RU2801144C2 - System and method for automated cleaning of returned material on surface during delivery - Google Patents

Abstract

FIELD: material delivery machines.

SUBSTANCE: invention relates to movable material delivery machines and, in particular, is intended for automated cleaning of return material from a tipping body of a delivery machine. The system for removing returnable material from the tipping body (44) of a mining truck (40) contains a cleaning device (17, 70), a controller (116) configured to determine the spatial location of the tipping body (44), the spatial location of the cleaning device, the trajectory cleaners (17, 70) to remove the return material from the inner surface of the tipping body based on the return material card. A method for removing returnable material from a tipping body of a mining truck includes providing access to a return material card on the inner surface of the tipping body, determining the spatial location of the tipping body, cleaning devices, and determining the trajectory of the cleaning device for removing returnable material from the inner surface of the tipping body based on the return material card, the spatial arrangement of the tipping body and the spatial arrangement of the cleaning device, and generating command signals to move the cleaning device along a path to perform a cleaning operation on the inner surface of the tipping body (44).

EFFECT: invention provides optimization of productivity at the work site and maximization of the amount of material to be moved.

10 cl, 11 dwg

Description

Technical field

The present invention generally relates to movable delivery vehicles for moving material, and in particular to a system for clearing recycled material automatically in a tipping delivery vehicle body.

State of the art

Machines such as haul trucks or delivery trucks are used in various industries to transport, or move, material from one location to another. When using a mining truck to deliver material, after each dumping operation, some of the material may, under certain conditions, adhere to or stick to the inside surface of the mining truck tipping body. The material remaining in the tipping body may be referred to by various terms such as "return material", "residual load" or "dead layer".

Return material remaining in the tipping body is undesirable as it reduces machine performance. In particular, the return material reduces the usable capacity (eg, volume) of the tipping body, requiring more trips to move the desired amount of material from loading to unloading. In addition, the increased weight of the tipping body due to recycled material also reduces the fuel efficiency of haul trucks. Each of these reasons reduces the efficiency of the material transfer process.

British Patent Application No. 2537590 discloses a tipper truck comprising a tipper body which can be pivoted by means of a hydraulic cylinder to empty the tipper body. The pressure parameter related to the hydraulic pressure of the hydraulic cylinder is measured. Based on the pressure parameter, the residual load in the tipper body can be measured.

The foregoing discussion of the prior art is intended to assist the reader only. It is not intended to limit the innovations described herein, nor is it intended to limit or expand upon the prior art discussed. Therefore, the foregoing discussion should not be taken as indicating that any particular element of the legacy system is not suitable for use in conjunction with the innovations described in this document, nor is it intended to indicate that any element is essential to the implementation of the innovations. described in this document. The implementation and application of the innovations described herein are defined by the appended claims.

The essence of the invention

In a first aspect, a system for removing return material from a tipping body of a mining truck comprises a tipping body, a tipping body spatial position sensor, a cleaning tool, a cleaning tool spatial position sensor, and a controller. The tipping body has an inner surface for material delivery. The tipping body position sensor is configured to generate tipping body position signals indicating the spatial position of the tipping body. The cleaning device is configured to remove return material from the inner surface of the tipping body. The cleaner spatial location sensor is configured to generate cleaner spatial location signals indicative of the spatial location of the cleaner. The controller is configured to access the return material map on the inner surface of the tipping body, determine the spatial location of the tipping body based on the spatial location of the tipping body, and determine the spatial location of the cleaner based on the spatial location signals of the cleaner. The controller is further configured to determine the trajectory of the cleaner to remove the return material from the inner surface of the tipping body based on the return material map, the spatial location of the tipping body, and the spatial location of the cleaner, and generate move command signals to move the cleaner along the specified path. trajectory for performing a cleaning operation on the inner surface of the tipping body.

In another aspect, a method for removing reclaimed material from a tipping body of a mining truck includes accessing a reclaimed material map on an interior surface of the tipping body, determining the spatial location of the tipping body based on the spatial positioning of the tipping body signals from the body positioning sensor of the tipping body, and determining the spatial location of a cleaning tool on the tipping body. based on cleaning tool spatial location signals from the cleaning tool spatial location sensor. The method further includes determining the trajectory of the cleaner to remove return material from the inner surface of the tipping body based on the return material map, the spatial location of the tipping body, and the spatial location of the cleaner, and generating move command signals to move the cleaner along the path to perform cleaning operations on the inside surface of the tipping body.

Brief description of graphic materials

In FIG. 1 is a schematic illustration of a work site in which the principles disclosed in this document can be used;

in fig. 2 is a perspective view of a loader and a mining truck in operation at the work site shown in FIG. 1;

in fig. 3 is a schematic rear view of the mining truck shown in FIG. 2 with a monitoring sensing device positioned above a tipping body of a mining truck;

in fig. 4 is a side view of the mining truck shown in FIG. 2;

in fig. 5 is a rear perspective view of the tipping body of the mining truck shown in FIG. 4;

in fig. 6 is a side view of an excavator for use with the systems disclosed herein;

in fig. 7 is a perspective view of a hydraulic console for use with the systems disclosed herein;

in fig. 8 is a block diagram illustrating the operation of an aspect of the systems disclosed herein;

in fig. 9 is a block diagram illustrating the operation of a second aspect of the systems disclosed herein;

in fig. 10 is a block diagram illustrating the operation of a third aspect of the systems disclosed herein; And

in fig. 11 is a block diagram illustrating the operation of a fourth aspect of the systems disclosed herein.

Detailed description

In FIG. 1 depicts an exemplary work site 100 in which one or more machines 10 may operate autonomously, semi-autonomously, or manually operated to move material from one location at work site 100 to another location at work site or to an additional location at a remote location. from the place of work. The work site 100 may be part of, for example, a mine, a construction site, a road work site, a landfill, a quarry, a forest, or any other type of site. As shown in FIG. 1, an excavator 11 is used to load the material onto the mining truck 40, although any type of machine may be used to load the material and any type of machine may be used to transport the material.

Work location 100 may contain multiple locations dedicated to specific purposes. For example, a first location may be assigned as a loading location 101 at which one or more loading machines, such as an excavator 11 or other machines, are operated to fill one or more mining trucks 40 with material. A second location may be assigned as a location 102 unloading, in which the mining trucks 40 unload, or unload, their payload. In the disclosed embodiment, the dump location 102 is located at the edge of a steep slope, ridge, or bluff area, often referred to as slope 103. In this embodiment, mining trucks 40 may be operated to unload their payload over the edge of slope 103. Mining trucks 40 may follow the main a travel path 104 that generally runs between the loading location 101 and the unloading location 102.

The unloading location 102 can be subdivided into groups 105 of unloading facilities 106 where mining trucks 40 can unload their payload. It is envisaged that the unloading location 102 may have any number of groups 105. By having multiple groups 105 at the unloading location 102, more than one mining truck 40 can operate simultaneously at the unloading location 102 without traffic problems and significant time delays.

The control system 115, which is generally indicated in FIG. 1, the arrow associated with the work site 100 may function to control certain aspects of the operation of the machines at the work site and also exchange information between the machines, as well as between the machines and the administrative department or remote system 120. The control system 115 may be a stand-alone system. or may include other systems, including systems that reside in or are associated with the various machines 10, such as machine control systems, which are described below.

The control system 115 may include components at the work site 100 and may also include components located at a distance from the work site. As a result, the functionality of the control system 115 can be distributed so that certain functions are performed at the work site 100 and other functions are performed remotely, such as at a remote control center. For signaling between components, the control system 115 may include a communications system comprising both a wireless communications system 121 in the command center 122 and a wired communications system (not shown).

Control system 115 may include an electronic control module, or controller 116, that may receive various inputs from wireless communication system 121, wired communication systems (not shown), control systems and sensors associated with machines 10, or any other source. Control system 115 and controller 116 may control and provide input to operate various aspects of work site 100, including the specific tasks and operations performed by machines 10.

Controller 116 may be an electronic controller that operates in a logical manner to perform operations, execute control algorithms, store and retrieve data, and other necessary operations. The controller 116 may contain a memory device, auxiliary storage devices, processors, and any other components for running the application or have access to them. The storage device and auxiliary storage devices may be in the form of Read Only Memory (ROM), Random Access Memory (RAM), or an integrated circuit that can be accessed by the controller. Various other circuits may be associated with the controller 116, such as a power supply circuit, a signal conditioning circuit, a trigger circuit, and other types of circuits.

