be fixed, for example weighing.
  • the bucket and the boom positions may be determined by parameters on main turn points (optimal position (such as an angle) on the turn point).
  • the bucket and the boom positions between the turn points may be determined by interpolation.
  • an alternative position determination may be to determinate only main turn points the bucket position and between the main turn points use interpolation, and the boom position may be calculated with help of bucket position and the height of bucket tip 104.
  • An operator may drive the mobile mining machine 100 toward a target, such as the dumping target 200, for example a dumper or a barrier or a crusher.
  • a target such as the dumping target 200, for example a dumper or a barrier or a crusher.
  • Measuring of distance to dumping target 200 may be running all time and also the height H M of the dumping target 200, such as a dumper or a barrier or a crusher, may be measured (S202).
  • the operator may pre-activate the automatic dumping procedure S201, for example by pressing a button, or the automatic dumping procedure is activated automatically to allow system to start the automatic dumping procedure when the distance to dumper or barrier or crusher is the right i.e. when the threshold distance D AD from/to the dumping target is reached.
  • the automatic dumping procedure comprises a step of moving the boom and the bucket from a transport position towards a dumping position on a basis of the measured height of the dumping target and the distance from the dumping target (S204).
  • the bucket and the boom position in the automatic dumping procedure may be determined by a function of a distance to the dumping target 200.
  • a speed of movements of the boom and the bucket may be in relation to a speed of the mobile mining machine. For example: if the mobile mining machine moves at a slow speed, then the position of boom and bucket may also change at slow speed. If the machine moves at a fast speed, then boom and bucket position may change at fast speed.
  • the boom and bucket may be moved by an automatic motion i.e. by the actuators 113 controlled by the control system.
  • a new target of the bucket position and the boom position may be determined, and the boom and the bucket may be driven by the actuators 113 to newly determined positions.
  • the control unit may be configured to keep the bucket tip or other reference point of the bucket on an optimal route all the time.
  • the optimal route may be a route that performs the dumping in a fast way and shortens the time needed to do the dumping.
  • a memory of the control unit may comprise a program including an algorithm that is configured to optimize the route of the bucket and boom.
  • the mobile mining machine may be configured by the control unit to perform a bucket shaking for removal load L material from the bucket in the end of the dumping procedure.
  • the bucket shaking may be achieved for example by small by back-and-forth motion of the actuators 113 of the bucket 103 and/or the boom 102.
  • the mobile mining machine may be controlled to reserve, and the boom and bucket motions may be controlled by the control unit to be performed in a reserve order back to the transport position.
  • the bucket and/or the boom motions may be automatic motion controlled by the control unit.
  • the mobile mining machine may be provided with an automatic dumping.
  • the automatic dumping of a load L may be pre-activated by an operator (for example, by pressing a button in the control panel or on a screen, or otherwise instructing the control unit). After pre-activating the automatic dumping process, the operator only needs to follow the dumping operation.
  • the operator may control the speed of the mobile mining machine before the start of dumping or the speed of the mobile mining machine is controlled automatically.
  • all adaptation to conditions may be performed automatically after starting the automatic dumping procedure.
  • control system of the mobile mining machine may automatically determine the motions of the boom and the bucket configured to perform the dumping in an optimal time, for example, in the shortest time possible.
  • the mobile mining machine provided with an automatic dumping procedure may enable dumping in a small space at full speed.
  • the mobile mining machine provided with an automatic dumping procedure may help the operator to do dumping motion more easily and more effectively.
  • the operator only needs to trigger the motion to do dumping. This is an efficient and also a very easy way to perform a dumping procedure.
  • the example embodiment of the mobile mining machine provided with the automatic dumping system may be suitable also for a new operator and/or for an inexperienced operator.
  • the dumping may be performed reliably and efficiently when the dumping motion of the boom and the bucket are optimized. This is a beneficial feature particularly for a new or an inexperienced operator.
  • a further advantage of the automatic dumping system is that the dumping may be performed substantially in the same way at each dumping, and not having variance in dumping movements of the boom and the bucket as in a conventional manual use.
  • a further advantage of the automatic dumping system is that it makes it possible to perform the dumping procedure in very tight places and/or places with limited space and/or places having a small distance between the bucket that may carry a load and a roof, or having an obstacle, with full speed.
  • the dumping motion is performed every time in the same way, then it is also possible to operate with small safety marginals, i.e. with small distances to obstacles.
  • small safety marginals i.e. with small distances to obstacles.
  • bigger safety marginal for distance between bucket carrying a load and roof and obstacle is needed. This may be an important advantage in mine tunnels having a limited height.
  • a further advantage is that the automatic dumping method does not need teaching.
  • the automatic dumping is adapted to different places by using measurement data of the sensor device 10.
  • control system may make this, for example when the threshold distance and/or height is reached.
  • the operator only needs to pre-activate (i.e. give info to system) the automatic dumping system so that the dumping may be performed soon.
  • the method may comprise further optional steps: S 211 Optionally constantly detect by sensor device 10 if obstacles appear in the route and perform a predetermined action comprising at least one of the following alone or in a combination: moving of the mobile mining machine 100, and/or stopping the mobile mining machine, and/or raising the boom, and/or lowering the boom 102, and/or tilting the bucket 103.
  • a lifting route of the boom and/or the bucket may optionally comprise detection of a height of an obstacle and moving the boom and/or the bucket on a basis of the lowest point of the bucket and/or the tip of the bucket.
  • a distance D AD to activate automatic dumping may depend on height H M of the dumping target 200, such as a dumper or a crusher or a barrier.
  • dumping target height H M is low, then only a short travel distance for the mobile mining machine may be needed to lift the boom 102 and/or the bucket 103 to an intended dumping height for the dumping.
