WO2017039514A1 - A system for optimal utilization of substance transport and moving units. - Google Patents

A system for optimal utilization of substance transport and moving units. Download PDF

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Publication number
WO2017039514A1
WO2017039514A1 PCT/SE2016/000044 SE2016000044W WO2017039514A1 WO 2017039514 A1 WO2017039514 A1 WO 2017039514A1 SE 2016000044 W SE2016000044 W SE 2016000044W WO 2017039514 A1 WO2017039514 A1 WO 2017039514A1
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WO
WIPO (PCT)
Prior art keywords
substance
unit
transport
substance moving
units
Prior art date
Application number
PCT/SE2016/000044
Other languages
French (fr)
Inventor
Mats Nordlund
Original Assignee
Ytterbia Innovation Ab
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Filing date
Publication date
Application filed by Ytterbia Innovation Ab filed Critical Ytterbia Innovation Ab
Publication of WO2017039514A1 publication Critical patent/WO2017039514A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G01G19/12—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles having electrical weight-sensitive devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
    • G01G23/36—Indicating the weight by electrical means, e.g. using photoelectric cells
    • G01G23/37—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting
    • G01G23/3728—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting with wireless means

Definitions

  • the present invention relates to an automated, real-time system and method for managing construction vehicles such as excavators, wheel loaders, and dump trucks, within a geographical area by use of specific parameters.
  • construction vehicles such as excavators, wheel loaders, and dump trucks
  • Construction vehicles such as excavators, trucks and wheel loaders are very expensive equipment for construction and transportation companies.
  • excavators and wheel loaders are pacing equipment at a a substance moving site such as building sites, road 15 construction sites, snow moving sites, mines, and so forth, meaning that their working pace sets the pace for the entire substance moving project.
  • the above objectives and advantages are achieved by providing a system for optimal utilization of transport units and substance moving units within a geographical area, the system comprising at least one substance moving unit and two or more substance transport units, and a central server, the substance moving unit comprising : a bucket attached to an boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors, a geographic position sensor or navigation system for determining a location of the substance moving unit, and a communication unit communicating in real time at least the location of the substance moving unit and the substance moving rate with the central server, a human machine interface for presenting and receiving information to/from a human operator.
  • the transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a computer readable memory for storing data, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, a human machine interface for presenting and receiving information to/from a human operator, a
  • the central server comprising a processing unit for calculating an optimal substance moving rate for the substance moving unit and an optimal route and speed for the transport unit, the optimal substance moving rate and the optimal route and speed for the transport unit is stored in a database and sent to the substance moving unit and the transport unit, via a communication network so that it can be displayed via the human machine interface to an operator of the substance moving unit or of the transport unit.
  • the computer readable memory of the transport unit may preferably store data such as load capacity parameter so that the system can determine whether the transport unit can take more substance or not. However this parameter can also be stored at the central server. Other data that may be stored are substance volume data or weight data and data relating to the navigation system such as speed, location route and so forth.
  • the substance in the system may preferably comprise at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral.
  • the system may further comprises a surveillance/monitoring terminal connectable to the central server for reading or changing the data about optimal substance moving rate and optimal routes of the substance moving unit and transport unit stored at the central server.
  • a surveillance/monitoring terminal connectable to the central server for reading or changing the data about optimal substance moving rate and optimal routes of the substance moving unit and transport unit stored at the central server.
  • the system is preferably used within a defined geographical area, such as a building site, road construction site, snow removal site, mining site or infrastructure construction site and so forth, or in a combination of these.
  • a method for optimally utilize transport units and substance moving units within a geographical area comprising the steps of: determining and transmitting a position and substance moving rate of the substance moving unit to a central server and processing unit, determining and transmitting a location, speed and route of the transport unit to the central server and processing unit, calculating optimal substance moving rate and optimal route and speed at the central server and processing unit, sending the optimal substance moving rate to the substance moving unit from the central server and processing unit, sending the optimal route and speed to the transport unit from the central server and processing unit, and receiving, storing, and displaying the optimal substance moving rate and the optimal route and speed via a visual or an audio interface to an operator of the substance moving unit or the transport unit.
  • the method may further comprising the step of exchanging the data in the central server related to the units with a project planning and managing function terminal.
  • the method may further comprising the step of exchanging the data in the central server related to the units with a project planning and managing function terminal.
  • a system for optimal utilization of transport units and substance moving units within a geographical area comprising at least one substance moving unit and two or more substance transport units.
  • the substance moving unit comprising; a bucket attached to a boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket, a processor for determining a substance moving rate based on the load and the movement of the bucket received from the sensors, and for participating in an optimization calculation, a computer readable memory at least storing the substance moving rate and for storing an
  • a geographic position sensor or navigation system for determining a location of the substance moving unit, a communication unit communicating the substance moving rate, and the optimization result and a transport needs message with other substance moving and transport units, and a human machine interface for presenting and receiving information to/from a human operator.
  • the transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, and for participating in the optimization calculation, a computer readable memory at least storing the substance mass or volume data and for storing an optimization result, a communication unit for communicating at least location, speed, route and the substance mass or volume of the transport unit to the substance moving unit and second transport unit, and for receiving the transport need message from the substance moving unit and for receiving location, speed, current volume of substance and load capacity parameters data from the second transport unit, and a human machine interface for presenting and receiving information to/from a human operator.
  • the substance may preferably comprises at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral.
  • the system may further comprises a surveillance/monitoring terminal connectable to the communications network and able to communicate with all substance transport and substance moving units to influence the optimization algorithm to follow the instructions of an authorized person.