The controller 116 may be a single controller or may include more than one controller configured to control different functions and/or elements of the control system 115. For example, controller 116 may include machine controllers associated with machines 10. The term "controller" is intended to be used in its broadest sense to include one or more controllers and/or microprocessors that may be associated with work site 100 and/or machines 10, and which can interact to control various functions and operations at the work site and in the machines. The functionality of the controller 116 may be implemented in hardware and/or software, regardless of the functionality. The controller 116 may be based on one or more data cards that are related to the operating and environmental conditions at the work site 100, as well as the characteristics and capabilities of the machines 10, which may be stored in the controller's memory. Each of these data maps may contain a set of data in the form of tables, graphs and/or equations.

Excavator 11 has several systems and components that interact to move material in the desired manner. The excavator 11 may include an implement system 12 comprising a swivel or platform 13, a chassis 14, and a linkage assembly 16 containing an implement made in the form of a bucket 17. The platform 13 may be rotatably positioned on the chassis 14 and may include a cab 18 operator, from which the operator can control some or all of the operations of the excavator 11. The rotation of the platform 13 relative to the chassis 14 can be performed by a rotary motor, generally indicated by the reference position 19.

Chassis 14 may be a supporting structure for one or more traction devices 20, made in the form of engaging with the ground caterpillars, used to allow translational movement of the excavator 11 on the working surface and, thus, allowing the system 12 of the working equipment to be a mobile system. working equipment. Alternatively, the traction devices 20 may be in the form of wheels, belts, or other traction devices known in the art.

Power to operate excavator 11 may be provided by prime mover 15. In one embodiment, prime mover 15 may be implemented as an internal combustion engine, such as a diesel engine, a gasoline engine, a gaseous fuel engine (e.g., a natural gas engine), or an internal combustion engine. combustion of any other type known in the art. Alternatively, prime mover 15 may be implemented as a non-combustion power source, such as an electrical source, including a fuel cell, or an energy storage device, such as a battery, connected to the motor. The prime mover 15 may provide rotational power to drive the traction devices 20, thereby driving the excavator 11. The prime mover 15 may also provide power to other systems and components of the excavator 11.

The linkage assembly 16 may include one or more linkage elements configured to move the bucket 17. In one example, the linkage assembly 16 may include an arrow element 22 and a stick element 23. The first end of the arrow element 22 may be pivotally connected to the platform 13, and the second end of the arrow element may be pivotally connected to the first end of the handle element 23. The bucket 17 can be hinged or movably connected to the second end of the element 23 in the form of a handle.

Each lever element may contain and be operatively connected to one or more actuators, such as hydraulic cylinders. In particular, the element 22 in the form of an arrow can be driven or moved along the path using one or more hydraulic cylinders 25 of the boom. The handle element 23 can be driven by a hydraulic handle cylinder 26 . The rotation of the bucket 17 relative to the element 23 in the form of a handle can be carried out using the hydraulic cylinders 27 of the working device. The lever elements can translate or rotate in a plane generally orthogonal to the working surface. Other types of drives are contemplated, such as electric motors, air motors, or any other drive devices.

Excavator 11 may include and be controlled by an excavator control system 30, which is generally shown in FIG. 2 with an arrow indicating communication with the machine. Excavator control system 30 may include an electronic control module, or controller, such as excavator controller 31, that controls the operation of various aspects of excavator 11, including transmission and hydraulic systems. The excavator control system 30 and excavator controller 31 may be identical or similar in design and operation to the control system 115 and site controller 116 described above, respectively, the descriptions of which will not be repeated herein. The excavator control system 30 and the excavator controller 31 may be located on the excavator 11, and may also contain components located remotely from the excavator, for example, on any of the other machines 10 at the work site 100 or in the command center 122. The functionality of the excavator controller 31 can be distributed so that certain functions are performed on the excavator 11 and other functions are performed remotely.

The excavator 11 may be equipped with a plurality of sensors providing data that indicates (directly or indirectly) various machine operating parameters and/or operating conditions under which the machine is operating. The term "sensor" is intended to be used in its broadest sense to include one or more sensors and related components that may be associated with the excavator 11 and may interact to measure various machine functions, operations and performance and/or aspects environmental conditions in which the machine operates.

The implement system spatial location system 32, generally shown in FIG. 2, the arrow indicating communication with the excavator 11 includes an implement system attitude sensor 33 for determining the position and orientation (i.e., heading, pitch, roll, or tilt, and yaw) of the implement system 12 relative to the work site 100. Position and orientation are sometimes collectively referred to as "spatial arrangement". Implement system attitude sensor 33 may include a plurality of individual sensors that cooperate to generate and provide to excavator controller 31 attitude signals indicative of the position and orientation of implement system 12.

In one example, the implement system attitude sensor 33 may comprise one or more sensors that interface with a position determination system, such as a global satellite navigation system or a global positioning system, to function as an attitude sensor. In another example, the implement system attitude sensor 33 may further comprise a slope or tilt sensor, such as a pitch angle sensor, for measuring the slope, or angle, of the implement system 12 relative to a reference point on the ground or ground. The excavator controller 31 may use the implement system spatial location signals from the implement system spatial position sensor 33 to determine the spatial arrangement of the implement system 12 at the work site 100 . In other examples, the implement system attitude sensor 33 to determine all or some aspects of the implement system 12 spatial arrangement may comprise an odometer or other sensor for measuring wheel rotation, a perception-based system, or may use other systems such as lasers, sonar, or radar.

In an embodiment, implement system attitude sensor 33 may include a first attitude sensor for determining the position of an aspect of the excavators, such as platform 13 or chassis 14, in conjunction with a plurality of angle sensors, indicated generally at 34 and positioned adjacent one or more hinges. linkage elements (i.e., the boom pivot between platform 13 and boom member 22, the arm pivot between boom member 22 and stick member 23, and the implement pivot between bucket 17 and stick member 23). In some cases, the general position of the excavator 11 can be determined depending on the chassis 14. In these cases, the set of angle sensors 34 may include an angle sensor to determine the relative angle between the platform 13 and the chassis 14. The angle sensors 34 may include inertial measuring units, encoders of the rotation angle , potentiometers, or other angular or measuring devices for measuring the relative angular position of components.

In an alternative embodiment, the angle sensors 34 may measure the displacement of the actuator and the pivot angles may be calculated based on the position of the actuators and the dimensions of the linkage elements. In another alternative embodiment, any or all of the angle sensors 34 may be configured to measure angular velocity or angular acceleration rather than angular position. Regardless of the type of angle sensors 34, the excavator controller 31 may use the output signals from the angle sensors to determine the position of each linkage and bucket 17 relative to the platform 13 and/or chassis 14.

The positions of the components of the excavator 11, including the working equipment system 12, can be determined based on the kinematic model of the machine in conjunction with the dimensions of the platform 13, the chassis 14, the element 22 in the form of an arrow, the element 23 in the form of a handle and a bucket 17, as well as the relative positions various components. In particular, the excavator controller 31 may comprise a data map identifying the position of each component of the excavator 11 based on the relative positions of the various components. Excavator controller 31 may use the position of platform 13 and/or chassis 14 in conjunction with the sizes and positions of various components to determine the position of each component of excavator 11 relative to work site 100 . The operating characteristics and kinematic model of the excavator 11 may be stored in or accessible to the excavator controller 31 or any other controller such as the controller 116.

With reference to FIG. 2-3, the sensing system 35 may be located or installed proximate the bucket 17. The sensing system 35 may include one or more systems such as an optical system (for example, a camera system), a thermal or infrared imaging system, a radar system, a LIDAR system, and/ or any other desired system operable with associated sensing sensors to detect material configuration in tipping body 44 of mining truck 40, as described in more detail below. In an embodiment, the sensing system 35 may be in the form of an optical system and may include sensing sensors such as a camera system 36 having a single camera or multiple cameras. In some embodiments, it may be desirable to provide a light source 37 to enhance, supplement, or enhance contrast and/or otherwise improve the performance of the camera system 36 in relation to the analysis of the tipping body 44.

Perceiving sensors, such as a camera system 36, may generate signals or sense data received by the excavator controller 31 or controller 116 and used to determine the position of the return material on the inner surface 46 of the tipping body 44 of the mining truck 40, as described below. To this end, the sensing system 35 may be used to generate an electronic map and/or images of the inside surface 46 of the tipping body of the mining truck 40. The sensing system 35 may use a camera system 36 or any other sensors installed to generate the sensing data. In one embodiment, each camera of the camera system 36 may be mounted on the excavator 11 at a relatively high observation point, such as a cantilever beam 38 extending from the stick member 23 adjacent to the bucket 17. Sensors such as the camera system 36 , if necessary, can be located in other locations.