  • a longer travel distance for the mobile mining machine may be needed to lift the boom 102 and/or the bucket 103 to an intended dumping height for the dumping.
  • a distance from the dumping target 200 to a point in which the automatic dumping is activated may also depend on a speed of the mobile mining machine. If the machine speed is high, then a longer distance to the dumping target 200 may be needed for the automatic dumping procedure.
  • a distance to the dumping target may also be relate to a speed of boom and/or bucket motions.
  • a boom motion speed may depend on an engine number of revolutions per minute (rpm) in diesel powered mobile mining machines. In an example embodiment of electric mobile mining machines the boom speed may be constant.
  • a distance from the dumping target 200 to the distance D AD of activation of the automatic dumping process may be a function of machine speed, engine rpm and height H M of the dumping target 200, such as the dumper or the crusher or the barrier.
  • the distance D AD of the activation of the automatic dumping procedure may be determined by parameter.
  • the activation may comprise starting of the lifting movement of the boom and/ or the bucket.
  • the activation point may be in this case a predefined distance.
  • the machine speed may be controlled to keep a tip of the bucket on a lifting route during the boom lift.
  • the boom may be controlled to be lifted by full speed.
  • control system may be configured to achieve lifting of the boom and/or the bucket. In an example embodiment the control system may also be configured to control the machine speed.
  • the boom and the bucket motions are automatic.
  • lifting speed of the boom may be configured to be controlled on a predefined speed level, for example at a full speed of the boom.
  • a motion of the boom may be configured to be controlled so that the boom lifting speed is kept at a desired level.
  • the mobile mining machine speed may be reduced.
  • the mobile mining machine when the mobile mining machine has moved near enough to the dumping target 200, for example a dumper or a crusher or a barrier, then the mobile mining machine may be stopped manually, or automatically by the control unit, and control unit may be configured to run the automatic dumping motion of the bucket 103 for emptying the bucket from the load.
  • the control unit may be configured to run the automatic dumping motion of the bucket 103 for emptying the bucket from the load.
  • FIG 4 is illustrated an example embodiment of movements of the bucket 103 (without the boom) during an automatic dumping process.
  • the load L is dumped into the dumping target 200, for example into a box of a dump truck.
  • a lowest point 114 of the bucket may be used for determination of a calculated route of the bucket 103.
  • a lowest point may be a lowest point 114 of the bucket 103 in a transport position, as illustrated with the mobile mining machine 100 in a right portion of the figure 4 .
  • the lowest point of the bucket may be some other point than the tip of the bucket, such as heel of the bucket or some other point between the heel and the tip.
  • the lowest point may be some point of the boom 102.
  • the boom may have several possible lowest points, i.e. reference points, that may have been determined beforehand and the best suitable refence point is chosen depending on the situation.
  • the tip 104 of the bucket 103 may be used for determination of a calculated route of the bucket for the dumping procedure.
  • the lowest point of the bucket may be a tip of the bucket 103 when the bucket is in a dumping position, i.e. when the tip of the bucket may point to the bottom of the dumping target 200, such as the dump box of the dump truck, for example like the bucket 103 in the left portion of the figure 4 .
  • a target height for the bucket tip/lowest point of the bucket may be based on the measured height H M of the dumping target 200 added with a safety margin.
  • control system CU may be configured to keep the bucket tip and/or the lowest point of the bucket on the determined lifting route of the bucket.

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  • 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)

Abstract

A mobile mining machine (100), the mobile mining machine comprising: a frame (107), a bucket (103), a boom (102) having a distal end connected to the bucket, and a proximal end rotatably supported by the frame, a sensor device (10) configured to measure a distance between a target and the mobile mining machine, a control unit (CU) configured to control an action of the mobile mining machine. The control unit causes the mobile mining machine (100) to perform a predetermined action on condition that a distance measured by the sensor device (10) takes a value less than or equal to a threshold value, wherein the predetermined action comprises moving of the mobile mining machine (100), and/or stopping the mobile mining machine and/or raising and/or lowering the boom (102) and/or tilting the bucket (103).

Description

    FIELD OF THE PRESENT APPLICATION
  • The present application relates to a mobile mining machine.
  • The present application also relates to a method for automatically dumping a load.
  • The present application relates to a control system.
    • BACKGROUND
  • In mines and other work sites, various mining vehicles, i.e. mobile mining machines, are used. The mining vehicle is provided with a boom and a tool, such as a bucket on the boom. Especially in narrow tunnels e.g. in mines and some other kinds of sites the space for moving the mobile mining machine may be limited wherein there may be a risk that the boom and the bucket may hit a wall or a roof of the mine or another obstacle during moving the mining vehicle. When the mobile mining machine is a loader, it may be often difficult for an operator to control the dumping process and move the boom and the bucket to dump a load of the bucket to the dumping target, such as to a box of a dumper truck, in a limited space such as in a mine tunnel. Usually, an operator of a loader may simultaneously actuate an accelerator pedal and control the boom and the bucket to load, on a box of a dump truck, load of the bucket. Controlling the mobile mining machine comprising the boom and the bucket may be a demanding and task in a limited spaces.
    • SUMMARY
  • According to a first aspect, the present application provides a mobile mining machine.
  • According to the present application the mobile mining machine comprising: a frame, a bucket, a boom having a distal end connected to the bucket, and a proximal end rotatably supported by the frame, a sensor device configured to measure a distance between a target and the mobile mining machine, a control unit configured to control an action of the mobile mining machine, the control unit causes the mobile mining machine to perform a predetermined action on condition that a distance measured by the sensor device takes a value less than or equal to a threshold value, wherein the predetermined action comprises moving of the mobile mining machine, and/or stopping the mobile mining machine and/or raising and/or lowering the boom and/or tilting the bucket.
