EP4739850A1

EP4739850A1 - Methods and loading systems for loading vehicles for loading material into loading vehicles from a pile

Info

Publication number: EP4739850A1
Application number: EP23742476.7A
Authority: EP
Inventors: Håkan ALMQVIST; Torkel TRAMPE
Original assignee: Epiroc Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2026-05-13
Also published as: AU2023452770A1; WO2025014401A1

Abstract

A method performed by a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the method comprising: continuously receiving (304) a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) driving towards the pile (100); determining (306) if the detected force exerted on the boom (102) exceeds a first threshold; determining (308) if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.

Description

METHODS AND LOADING SYSTEMS FOR LOADING VEHICLES FOR LOADING MATERIAL INTO LOADING VEHICLES FROM A PILE

Technical Field

[0001] The present disclosure relates generally to methods and systems of loading vehicles for loading material into the loading vehicles from a pile.

Background

[0002] Loading vehicles are commonly used in various kinds of working environment, e.g., mining environment, to penetrate/dig into material piles and the buckets on the loading vehicles are loaded with the material in the piles when working. Loading vehicles include various types, e.g., bucket loader, front loader, front-end loader, etc. A loading vehicle comprises a bucket which is used for digging in the pile, and a boom which is connected to the bucket and guides the bucket. The material of the piles can be soil, rock, sand, debris, ores, etc.

[0003] When the loading vehicle is working, it is important to ensure that the bucket is positioned deeply into the pile, so that the bucket can be loaded as much as possible when digging in the pile, therefore the digging efficiency is improved. In the prior art, this is achieved by monitoring several parameters which are related to the bucket and/or boom. For example, by monitoring the force exerted on the boom, the boom angle, the bucket position, etc. These multiple parameters are compared with respective thresholds, and the position/status of the boom/bucket is determined based on the comparisons. When these multiple parameters fulfill certain conditions, the bucket can dig in the pile.

[0004] However, there are several disadvantages with the prior art. Firstly, since there are multiple parameters to monitor and multiple thresholds to determine, it is quite complicated to monitor and tune these parameters/thresholds. Secondly, since there are multiple parameters/thresholds involved in this solution, if any of the parameter/threshold is inaccurate, the result of the solution becomes inaccurate, i.e. , the bucket may dig at an unproper position of the pile, and the bucket cannot be fully loaded, thus the efficiency is decreased. Furthermore, the parameters/thresholds may depend on the working environment, e.g., the conditions of the rock. When the environment changes, the parameters/thresholds are also changed accordingly. It makes the situation more complicated.

[0005] Therefore, there is a need for a loading solution for a loading vehicle, so that the loading vehicle can dig in a proper way and enhance the digging efficiency. The loading solution should be simple and accurate.

Summary

[0006] It is an object of the invention to address at least some of the problems and issues outlined above. It is an object of embodiments of the invention to determine if the pile is penetrated and the bucket can dig in a pile. It is another object of embodiments of the invention to load the bucket efficiently. It is possible to achieve one or more of these objects and possibly others by using methods and loading systems as defined in the attached independent claims.

[0007] In a first aspect of the disclosure there is provided a method performed by a loading system for a loading vehicle for loading material into the loading vehicle from a pile in a mining environment, the loading vehicle comprising a boom, a bucket interconnected to the boom, and a force sensor, and the loading vehicle being instructed to drive towards the pile so that the bucket penetrates the pile. The method comprises continuously receiving a force value of a force exerted on the boom detected by the force sensor while the loading vehicle is driving towards the pile. The method further comprises determining if the detected force value exceeds a first threshold value. The method further comprises determining if the value of the derivative of the force exerted on the boom is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value. The method further comprises instructing the bucket to dig in the pile so as to load material from the pile, if the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for the first time.