With reference to FIG. 4 is a schematic illustration of a haul truck 40 for delivering, or transporting, material. The mining truck 40 includes a frame 41 and a prime mover, such as an engine 42, operably coupled to drive wheels 43 to propel the machine. Mining truck 40 may use any type of machine propulsion and transmission mechanisms, including hydrostatic, electrical or mechanical drive.

The payload container, or tipping body 44, may be articulated on the frame 41 and configured to transport material. With reference to FIG. 5, the inner surface 46 of the tipping body 44 may have one of a variety of different configurations. The inner surface 46 may be set by the configuration of the bottom surface 47, the opposite side walls 48, and the front wall 49. Referring to FIG. 4, actuators such as hydraulic cylinders 50 may extend between the frame 41 and the tipping body 44. These actuators may, if necessary, be actuated to unload material from the tipping body 44.

Mining truck 40 may include a cab 51 that can be physically occupied by an operator and provide input to operate the machine. Cabin 51 may include one or more input devices (not shown) through which an operator may issue commands to control the propulsion and steering of the machine, as well as the dumping of the tipping body 44.

Mining truck 40 may include and be controlled by a mining truck control system 52, which is generally shown in FIG. 3 with an arrow indicating communication with the machine. The mining truck control system 52 may include an electronic control module, or controller, such as the mining truck controller 53, which controls the operation of various aspects of the mining truck 40, including the transmission and hydraulic systems. The mining truck control system 52 and the mining truck controller 53 may be identical or similar in design and operation to the control system 115 and site controller 116 described above, respectively, the descriptions of which will not be repeated herein. The mining truck control system 52 and the mining truck controller 53 may be located on the mining truck 40, and may also contain components located remotely from the mining truck, for example, on any of the other machines 10 at the work site 100 or in the command center 122. Functional the capabilities of the mining truck controller 53 can be distributed so that certain functions are performed on the mining truck 40 and other functions are performed remotely. The operating characteristics and reference profile of the mining truck 40 may be stored in or accessible to the controller 53 of the mining truck or any other controller such as controller 116.

Mining truck 40 may be equipped with a plurality of sensors indicated as a whole that provide data indicative (directly or indirectly) of various operating parameters of the machine. As discussed above with respect to excavator 11, the term "sensor" is intended to be used in its broadest sense to include one or more sensors and related components that may be associated with mining truck 40.

The plurality of sensors on the mining truck 40 may include a mining truck spatialization system 54 similar in some respects to the work equipment system spatialization system 32 described above. As shown in FIG. 4, the mining truck attitude system 54 may include a mining truck attitude sensor 55 having a plurality of individual sensors cooperating to generate and provide to the mining truck controller 53 attitude signals indicative of position and orientation (i.e. heading, pitch, roll, or slope, and yaw) of a mining truck 40 relative to the work site 100. The sensors associated with the mining truck 40 may include sensors identical or similar to those described above with respect to the excavator 11, and therefore their descriptions will not be repeated in this document. The mining truck 40 may further comprise a tipping angle sensor 56 for detecting the position of the tipping body 44 relative to the frame 41 or some other reference point. The mining truck attitude system 54, in combination with the tilt body angle sensor 56, can function as a tilt body attitude sensor to determine the attitude of the dump body 44 relative to the work site 100 .

The mining truck control system 52 may also include a payload rating system, generally indicated by numeral 57. The payload rating system 57 may determine the payload rating in the tipping body 44 of the mining truck 40. In an embodiment, the payload rating system 57 may operate by measuring pressure on hydraulic cylinders 50.

Excavators 11 and mining trucks 40 operating at work site 100 may be configured for autonomous, semi-autonomous, or manual operation. In the case of semi-autonomous or manual operation, the machines may be operated by remote control and/or control by an operator physically located in the cab. If the machine is configured to be operated by a remote control system, an imaging system (not shown) such as a camera system may be provided to generate visual images showing a point of view relative to the machine. The visual image signals may be wirelessly transmitted over the wireless network system 121 to a system remote from the machines, such as an external control system 115 .

In view of the fact that the operations performed at the work site 100 by the excavator 11 and the mining truck 40 can be scheduled and controlled by any of the excavator control system 30, the mining truck control system 52, the control system 115, or any combination thereof, as well as the excavator controller 31, mining truck controller 51, controller 116, or any combination thereof, references to systems and operations of control system 115 and/or controller 116 herein may refer to the systems and operations of any of excavator control system 30, mining truck control system 52, control system 115 or any combination thereof, as well as to the excavator controller 31, the mining truck controller 51, the controller 116, or any combination thereof.

The control system 115 may include a return material monitoring system 60 (FIG. 1) used to autonomously or semi-autonomously monitor the amount of return material in the tipping body 44 of each mining truck 40 and determine if a threshold amount of return material has been reached. By determining that the tipping body 44 transports an amount of returnable material that exceeds the threshold amount of returnable material, a mining truck 40 can be identified or designated to be cleaned on the interior surface 46 to remove the returnable material. To determine if the amount of recycled material exceeds a threshold amount of recycled material, the current profile of the inner surface 46, including the shape of the inner surface modified due to the presence of recycled material, can be compared with a reference profile of the inner surface containing no recycled material (i.e., completely empty ).

Tipping bodies 44 may be designed or implemented based on any combination of goals in terms of materials to be delivered. These goals may include maximizing payload, maximizing durability, maximizing delivery efficiency (ie, maximizing tons per hour), and/or minimizing spillage. Accordingly, the support profile of the inner surface 46 of the tipping body 44 may be different for each mining truck 40. Examples of aspects of the inner surface 46 of the tipping body 44 that may differ from one tipping body to another include: 1) the bottom surface 47 is flat or has a different shape (for example, "duck tail"); 2) slope of the bottom surface 47; 3) the height of the side walls 48 relative to the bottom surface 47; 4) slope or angle between bottom surface 47 and side walls 48; 5) the height of the front wall 49 relative to the bottom surface 47; 6) slope or angle between bottom surface 47 and front wall 49; and 7) the amount of curvature at each intersection or junction between components, such as between bottom surface 47 and side walls 48, between bottom surface 47 and front wall 49, and between side walls 48 and front wall 49.

In addition, the inner surface 46 may change over time so that the support profiles may need to be updated periodically. In one example, aspects of the interior surface may change due to damage or repairs. In another example, the liner may be applied to or removed from the interior surface.

The return material monitoring system 60 may store a reference profile for each mining truck 40 operating at the job site. The reference profiles may take the form of an electronic map or a 3D computer image. In some embodiments, the reference profile of each mining truck 40 may be stored along with identification information, such as a code associated with each truck, as part of the data cards of the excavator controller 31 on board the excavator 11, in the mining truck controller 53 on board the mining truck or at a remote location. , for example, in the controller 116.

In one embodiment, the return material monitoring system 60 may be operated by positioning a sensing system 35, such as a camera system 36 adjacent to the bucket 17 of the excavator 11, at a position above the inner surface 46 of the tipping body 44 of the mining truck 40. Collection sensing data may be provided by the sensing system 35 and may be used to create or determine an electronic map of the current profile of the inner surface 46. Using this method, sensing data is collected when the tipping body 44 is empty, for example, before emptying the first bucket of material into the tipping body. body 44. To do this, the sensing system 35 is positioned over the inner surface 46 of the tipping body 44 so that the acquired sensing data contains the actual, or current, inner surface of the tipping body. As a result, the sensing system collects the current profile of the inner surface 46, including the return material.

The spatial arrangement of the sensing system 35 can be determined by the sensor 33 of the spatial arrangement of the working equipment system together with the kinematic model of the working equipment system 12. Thus, the work equipment system attitude sensor 33, together with the kinematic model of the work equipment system 12, can function as a sensing system attitude sensor generating signals or sensing system attitude data. The perception data obtained by the perception system 35 may then be combined with the spatial location of the perception system to generate an electronic image or map of the perception system's field of view relative to the work site 100 . This electronic map will contain the current profile of the inner surface 46 of the tipping body 44.

The spatial location of the tipping body 44 can be determined by the sensor 55 of the spatial location of the mining truck, as described above. If the spatial location of the tipping body 44 and the reference profile of the inner surface of the tipping body 46 are known, an electronic map, or model, of the reference profile relative to the work site 100 can be generated.