  • The technical effect is that the mobile mining machine is configured to perform an automatic dumping procedure controlled by the control unit on a basis of the sensor data.
  • The mobile mining machine is characterized by what is stated in the independent claim.
  • Some other embodiments are characterized by what is stated in the other claims.
  • Embodiments are also disclosed in the specification and drawings of this patent application. Features of the different embodiments of the disclosure may, within the scope of the basic inventive idea, be applied to other embodiments.
  • In an example embodiment of the mobile mining machine the sensor device may be configured to measure a distance to a dumping target and/or the height of the dumping target.
  • In an example embodiment of the mobile mining machine the sensor device may be configured to measure a distance to an obstacle or a wall or a roof.
  • In an example embodiment of the mobile mining machine the threshold value may be a distance to a dumping target and/or a height of a dumping target.
  • In an example embodiment of the mobile mining machine the mobile mining machine may comprise several sensor devices arranged for detecting environment of the mobile mining machine in different directions.
  • In an example embodiment of the mobile mining machine the sensor device may be arranged to detect environment and/or height of the space and/or obstacles in front of the mobile mining machine and/or under the bucket.
  • In an example embodiment of the mobile mining machine the mobile mining machine may comprise a control system according to a any one of the example embodiments mentioned below alone or with a combination of other embodiments.
  • According to a second aspect, the present application provides a method for automatic dumping of a load from a bucket of a mobile mining machine, the mobile mining machine comprises at least one sensor device. According to second aspect of the present application the method comprises a step of measuring a distance by the at least one sensor device between a dumping target and the mobile mining machine. The method may comprise a step of measuring a height of the dumping target. The method may comprise a step of communicating measured data to a control unit that may be configured to control an action of the mobile mining machine performing a predetermined action causing by the control unit on condition that a distance measured by the sensor device takes a value less than or equal to a threshold value. The predetermined action may comprise moving of the mobile mining machine, and/or stopping the mobile mining machine, and/or raising and/or lowering the boom and/or tilting the bucket.
  • In an example embodiment of the method the pre-determined action may comprise altering a speed of the mobile mining machine and/or a speed of the motion of the boom and/or speed of the motion of the bucket.
  • In an example embodiment of the method a step of measuring a distance may comprise measuring a distance by a sensor device to a dumping target.
  • In an example embodiment of the method the method may comprise measuring a distance by a sensor device at least to one of: an obstacle, and/or a wall, and/or a roof of a space, such as a mine tunnel and/or measuring a height of a space, and/or a height of an obstacle.
  • In an example embodiment of the method the threshold value may be at least one of: a distance from a dumping target and/or a height of a dumping target.
  • In an example embodiment of the method the method may comprise a step of pre-activating the automatic dumping procedure by an operator of the mobile mining machine.
  • In an example embodiment of the method the method may comprise controlling by the control unit on a basis of the measurement data regarding an environment received from the sensor device, a route of the bucket to the dumping target and/or from the dumping target.
  • In an example embodiment of the method the method may comprise controlling movements of the boom and/or tilting of the bucket by the control unit on a basis of a predefined route of the bucket.
  • In an example embodiment of the method the method may comprise controlling movements of the boom and/or tilting of the bucket by the control unit on a basis of a speed of the mobile mining machine.
  • According to a third aspect, the present application provides a control system configured for control of a mobile mining machine. The control system may comprise a control unit, a sensor device configured for measuring a distance to target, and operationally connected to the control unit. The control system may be configured to control the mobile mining machine according to a method as defined in any one of the example embodiments of the method mentioned above alone or combined with any one of the example embodiments mentioned above.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • The accompanying drawings, which are included to provide example embodiments and constitute a part of this specification, and together with the description help to explain the principles of the example embodiments. In the drawings:
    • Figure 1 is a schematic side view of an example embodiment of a mobile mining machine,
    • Figure 2 is a schematic side view of an example embodiment of a mobile mining machine and a dumping truck,
    • Figure 3 is a is a schematic side view of an example embodiment of a mobile mining machine in a dumping position and a dumping truck,
    • Figure 4 is a schematic side view of an example embodiment illustrating a dumping movement of a bucket and without a boom of a mobile mining machine,
    • Figure 5 is a simplified flowchart illustrating an example embodiment of a control method of an exemplary automatic dump control system.
  • In the figures, some example embodiments are shown simplified for the sake of clarity. Similar parts are marked with the same reference numbers in the figures.
    • DETAILED DESCRIPTION
  • According to an aspect of an example embodiment, the mobile mining machine described in this description may a mobile underground mining machine 100. The machine may be a mine machine, or a construction machine, e.g. a loader, a transport vehicle, a loading or hauling machine. Figure 1 shows one example of a mobile mining machine 100. The mobile mining machine may be a mining vehicle.
  • In an example embodiment of figure 1 the mobile mining machine 100 may be a loader.
  • In an example embodiment of Figure 1 the mobile underground mining machine 100 may have four wheels 111, 112. The number of wheels may vary and instead of wheels, there may be different kinds of mechanisms for moving, for example track arrangements. In an example embodiment the mobile underground mining machine may comprise a frame 107. In an example embodiment a front part 108 of the frame of the mobile underground mining machine and a rear part 109 of the frame of the mobile underground mining machine may be arranged to turn in relation to each other and in relation to a vertical axis 110.