  • a surveillance/monitoring terminal connectable to the communications network and able to communicate with all substance transport and substance moving units to influence the optimization algorithm to follow the instructions of an authorized person.
  • a method for optimally utilize transport units and substance moving units within a geographical area comprising the steps of: determining and transmitting a position and substance moving rate of a first substance moving unit to a second substance moving unit and a first and second substance transport unit, determining and transmitting a location, speed and route of the first transport unit to the second transport unit and the first and second substance moving unit, the substance moving and transporting units receive and store transmitted information, using a multi agent negotiation optimization algorithm prescribing a protocol for negotiations between participating units to determine optimal substance moving rates for the substance moving units and optimal route and speed for the transport units, transmitting the established optimal substance moving rates and optimal routes and speeds to the substance moving and transport units, receiving, storing, and displaying the optimal substance moving rate and the optimal route and speed via a visual or an audio interface to an operator of the first and second substance moving unit or the first and second transport unit.
  • the method may further comprising the step of exchanging the data transmitted in the system to a project planning and managing function terminal.
  • the method may further comprising the step of calculating a need for additional or less substance moving units or transport units and providing this new need to a project planning and managing function.
  • a server connected to the systems described above for storing all data collected and transmitted between the substance moving units and transport units as they follow the methods described above, for future use by data-mining algorithms or machine learning algorithms.
  • a substance moving unit comprising; a bucket attached to an boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors, a geographic position sensor or navigation system for determining a location of the substance moving unit, a human machine interface for presenting and receiving information to/from a human operator, and a communication unit communicating in real time at least the location of the substance moving unit and the substance moving rate to a central server or a transport unit, so that the substance moving unit and the transport unit can be synchronized.
  • a transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a computer readable memory for storing data, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, a human machine interface for presenting and receiving information to/from a human operator, and a communication unit for communicating at least location, speed, route and the substance mass or volume data with a central server or a substance moving unit or a second transport unit, so that the transport unit, the substance moving unit and the second transport unit can be
  • the computer readable memory of the transport unit may preferably store data such as load capacity parameter so that the system can determine whether the transport unit can take more substance or not. However this parameter can also be stored at the central server. Other data that may be stored are substance volume data or weight data and data relating to the navigation system such as speed, location route, optimization result and so forth.
  • Fig. 1 illustrates two examples of substance moving units: a sensor equipped excavator and wheel loader, each including a bucket attached to a boom, which also has a wireless transceiver for communication of data.
  • Fig. 2 illustrates an example of a sensor equipped substance transport unit: a dump truck, including a dump bed and a wireless radio transceiver for communication of data.
  • Fig. 3 illustrates an example of a wireless system using a central processing unit to optimize the operations of at least one substance moving and at least two substance transport units.
  • Fig. 4 illustrates an example of a central processing architecture which in addition to the system illustrated in figure 3 has two or more substance moving units
  • Fig. 5 illustrates an example of the main components in the cloud service or central unit (which could be cloud based or server based) that performs the optimization of the system.
  • Fig. 6 illustrates an example of a field unit architecture which are located on the substance moving and substance transport units and enables data collection, communication within the system and interactions with the human operator. In distributed systems, this unit also participates in the optimization algorithm.
  • Fig. 7a, 7b and 7c illustrates a method for optimal use of earth moving and transport assets in construction site where substance moving and substance transport units collects and transmits data to a central (e.g., cloud storage) unit.
  • Fig. 8 illustrates an example of a distributed processing architecture one or more substance moving unit and at least two substance transport units that are working in the construction site and wirelessly communicates with each other.
  • Fig. 9 illustrates a method for utilizing the distributed processing capacity located in the substance moving and transport units to optimize their operation in a system with no central/cloud server.
  • Figure 10 illustrates the steps of the method described in figure 9 that are executed within a substance moving unit.
  • Figure 11 illustrates the steps of the method described in figure 9 that are executed within a substance transport unit.
  • Fig. 12 illustrates an example of substance moving units and transport units equipped with communication units and the central cloud server.
  • Fig. 13 illustrates an example of a communication architecture wherein the present invention may be used.
  • the present invention addresses a need to optimize the interaction between components (e.g., excavators and dump trucks) in a system that is moving substances.
  • components e.g., excavators and dump trucks
  • the function of the present invention (at the highest level of abstraction) is to move substance from one location to another using the components of the system.
  • the rate by which the substance can be picked up by the substance moving units shown in figure 1 e.g., excavators 1 and wheel loaders 2
  • the rate by which the substance can be transported by the substance transport units 11 need to be harmonized/synchronized.
  • This harmonization can be done by a central unit 6 as is illustrated in figure 12, figure 3 and figure 4, where the central unit, for example a cloud server receives relevant information from the substance moving units 1, 2 and substance transport units 11 and then by using certain algorithms, as described in figure 7a, 7b and 7c, determine what actions each unit should take in order to reach the optimization targets, which for example could be to maximize the substance moving rates in total across the site, or maximize the substance moving rate for a specific location on the site, or maximize the utilization of a specific piece of equipment on the site.
  • the central unit for example a cloud server receives relevant information from the substance moving units 1, 2 and substance transport units 11 and then by using certain algorithms, as described in figure 7a, 7b and 7c, determine what actions each unit should take in order to reach the optimization targets, which for example could be to maximize the substance moving rates in total across the site, or maximize the substance moving rate for a specific location on the site, or maximize the utilization of a specific piece of equipment on the site.
  • the harmonization can also be done without a central unit through collaboration between field units.