[0008] The disclosure is based on the insight that when the value of the derivative of the force exerted on the boom is equal to or below a threshold, i.e. , low enough or even zero, the boom is deep enough in the pile and the bucket cannot penetrate further. Then the bucket can begin to perform an efficient dig. The force exerted on the boom is monitored by a force sensor. Firstly, the value of the force exerted on the boom is monitored. When the force value is above a first threshold value, it indicates that the boom is quite deep in the pile. Then the value of the derivative of the force is calculated. When the value of the derivative of the force is equal to or below a second threshold value, i.e. , zero or very low, it indicates that the force on the boom does not change much, which means the position of the boom in the pile cannot be pushed forward anymore and is deep enough in the pile. This is because when the boom in deep enough in the pile and the loading vehicle cannot drive further, the tires have lost traction. Therefore, the bucket is ready to dig in the pile efficiently. By this method, according to one embodiment, since there is only one force being monitored, only one type of stationary force sensor is required and used. According to one embodiment, there is no need to use multiple types of sensors. Furthermore, during the operation, there no need to tune multiple parameters. Therefore, it is a simple and efficient method.

[0009] In some embodiments, when the bucket penetrates the pile, the bucket has a downward angle to a horizontal vehicle plane, the angle between the bottom plane of the bucket and the horizontal vehicle plane is between 1 ° to 10°, preferably between 1 ° to 5°.

[00010] According to one embodiment, the horizontal vehicle plane is the plane defined by positions of the front and rear wheel axles of the loading vehicle. According to one embodiment, the horizontal vehicle plane is the plane defined or spanned by the lowermost positions of the front and rear wheels of the loading vehicle, which rest against the ground. In some embodiments, the horizontal vehicle plane can be a horizontal plane. In some other embodiment, the horizontal vehicle plan is not a horizontal plane, e.g., has an angle in relation to the horizontal plane, when the loading vehicle is on a slope. According to one embodiment, the horizontal vehicle plane corresponds to the horizontal vehicle line, e.g. the vehicle’s x-axis, between the lowermost positions of the front and rear wheels’ of the loading vehicle, which rest against the ground. The bottom plane of the bucket is the bucket plane which is in touch with the horizontal vehicle plane when the bucket is resting on the horizontal vehicle plane. When the bucket is angled downward and has a downward angle between 1 ° to 10° to the ground surface, the downward angle ensures that the force from the pile presses the bucket down and thus increases the force on the boom cylinder. Furthermore, when the bucket is angled downward in such angle range when it penetrates the pile, the increasing pressure is more detectable by the force sensor, so that the force sensor responses better.

[00011] In some embodiments, the loading vehicle is autonomous vehicle or manual vehicle. This method helps the autonomous vehicle or the remote controlled or manually operated vehicle to maximize the load in the bucket, without manual input.

[00012] In some embodiments, the first threshold is 100kN to 1000kN, preferably 300kN to 500kN. When a significant force increase is detected by the force sensor, it indicates that the bucket penetrates the pile. The first threshold value is determined by heuristics.

[00013] In some embodiments, the method further comprises: when the value of the derivative of the force exerted on the boom is determined to be equal to or below the second threshold value for the first time, instructing the boom to lift and the bucket continue to penetrate the pile, the lifting angle being between 0° to 10°, preferably 3° to 5 °; determining if the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for the second time, proceeding to the step of instructing the bucket to dig in the pile so as to load material from the pile.

According to one embodiment, the lifting angle is the angle between the boom and the horizontal vehicle plane.

[00014] When the value of the derivative of the force on the boom is determined to be equal or below the second threshold value for the first time, the bucket of the loading vehicle may still have possibility to penetrate deeper into the pile. That is, the boom is instructed to lift an angle between 3° to 5° so as to increase the friction between the wheels and the ground, and the bucket continues to penetrate. Then if the value of the derivative of the force is equal to or below the second threshold value again, i.e. , zero or very low, it indicates that the force does not change again, which means the bucket cannot penetrate any further. Since this is confirmed twice, the bucket can be instructed to dig in the pile.

[00015] In some embodiments, the second threshold value is 0 N/s. When the value of the derivative of the force becomes 0 N/s, it indicates that the bucket has reached the maximum penetration depth in the pile.

[00016] In some embodiments, the force detected by the force sensor is low pass filtered.

[00017] Therefore, the possible noise in the detected force is filtered, and the risk for the noise triggering any action is reduced.