  • In an example embodiment the mobile mining machine may comprise a boom 102 and a bucket 103. The boom 102 may have a distal end connected to the bucket, and a proximal end rotatably supported by the frame. The mobile mining machine may comprise hydraulic actuator 113 or several hydraulic actuators for moving the boom 102 in relation to the frame and/or tilting the bucket 103 in relation to the boom 102. The mining machine may comprise a first actuator for moving the boom in relation to the frame. The boom 102 may be arranged to rotate in relation to a pin 105. The pin 105 may be arranged on a front part 108 of the frame. The boom may be arranged to rotate up and down in relation to the pin 105. The mobile mining machine may comprise a second actuator for tilting the bucket 103, as seen in figure 1, in relation to the boom 102. In an example embodiment the boom 102 may be arranged at the front of the loader by using a horizontal articulation. The boom can be lifted and lowered by a first actuator, typically a hydraulic cylinder, with respect to the articulation. In an example embodiment the bucket 103 may be arranged at the distal end of the boom by using a horizontal articulation. The second actuator can be used for varying the angular position of the bucket with respect to the boom. The mobile mining machine may comprise a bucket tipping device 106 which may be arranged to tilt the bucket 103 in relation to the boom 102 by the second actuator.
  • In an example embodiment a front end 104 of the mobile mining machine may be a tip of the bucket, when the bucket 103 is in a load L carrying position i.e. in a transport position as illustrated in figure 1.
  • In figures the mobile mining machine 100 is on a support surface S, such as on a tunnel ground. The mobile mining machine 100 may be configured to move on a support surface S. In an example embodiment the mobile mining machine may be arranged in a space, such as in a tunnel, having a roof R. A vertical distance between the support surface S and the roof R may have a height HT. The sensor device 10 may be configured to measure a distance to the roof R. The mobile mining machine may have a load L in the bucket 103. In an example embodiment a distance between the highest point of the mobile mining machine and/or a load L and the roof R may be determined. The sensor device 10 may be configured to detect a distance between a highest point of the bucket 103 and the roof R or a height (i.e. a vertical distance from the support surface S to a highest point of the bucket or the load in the bucket) of the bucket or the load L in the bucket HL. In an example embodiment a height of the load HL and/or the bucket 103 may be arranged to get from a machine data. The height of the load HL and/or the bucket 103 may be measured or calculated using the machine dimensions and/or geometry e.g. bucket angle, boom angle etc, and stored as the machine data. In an example embodiment the height of the bucket may relate on a position of the boom (for example a boom angle) and a position of the bucket (for example a bucket tipping angle) in relation to the boom 102. The boom and the bucket may be moved by actuators. In an example embodiment each of the actuators may be moved by a control system according to commands of the operator and/or by the data received from the sensor device 10.
  • As mentioned above, the mobile mining machine may comprise a sensor device 10. In an example embodiment the mobile mining machine may comprise several sensor devices 10. In an example embodiment the sensor device 10 may be configured to measure a distance between a target and the mobile mining machine. In an example embodiment the sensor device 10 may be arranged in a front part of the mobile mining machine. In an example embodiment the sensor device 10 may be arranged on upper part of the frame 107. In figures the sensor device 10 may be placed on top of the frame for keeping the figures clear. In an example embodiment the sensor devices 10 may be arranged on each longitudinal side, or in the vicinity of each longitudinal side, of the front part 108 of the frame 107. Optionally, the sensors 10 may be placed in other locations on the mobile mining machine, such as front or back-end side, so that the sensors are able to measure the distance between the target and the mobile mining machine. In an example embodiment the sensor device 10 may be based on light detection and ranging (LIDAR) that is a method for determining ranges by targeting an object of a surface with a laser and measuring the time for reflected light to return to the receiver. Distance to the object is determined by recording the time between transmitted and backscattered pulses and by using the speed of light or ultrasound to calculate the distance traveled.
  • The mobile mining machine may further comprise a control unit CU configured to control an action of the mining machine. In an example embodiment the control unit may be arranged to control at least part of the mining machine on a basis of the data (such as measurement data, dimensions of the machine etc.), information, or signal received from the sensor device 10. In an example embodiment the sensor device 10 may be operationally connected to the control unit CU.
  • In an example embodiment the sensor device 10 may be configured to measure a distance to a target. In an example embodiment the target may be for example a wall or a roof R or a barrier or a dumping target, such as a box of a dumper 200 or a crusher.
  • In an example embodiment control unit CU may cause the mining machine to perform a predetermined action on condition that a distance measured by the sensor device during the dumping procedure takes a value less than or equal to a threshold value (pre-determined value or calculated by using measurement data). In an automatic dumping procedure, the threshold value may be a certain distance from the dumping target DAD and/or a measured height HM of a dumping target (i.e. dumper or a crusher or a barrier). In an example embodiment the predetermined action may comprise moving of the mining machine 100, and/or stopping the mining machine and/or raising and/or lowering the boom 102 and/or tilting the bucket 103. In an example embodiment the predetermined action may comprise altering a moving direction of the mobile mining machine and/or steering the mobile mining machine.
  • In an example embodiment of the mobile mining machine the control unit CU may be configured for control the position of the bucket 103 and the boom 102. The mining machine 100 may further comprise at least two sensors; a first sensor configured for monitoring the position of the boom 102 with respect to the frame, and a second sensor configured for monitoring the position of the bucket 103 with respect to the boom 102, frame and/or support surface S. In an example embodiment the sensors may be, for example, angle sensors. The angle sensors may measure the angle in relation to the horizontal level. Optionally, the connection point between the bucket and the boom has angle sensor, incremental sensor, pulse sensor or absolute angle sensor, and the bucket angle may be calculated using the data provided by the mentioned sensor and the boom angle sensor. The position of the bucket with respect to the frame may be known for example on the basis of the information provided by the sensors. The control unit may give a control signal to valves or the like controlling the first and the second actuators to enable the bucket 103 to be driven into a desired position with respect to the frame 107. In an example embodiment the control unit may be configured to move the bucket and/or the boom by controlling the first and/or second actuators.