  • An architecture of such distributed system is illustrated in figure 8 and a corresponding method in figure 9, figure 10 and figure 11.
  • Figure 5 shows an example of an architecture of a central processing unit according to the present invention.
  • This can be a cloud based service, or a service implemented on a local workstation, or server.
  • Its main components are a communications unit 14 for receiving and transmitting data and information to the substance moving unit 1, 2 and the substance transport units 11, a processor 15 which uses data received in real-time from the substance moving units 1, 2 and the substance transport units 11 and data stored in the data storage 16 to determine the desired actions for each field unit. Then, relevant information is transmitted to the substance moving unit 1, 2 and the substance transport units 11 through the communications unit 14, and updated data is stored on the data storage 16.
  • Figure 6 shows an architecture of local data units that preferably exist at the substance moving units 1, 2 and the substance transport units 11 in order to send and receive information to the central processing component 6 of the system.
  • the local data unit described in figure 6 comprises sensors 22 which are used to measure parameters and collect data used to determine the current substance moving rate or substance transport rate.
  • such sensors 9, 22 can for example measure weight of bucket 3, position of bucket, motion of bucket, motion of boom 4, and motion of a substance moving unit 1, 1.
  • such sensors 9, 22 can for example measure load in dump bed 10, and orientation of dump bed relative to the vehicle.
  • the sensors 9, 22 provide their data to a processor 18 which also receives data from a navigation system 21, a human machine interface 13, 20, a data storage 19 and a communications unit 17.
  • the navigation system 21 provides information about its current location, velocity (if any), and planned driving route (if any), it is typically using satellite based navigation such as GPS, Galileo or GLONASS, but can also be using other types of navigational techniques such as inertlal navigation, leaky feeders, or RFID based systems to determine location and velocity.
  • satellite based navigation such as GPS, Galileo or GLONASS
  • inertlal navigation such as inertlal navigation, leaky feeders, or RFID based systems to determine location and velocity.
  • the human machine interface 13, 20 can be a visual or audio system with audio or tactile inputs or a combination of these, examples of such systems include but are not limited to tablet computers, smart phones and audio headphones.
  • the human machine interface 13, 20 collects input from the machine operator that are needed to determine predicted working rates. Such input could for example be planned breaks, duration of working shift, as well as information about unplanned events in real time that will impact the work rate, for example equipment failure, interference caused by 3rd parties, or personal issues. It could also receive input about certain parameters about the specific substance transport or moving unit such as vibration, information about hydraulic leaks, bearing wear, time to next maintenance, etc., or parameters about the environment or site around the machine such as temperature, ground conditions, lighting, weather, etc.
  • the human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
  • the human machine interface 13, 20 may also be used to provide information to the operator about what operations he/she should conduct and in which order.
  • substance transport units 11 this could for example be information about substance pick up points, driving routes, road conditions, waiting points, waiting times, driving speeds, additional substance pick-up points along the route, and dumping points and so forth.
  • substance moving units 1, 2 this could for example be information about desired substance moving rate, it could also be route information in case the substance moving involves a substance moving unit that is expected to operate over a larger area (e.g., a wheel loader 1 clearing snow off streets).
  • the human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
  • the data storage 19 stores a number of key characteristics of the substance moving 1, 2 or substance transport unit 11. This data includes the unit ID, the capacity of the bucket or dump bed, the maximum working speed for example earth moving cycle, or driving speed loaded and unloaded on a site and on roads, it can also store historical data about working rate (transport or substance moving), as well as working schedules, planned breaks, and maintenance.
  • the processor 18 preferably uses data from sensors 9, 22, data storage 19, human machine interface 13, 20, and navigation system 21 to generate information according to the method as described in figure 7a and figure 7b that will be transmitted wirelessly by the communications unit 5, 17 to the central processing unit 6 described in figure 5.
  • the communications unit 5, 17 can be part of one or more communications infrastructures, such as a two-way, point-to-point communication, GSM, G3, G4, G5, Bluetooth, leaky feeders, self-organizing mesh-network shown in figure 13, a wifi-system, or similar. It may use additional technology for enhanced communications security and robustness such as encryption, frequency hopping, etc. In very special cases wired communications may be preferred, but wireless communications solutions as described will be the normal case.
  • this information is transmitted to and received by each field unit's communications unit 5, 17.
  • the processor 18 receives the information and sends some of this to the storage 19, makes an update of the navigation system 21 as applicable, and sends some of the information to the operator by using the human machine interface 13, 20.
  • a confirmation message may be transmitted by the processor 18 through the
  • the system optimization governing the interactions between substance moving units 1, 2 and substance transport units 11 can also be realized without a central processing unit 6.
  • all substance moving units 1, 2 and the substance transport units 11 will need local data units as described in figure 6.
  • Figure 6 shows functional blocks of local data units that preferably exist at the substance moving unit 1, 2 and the substance transport 11 units in order to send and receive information as well as make all necessary processing to optimize the system of substance moving units 1, 2 and the substance transport units 11.
  • the local data unit described in figure 6 comprises sensors 9, 22 which are used to measure parameters and collect data used to determine the current substance moving rate or substance transport rate for the field unit to which it is attached.
  • such sensors 9, 22 may for example measure weight of bucket 3, position of bucket, motion of bucket, motion of boom 4, and motion of units 1, 2.
  • such sensors 9, 22 can for example measure load in dump bed 10, and orientation of dump bed relative to the vehicle.
  • the sensors 9, 22 provide their data to a processor 18 which also receives data from a navigation system 21, a human machine interface 13, 20, a data storage 19 and a communications unit 5, 17.