[00018] In some embodiments, the step of instructing the bucket to dig in the pile so as to load material from the pile further comprises: the loading vehicle continuously moving towards the pile; during the loading vehicle moving towards the pile, instructing the bucket to tilt upward for a predetermined angle and/or time; and instructing the bucket to hold still for a predetermined time, after the bucket has finished tilting.

[00019] When it is determined that the boom is deep enough in the pile and the bucket can begin to dig in the pile, the loading vehicle continuously moving towards the pile. The bucket is instructed to tilt upward an angle, so as to reduce the counterforce from the pile and allow the loading vehicle to continue moving forward. Then the bucket is kept still when being pushed in the pile, and the material in the pile is filled into the bucket when keeping still. This digging process can be repeated, that is the bucket is tilted and kept still repeatedly. The tilting angle and the predetermined still time are configurable, and there are three different digging modes with different angles and times: Fast mode, Powerful mode and Balanced mode. The Fast mode fits for the material which is easy to load, and the bucket is filled quickly. In the Fast mode, the angle is small, and the still time is short. The Powerful mode fits for the material which is difficult to load and takes longer time. In the Powerful mode, the angle is larger and the still time is longer. The Balanced mode is a compromise between Powerful mode and Fast mode.

[00020] By this embodiment, repetitive movements are performed in order to go deeper in the pile, so that single objects, e.g., rocks, does not obstruct the movement.

[00021] In some embodiments, the method further comprises: when the angle between the bottom plane of the bucket and the horizontal vehicle plane is equal to the angle of repose of the pile, instructing the loading vehicle finish digging.

[00022] When the angle between the bottom plane of the bucket and the horizontal vehicle plane is equal to the angle of repose of the pile, it approximately indicates that the bucket is parallel to the upper surface of the pile. The angle of repose, or critical angle of repose, of a pile is the steepest angle of descent or dip relative to the horizontal plane on which the material can be piled without slumping. When the bucket is parallel to the upper surface of the pile, no more material can be dig into the bucket, and the digging is finished.

[00023] In a second aspect of the disclosure there is provided a loading system for a loading vehicle for loading material into the loading vehicle from a pile in a mining environment, the loading vehicle comprising a boom , a bucket interconnected to the boom, and a force sensor, the loading vehicle being instructed to drive towards the pile so that the bucket penetrates the pile, the loading system comprises a processing circuitry and a memory, the memory containing instructions executable by the processing circuitry, whereby the loading system is operative for: continuously receiving a force value of a force exerted on the boom detected by the force sensor, while the loading vehicle is driving towards the pile; determining if the detected force value exceeds a first threshold value; determining if a value of a derivative of the force exerted on the boom is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing the bucket to dig in the pile so as to load material from the pile, if the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for the first time.

[00024] In some embodiments, when the bucket penetrates the pile, the bucket having a downward angle to a horizontal vehicle plane, the angle between the bottom plane of the bucket and the horizontal vehicle plane is between 1 ° to 10°, preferably 1° to 5°.

[00025] In some embodiments, wherein the loading vehicle is an autonomous vehicle or a remote controlled or manually operated vehicle.

[00026] In some embodiments, the first threshold is 100 kN to 1000 kN, preferably 300 kN to 500 kN.

[00027] In some embodiments, the loading system is further operative for: when the value of the derivative of the force exerted on the boom is determined to be equal to or below the second threshold value for the first time, instructing the boom to lift and the bucket continue to penetrate the pile, the lifting angle being between 0° to 10°, preferably 3° to 5 °; determining if the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for the second time, instructing the bucket to dig in the pile so as to load material from the pile.

[00028] In some embodiments, the second threshold value is 0 N/s.

[00029] In some embodiments, the force detected by the force sensor is low pass filtered.

[00030] In some embodiments, instructing the bucket to dig in the pile so as to load material from the pile further comprises: the loading vehicle continuously moving towards the pile; during the loading vehicle moving towards the pile, instructing the bucket to tilt upward for a predetermined angle and/or time; and instructing the bucket to hold still for a predetermined time, after the bucket has finished tilting.