After determining the spatial location of the current profile of the inner surface 46 of the tipping body 44 and the spatial location of the reference profile, the return material monitoring system 60 may compare the current profile with the reference profile to determine the amount of return material located in the tipping body. If the amount of reclaimed material exceeds a threshold amount (eg, a percentage of the volume or weight of the tipping body 44), the mining truck 40 may be flagged as requiring cleaning or emptying of the reclaimed material. In some cases, the location of the return material may also be a factor in determining the need, or need, for a cleaning operation.

In one example, mining trucks 40 may be sequentially sent to a cleaning station when a threshold amount of reclaimed material is exceeded. In another example, when a cleaning of a mining truck 40 is scheduled, the mining truck may be directed to a dedicated dump location 102 to facilitate subsequent cleaning. For example, the cleaning station 107 may be near a special unloading location, or the cleaning station may be between the unloading location 102 and the next loading location 101, such as the cleaning station 108 on the main travel path 104.

Other embodiments are contemplated. For example, the sensing system 35 may be located adjacent to the unloading location 102 rather than on the excavators 11 so that each mining truck 40 is inspected after its most recent unloading cycle. By placing the sensing system 35 adjacent to the dump location 102, the current profile of each tipping body 44 can be generated or determined after the most recent loading cycle. This can result in a more accurate current profile and a more efficient cleaning operation.

In another embodiment, the sensing system 35 may be located near the cleaning station 108 on the main travel path 104, with each mining truck 40 passing the sensing system on its way back to the loading location 101. From the above description, it will be appreciated that the sensing system 35 may be located at any location within the work site 100 . The sensing system 35 may be placed at a location high enough to allow scanning of the interior surface 46 of the tipping body 44. To enable the generation of an electronic return material map on the scanned interior surface 46 of the tipping body 44, a spatial positioning system may be associated with each sensing system independently. from her location.

In yet another embodiment, a first sensing system 35 and a second sensing system 125 (together with a positioning system) may be provided. In one embodiment, the first sensing system 35 may be located on each excavator 11, and the second sensing system 125 is also located adjacent to the cleaning station 107, 108. The first sensing system 35 may be used to generate a first current profile of the interior surface 46 of the tipping body 44 sufficient to determine the need or need for a cleaning operation, and the second sensing system 125 may be used to generate a second current profile used during the cleaning process. In some cases, the first sensing system 35 may be less complex or accurate than the second sensing system 125 in order to reduce overhead or simplify its operation, while the second sensing system may be more complex or accurate in order to provide a more accurate current profile immediately before cleaning operation.

In a further embodiment, a payload detection system 57 may be used to determine the need or need for a cleaning operation, and a single sensing system 35 is provided to generate the current profile used for the cleaning operation.

The excavator control system 30 may further comprise a return material cleaning system 61 (FIG. 1) used to autonomously or semi-autonomously clean or remove return material from the interior surface 46 of the tipping body 44. The return material cleaning system 61 may be used to clean the tipping body 44 regardless of the method by which the cleaning was assigned. For example, such a determination can be made automatically, such as by the return material monitoring system 60, or manually by an observer, such as an operator of the excavator 11. In another example, the control system 115 can monitor the number of loading and unloading cycles of each mining truck 40 since the previous cleaning cycle and schedule each mining truck to be cleaned after the specified number of cycles. This specified amount may depend on the characteristics of the delivered material and the configuration of the inner surface 46 of the tipping body 44, as well as production goals and targets, described below.

Regardless of the manner in which cleaning has been scheduled, once a cleaning operation has been assigned or scheduled, the mining truck 40 can be moved to a cleaning location and placed adjacent to the cleaning mechanism. In one embodiment, the cleaning mechanism may be in the form of a relatively small excavator 111 shown in FIG. 6 with a cleaning tool such as a bucket 17. The small excavator 111 may be similar or identical to the excavator 11 described above and have the same functionality. Like reference numerals refer to identical or similar components and their descriptions are not repeated here for the sake of brevity. In another embodiment, as described in more detail below, the cleaning mechanism may be a water-based system such as a hydro-pump 70 (FIG. 7) and the cleaning attachment may be a nozzle 73.

In an embodiment, the return material cleanup system 61 may be operated by placing a mining truck 40 requiring cleanup adjacent to the excavator 111 at the cleanup location. In some cases, in order to fully raise the tipping body to its dumping position while performing a cleaning operation, it may be desirable to fully extend the hydraulic cylinders 50 operatively connected to the tipping body 44. tipping body from its delivery position on frame 41. The spatial position of the tipping body 44 may be determined by a tilting body spatial position sensor formed by a combination of a mining truck spatial positioning system 54 and a tilting body angle sensor 56. In other words, the spatial position of the tipping body may be determined based on the spatial position of the mining truck 40 and the relative angle of the tipping body 44 relative to the frame 41.

Using the spatial location of the tipping body 44, the support profile, and the current profile of the inner surface 46, the return material clearing system 61 can determine the spatial location of the support profile and the location of the return material on the internal surface of the tipping body. The location of the return material may be stored in the controller 116 as an electronic model.

The excavator 111 may move to a desired location adjacent to the tipping body 44. The spatial location of the excavator 111 may be determined by the implement system spatial location sensor 33. The position of the bucket 17 of the excavator 111 may be determined based on the spatial arrangement of the excavator and the kinematic model of the excavator. Using the kinematic model of the excavator 111 and the spatial location of the excavator, as well as the spatial location of the reference model of the inner surface 46 of the tipping body 44, the recycled material cleaning system 61 can determine a plan for automated reclaiming. The return material removal plan may include moving a work tool, such as a bucket 17, along a path formed or established by a plurality of cycles or paths of work tool movement along the inner surface 46 of the tipping body 44 along the inner surface 46 to physically engage or contact the return material adhering to the internal cavity.

When generating a cleaning path for a tool, the return material cleaning system 61 may use one or more optimization parameters to prioritize or weight various aspects of the cleaning process. For example, such optimization parameters may include the shortest cleaning time, maximizing the amount of material that will be cleared from the tipping body 44, or minimizing the likelihood of contact between the bucket 17 and the inner surface 46 of the tipping body. In one embodiment, the return material cleaning system 61 can optimize the trajectory of the bucket 17 to clean the interior surface 46 in the minimum amount of time. Thus, the path can be designed to maximize the amount of time spent moving material while minimizing the amount of time spent repositioning bucket 17 for each material removal cycle. In another embodiment, the return material cleaning system 61 may optimize the trajectory of the bucket 17 to clean the interior surface 46 as thoroughly as possible. between the bucket and the inner surface 46. In other embodiments, a combination of two or more optimization parameters may be used to provide the desired balance between various optimization parameters.

In some cases, it may be desirable to position the excavator 111 in a central position relative to the longitudinal axis of the tipping body 44 and perform the entire cleaning process. In other cases, it may be desirable to position the excavator 111 in a first position relative to the tipping body 44, moving the bucket 17 along the first part of the path to perform the desired number of cleaning cycles of the cleaning process. Then the position of the excavator can be changed to a second position relative to the tipping body, spaced from the first position, in which the bucket 17 moves along the second part of the path to perform additional cleaning cycles. The process of moving the excavator 111 to additional positions and moving the bucket 17 can be repeated as desired until the tool or cleaning tool has moved along the entire planned path.

If desired, an additional sensing or monitoring system may be located adjacent to the cleaning location to determine if the tipping body 44 has been cleared of sufficient material. In this case, a new current profile can be generated and compared with the reference profile. In an example, inner surface 46 may be sufficiently cleaned if the difference between the current profile and the reference profile is less than a threshold amount of return material or some other threshold value. If additional cleaning is required, a new material removal plan can be generated with a new work tool trajectory.

In another embodiment, the return material clearing mechanism may be implemented as a robotic arm mechanism (not shown) mounted on a movable base. The robotic arm mechanism may resemble the work equipment system 12 described above without the propulsion system.

In yet another embodiment, work site 100 may include a stone crusher (not shown) such as a hydraulic hammer or other similar device. In this case, the stone crusher can be used as a return material cleaning mechanism by moving the stone crusher along the desired path without actuating a secondary function such as a hammer mechanism. For example, a hydraulic hammer (not shown) can replace an excavator bucket 17 similar to the bucket shown at 111.