  • the navigation system 21 provides information about its current location, velocity (if any), and planned driving route (if any), it is typically using satellite based navigation such as GPS or GLONASS, but can also be using other types of navigational techniques such as inertial navigation, leaky feeders, or RFID based systems to determine location and velocity.
  • satellite based navigation such as GPS or GLONASS
  • inertial navigation leaky feeders
  • RFID based systems to determine location and velocity.
  • the human machine interface 13, 20 can be a visual or audio system with audio or tactile inputs or a combination of these, examples of such systems include, but is not limited to tablet computers, smart phones and audio headphones. It collects input from the machine operator that are needed to determine predicted working rates. Such input can be planned breaks, duration of working shift, as well as information about unplanned events in real time that will impact the work rate, for example equipment failure, interference caused by 3rd parties, or personal issues. It could also receive input about certain parameters about the specific substance transport or moving unit such as vibration, information about hydraulic leaks, bearing wear, time to next maintenance, etc., or parameters about the environment or site around the machine such as temperature, ground conditions, lighting, weather, etc. The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
  • the human machine interface 13, 20 can also be used to provide information to the operator about what operations he/she should conduct and in which order. For substance transport units 11, this could be information about substance pick up points, driving routes, waiting points, waiting times, driving speeds, additional substance pick-up points along the route, and dumping points. For substance moving units 1, 2, this could be information about desired substance moving rate, it could also be route information in case the substance moving involves a substance moving unit that is expected to operate over a larger area (e.g., a wheel loader clearing snow off streets). The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site or general messages distributed across the location or site.
  • the data storage 19 stores a number of key characteristics of the substance moving or substance transport unit. This data includes the unit ID, the capacity of the bucket or dump bed, the maximum working speed (earth moving cycle, or driving speed loaded and unloaded on a site and on roads), it can also store historical, current and planned working rates (transport or substance moving), driving routes, as well as working schedules, planned breaks, and maintenance and so forth.
  • the processor 18 uses data from sensors 9, 22, data storage 19, human machine interface 13, 20, navigation system 21, and data received from other substance moving units 1, 2 and substance transport units 11 through the communications unit 5, 17 to generate information as described in figure 9, figure 10 and figure 11 that will be used locally and transmitted wirelessly by the communications unit 5, 17 to the other field units as described in figure 8.
  • the communications unit 5, 17 can be part of one or more communications infrastructures, such as a two-way, point-to-point communication, GSM, G3, G4, G5, Bluetooth, leaky feeders, self-organizing mesh-network shown in figure 13, a wifi-system, or similar. It may use additional technology for enhanced communications security and robustness such as encryption, frequency hopping, etc.
  • each substance moving unit 1, 2 and substance transport unit 11 use their sensors to collect data about their current operations and transmit this information to the central unit 6.
  • the processor 15 receives this data and use it together with previously stored data from the data storage 16 to determine optimal system operation.
  • the result of step S2 is stored locally in the data storage 16 and wirelessly transmitted using the communications unit 14 back to the substance moving units 1, 2 and the substance transport units 11, and in step S4, this information is received by the communication units 5, 17 in the substance moving units 1, 2 and the substance transport units 11.
  • the processor 18 which identifies which information applies to the specific unit, stores received data locally 19 and presents applicable information to its operator using the human machine interface, 13, 20.
  • step Sla and Sib are repeated and the method continues in a cyclic manner.
  • Figure 7b shows the steps in the substance moving unit 1, 2, and the substance transport unit 11.
  • step Sla comprises three steps performed locally on the substance moving unit.
  • the sensors 9, 22, are used to gather data necessary to determine the current substance moving rate using the processor 18.
  • To calculate substance moving rate volume or mass moved during each working cycle is collected by sensors 9, 22 weighing the bucket or determining the filling level of the bucket through e.g., optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted.
  • Data about time taken for each substance moving cycle is also collected by sensors 9, 22 measuring the movement of key parts on the substance moving unit 1, 2. From this information, it is possible to take the next step Sla2: using the processor 18 to calculate substance moving rate by averaging the data about substance movement, then dividing by time per cycle. This yields information about volume or mass moved per time unit (second, minute or hour). Through multiplications, it is possible to determine volume moved in any other unit than those given in the base case (e.g., convert metric tons/sec to imperial tons per minute, or cubic feet per minute to cubic meters per hour). In the final step Sla3, the information about substance moving rate is transmitted using the communications unit 5, 17 to the central unit 6 together with the unit ID and geographical location for the particular substance moving unit, this information is found in the data storage component 19 or navigation system 21.
  • step Sib includes collecting data necessary to determine the current substance transport rate, as well as whether there is spare capacity in the current transport cycle which could be used to pick up additional substance along the route to the dumping site.
  • current transport volume or mass is determined by sensors 9, 22 which can be weighing the dump bed or substance transport unit or by determining the load percentage using optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted.
  • step Slb2 the information about current substance mass or volume is calculated in the processor 18 from sensor input, and then, during the final step Slb3, transmitted using the communications unit 5, 17 to the central unit 6 together with geographical location and speed retrieved from the navigation system 21 as well as the unit ID of the particular substance transport unit, this information is found in the data storage component 19).
  • Step S2 comprises a number of sub-steps and takes place in the central unit 6, these are shown in figure 7c:
  • the processor 15 receives the data though its communications unit 14 from the substance moving units 1, 2, 7 and the substance transport units, 8, 11 and retrieves stored data from the data storage 16.