[00031] In some embodiments, the loading system is further operative for: when the angle between bottom plane of the bucket and the horizontal vehicle plane is equal to angle of repose of the pile, instructing the loading vehicle to finish digging.

[00032] In a third aspect of the disclosure there is provided a computer program. The computer program comprises instructions, which, when executed by a processing circuitry of a loading system for a loading vehicle for loading material into the loading vehicle from a pile in a mining environment, the loading vehicle comprising a boom, a bucket, and a force sensor, the loading vehicle being instructed to drive towards the pile so that the boom penetrates the pile, causes the loading system to perform the method as described in the embodiments above.

[00033] In a fourth aspect of the disclosure there is provided a carrier. The carrier contains the computer program according to above, wherein the carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.

Brief Description of Drawings

[00034] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[00035] Fig. 1 schematically shows a loading vehicle for penetrating and digging in a pile, according to possible embodiments.

[00036] Fig. 2 schematically shows a loading vehicle for penetrating and digging in a pile when the bucket is downward to the horizontal vehicle plane.

[00037] Fig. 3 shows a flow chart of the method performed by a loading system of the loading vehicle, according to possible embodiments. [00038] Fig.4 shows a block diagram illustrating the loading system in more detail, according to possible embodiments.

Detailed Description

[00039] Fig. 1 show a loading vehicle 100 in a mining environment 200. The mining environment 200 can be surface mining environment or underground mining environment. As discussed in the Background, the loading vehicle 100 can be various types, e.g., bucket loader, front loader, front-end loader, etc. The loading vehicle 100 comprises a bucket 104 which is used for digging in the pile 110 and fill the pile material therein, and a boom 102 which is interconnected to the bucket 104 and guides/actuates the bucket 104. The material of the pile 110 can be soil, rock, sand, debris, ores, etc. According to one embodiment, interconnected comprises a direct connection between the parts.

[00040] In this invention, a loading system 106 is used to control the loading operation of the loading vehicle 110. In fig. 1 , the loading system 106 is equipped on the loading vehicle 110. However, the loading system 106 can also be deployed somewhere else, e.g., on a local control device, on a remote control device, etc. A sensor 108 is equipped on the boom 102 so as to detect the force exerted on the boom 102, when the bucket 104 penetrates the pile 110. For example, the sensor 108 can be all kinds of pressure sensors.

[00041 ] Fig. 3 shows a flow chart of the method performed by the loading system 106 for the loading vehicle 100. The method is used for loading material into the loading vehicle 100 from the pile 110 in the mining environment 200. The loading vehicle 100 comprises a boom 102, a bucket 104 interconnected to the boom 102, and a force sensor 108. The loading vehicle 100 is instructed to drive towards the pile 110 so that the bucket 104 penetrates the pile 110. The method comprises: continuously receiving 304 a force value of a force exerted on the boom 102 detected by the force sensor 108, while the loading vehicle 100 is driving towards the pile 100; determining 306 if the detected force value exceeds a first threshold value; determining 308 if the value of the derivative of the force exerted on the boom 102 is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing 314 the bucket 104 to dig in the pile 110 so as to load material from the pile 110, if the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for the first time.

[00042] In one embodiment, the loading vehicle 100 is instructed by a driver to drive towards the pile 110. When driving towards the pile 110, the bucket 104 penetrates the pile 110. The driver can give his/her driving instruction to the loading vehicle 100 inside the compartment of the loading vehicle 100, or give the driving instruction via a remote driving controller which is outside the driving compartment of the loading vehicle 100. In another embodiment, the loading vehicle 100 is an autonomous vehicle can drive towards the pile automatically. Though the bucket 104 penetrates the pile 110, the bucket 104 does not begin to dig in the pile 110 at this step, because the bucket 104 is not deep enough inside the pile 110.

[00043] In the step 304, the loading system 106 continuously receives a force value detected by the force sensor 108. While the loading vehicle 100 continuously driving towards to the pile 110 and the bucket 104 penetrates deeper in the pile 110, the force exerted on the boom 102 and the bucket 104 increases. When the sensor 108 detects the force exerted on the boom 102, it sends the detected value of the force to the loading system 106.