  • In an example embodiment the control unit may be configured to move the boom and the bucket in a dumping phase on basis of data received from the sensor device 10. In an example embodiment data may comprise distance data to the dumping target 200, such as a dumping box, and/or height data of the dumping target. On the basis of the data received from the sensor device 10, the control unit may be configured to move the bucket 103 and/or the boom 102 by controlling the first and/or second actuators. The movement of the bucket and/or bucket is adjusted so that collisions with any obstacles are prevented and the bucket is ready for dumping, i.e. above the dumping target.
  • A sensor device 10, such as a 2D-scanner/3D scanner or other measuring device, may be provided for measuring a distance to a dumping target 200, for example a dumper or a barrier or a crusher, and for measuring a height of the dumping target 200.
  • In an example embodiment of the method of automatic dumping procedure may comprise a step of determining height of the dumping target 200 for a theorical model of an effective dumping, i.e. the minimal height for the bucket for the dumping phase.
  • In an example embodiment, the control unit (or the control system) may drive the bucket 103 and/or the boom 102 from start to end of the automatic dumping process. In an example embodiment movement of the boom and/or the bucket may be performed in an optimal way, for example according to a theoretical model of the effective dumping.
  • In an example embodiment a position of the boom and the position of the bucket 103 may be in relation to the target, for example to the dumping target 200, such as a distance to a dumper or a barrier or a crusher, and/or to distance to the roof R for optimizing the movement of the boom and the bucket without collisions.
  • In an example embodiment the boom 102 and the bucket 103 may be automatically driven to transport position in reversed order when the mobile mining machine is reversed after the dumping phase.
  • In an example embodiment the boom 102 and the bucket 103 may move also when the mobile mining machine 100 is moving. In an example embodiment a dumping speed may be related (and controlled) by a machine speed. In an example embodiment the operator of the mobile mining machine may determine the speed of the mobile mining machine.
    • Position calculation for a lifting route:
  • In an example embodiment a lifting route of the boom 102 and the bucket 103 may be determined by a measured height of the dumping target 200, such as dumper or barrier or crusher, measured by the sensor device 10. The height of the dumping target 200, or another object, may not need to be known before. The height of the dumping target 200 may be measured by the sensor device 10.
  • In an example embodiment a safety marginal to the dumping target 200, and/or the roof R, and/or to an obstacle may be taken into account when a route point of the boom 102 and/or the bucket 103 and/or the mobile mining machine 100 is determined.
  • In an example embodiment the control unit CU may be configured to drive the mobile mining machine and/or boom and/or bucket on a different route for different measured heights, and/or to different heights of route points.
  • In an example embodiment a lifting route may comprise several different sections. In an example embodiment one of the sections may be reserved for weighing. In an example embodiment the weighing may comprise weighing of the load L existing in the bucket 103.
  • In an example embodiment each section of the lifting route may be determined by the turning points.
  • In an example embodiment main turn points of the boom and/or the bucket may be determined by the height measuring, for example with the sensor device 10. Some of the turning points of the lifting route may be fixed, for example weighing.
  • In an example embodiment the bucket and the boom positions (such as angles) may be determined by parameters on main turn points (optimal position (such as an angle) on the turn point).
  • In an example embodiment the bucket and the boom positions between the turn points may be determined by interpolation.
  • In an example embodiment an alternative position determination may be to determinate only main turn points the bucket position and between the main turn points use interpolation, and the boom position may be calculated with help of bucket position and the height of bucket tip 104.
    • An example:
  • An operator may drive the mobile mining machine 100 toward a target, such as the dumping target 200, for example a dumper or a barrier or a crusher.
  • Measuring of distance to dumping target 200, such as a dumper or a barrier or a crusher, may be running all time and also the height HM of the dumping target 200, such as a dumper or a barrier or a crusher, may be measured (S202).
  • When dumping target is in the front of the mobile mining machine then the operator may pre-activate the automatic dumping procedure S201, for example by pressing a button, or the automatic dumping procedure is activated automatically to allow system to start the automatic dumping procedure when the distance to dumper or barrier or crusher is the right i.e. when the threshold distance DAD from/to the dumping target is reached.
  • The automatic dumping procedure comprises a step of moving the boom and the bucket from a transport position towards a dumping position on a basis of the measured height of the dumping target and the distance from the dumping target (S204).
  • When the distance to start motion (determinate by parameter or calculated) is reached then automatic boom lift is started.
  • The bucket and the boom position in the automatic dumping procedure may be determined by a function of a distance to the dumping target 200. In an example embodiment a speed of movements of the boom and the bucket may be in relation to a speed of the mobile mining machine. For example: if the mobile mining machine moves at a slow speed, then the position of boom and bucket may also change at slow speed. If the machine moves at a fast speed, then boom and bucket position may change at fast speed.
  • In an example embodiment the boom and bucket may be moved by an automatic motion i.e. by the actuators 113 controlled by the control system.
  • In an example embodiment if the mobile mining machine is driven towards a dumping target 200, for example dumper or barrier or crusher, by small steps (delta travel) then a new target of the bucket position and the boom position may be determined, and the boom and the bucket may be driven by the actuators 113 to newly determined positions.
  • The control unit may be configured to keep the bucket tip or other reference point of the bucket on an optimal route all the time. The optimal route may be a route that performs the dumping in a fast way and shortens the time needed to do the dumping. In an example embodiment a memory of the control unit may comprise a program including an algorithm that is configured to optimize the route of the bucket and boom.