  • Stored data may include geographic location of substance moving units 1, 2, 7, routes for substance transport units 8, 11, road conditions, maximum substance moving rate for each substance moving unit 1, 2, 7, maximum substance transport rate for each substance transport unit 8, 11, available transport routes, remaining substance to be moved at each location.
  • the processor 15 calculates the following to determine optimal system operation:
  • step 23 the central unit 6 uses its communications unit 14 to transmit information to all substance moving and transport units 1, 2, 7, 8.
  • Each transmitted piece of information has an address label identifying which specific unit 1, 2, 7, 8 it applies to.
  • To each substance moving unit 1, 2, 7 it transmits optimal substance moving rate, in addition for each non- stationary substance moving unit (e.g., wheel loader 1), it also transmits optimal driving route using its communications unit 14.
  • For each substance transport unit 8, 11 it transmits optimal driving route, speed and any additional pick-up points along the route.
  • the central unit also updates its data storage 16 with the latest information.
  • step S3 the details at the field units (i.e., substance moving and transport units 1, 2, 7, 8, 11) are described in the following steps S31, S32, and S33 as shown in figure 7c.
  • step S31 information transmitted from the central unit 6 is received by the communications unit 5, 17 in the field units.
  • step S32 the information specific to a field unit is presented using its human machine interface 13, 20 to the operator of the specific field unit as a work instruction.
  • a substance moving unit 1, 2, 7 it will present optimal substance moving rate and in case it is a non-stationary unit it also updates the navigation system 21 and presents the optimal driving route.
  • a substance transport unit 8, 11 it will update the navigation system 21 and present optimal driving route, pick up points and speed using its human machine interface 13, 20.
  • the local data storage 19 is then updated.
  • S33 is an optional step where the field units may send a confirmation message to the central unit 6 that the information has been received and presented to the operator.
  • step D2 the substance moving and substance transport units share data with each other wirelessly using their communication units 5, 17, and store the received data locally 19.
  • step D3 the distributed system optimization algorithm is executed and data sharing done through wireless interactions between all units using their communication units 5, 17.
  • Step D4 is executed once an optimized result is achieved in step D3.
  • the results of the optimization in D3 is transmitted wirelessly using the communications units 5, 17 and stored locally in each unit 19.
  • the specific information for the local unit is also presented on the human machine interface 13, 20 to the local operator who adjusts the operation of the local substance moving or transport unit accordingly.
  • steps Dla and Dlb are repeated and the method continues in a cyclic manner.
  • step Dial it uses its sensors 9, 22 to collect data, it also retrieves information from the data storage 19 and the navigation system 21.
  • step Dla2 it calculates its current substance moving needs using its processor 18. This is followed by step D2a where the information is stored locally 19 and transmitted using its communications unit 5, 17 to the all other field units (i.e., substance moving units 1, 2, 22, and substance transport units 11, 23) as shown in figure 8.
  • Step Dial includes collecting data necessary to determine the current substance moving rate.
  • volume or mass moved by each working cycle is collected using locally installed sensors 9, 22, which for example may be weighing the bucket 3 or determining the filling level of the bucket through e.g., optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted.
  • Data about time taken for each substance moving cycle is also collected by measuring the movement of key parts on the substance moving unit, for example the bucket 3 position. From this information, it is possible in step Dla2 to using the processor 18, calculate substance moving rate by averaging the data about substance movement, then dividing by time per cycle. This yields information about volume or mass moved per time unit (second, minute or hour). Through multiplications, it is possible to determine volume moved in any other unit than those given in the base case (e.g., convert metric tons/sec to imperial tons per minute, or cubic feet per minute to cubic meters per hour).
  • the processor 18 calculates the remaining amount of substance to be moved at the site by subtracting the amount of substance removed from the data stored in the storage unit 19 about the initial amount (mass or volume) of substance to be moved.
  • substance transportation need for the specific substance moving unit is calculated.
  • Step D2a The substance moving need for the unit, geographic location and unit ID is transmitted to all other field units in the system using its communications unit 5, 17.
  • step Dlb they receive data from other field units using their communications unit 5, 17.
  • step D2b the transport units each use their sensors 9, 22, navigation system 21 and data storage 19 to collect data necessary to determine its current substance transport rate, as well as whether there is spare capacity in the current transport cycle which could be used to pick up additional substance along the route to the dumping site.
  • Current transport volume or mass is determined by weighing the dump bed or substance transport unit or by determining the load percentage using optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted.
  • step D3b The current load plus information from the navigation system 21 on current geographic location, speed and currently selected route plus information from the data storage 19 on maximum working speed, and data received from other field units including substance transport need per substance moving location, transmitted in step D2a, alternative routes, road conditions (based on speed of transport units and/or driver input via the human machine interface 13, 20, or road sensor input) can now be used in an optimization algorithm for optimizing driving routes for all substance transport units 11, 23 and substance moving rates for all substance moving units 1, 2, 22.
  • Optimal routes (including any additional pick up points) and driving speed per substance transport unit, and optimal substance moving rates per substance moving unit are now calculated using the processor 18 through the exchange of information between the communications units 17 of the field units and applying an optimization algorithm.
  • Each processor 18 presents the results of the optimization algorithm to on its human machine interface 13, 20 to its operator. Information is updated in the local data storage units 19, and the navigation system 21.
  • Step D4b2 Information is transmitted using the communications unit 5, 17 to all other field units where it is received by their communications unit 5, 17.
  • the information specific to a field unit is then presented using the human machine interface 13, 20 to the operator of the specific field unit as a work instruction.
  • a substance transport unit 11, 23 it will update the navigation system 21 and present optimal driving route, pick up points and speed on the human machine interface 13, 20. All field units, store transmitted and received data locally 19.