[00044] In the step 306, the loading system 106 compares the value of force exerted on the boom with a first threshold value. The first threshold value can be predetermined and will be discussed in detail in the following text.

[00045] In the step 308, when the loading system 106 determines that the force exerted on the boom 102 exceeds the first threshold value, it indicates that the bucket 104 has penetrated to a quite deep position into the pile 110. However it is not yet ready to dig. The loading system 106 determines a value of the derivative of the force exerted on the boom 102. The derivative of the force indicates a rate of change of the force. If the value of the force derivative is large, it means that the force changes considerably. If the value of the force derivative is small, it means that the force changes little. If the value of the force derivative is zero, it means that the force does not change at all. Therefore, the loading system 106 determines if the value of the derivative of the force exerted on the boom 102 is equal to or below a second threshold value for a first time actually means the loading system 106 determines if the force change rate is small enough. The second threshold value can be predetermined.

[00046] In the step 314, it is determined that the value of the force derivative is lower than or equal to the second threshold value for a first time. It indicates that the bucket 104 has penetrated deep enough in the pile 110 and cannot penetrate further, therefore the force on the boom 102 no longer varies significantly, and the force derivative is lower than or equal to the second threshold for the first time. Then the loading system 106 instructs the bucket 104 to dig in the pile 110.

[00047] By this embodiment, the loading system 106 guarantees that the bucket 104 penetrates in the pile 110 to a position where the bucket 104 cannot penetrate further. Such a position is determined to be a deep enough position in the pile 110 and the bucket 104 can dig from this position so that the bucket 104 can be loaded as full as possible. The loading efficiency is improved, and the control of the penetrating/digging is simple. Furthermore, only one parameter, that is the force exerted on the boom 102, is monitored, so that it is easy to implement.

[00048] According to another embodiment, referring to fig. 2, when the bucket 104 penetrates the pile 110, the bucket 104 having a downward angle to a horizontal vehicle plane 120, the angle between the bottom plane 122 of the bucket 104 and the horizontal vehicle plane 120 is between 1 ° to 10°, preferably between 1 ° to 5°.

[00049] The horizontal vehicle plane is the plane defined by positions of the front and rear wheel axles 124, 126 of the loading vehicle 100. According to one embodiment, the horizontal vehicle plane 120 is the plane defined or spanned by the lowermost positions of the front and rear wheels of the loading vehicle 100, which rest against the ground. In some embodiments, the horizontal vehicle plane 120 can be a horizontal plane. In some other embodiment, the horizontal vehicle plan 120 is not a horizontal plane, e.g., has an angle in relation to the horizontal plane, when the loading vehicle 100 is on a slope. According to one embodiment, the horizontal vehicle plane 120 corresponds to the horizontal vehicle line, e.g. the vehicle’s x-axis, between the lowermost positions of the front and rear wheels’ of the loading vehicle, which rest against the ground. The bottom plane 122 of the bucket 104 is the bucket plane which is in touch with the horizontal vehicle plane 120 when the bucket is resting on the horizontal vehicle plane 120.

[00050] According to another embodiment, the loading vehicle 100 is autonomous vehicle or manual vehicle.

[00051] Since both autonomous vehicle and manual vehicle are used in mining environment, the method is applicable to both autonomous and manual vehicle.

[00052] According to another embodiment, the first threshold is 100kN to 1000kN, preferably 300kN to 500kN.

[00053] According to another embodiment, referring to fig. 2, the method further comprises: when the value of the derivative of the force exerted on the boom 102 is determined to be equal to or below the second threshold for the first time, instructing 310 the boom 102 to lift and the bucket 104 continue to penetrate the pile 110, the lifting angle being between 0° to 10°, preferably 3° to 5°; determining 312 if the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for the second time, proceeding to the step of instructing 314 the bucket 104 to dig in the pile 110 so as to load material from the pile 110.

According to one embodiment, the lifting angle is the angle between the boom 102 and the horizontal vehicle plane 120.