In another embodiment, the return material cleaning system 61 may operate in a manner similar to the method described above, but replaced by a hydraulic console, monitor, or other fluid-based system for cleaning the interior surface 46 of the tipping body. With reference to FIG. 7 shows an exemplary hydraulic console 70. The hydraulic console 70 may include an inlet 71 through which water enters the hydraulic console, a motor 72 for pumping water, and a nozzle 73 from which water exits the hydraulic console. Nozzle 73 may be configured to control flow in a desired pattern.

The nozzle 73 may be operatively connected to a drive system 74 used to control the orientation and/or position of the nozzle to direct the water flow along a desired path. For example, the drive system 74 may include motors to control the movement of the nozzle 73 along any of the axes, as well as an additional motor to control the size of the orifice of the nozzle. The inlet 71 may be connected to a supply line 75 which is further connected to a water supply. In some embodiments, the water supply may be a tank (not shown) of a mobile water tank truck (not shown). In other embodiments, the water supply may be a tank fixed at work site 100 or take any other form.

The hydraulic console 70 may be coupled to a hydraulic console attitude system 78 that includes a hydraulic console attitude sensor 79 having a plurality of individual sensors cooperating to generate and provide attitude signals indicative of position and orientation (i.e. heading, pitch, roll, or tilt, and yaw) of the hydraulic console 70 relative to the place 100 of the work.

The return material cleaning system 61 utilizing hydraulic control 70 can be operated as described above with respect to excavator 111 by positioning the mining truck 40 to be cleaned at the desired location relative to hydraulic control 70 and positioning the tipping body in the desired angular orientation by using hydraulic cylinders 50.

The spatial position of the tipping body 44 can be determined by the sensor of the spatial position of the tipping body. Using the spatial location of the tipping body 44, the support profile, and the current profile of the inner surface 46, the return material clearing system 61 can determine the spatial location of the support profile and the location of the return material on the internal surface of the tipping body. The control panel 70 may be located adjacent to the tipping body 44 as desired.

Using the spatial arrangement of the hydraulic console 70 as well as the spatial arrangement of the reference model of the inner surface 46 of the tipping body 44, the return material cleaning system 61 can determine a return material removal plan. The return material removal plan may include guiding the nozzle 73 of the hydraulic console 70 along a path formed or set by a plurality of cycles or paths to direct water against the interior surface 46 of the tipping body 44 to separate return material adhering to the interior cavity.

As described above, the optimization parameters can be used to prioritize or weight different aspects of the cleaning process. As also described above, in some cases it may be desirable to position the hydraulic console 70 in a central position relative to the tipping body 44 and to perform the entire cleaning process. In other cases, it may be desirable to position the control panel 70 in a first position relative to the tipping body 44, perform the desired number of cleaning cycles, and then change the position of the control panel to one or more of the following positions relative to the tipping body and perform additional cleaning cycles in the following positions until the inner surface 46 will not be sufficiently cleaned.

The control system 115 may further comprise a vehicle routing and scheduling system 117 (FIG. 1) that operates to determine when the mining trucks 40 should be directed through the cleaning process. The machine routing and scheduling system 117 functions to plan the work and routes of the machines 10 operating at the work site 100 .

For example, a work site 100, such as a mine, may include a plurality of loaders, such as excavators 11, and a plurality of mining trucks 40 operated to move material from one or more digging locations to one or more unloading locations. The vehicle routing and planning system 117 may be configured to perform a planning operation while optimizing certain targets associated with the material transfer process. These targets may include minimizing the waiting time or downtime of the excavators 11, minimizing the waiting time or downtime of the mining trucks 40 at loading locations, minimizing the distance that the mining trucks travel, maximizing the yield of material at the job site 100, or maximizing or minimizing any other targets. Some targets may result in minimizing operating costs, while others may maximize production. In some cases, a combination of targets may be used to maximize efficiency or some other aspect of the material movement process.

The vehicle routing and planning system 117 may generate different plans depending on the number of vehicles 10 of each type available and the desired targets. In one embodiment, as part of the scheduling process, costs may be associated with each type of machine. In one embodiment, the cost may be an hourly rate. In another embodiment, the costs may be based on the amount of material. In embodiments, the quantity may be expressed as a function of weight or volume (eg, unit weight rate or unit volume rate).

The machine routing and planning system 117 can simulate the operation of multiple machines to determine the desired work or routing for each mining truck 40. dump trucks. In this case, the vehicle routing and planning system 117 can be used to determine the desired number of mining trucks 40 needed to minimize the downtime of the excavators 11 in terms of operating costs of the mining trucks 40, travel distances between loading locations 101 and unloading locations 102, and as well as other planned indicators.

An additional factor that will affect the operation of the machines at the work site is the amount of return material in the tipping body 44 of each mining truck 40. In particular, during each loading and unloading cycle (i.e., loading the mining truck 40, and then unloading material at unloading location 102), additional return material will typically stick to the tipping body 44. Due to the presence of returnable material, the current or usable capacity or amount of material that can be transported from loading location 101 to unloading location will decrease, as will fuel efficiency on the return trip. Accordingly, the actual hourly cost of operating the mining trucks 40 will increase due to the presence of the recycled material. As the operating costs of the mining trucks 40 increase due to the presence of the recycled material, the economic performance of the operation at the work site may change.

Thus, the machine routing and scheduling system 117 can also be configured to further optimize performance at the job site 100 in terms of the amount of return material in each mining truck 40. In this way, the machine routing and scheduling system 117 can monitor the amount return material in each mining truck 40 and determine the current, or usable, capacity of each mining truck. The vehicle routing and planning system 117 can compare the loss of productivity due to the reclaimed material with the loss of productivity due to the removal of the mining truck from service as part of a cleanup operation to remove the reclaimed material.

In particular, as noted above, as the amount of reclaimed material increases, the usable capacity (i.e., the volume and/or weight available to transport material in the tipping body 44) decreases, and thus the cost of operating each mining truck 40 increases. In one example, the vehicle routing and planning system 117 may revise or modify the cost of operating each mining truck based on the amount of returnable material in its tipping body 44. To this end, the vehicle routing and planning system 117 may determine the initial amount of returnable material in the tipping body 44 of each mining truck 40 and then determining or accessing the original usable capacity of each mining truck based in part on the original amount of reclaimed material. The vehicle routing and planning system 117 may generate an initial material movement plan based on the number of loaders and haul trucks at the job site 100 or in relation to a specific loader and the capacity of each loader and the initial usable capacity of each haul truck. The excavators 11 and mining trucks 40 can then be operated at the job site 100 by generating initial move command signals to operate according to the original material move plan.

As mining trucks 40 are used at work site 100, they will be loaded, moved to work site, unloaded, and cleaned from time to time at cleaning station 107, 108. During such an operation, the amount of return material in the tipping body of each mining truck 40 will vary. Accordingly, the return material monitoring system 60 can be used to determine the current amount of reclaimed material in the tipping body 44 of each mining truck 40. The vehicle routing and planning system 117 can access the modified usable capacity of each mining truck 40 in part based on the current amount of return material in each mining truck and generate a modified material transfer plan based on the number of loaders and mining trucks and the modified usable capacity of each. mining truck. The excavators 11 and mining trucks 40 can then be operated at the work site 100 by generating modified move command signals to operate according to the modified material movement plan.

In operation, the vehicle routing and planning system 117 may compare the loss of productivity due to the presence of reclaimed material in each mining truck 40 with the loss of productivity due to the decommissioning of one or more mining trucks as part of a cleanup operation to remove the reclaimed material. However, the loss of productivity due to the decommissioning of a mining truck may include costs associated with cleaning the inside surface of the tipping body, such as the costs of operating the cleaning mechanism, and costs associated with travel time to and from cleaning station 107, 108 . In addition, the loss of productivity due to the presence of returnable material may be based in part on the distance between the loading locations 101 and the unloading locations 102.

Simultaneously with the analysis comparing productivity losses due to return material in mining trucks 40 with productivity losses due to cleaning operations, the machine routing and planning system 117 determines the unit total cost of operating machines at the work site and compares the unit total cost. Unit total costs can be expressed in any desired way. In one example, unit total costs can be expressed as costs per unit of time. In another example, unit total costs can be expressed as costs based on the amount of material moved. In such a case, the amount of material moved can be expressed as cost per unit volume or as cost per unit weight.

In another example, the vehicle routing and planning system 117 may adjust the amount (eg, volume or weight) of material that can be transported by each mining truck 40 based on the amount of material being returned. Thus, the machine routing and scheduling system 117 can adjust the work plan for the machines 10, with the routing of the mining trucks 40 by the machine routing and scheduling system based on the revised or modified costs or the revised or modified available volume or weight of material that can be transported. every mining truck.