  • the field unit sends information to a central location (if such exists) about the current field activities to keep a site management function updated about on-going activities.
  • the algorithm may also generate information on additional capacity needs which could also be transmitted to the site management function for decision to add more capacity to the site to better balance the system.

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Abstract

The present invention relates to a system for optimal utilization of transport units and substance moving units within a geographical area, the system comprising at least one substance moving unit and two or more substance transport units, and a central server, the central server comprising a processing unit for processing of the data received from the substance moving unit and transport unit, for calculating an optimal substance moving rate for the substance moving unit and an optimal route and speed for the transport unit, the optimal substance moving rate and the optimal route and speed for the transport unit is stored in a database and sent to the substance moving unit and the transport unit, so that it can be displayed via a visual or an audio interface to an operator of the substance moving unit or of the transport unit.

Description

A SYSTEM FOR OPTIMAL UTILIZATION OF SUBSTANCE TRANSPORT AND
MOVING UNITS.
FIELD OF THE INVENTION
5 The present invention relates to an automated, real-time system and method for managing construction vehicles such as excavators, wheel loaders, and dump trucks, within a geographical area by use of specific parameters. In particular it relates to a system and method for optimal utilization of substance transport units (e.g., dump trucks) and substance moving units (e.g., excavators or wheel loaders).
10
BACKGROUND OF THE INVENTION
Construction vehicles such as excavators, trucks and wheel loaders are very expensive equipment for construction and transportation companies. Often, excavators and wheel loaders are pacing equipment at a a substance moving site such as building sites, road 15 construction sites, snow moving sites, mines, and so forth, meaning that their working pace sets the pace for the entire substance moving project.
Since construction vehicles are a large investment for companies and they are pace-setting at a construction site, there exist a need of optimal utilization of these in real time.
20
A master thesis from Chalmers, "Arbetstidsanvandning for gravmaskiner" Johansson A., Olsson M, indicate that the level of utilization of an excavator at a construction site is typically around 50%.
25 Furthermore, in recent years construction vehicles have been equipped with sensors,
computers and communication equipment so they can measure a variety of parameters and communicate status of a particular vehicle with a central. An example of such an invention is disclosed in EP 1273723B1 disclosing a way of detection of actual operating time of construction vehicles deployed at construction sites. This is helpful for scheduling
30 predictive maintenance and for making statistical analysis of productivity. Another type of sensing solution is described by Lord Microstrain who offers a vehicle health monitoring product including wireless network systems (www.microstrain.com)
However, currently disclosed practice do not treat the construction site as a system of 35 collaborating production units (substance moving units interacting with substance transport units), where optimization in real-time can be done by determining how best utilize the available construction vehicles at any point in time based on the actions of other construction vehicles in the system. The present invention is a real-time optimization system to maximize the performance of the system by addressing the interactions of its 40 construction vehicles. BRIEF DESCRIPTION OF THE INVENTION
It is an objective of the present invention to provide a system oriented solution for optimal utilization of construction vehicles such as excavators, wheel loaders, dump trucks, and so forth.
It is an advantage achieved by the present invention to maximize the productivity of the total collection of construction vehicles on a site. It is further an advantage achieved by the present invention to reduce fuel consumption of construction vehicles.
It is further an advantage achieved by the present invention to improve work environment for operators and drivers of the construction vehicles.
It is further an advantage achieved by the present invention to predict time for a project involving construction vehicles.
It is further an advantage achieved by the present invention to assess what construction vehicles are needed at various locations at a site over time.
It is further an advantage achieved by the present invention to provide optimal driving routes to vehicles within a defined geographical area. It is further an advantage achieved by the present invention to keep track of construction vehicles' location, status, and what their plans are.
It is further an advantage achieved by the present invention to maximize utilization of construction vehicles.
It is further an advantage achieved by the present invention to reduce waiting time for the construction vehicles.
It is further an advantage achieved by the present invention to schedule maintenance on construction vehicles to have minimum impact on productivity and time plans at a work site.
It is further an advantage achieved by the present invention to shorten construction time. It is further an advantage achieved by the present invention to reduce operating costs at a construction site.
It is further an advantage achieved by the present invention to enable managers to monitor on-going activities in real-time and intervene if desired. The objective and advantages are achieved by a system and method as set out in the appended claims.
According to a first aspect of the invention the above objectives and advantages are achieved by providing a system for optimal utilization of transport units and substance moving units within a geographical area, the system comprising at least one substance moving unit and two or more substance transport units, and a central server, the substance moving unit comprising : a bucket attached to an boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors, a geographic position sensor or navigation system for determining a location of the substance moving unit, and a communication unit communicating in real time at least the location of the substance moving unit and the substance moving rate with the central server, a human machine interface for presenting and receiving information to/from a human operator. The transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a computer readable memory for storing data, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, a human machine interface for presenting and receiving information to/from a human operator, a
communication unit for communicating at least location, speed, route and the substance mass or volume data with the central server. The central server comprising a processing unit for calculating an optimal substance moving rate for the substance moving unit and an optimal route and speed for the transport unit, the optimal substance moving rate and the optimal route and speed for the transport unit is stored in a database and sent to the substance moving unit and the transport unit, via a communication network so that it can be displayed via the human machine interface to an operator of the substance moving unit or of the transport unit. Thereby the above objectives and advantages can be achieved.
The computer readable memory of the transport unit may preferably store data such as load capacity parameter so that the system can determine whether the transport unit can take more substance or not. However this parameter can also be stored at the central server. Other data that may be stored are substance volume data or weight data and data relating to the navigation system such as speed, location route and so forth.