[00054] This embodiment allows the bucket 104 to penetrate further when the value of force derivative is determined to be equal to or below the second threshold value for the first time. In order to penetrate further, the loading system 106 instructs 310 the boom 102 to lift an angle between 0° to 10°, preferably 3° to 5° so as to increase the friction between the wheels and the ground, therefore the bucket 104 is possible to penetrate further. When the bucket 104 cannot penetrate more and the value of force derivative is small enough for a second time, it is determined that the bucket 104 has indeed penetrated deep enough in the pile 110 and cannot penetrate further. Then the bucket 104 can be instructed to dig in the pile 110.

[00055] By this embodiment, the double confirmation of the force derivative is used to confirm that the bucket 104 has penetrated deep enough in the pile 110 and cannot penetrate further. The digging can begin afterwards, so that the digging efficiency can be improved.

[00056] According to another embodiment, the second threshold value is 0 N/s.

[00057] According to another embodiment, the force detected by the force sensor is low pass filtered.

[00058] Therefore, the possible noise in the detected force is filtered, and the risk for the noise triggering any action is reduced.

[00059] According to another embodiment, the step of instructing 314 the bucket 104 to dig in the pile 110 so as to load material from the pile 110 further comprises: the loading vehicle 100 continuously moving towards the pile 110; during the loading vehicle 110 moving towards the pile, instructing the bucket 104 to tilt upward for a predetermined angle and/or time; and instructing the bucket 104 to hold still for a predetermined time, after the bucket 104 has finished tilting.

[00060] When it is determined that the boom 102 is deep enough in the pile 110 and the bucket 104 can begin to dig in the pile 110, the loading vehicle 100 is instructed to move continuously towards the pile 110. The bucket 104 is instructed to tilt upward an angle, so as to reduce the counterforce from the pile 110 and allow the loading vehicle 110 to continue moving forward. Then the bucket 104 is kept still when being pushed to the pile 110, and the material in the pile 110 is filled into the bucket 104 when keeping still and pushed forward. This digging process can be repeated, that is the bucket 104 is tilted and kept still repeatedly. The tilting angle and the predetermined still time are configurable, and there are three different digging modes with different angles and times: Fast mode, Powerful mode and Balanced mode. The Fast mode fits for the material which is easy to load, and the bucket is filled quickly. In the Fast mode the angle is small and the still time is short. The Powerful mode fits for the material which is difficult to load and takes longer time. In the Powerful mode the angle is larger and the still time is long. The Balanced mode is a compromise between Powerful mode and Fast mode.

[00061 ] According to another embodiment, the method further comprises: when the angle between bottom plane 122 of the bucket 104 and a horizontal vehicle plane 120 is equal to angle of repose of the pile 110, instructing the loading vehicle 100 finish digging.

[00062] As defined above, the horizontal vehicle plane 120 can be the plane defined by the positions of the front and rear wheels’ axels 126, 128 of the loading vehicle 100. The bottom plane 122 of the bucket 104 is the bucket plane which is in touch with the horizontal vehicle plane 120 when the bucket 104 is resting on the horizontal vehicle plane 120. When the angle between the bucket 104 and the horizontal vehicle plane 120 is angle of repose of the pile 110, it approximately indicates that the bucket 104 is parallel to the upper surface of the pile 110. When the bucket is parallel to the upper surface of the pile 110, no more material can be dig into the bucket 104, and the digging is finished.

[00063] According to another embodiment, a loading system 106 for a loading vehicle 100 is disclosed. The loading system 106 is for loading material into the loading vehicle 100 from a pile 110 in a mining environment 200, the loading vehicle 100 comprising a boom 102, a bucket 104 interconnected to the boom 102, and a force sensor 108, the loading vehicle 100 being instructed to drive towards the pile 110 so that the bucket 104 penetrates the pile 110, the loading system 106 comprises a processing circuitry 403 and a memory 404, the memory 404 containing instructions executable by the processing circuitry 403, whereby the loading system 106 is operative for: continuously receiving a force value of a force exerted on the boom 102 detected by the force sensor 108, while the loading vehicle 100 is driving towards the pile 100; determining if the detected force value exceeds a first threshold value; determining if a value of a derivative of the force exerted on the boom 102 is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing the bucket 104 to dig in the pile 110 so as to load material from the pile 110, if the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for the first time.