The vehicle routing and planning system 117 can also use the material characteristics of the material being moved to proactively manage or plan cleaning operations due to the returned material. In particular, certain types of materials or geologies may be more prone to the formation of return material. Additionally, weather conditions can play a role in the amount of returnable material. The vehicle routing and planning system 117 may store or access a database having the expected amount of return material for each configuration of the mining truck 40 at the work site 100 based on the characteristics of the material being moved and the weather conditions at the work site. The database may include the expected amount of return material associated with each mining truck as a function of the number of load/unload cycles. In some cases, the return material information in the database may also depend on the machine or type of machine used to load each mining truck 40.

Geological samples may be taken from locations where mining operations will take place in the future. When analyzing the samples, the characteristics of the material can be stored in a database associated with the system 117 of the route of machines and planning. Based on the characteristics of the material of geological samples and the types of machines that will perform mining operations in the future, one can assume the expected amount of returned material, as well as the preferred or desired possibilities for its removal.

In one embodiment, the machine routing and planning system 117 may use the estimated amount of return material to more accurately plan the operation of the machines in terms of the number of required or desired mining trucks 40. In another embodiment, the machine routing and planning system 117 may use the expected amount of return material. material to reduce the frequency of scanning tipping bodies 44 mining trucks 40 during operation of the machines. In other words, instead of using the sensing system 35 before the first loading of each loading cycle, the vehicle routing and planning system 117 can identify when the sensing system should be used to scan the tipping body. The vehicle routing and planning system 117 may be configured to direct the mining truck 40 to the scanning process after a specified number of loading/unloading cycles, and the specified number may be based on the characteristics of the material being moved.

The vehicle routing and planning system 117 may also be configured to direct the mining truck 40 to the scanning process based on the weight of the return material in the mining truck based on the payload estimate from the payload estimation system 57 . In particular, the payload estimation system 57 may determine the weight of the return material in the tipping body 44. Based on the characteristics of the material being moved, the vehicle routing and planning system 117 may determine the amount of material in the tipping body. The vehicle routing and planning system 117 may equate the volume of returned material to a percentage of the capacity of the tipping body 44 and determine that a cleaning operation is desired. In this case, the vehicle routing and planning system 117 may direct the mining truck 40 to the sensing system 35 to perform the scanning operation and then to the cleaning location to perform the cleaning operation.

Moreover, based on the characteristics of the material being moved, the machine routing and planning system 117 can determine the type of cleaning mechanism to be used. For example, hydraulic consoles 70 may be better suited to removing some materials than others. Additionally, material properties can be used to determine the performance and/or trajectory of the cleaning process. For example, the flow rate and pressure of the fluid, as well as the speed at which the nozzle 73 travels along its desired trajectory. In addition, material characteristics can also be used to improve or optimize the path that any type of cleaning mechanism travels.

In an alternative or additional embodiment, the control system 115 may include a return material cleanup planning system 62 (FIG. 1) used to adjust or modify the threshold amount of return material for each mining truck 40 based on the productivity or operating conditions at work site 100. As a first example, the threshold amount of recycled material may be set to a first value. In this case, each time the amount of return material in the tipping body 44 exceeds the cleaning threshold, a cleaning operation on the mining truck 40 may be scheduled. at a refueling, the machine was taken out for repairs, or the machine was diverted on the wrong route), fewer haul trucks may be available, and before the machine is scheduled to be cleaned, the return material clearing planning system 62 may increase the threshold amount of return material so that more return material is required. . By increasing the threshold amount of returnable material, the probability of downtime of the excavator 11 while waiting for the mining truck 40 is reduced.

If the second mining truck 40 is decommissioned, the threshold amount of reclaimed material can be reduced again. Once the mining trucks 40 are returned to service, the reclaim threshold may be increased to or near the original reclaim threshold.

In one example, the return material threshold may be set to 10% of the volume of the tipping body 44. As each mining truck 40 is decommissioned, the return material clearance planning system 62 may increase the return material threshold by 5%. Thus, the decommissioning of the first mining truck results in an increase of up to 15%. The decommissioning of the second mining truck 40 results in an increase in the threshold amount of recyclable material up to 20%.

Increases and decreases in the threshold amount of recycled material may or may not be linear. For example, when the first mining truck 40 is decommissioned, the threshold amount of recyclable material may be increased by a first amount. When the second mining truck 40 is decommissioned, the threshold amount of recyclable material may be increased by a second, larger amount. Using the above example, decommissioning of the first mining truck 40 would result in any increase in the threshold amount of reclaimed material up to 15%, but decommissioning of the second mining truck would result in an increase in the threshold amount of reclaimed material to a value greater than 20%. Thus, it is less likely that the return material monitoring system 60 will schedule a mining truck cleaning operation.

In an alternative embodiment, the vehicle routing and planning system 117 may be configured to continue directing mining trucks scheduled for cleaning between loading locations 101 and unloading locations 102. The vehicle routing and scheduling system 117 can be configured to release mining trucks 40 scheduled for cleaning after comparing the costs of less efficient movement or operation of mining trucks with significant amounts of recycled material with the potential downtime costs of the excavator 11.

Similarly, if one of the loaders, such as the excavators 11, is decommissioned, it may be desirable to reduce the threshold amount of reclaimed material to improve the efficiency of the material transfer process. In one example, decommissioning the excavator 11 may result in a reduction in the threshold amount of reclaimed material from 10% to 5%.

Industrial Applicability

The industrial applicability of the systems described herein will be readily apparent from the discussion above. The foregoing discussion applies to systems used in conjunction with machines such as mining trucks 40 delivering material to work site 100 . Such work sites may include a mine, a landfill, a quarry, a construction site, a road work site, or any other area where material is being transported. The return material located in the tipping body 44 of the mining truck 40 can reduce the operational efficiency of the material transfer process.

With reference to FIG. 8 is a flow diagram of a process for autonomously or semi-autonomously determining whether to assign a cleaning operation to tipping body 44 of mining truck 40. At step 130, one or more threshold amounts of recycled material may be stored in controller 116. The threshold amount of return material may set a percentage of the empty tipping body 44 or a volume of material. In an embodiment, if the threshold amount of returned material is set as a percentage, the threshold amounts of returned material may be identical for all mining trucks 40 operating at work site 100 . In other embodiments, particularly if the threshold amount of reclaimed material is set to a volume of material, the threshold amount of reclaimed material may be different for different mining trucks 40.

In some cases, for each mining truck 40, several threshold quantities of reclaimed material may be stored. Several threshold amounts of recycled material may be used as part of a prioritization scheme to prioritize a subsequent cleaning operation. For example, for each mining truck 40, a first reclaim threshold having a first percentage and a second reclaim threshold having a second, higher percentage may be used. If the first threshold quantity is exceeded, a haul truck cleaning operation can be scheduled. Depending on the operation of other machines at the work site 100, such a cleaning operation may not take place immediately. In this case, the mining truck 40 can continue to transport material at the work site 100 between the loading location 101 and the unloading location 102. If the amount of recycled material in the tipping body 44 continues to increase, this amount of recycled material may eventually exceed the second percentage. If the second percentage of recycled material is exceeded, the mining truck 40 may receive a higher priority for the cleaning operation.

At step 131, a reference profile for each tipping body 44 may be stored in the controller 116. Each reference profile may be associated with a unique identification code or other identifier associated with each mining truck 40, and it is contained in a database associated with the compiling system 117. route machines and planning. At step 132, machines 10 may be operated at work site 100 . Thus, loaders such as excavators 11 can load material onto haul trucks 40 at loading locations 101. The loaded mining trucks 40 can then move to unloading locations 102 where the material is unloaded. The empty haul trucks 40 may then return to loading locations 101 to begin the next loading/unloading cycle.

After positioning an empty mining truck 40 at the loading location 101, a loading machine such as a backhoe 11 can move its bucket 17 filled with material to a position above the tipping body 44. Since a sensing sensor, such as a camera system 36, can be located on the element 23 in the form of a stick adjacent to the bucket 17, moving the excavator in this manner in step 133 places the camera system over the tipping body 44.

With the mining truck 40 adjacent to the excavator 11, the ID of the mining truck 40, and thus the tipping body 44, may be communicated to the controller 116 at step 134. controller 116, and the controller may use this identification code to identify the tipping body 44. In step 135, the controller 116 may determine the reference profile of the tipping body 44 of the mining truck 40 based on the identification code of the mining truck.