The substance in the system may preferably comprise at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral. The system may further comprises a surveillance/monitoring terminal connectable to the central server for reading or changing the data about optimal substance moving rate and optimal routes of the substance moving unit and transport unit stored at the central server. Thereby it is possible to monitor and manage substance moving units and transports units manually in real time. Furthermore it is possible to identify problems with any unit or any other problem that may occur and decide on necessary measurements in order to solve the problem, such as allocating additional substance moving units or transport units. Also it is possible to relocate units which are idle and currently not being used at one site, to another site. Further, it is possible to override the automatically generated work plans and create manually generated work plans for the construction vehicles in the system.
The system is preferably used within a defined geographical area, such as a building site, road construction site, snow removal site, mining site or infrastructure construction site and so forth, or in a combination of these.
According to a second aspect of the invention, the above and other objectives are fulfilled by a method for optimally utilize transport units and substance moving units within a geographical area, the method comprising the steps of: determining and transmitting a position and substance moving rate of the substance moving unit to a central server and processing unit, determining and transmitting a location, speed and route of the transport unit to the central server and processing unit, calculating optimal substance moving rate and optimal route and speed at the central server and processing unit, sending the optimal substance moving rate to the substance moving unit from the central server and processing unit, sending the optimal route and speed to the transport unit from the central server and processing unit, and receiving, storing, and displaying the optimal substance moving rate and the optimal route and speed via a visual or an audio interface to an operator of the substance moving unit or the transport unit. Thereby the above objectives and advantages can be achieved.
The method may further comprising the step of exchanging the data in the central server related to the units with a project planning and managing function terminal. Thereby it is possible to manage substance moving units and transports units manually in real time from a central or remote location. Furthermore it is possible to identify problems with any unit or any other problem that may occur and decide on necessary measurements in order to solve the problem, such as allocating additional substance moving units or transport units. Also it is possible to relocate units which are idle and currently not being used at one site, to another site, or within a site. The method may further comprising the step of calculating a need for additional or less substance moving units or transport units and providing this new need to the central server. For example if there is a need to add or remove one or more substance moving unit at the site, or to add or remove one or more transport unit due to a changing situation. Thereby it is possible to relocate units between different sites and locations.
According to a third aspect of the invention, the above and other objectives are fulfilled by a system for optimal utilization of transport units and substance moving units within a geographical area comprising at least one substance moving unit and two or more substance transport units. The substance moving unit comprising; a bucket attached to a boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket, a processor for determining a substance moving rate based on the load and the movement of the bucket received from the sensors, and for participating in an optimization calculation, a computer readable memory at least storing the substance moving rate and for storing an
optimization result, a geographic position sensor or navigation system for determining a location of the substance moving unit, a communication unit communicating the substance moving rate, and the optimization result and a transport needs message with other substance moving and transport units, and a human machine interface for presenting and receiving information to/from a human operator.
The transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, and for participating in the optimization calculation, a computer readable memory at least storing the substance mass or volume data and for storing an optimization result, a communication unit for communicating at least location, speed, route and the substance mass or volume of the transport unit to the substance moving unit and second transport unit, and for receiving the transport need message from the substance moving unit and for receiving location, speed, current volume of substance and load capacity parameters data from the second transport unit, and a human machine interface for presenting and receiving information to/from a human operator. Thereby the above objective and advantages can be achieved The substance may preferably comprises at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral.
The system may further comprises a surveillance/monitoring terminal connectable to the communications network and able to communicate with all substance transport and substance moving units to influence the optimization algorithm to follow the instructions of an authorized person. Thereby it is possible to monitor and manage substance moving units and transports units manually in real time. Furthermore it is possible to identify problems with any unit or any other problem that may occur and decide on necessary measurements in order to solve the problem, such as allocating additional substance moving units or transport units. Also it is possible to relocate units which are idle and currently not being used at one site, to another site. Further, it is possible to override the automatically generated work plans and create manually generated work plans for the construction vehicles in the system. According to a fourth aspect of the invention, the above and other objectives are fulfilled by a method for optimally utilize transport units and substance moving units within a geographical area, the method comprising the steps of: determining and transmitting a position and substance moving rate of a first substance moving unit to a second substance moving unit and a first and second substance transport unit, determining and transmitting a location, speed and route of the first transport unit to the second transport unit and the first and second substance moving unit, the substance moving and transporting units receive and store transmitted information, using a multi agent negotiation optimization algorithm prescribing a protocol for negotiations between participating units to determine optimal substance moving rates for the substance moving units and optimal route and speed for the transport units, transmitting the established optimal substance moving rates and optimal routes and speeds to the substance moving and transport units, receiving, storing, and displaying the optimal substance moving rate and the optimal route and speed via a visual or an audio interface to an operator of the first and second substance moving unit or the first and second transport unit. Thereby the above objective and advantages can be achieved
The method may further comprising the step of exchanging the data transmitted in the system to a project planning and managing function terminal.
The method may further comprising the step of calculating a need for additional or less substance moving units or transport units and providing this new need to a project planning and managing function. According to a fifth aspect of the invention, the above and other objectives are fulfilled by a server connected to the systems described above for storing all data collected and transmitted between the substance moving units and transport units as they follow the methods described above, for future use by data-mining algorithms or machine learning algorithms.