[00064] According to another embodiment, when the bucket 104 penetrates the pile 110, the bucket 104 having a downward angle to a horizontal vehicle plane 120, the angle between the bottom plane 122 of the bucket 104 and the horizontal vehicle plane 120 is between 1 ° to 10°, preferably 1 ° to 5°.

[00065] According to another embodiment, the loading vehicle 100 is autonomous vehicle or manual vehicle.

[00066] According to another embodiment, the first threshold is 100 kN to 1000 kN, preferably 300 kN to 500 kN.

[00067] According to another embodiment, the loading system 106 is further operative for: when the value of the derivative of the force exerted on the boom 102 is determined to be equal to or below the second threshold value for the first time, instructing the boom 102 to lift and the bucket 104 continue to penetrate the pile 110, the lifting angle being between 0° to 10°, preferably 3° to 5°; determining if the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom 102 is equal to or below the second threshold value for the second time, instructing the bucket 104 to dig in the pile 110 so as to load material from the pile 110.

[00068] According to another embodiment, the second threshold value is 0 N/s.

[00069] According to another embodiment, the force detected by the force sensor 108 is low pass filtered. [00070] According to another embodiment, instructing the bucket 104 to dig in the pile 110 so as to load material from the pile 110 further comprises: the loading vehicle 100 continuously moving towards the pile 110; during the loading vehicle 100 moving towards the pile 110, instructing the bucket 104 to tilt upward for a predetermined angle and/or time; and instructing the bucket 104 to hold still for a predetermined time, after the bucket 104 has finished tilting.

[00071] According to another embodiment, the loading system 106 is further operative for: when the angle between the bottom plane 122 of the bucket 104 and the horizontal vehicle plane 120 is equal to the angle of repose of the pile 110, instructing the loading vehicle 100 to finish digging.

[00072] According to other embodiments, referring to fig. 4, the loading system 106 may further comprise a communication unit 402, which may be considered to comprise conventional means for wireless communication with other devices, such as a transceiver for wireless transmission and reception of signals. The instructions executable by said processing circuitry 403 may be arranged as a computer program 405 stored e.g. in said memory 404. The processing circuitry 403 and the memory 404 may be arranged in a sub-arrangement 401. The subarrangement 401 may be a micro-processor and adequate software and storage therefore, a Programmable Logic Device, PLD, or other electronic component(s)/processing circuit(s) configured to perform the methods mentioned above. The processing circuitry 403 may comprise one or more programmable processor, application-specific integrated circuits, field programmable gate arrays or combinations of these adapted to execute instructions.

[00073] The computer program 405 may be arranged such that when its instructions are run in the processing circuitry, they cause the loading system 106 to perform the steps described in any of the described embodiments of the loading system 106 and its method. The computer program 405 may be carried by a computer program product connectable to the processing circuitry 403. The computer program product may be the memory 404, or at least arranged in the memory. The memory 404 may be realized as for example a RAM (Randomaccess memory), ROM (Read-Only Memory) or an EEPROM (Electrical Erasable Programmable ROM). In some embodiments, a carrier may contain the computer program 405. The carrier may be one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or computer readable storage medium. The computer-readable storage medium may be e.g. a CD, DVD or flash memory, from which the program could be downloaded into the memory 404. Alternatively, the computer program may be stored on a server or any other entity to which the loading system 106 has access via the communication unit 402. The computer program 405 may then be downloaded from the server into the memory 404.

[00074] Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently described concept fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." Further, the term “a number of”, such as in “a number of wireless devices” signifies one or more devices. All structural and functional equivalents to the elements of the above-described embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for an apparatus or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby. In the exemplary figures, a broken line generally signifies that the feature within the broken line is optional.

Claims

1 . A method performed by a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the method comprising: continuously receiving (304) a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) is driving towards the pile (100); determining (306) if the detected force value exceeds a first threshold value; determining (308) if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.