  • In an example embodiment the mobile mining machine may be configured by the control unit to perform a bucket shaking for removal load L material from the bucket in the end of the dumping procedure. In an example embodiment the bucket shaking may be achieved for example by small by back-and-forth motion of the actuators 113 of the bucket 103 and/or the boom 102.
  • After the dumping of the load form the bucket to the dumping target, the mobile mining machine may be controlled to reserve, and the boom and bucket motions may be controlled by the control unit to be performed in a reserve order back to the transport position. In an example embodiment the bucket and/or the boom motions may be automatic motion controlled by the control unit.
  • In an example embodiment the mobile mining machine may be provided with an automatic dumping. The automatic dumping of a load L may be pre-activated by an operator (for example, by pressing a button in the control panel or on a screen, or otherwise instructing the control unit). After pre-activating the automatic dumping process, the operator only needs to follow the dumping operation. In an example embodiment the operator may control the speed of the mobile mining machine before the start of dumping or the speed of the mobile mining machine is controlled automatically. In an example embodiment of the automatic dumping process all adaptation to conditions may be performed automatically after starting the automatic dumping procedure.
  • In an example embodiment the control system of the mobile mining machine may automatically determine the motions of the boom and the bucket configured to perform the dumping in an optimal time, for example, in the shortest time possible.
  • The mobile mining machine provided with an automatic dumping procedure may enable dumping in a small space at full speed.
  • The mobile mining machine provided with an automatic dumping procedure may help the operator to do dumping motion more easily and more effectively.
  • In an example embodiment the operator only needs to trigger the motion to do dumping. This is an efficient and also a very easy way to perform a dumping procedure. The example embodiment of the mobile mining machine provided with the automatic dumping system may be suitable also for a new operator and/or for an inexperienced operator.
  • The dumping may be performed reliably and efficiently when the dumping motion of the boom and the bucket are optimized. This is a beneficial feature particularly for a new or an inexperienced operator.
  • A further advantage of the automatic dumping system is that the dumping may be performed substantially in the same way at each dumping, and not having variance in dumping movements of the boom and the bucket as in a conventional manual use.
  • A further advantage of the automatic dumping system is that it makes it possible to perform the dumping procedure in very tight places and/or places with limited space and/or places having a small distance between the bucket that may carry a load and a roof, or having an obstacle, with full speed. When the dumping motion is performed every time in the same way, then it is also possible to operate with small safety marginals, i.e. with small distances to obstacles. In a conventional manual operation it may be difficult for the operator to do the dumping motions every time in the same way without having some variation between different dumping motions. On the manual operation bigger safety marginal for distance between bucket carrying a load and roof and obstacle is needed. This may be an important advantage in mine tunnels having a limited height.
  • In a conventional manual operation, and when safety marginals are small, the operator usually has to control motions of the boom and the bucket at a slow speed. By using automatic motions (and having same route and space every time), then it is possible to use increased speed of the boom and the bucket. This means that the operation of the mobile mining machine is efficient also in places having limited space.
  • A further advantage is that the automatic dumping method does not need teaching. The automatic dumping is adapted to different places by using measurement data of the sensor device 10.
  • In addition, the operator does not need to care about an exact place of starting the dumping procedure, the control system may make this, for example when the threshold distance and/or height is reached. The operator only needs to pre-activate (i.e. give info to system) the automatic dumping system so that the dumping may be performed soon.
  • In an example embodiment the method may comprise following steps:
    • S201 Pre-activate the automatic dumping procedure.
    • S210 Optionally constantly measure the height HT of a tunnel space and move a boom 102 and/or a bucket 103, if needed, to keep a safety margin to the roof R of the space, such as a mine tunnel.
    • S202 Measure a height HM of a dumping target 200 and a distance to the dumping target by the sensor device 10.
  • Check if the threshold distance DAD from dumping target is reached? If yes, then
    • S203 Start the automatic dumping procedure.
    • S204 Move the boom 102 and the bucket 103 from a transport position towards a dumping position on a basis of the measured height of the dumping target 200 and the distance from the dumping target.
    • S205 When the bucket 103 is positioned over the dumping target 200 tilt the bucket for dumping the load L.
    • S206 Reverse command to the mobile mining machine 100.
    • S207 Move the boom 102 and the bucket 103 based on measured height of the dumping target 200 and distance from the dumping target to the transport position in a reverse order.
  • The method may comprise further optional steps:
    S 211 Optionally constantly detect by sensor device 10 if obstacles appear in the route and perform a predetermined action comprising at least one of the following alone or in a combination: moving of the mobile mining machine 100, and/or stopping the mobile mining machine, and/or raising the boom, and/or lowering the boom 102, and/or tilting the bucket 103.
  • A lifting route of the boom and/or the bucket may optionally comprise detection of a height of an obstacle and moving the boom and/or the bucket on a basis of the lowest point of the bucket and/or the tip of the bucket.
    • Determination of distance to start dumping Adapted distance
  • In an example embodiment a distance DAD to activate automatic dumping may depend on height HM of the dumping target 200, such as a dumper or a crusher or a barrier.
  • If the dumping target height HM is low, then only a short travel distance for the mobile mining machine may be needed to lift the boom 102 and/or the bucket 103 to an intended dumping height for the dumping.
  • If the dumping target height HM is high, then a longer travel distance for the mobile mining machine may be needed to lift the boom 102 and/or the bucket 103 to an intended dumping height for the dumping.