At step 136, the spatial position of the tipping body 44 can be determined. The position or spatial position of the tipping body 44 can be determined based on the spatial position of the tipping body signals from the spatial position sensor 55 of the mining truck. At step 137, using the camera system 36, the current profile of the inner surface 46 of the tipping body 44 can be determined. At step 138, based on the spatial location of the work equipment system from the sensor 33 of the spatial location of the work equipment system and the kinematic model of the work equipment system 12, the spatial location of the 36 camera system.

At step 139, the difference between the reference profile and the current profile of the interior surface 46 of the tipping body 44 may be determined. an electronic map relating to the place of work. These two electronic maps can be compared with a difference reflecting the return material held within the tipping body 44.

At decision block 140, controller 116 may determine if the difference between the reference profile and the current profile is greater than a threshold amount of return material. If the threshold amount of recycled material is not exceeded, the machines 10 may continue to operate and steps 132-140 are repeated. If the threshold amount of recycled material is exceeded, at step 141, the controller 116 may schedule a cleaning operation for the mining truck 40. In some cases, the mining truck 40 may be sent to a cleaning station relatively quickly. In other cases, the mining truck 40 may continue to operate along with other machines, and steps 132-140 are repeated until the mining truck is sent to a cleaning station.

With reference to FIG. 9 is a block diagram of an offline or semi-offline cleaning operation. At 145, a reference profile for each tipping body 44 may be stored in the controller 116. Each reference profile may be associated with a unique identification code or other identifier associated with each mining truck 40. At 146, a kinematic model and the performance of a cleaning mechanism such as excavator 111. In embodiments where other types of cleaning mechanisms are used, such as hydraulic console 70, the kinematic model may not be saved.

In step 147, the tipping body 44 of the mining truck 40 to be cleaned may be positioned at the desired cleaning location in the desired orientation. In an embodiment, to assist in the cleaning process, the hydraulic cylinders 50 may be fully extended to position the tipping body 44 in its fully raised position. In other embodiments, the hydraulic cylinders 50 may only be partially extended to partially raise the tipping body 44.

At step 148, the identity of the mining truck 40, and thus the tipping body 44, may be reported to the controller 116. tipping body identification code 44.

At step 149, the controller 116 may access an electronic map of the return material located on the inner surface 46 of the tipping body 44. the diagram shown in Fig. 8, desirable or necessary. In an embodiment where the cleaning operation of the tipping body 44 has been assigned without generating an electronic return material card (eg, assigned manually), an electronic return material card may be generated at the cleaning station 107, 108.

At step 150, a cleaning mechanism, such as an excavator 111, may optionally be placed adjacent to the tipping body 44. At step 151, the spatial position of the tipping body 44 can be determined. sensor 55 of the spatial location of a mining truck.

At step 152, the spatial location of a cleaning tool, such as a bucket 17, may be determined based on signals or work equipment system spatial location data from the work equipment system spatial location sensor 33 and a kinematic model of the work equipment system 12. In other words, the work equipment system attitude sensor 33 functions as a cleaning system attitude sensor and generates cleaner attitude signals that are used in conjunction with a kinematic model to determine the attitude of the cleaner.

In step 153, controller 116 may generate a path to move bucket 17 to physically engage or contact return material adhering to inner surface 46 of tipping body 44. At step 154, controller 116 may generate move command signals to move bucket 17 along a path to perform cleaning operations on the inner surface 46 of the tipping body 44.

In some embodiments, the operation set forth in steps 145-154 may be completed upon completion of step 154. In other embodiments, an additional scanning operation may be performed in step 155. The scanning operation may be performed by a sensing sensor, such as a camera system 36, to generate an updated current profile of the interior surface 46 of the tipping body 44, as described above. The updated current profile, together with the spatial location of the sensing sensor, can be used to generate an updated electronic map of the current profile relative to the work site 100 . To generate an updated electronic map of the return material in the tipping body 44, the updated electronic map of the current profile relative to the work site 100 may be compared to the electronic map of the reference profile relative to the work site. At step 156, the updated recycled material electronic map may be compared to a threshold amount of recycled material to determine if any additional cleaning operations are required. If additional cleaning operations are not required, the mining truck 40 may be returned to service at the work site 100 . If further purification is required, steps 153-156 may be repeated.

With reference to FIG. 10 is a block diagram of an aspect of the operation of the vehicle routing and scheduling system 117. At step 160, a plurality of threshold quantities of recycled material may be stored in the controller 116, or the controller may access them. Each threshold amount of reclaimable material may be expressed in any manner, for example as a percentage of the volume of the empty tipping body. Another threshold amount of recyclable material may be used based on the mix of loaders and haul trucks 40 used at work site 100 . For example, it may be desirable to use a lower reclaim threshold if each shovel 11 is assigned more haul trucks 40, and a relatively high reclaim threshold when fewer haul trucks are assigned to each shovel. With a higher threshold amount of recycled material, assigning a cleaning operation to each mining truck 40 is less likely. Accordingly, a greater number of mining trucks 40 will remain in operation, and thus the downtime of a loading machine such as an excavator 11 will be reduced.

As described above, the set of return material thresholds may be identical for each mining truck 40 or may differ, for example, depending on the size and/or configuration of the mining truck or its tipping body 44. In some cases, the threshold amounts of return material may depend on the delivered material.

At step 161, the controller 116 may determine the initial number of machines, including the number of loaders and mining trucks 40 operating at the work site 100 . At step 162, the controller 116 may select or assign to each mining truck 40 a threshold amount of return material based on the initial number of loaders and mining trucks, as well as the composition of loaders and mining trucks operating at the job site 100 . Because the ratio of mining trucks to loaders at different locations at work site 100 may vary, different threshold amounts of reclaimed material may be used at different locations at work site. For example, the first threshold amount of recycled material may be used for all mining trucks 40 assigned to the first shovel 11, and the second threshold amount of recycled material may be used for all mining trucks assigned to the second shovel.

At step 163, the machine routing and planning system 117 may generate an initial material movement plan for operating machines such as excavators 11 and mining trucks 40 at the work site based on the initial number of machines operating at the work site 100. The initial material transfer plan may also be based on an initial threshold amount of return material that was selected based on the initial number of loaders and haul trucks operating at work site 100 .

At 164, the machines may be operated and moved around the work site 100 according to the original material movement plan. To this end, controller 116 (eg, excavator controller 31, mining truck controller 53) may generate initial move command signals to direct machines to move.

As the mining trucks 40 complete each load/unload cycle, return material may tend to accumulate on the inside surface 46 of the tipping body 44 of each truck. Accordingly, at some points in time it may be desirable to remove one or more of the mining trucks 40 from service in order to allow the cleaning operation to take place. In addition, other mining trucks 40 may be taken out of service for other reasons, including an operator break, refueling the machine, maintenance or breakdown of the machine, or misdirection of the machine. In this case, the number of mining trucks assigned to each loader may decrease. In other cases, a loader such as a backhoe 11 may be taken out of service for any of a variety of reasons. In these cases, the number of mining trucks 40 assigned to each of the remaining loaders may be increased.

From the above description it is clear that the ratio or composition of loaders and mining trucks 40 during operation at the work site 100 may change. Accordingly, at decision block 165, the controller may determine whether the number of machines operating at the work site has changed, and thus whether the mix or ratio of loaders and delivery vehicles has changed. If the number of machines operating at work site 100 has not changed (and thus the ratio of machines has not changed), the machines may continue to operate based on the original material transfer plan and steps 164-165 are repeated.

If the number of machines operating at work site 100 has changed, and thus the ratio has changed, the machine routing and scheduling system 117 may generate a modified original material transfer plan in terms of the new number of machines, and steps 162-165 are repeated. In particular, at step 162, the controller 116 may select or assign each mining truck 40 a new or modified threshold amount of return material based on the new or modified number of loaders and mining trucks, as well as the composition of loaders and mining trucks operating at the work site 100 . At step 163, based on the modified number of machines operating at work site 100, a new or modified material transfer plan can be generated. At step 164, the machines can be operated and moved around the work site 100 according to the modified material movement plan by generating modified move command signals to direct the movement of the machines.