2. The method according to claim 1 , when the bucket (104) penetrates the pile (110), the bucket (104) having a downward angle to a horizontal vehicle plane (120), the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is between 1 ° to 10°, preferably 1 ° to 5°.

3. The method according to claim 1 or 2, wherein the loading vehicle (100) is an autonomous vehicle or a remote controlled or manually operated vehicle.

4. The method according to any one of the claims 1 -3, the first threshold value is 100 kN to 1000 kN, preferably 300 kN to 500 kN.

5. The method according to any of the claims 1-4, wherein the method further comprises: when the value of the derivative of the force exerted on the boom (102) is determined to be equal to or below the second threshold value for the first time, instructing (310) the boom (102) to lift and the bucket (104) continue to penetrate the pile (110), the lifting angle being between 0° to 10°, preferably 3° to 5°; determining (312) if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the second time, proceeding to the step of instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110).

6. The method according to any one of the claims 1 -5, the second threshold value is 0 N/s.

7. The method according to any one of claims 1-6, wherein the force detected by the force sensor (108) is low pass filtered.

8. The method according to any one of claims 1-7, wherein the step of instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110) further comprises: the loading vehicle (100) continuously moving towards the pile (110); during the loading vehicle (100) moving towards the pile (110), instructing the bucket (104) to tilt upward for a predetermined angle; and instructing the bucket (104) to hold still for a predetermined time, after the bucket (104) has finished tilting.

9. The method according to the claim 8, the method further comprises: when the angle between bottom plane (122) of the bucket (104) and a horizontal vehicle plane (120) is equal to the angle of repose of the pile (110), instructing the loading vehicle (100) to finish digging.

10. A loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the loading system (106) comprises a processing circuitry (403) and a memory (404), the memory (404) containing instructions executable by the processing circuitry (403), whereby the loading system (106) is operative for: continuously receiving a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) is driving towards the pile (100); determining if the detected force value exceeds a first threshold value; determining if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.

11 . The loading system (106) according to claim 10, when the bucket (104) penetrates the pile (110), the bucket (104) having a downward angle to a horizontal vehicle plane (120), the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is between 1 ° to 10°, preferably 1 ° to 5°.

12. The loading system (106) according to claim 10 or 11 , wherein the loading vehicle (100) is an autonomous vehicle or a remote controlled or a manually operated vehicle.

13. The loading system (106) according to any one of the claims 10-12, the first threshold value is 100 kN to 1000 kN, preferably 300 kN to 500 kN.

14. The loading system (106) according to any one of the claims 10-13, wherein the loading system (106) is further operative for: when the value of the derivative of the force exerted on the boom (102) is determined to be equal to or below the second threshold value for the first time, instructing the boom (102) to lift and the bucket (104) continue to penetrate the pile (110), the lifting angle being between 0° to 10°, preferably 3° to 5°; determining if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the second time, instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110).

15. The loading system (106) according to any one of the claims 10-14, the second threshold value is 0 N/s.

16. The loading system (106) according to any one of claims 10-15, wherein the force detected by the force sensor (108) is low pass filtered.

17. The loading system (106) according to any one of claims 10-16, wherein instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110) further comprises: the loading vehicle (100) continuously moving towards the pile (110); during the loading vehicle (100) moving towards the pile (110), instructing the bucket (104) to tilt upward for a predetermined angle and/or time; and instructing the bucket (104) to hold still for a predetermined time, after the bucket (104) has finished tilting.

18. The loading system (106) according to the claim 17, the loading system (106) is further operative for: when the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is equal to the angle of repose of the pile (110), instructing the loading vehicle (100) to finish digging.

19. A computer program (405) comprising instructions, which, when executed by a processing circuitry (403) of a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the boom (102) penetrates the pile (110), causes the loading system (106) to perform the method according to any of the claims 1-9.

20. A carrier containing the computer program (405) according to claim 19, wherein the carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.

21. A loading vehicle (100) comprising a loading system (106) as claimed in any one of the claims 10-18.