  • A distance from the dumping target 200 to a point in which the automatic dumping is activated, i.e. distance DAD of activating the automatic dumping, may also depend on a speed of the mobile mining machine. If the machine speed is high, then a longer distance to the dumping target 200 may be needed for the automatic dumping procedure.
  • If the machine speed is changed then also distance for automatic dumping procedure may be changed.
  • In an example embodiment a distance to the dumping target may also be relate to a speed of boom and/or bucket motions.
  • In an example embodiment a boom motion speed may depend on an engine number of revolutions per minute (rpm) in diesel powered mobile mining machines. In an example embodiment of electric mobile mining machines the boom speed may be constant.
  • In an example embodiment of the method a distance from the dumping target 200 to the distance DAD of activation of the automatic dumping process may be a function of machine speed, engine rpm and height HM of the dumping target 200, such as the dumper or the crusher or the barrier.
  • In an example embodiment when the measured distance and the calculated distance DAD for the activation automatic dumping procedure are same then the automatic dumping procedure is started.
    • Fixed activation distance
  • In an example embodiment the distance DAD of the activation of the automatic dumping procedure may be determined by parameter. The activation may comprise starting of the lifting movement of the boom and/ or the bucket. The activation point may be in this case a predefined distance. In an example embodiment the machine speed may be controlled to keep a tip of the bucket on a lifting route during the boom lift. In an example embodiment the boom may be controlled to be lifted by full speed.
    • Achieving lifting of the boom and control of the machine speed
  • In an example embodiment the control system may be configured to achieve lifting of the boom and/or the bucket. In an example embodiment the control system may also be configured to control the machine speed.
  • In an example embodiment the boom and the bucket motions are automatic.
  • In an example embodiment lifting speed of the boom may be configured to be controlled on a predefined speed level, for example at a full speed of the boom.
  • In an example embodiment a motion of the boom may be configured to be controlled so that the boom lifting speed is kept at a desired level. In an example embodiment in case of a collision risk is detected for example by the sensor device 10, then the mobile mining machine speed may be reduced.
  • In an example embodiment the control system may have an operational connection to a braking system of the mobile mining machine and/or to the engine control system of the mining machine.
  • In an example embodiment when the boom and the bucket have reached a desired height for the dumping in the dumping target, a bucket dumping motion, for example by tipping the bucket, may be started.
  • In an example embodiment when the mobile mining machine has moved near enough to the dumping target 200, for example a dumper or a crusher or a barrier, then the mobile mining machine may be stopped manually, or automatically by the control unit, and control unit may be configured to run the automatic dumping motion of the bucket 103 for emptying the bucket from the load.
  • In figure 4 is illustrated an example embodiment of movements of the bucket 103 (without the boom) during an automatic dumping process. In the end of the dumping the load L is dumped into the dumping target 200, for example into a box of a dump truck.
  • In an example embodiment a route for the bucket 103 may be based on determination of a calculated route of the bucket.
  • In an example embodiment a lowest point 114 of the bucket may be used for determination of a calculated route of the bucket 103. In an example embodiment a lowest point may be a lowest point 114 of the bucket 103 in a transport position, as illustrated with the mobile mining machine 100 in a right portion of the figure 4. Optionally, the lowest point of the bucket may be some other point than the tip of the bucket, such as heel of the bucket or some other point between the heel and the tip. Optionally, the lowest point may be some point of the boom 102. The boom may have several possible lowest points, i.e. reference points, that may have been determined beforehand and the best suitable refence point is chosen depending on the situation.
  • In an example embodiment the tip 104 of the bucket 103 may be used for determination of a calculated route of the bucket for the dumping procedure. In an example embodiment the lowest point of the bucket may be a tip of the bucket 103 when the bucket is in a dumping position, i.e. when the tip of the bucket may point to the bottom of the dumping target 200, such as the dump box of the dump truck, for example like the bucket 103 in the left portion of the figure 4.
  • In an example embodiment a target height for the bucket tip/lowest point of the bucket may be based on the measured height HM of the dumping target 200 added with a safety margin.
  • In an example embodiment the control system CU may be configured to keep the bucket tip and/or the lowest point of the bucket on the determined lifting route of the bucket.
  • In an example embodiment of the mining machine and the method a type of the bucket 103 may have an effect to the lifting route of the bucket and/or the boom of the automatic dumping procedure.
  • In an example embodiment a type of the dumping target 200 may also have an effect to determination of the automatic dumping procedure. In an example embodiment the dumping target may be a dumping target having a low hight in relation to the support surface S or the dumping target may be for example a pit arranged on the support surface and extending a distance below the support surface.
  • It is obvious to a person skilled in the art that with the advancement of technology, the basic idea of the present application may be implemented in various ways. The present application and its embodiments are thus not limited to the examples described above, instead they may vary within the scope of the claims.
    • Reference signs
    • 10 Sensor device
    • 100 Mobile mining machine
    • 102 Boom
    • 103 Bucket
    • 104 Front end (a tip) of the bucket/mining machine
    • 105 Connecting pin
    • 106 Bucket tipping device
    • 107 Frame
    • 108 Front part of the frame
    • 109 Rear part of the frame
    • 110 Vertical axis
    • 111 Front wheel
    • 112 Rear wheel
    • 113 Hydraulic actuator
    • 114 Lowest point of the bucket
    • 200 Dumping target, for example dumping box
    • CU Control unit
    • DM Measured distance to dumping target
    • DMach Distance from machine front end to dumping target
    • DParts Distance from measuring point to machine front end
    • DAD Distance from dumping target to start automatic dumping procedure
    • HT Tunnel height
    • HL Load height
    • HM Measured height of a dumping target (i.e. dumper or crusher or barrier)
    • L Load
    • R Roof
    • S Support surface

Claims (16)

  1. A mobile mining machine (100), the mobile mining machine comprising: a frame (107), a bucket (103), a boom (102) having a distal end connected to the bucket, and a proximal end rotatably supported by the frame, a sensor device (10) configured to measure a distance between a target and the mobile mining machine, a control unit (CU) configured to control an action of the mobile mining machine, the control unit causes the mobile mining machine (100) to perform a predetermined action on condition that a distance measured by the sensor device (10) takes a value less than or equal to a threshold value, wherein the predetermined action comprises moving of the mobile mining machine (100), and/or stopping the mobile mining machine and/or raising and/or lowering the boom (102) and/or tilting the bucket (103).