With reference to FIG. 11 is a block diagram of another aspect of the vehicle routing and planning system 117. At 170, the operating cost and/or capacity (eg, volume) of each machine operating at work site 100 may be stored in the controller 116 or accessed by the controller. Thus, the operating cost and/or capacity of each loader, such as excavators 11, can be saved. In addition, the operating cost and/or capacity of each mining truck 40 can also be saved. truck 40 may vary or change depending on the amount of returnable material in the tipping body 44, controller 116 may contain a plurality of operating costs for each mining truck 40, each corresponding to the amount of returnable material. Operating costs may be expressed as a function of time, volume of material moved, weight of material moved, or in any other manner desired.

At step 171, a system such as a return material monitoring system 60 may be used to determine the amount of return material in the tipping body 44 of each mining truck 40. The process at step 70 may correspond to scanning or otherwise determining the amount of returnable material in one or more tipping bodies 44 along with accessing the stored data of previous scans or determining the amount of returnable material in other tipping bodies. In other words, the inner surface 46 of each tipping body 44 may not be scanned at the same time.

At step 172, the machine routing and planning system 117 may generate a material movement plan for operating machines such as excavators 11 and mining trucks 40 at the worksite 100 based on one or more factors, including the amount of returnable material in each mining truck. 40. In particular, in an embodiment, the vehicle routing and planning system 117 may be configured to plan the routes of the mining trucks 40 based on the usable capacity of each mining truck based on the amount of return material in each mining truck.

In some cases, the vehicle routing and planning system 117 at decision block 173 may further compare the loss of productivity due to the presence of reclaimed material in each mining truck 40 with the loss of productivity due to the decommissioning of one or more mining trucks from service as part of a cleanup operation to remove the reclaimed material. . In one example, the machine routing and scheduling system 117 may determine unit total operating costs for machines at the job site 100 (or at a part of the job site such as a particular loader and the haul trucks assigned to that particular loader) in terms of presence. return material. There are various ways to determine the specific total operating costs. In addition, various other ways of optimizing the performance of the machines at the work site 100 other than cost based are contemplated.

As the machine routing and scheduling system 117 operates, it can determine if the operating costs in the presence of recycled material in the mining trucks 40 exceed the costs associated with the cleaning operation. In particular, the vehicle routing and planning system 117 may determine unit total operating costs, including haul trucks 40 with return material. The vehicle routing and scheduling system 117 may also determine the unit overhead costs associated with removing one or more mining trucks 40 from material handling operations and performing a cleanup operation while the remaining mining trucks continue to operate. Based on the determination of the unit total operating costs including the return material haul trucks 40 and the unit total operating costs based on the remaining haul trucks during the removal of one or more haul trucks for a cleanup operation, the machine routing and planning system 117 may determine whether to change the route or direction of one or more mining trucks to the cleaning point 107, 108.

If, at decision block 173, the cost of operating in the presence of recycled material exceeds the cost associated with the cleanup operation, move command signals may be generated at step 174 to direct one or more mining trucks 40 to the cleanup station 107, 108. In this case, the material transfer plan generated in step 172 may route the rest of the mining trucks 40 in step 175 to optimize performance at the work site 100 . Such optimization may include one or more optimization parameters or goals, such as reducing overall costs, maximizing the amount of material moved, or any other desired parameter or goal.

Upon completion of each cleaning operation, the empty mining truck 40 may be returned to service at step 176 by driving the empty mining truck to the desired loading location 101 . After the empty mining truck 42 is returned to service, a new return material analysis in each mining truck and a new material transfer plan can be generated, with steps 171-177 being repeated.

If, at decision block 173, the cost of operating in the presence of recycled material does not exceed the cost associated with the cleanup operation, at block 177, move command signals can be generated to route all mining trucks 40 to optimize performance at work site 100. Mining trucks 40 may operate at work site 100, and steps 171-177 may be repeated each time a mining truck is scanned or otherwise quantified for return material.

It will be understood from the above description that the machine routing and planning system 117 may operate continuously to optimize performance at the work site 100 . Thus, each time there is a change in the amount of return material, it may be desirable to generate a new material transfer plan and/or determine whether it is desirable to send one or more mining trucks 40 to a cleanup operation. Changes in the amount of return material may occur, for example, each time the tipping body 44 is scanned, or after cleaning the tipping body.

It should be understood that the foregoing description provides examples of the disclosed system and method. All references to the present invention or examples thereof are intended to refer to the specific example currently discussed and are not intended to suggest any limitation as to the scope of the present invention more generally. All wording of differences and disregard for certain features is intended to indicate a lack of preference for those features, but not to exclude them entirely from the scope of the present invention, unless otherwise indicated.

The presentation of ranges of values in this document is only intended to be used as a concise way of individually referring to each individual value falling within the range, unless otherwise noted herein, and each individual value is included in the description as if it were separately stated in this document. All methods described herein may be performed in any suitable order, unless otherwise specified herein or otherwise expressly contradicted by the context.

Accordingly, the present invention includes all modifications and equivalents of the subject matter set forth in the appended claims, as permitted by applicable law. Moreover, the present invention covers any combination of the above elements in all their possible variations, unless otherwise specified in this document or otherwise explicitly contrary to the context.

Claims (19)

1. A system for removing returnable material from a tipping body (44) of a mining truck (40), the system comprising: a tipping body position sensor for generating body tipping position signals indicative of the position of the tipping body (44); a cleaning tool (17, 70) for removing returnable material from the inner surface (46) of the tipping body (44); a cleaner spatial position sensor for generating cleaner spatial position signals indicative of a spatial position of the cleaner; And controller (116) configured to: access to the return material card on the inner surface of the tipping body (44); determining the spatial position of the tipping body (44) based on the signals of the spatial position of the tipping body; determining the spatial arrangement of the cleaner (17, 70) based on the signals of the spatial arrangement of the cleaner; determining the trajectory of the cleaner for removing return material from the inner surface (46) of the tipping body (44) based on the return material map, the spatial location of the tipping body, and the spatial location of the cleaning device; And generating move command signals to move the cleaning tool along a path to perform a cleaning operation on the inner surface (46) of the tipping body (44). 2. The system according to claim 1, characterized in that the controller (116) is further configured to access the tipping body reference profile (44), the current tipping body profile and the threshold amount of return material to determine the difference between the reference profile and the current profile, and the trajectory is configured to remove the amount of material from the inner surface (46) of the tipping body (44) so that the difference between the current profile and the reference profile is less than a threshold amount of return material. 3. The system according to any one of paragraphs. 1, 2, characterized in that the cleaning device (17, 70) is functionally connected to the base, and when the cleaning device moves along the path, the base is located in a central position relative to the tipping body (44). 4. The system according to any one of paragraphs. 1-3, characterized in that the device (17, 70) for cleaning is functionally connected to the base, and when moving the device for cleaning along the first part of the trajectory, the base is located in the first position relative to the tipping body (44), and when moving the device for cleaning along the second part of the trajectory, the base changes position to a second position relative to the tipping body, the second position being spaced from the first position. 5. The system according to claim 4, characterized in that the controller (116) is additionally configured to access the reference profile of the inner surface (46) of the tipping body (44), access the current profile of the tipping body, and determine a return material map on the inner surface of the tipping body. body based on the reference profile and the current profile. 6. The system according to any one of paragraphs. 1-5, characterized in that the controller (116) is additionally configured to access the reference profile electronic map, access the current profile electronic map, and determine the return material map by comparing the reference profile electronic map with the current profile electronic map. 7. The system according to any one of paragraphs. 1-6, characterized in that the device (17) for cleaning contains a working equipment system containing a rotating platform (13) with a lever mechanism (16) assembled on it, and the lever mechanism assembly contains an element (22) in the form of an arrow , functionally connected to the rotating platform, a connecting element (26) functionally connected to the element in the form of an arrow, and a working device (17) for engagement with the return material. 8. The system according to any one of paragraphs. 1-6, characterized in that the cleaning device contains a hydraulic control (70). 9. The system of claim. 8, characterized in that the controller is further configured to access the optimization parameter and determine the trajectory of the cleaner based on the optimization parameter. 10. A method for removing returnable material from a tipping body of a mining truck, which includes the steps of providing access to a map of returnable material on the inner surface of the tipping body, determining the spatial location of the tipping body based on the signals of the spatial position of the tipping body from the sensor of the spatial position of the tipping body, determining the spatial location of the cleaner based on signals of the spatial location of the cleaner from the spatial sensor of the cleaner, determining the trajectory of the cleaner to remove return material from the inside surface of the tipping body based on the return material map, the spatial location of the tipping body and the spatial location of the device for cleaning and generating command signals to move in order to move the cleaning device along a path to perform a cleaning operation on the inner surface of the tipping body using the system according to any one of paragraphs. 1-9.