  2. A mobile mining machine according to claim 1, wherein the sensor device (10) is configured to measure a distance to a dumping target (200) and/or the height of the dumping target (200).
  3. A mobile mining machine according to claim 1 or 2, wherein the sensor device (10) is configured to measure a distance to an obstacle or a wall or a roof (R) .
  4. A mobile mining machine according to any one of claims 1 to 3, wherein the threshold value is a distance (DAD) to a dumping target (200) and/or a height (HM) of a dumping target.
  5. A mobile mining machine according any one of claims 1 to 4, wherein the mobile mining machine comprises several sensor devices (10) arranged for detecting environment of the mobile mining machine in different directions.
  6. A mobile mining machine according any one of claims 1 to 5, wherein the sensor device is arranged to detect environment and/or height of the space and/or obstacles in front of the mobile mining machine and/or under the bucket.
  7. A mobile mining machine according to any one of claims 1 to 6, wherein the mobile mining machine (100) comprises a control system according to claim 16.
  8. A method for automatic dumping of a load (L) from a bucket (103) of a mobile mining machine (100), the mobile mining machine comprises at least one sensor device (10), wherein the method comprises a step of measuring a distance by the at least one sensor device (10) between a dumping target (200) and the mobile mining machine (100), and wherein the method comprises a step of measuring a height of the dumping target (200), and communicating measured data to a control unit (CU) configured to control an action of the mobile mining machine (100), performing a predetermined action causing by the control unit (CU) on condition that a distance measured by the sensor device takes a value less than or equal to a threshold value, wherein the predetermined action comprises moving of the mobile mining machine (100), and/or stopping the mobile mining machine, and/or raising and/or lowering the boom (102) and/or tilting the bucket (103).
  9. A method according to claim 8, wherein a step of measuring a distance comprises measuring a distance by a sensor device (10) to a dumping target (200).
  10. A method according to claim 8 or 9, wherein the method comprises measuring a distance by a sensor device (10) at least to one of: an obstacle, and/or a wall, and/or a roof (R) of a space, such as a mine tunnel and/or measuring a height of a space, and/or a height of an obstacle.
  11. A method according to any one of claims 8 to 10, wherein in the method the threshold value is at least one of: a distance from a dumping target (DAD) and/or a height of a dumping target (HM).
  12. A method according to any one of claims 8 to 11, wherein the method comprises a step (S201) of pre-activating the automatic dumping procedure by an operator of the mobile mining machine (100).
  13. A method according to any one of claims 8 to 12, wherein the method comprises controlling by the control unit (CU) on a basis of the measurement data regarding an environment received from the sensor device (10) a route of the bucket (103) to the dumping target (200) and/or from the dumping target.
  14. A method according to any one of claims 8 to 13, wherein the method comprises controlling movements of the boom (102) and/or tilting of the bucket (103) by the control unit (CU) on a basis of a predefined route of the bucket.
  15. A method according to any one of claims 8 to 14 wherein the method comprises controlling movements of the boom (102) and/or tilting of the bucket (103) by the control unit (CU) on a basis of a speed of the mobile mining machine.
  16. A control system configured for control of a mobile mining machine, the control system comprising a control unit (CU), a sensor device (10) configured for measuring a distance to target, and operationally connected to the control unit (CU), wherein the control system is configured to control the mobile mining machine (100) according to a method as defined in any one of claims 8 to 15.
EP24153124.3A 2024-01-22 2024-01-22 A mobile mining machine, a method for automatically dumping a load, and a control system Pending EP4589078A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP24153124.3A EP4589078A1 (en) 2024-01-22 2024-01-22 A mobile mining machine, a method for automatically dumping a load, and a control system
PCT/EP2024/085425 WO2025157481A1 (en) 2024-01-22 2024-12-10 A mobile mining machine, a method for automatically dumping a load, and a control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP24153124.3A EP4589078A1 (en) 2024-01-22 2024-01-22 A mobile mining machine, a method for automatically dumping a load, and a control system

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180080193A1 (en) * 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control
EP3412838A1 (en) * 2016-08-31 2018-12-12 Komatsu Ltd. Wheel loader and wheel loader control method
US20210010234A1 (en) * 2019-07-11 2021-01-14 Caterpillar Underground Mining Pty. Ltd. System and Method for Operating Underground Machines
EP4283052A1 (en) * 2021-03-19 2023-11-29 Komatsu Ltd. Working machine control system, and working machine control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3412838A1 (en) * 2016-08-31 2018-12-12 Komatsu Ltd. Wheel loader and wheel loader control method
US20180080193A1 (en) * 2016-09-21 2018-03-22 Deere & Company System and method for automatic dump control
US20210010234A1 (en) * 2019-07-11 2021-01-14 Caterpillar Underground Mining Pty. Ltd. System and Method for Operating Underground Machines
EP4283052A1 (en) * 2021-03-19 2023-11-29 Komatsu Ltd. Working machine control system, and working machine control method

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