According to a sixth aspect of the invention the above and other objectives are fulfilled by a substance moving unit comprising; a bucket attached to an boom for moving substance, one or more sensors for determining a load in the bucket, one or more sensors for determining a movements of the bucket a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors, a geographic position sensor or navigation system for determining a location of the substance moving unit, a human machine interface for presenting and receiving information to/from a human operator, and a communication unit communicating in real time at least the location of the substance moving unit and the substance moving rate to a central server or a transport unit, so that the substance moving unit and the transport unit can be synchronized.
According to a seventh aspect of the invention the above and other objectives are fulfilled by a transport unit comprising; a navigation system comprising data about location, speed and route of the transport unit, a substance volume or weight sensor indicating current volume or weight of substance in the dump bed, a computer readable memory for storing data, a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, a human machine interface for presenting and receiving information to/from a human operator, and a communication unit for communicating at least location, speed, route and the substance mass or volume data with a central server or a substance moving unit or a second transport unit, so that the transport unit, the substance moving unit and the second transport unit can be
synchronized.
The computer readable memory of the transport unit may preferably store data such as load capacity parameter so that the system can determine whether the transport unit can take more substance or not. However this parameter can also be stored at the central server. Other data that may be stored are substance volume data or weight data and data relating to the navigation system such as speed, location route, optimization result and so forth.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.
BRIEF DESCRIPTION OF FIGURES
Fig. 1 illustrates two examples of substance moving units: a sensor equipped excavator and wheel loader, each including a bucket attached to a boom, which also has a wireless transceiver for communication of data.
Fig. 2 illustrates an example of a sensor equipped substance transport unit: a dump truck, including a dump bed and a wireless radio transceiver for communication of data. Fig. 3 illustrates an example of a wireless system using a central processing unit to optimize the operations of at least one substance moving and at least two substance transport units.
Fig. 4 illustrates an example of a central processing architecture which in addition to the system illustrated in figure 3 has two or more substance moving units
Fig. 5 illustrates an example of the main components in the cloud service or central unit (which could be cloud based or server based) that performs the optimization of the system.
Fig. 6 illustrates an example of a field unit architecture which are located on the substance moving and substance transport units and enables data collection, communication within the system and interactions with the human operator. In distributed systems, this unit also participates in the optimization algorithm.
Fig. 7a, 7b and 7c illustrates a method for optimal use of earth moving and transport assets in construction site where substance moving and substance transport units collects and transmits data to a central (e.g., cloud storage) unit. Fig. 8 illustrates an example of a distributed processing architecture one or more substance moving unit and at least two substance transport units that are working in the construction site and wirelessly communicates with each other. Fig. 9 illustrates a method for utilizing the distributed processing capacity located in the substance moving and transport units to optimize their operation in a system with no central/cloud server.
Figure 10 illustrates the steps of the method described in figure 9 that are executed within a substance moving unit.
Figure 11 illustrates the steps of the method described in figure 9 that are executed within a substance transport unit. Fig. 12 illustrates an example of substance moving units and transport units equipped with communication units and the central cloud server.
Fig. 13 illustrates an example of a communication architecture wherein the present invention may be used.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
The present invention addresses a need to optimize the interaction between components (e.g., excavators and dump trucks) in a system that is moving substances.
The function of the present invention (at the highest level of abstraction) is to move substance from one location to another using the components of the system. In order to optimize the system, the rate by which the substance can be picked up by the substance moving units shown in figure 1 (e.g., excavators 1 and wheel loaders 2) and the rate by which the substance can be transported by the substance transport units 11 need to be harmonized/synchronized.
This harmonization can be done by a central unit 6 as is illustrated in figure 12, figure 3 and figure 4, where the central unit, for example a cloud server receives relevant information from the substance moving units 1, 2 and substance transport units 11 and then by using certain algorithms, as described in figure 7a, 7b and 7c, determine what actions each unit should take in order to reach the optimization targets, which for example could be to maximize the substance moving rates in total across the site, or maximize the substance moving rate for a specific location on the site, or maximize the utilization of a specific piece of equipment on the site.
According to a second embodiment of the invention the harmonization can also be done without a central unit through collaboration between field units. An architecture of such distributed system is illustrated in figure 8 and a corresponding method in figure 9, figure 10 and figure 11.
The architectures of components that enable data collection, transmission, and processing for a centrally controlled system (figure 3, figure 4 and figure 12) are described in figures 5 and 6.
Figure 5 shows an example of an architecture of a central processing unit according to the present invention. This can be a cloud based service, or a service implemented on a local workstation, or server. Its main components are a communications unit 14 for receiving and transmitting data and information to the substance moving unit 1, 2 and the substance transport units 11, a processor 15 which uses data received in real-time from the substance moving units 1, 2 and the substance transport units 11 and data stored in the data storage 16 to determine the desired actions for each field unit. Then, relevant information is transmitted to the substance moving unit 1, 2 and the substance transport units 11 through the communications unit 14, and updated data is stored on the data storage 16.
Figure 6 shows an architecture of local data units that preferably exist at the substance moving units 1, 2 and the substance transport units 11 in order to send and receive information to the central processing component 6 of the system. The local data unit described in figure 6 comprises sensors 22 which are used to measure parameters and collect data used to determine the current substance moving rate or substance transport rate.
In a substance moving unit 1, 2 , such sensors 9, 22 can for example measure weight of bucket 3, position of bucket, motion of bucket, motion of boom 4, and motion of a substance moving unit 1, 1. In a substance transport unit 11, such sensors 9, 22 can for example measure load in dump bed 10, and orientation of dump bed relative to the vehicle.
The sensors 9, 22 provide their data to a processor 18 which also receives data from a navigation system 21, a human machine interface 13, 20, a data storage 19 and a communications unit 17.
The navigation system 21 provides information about its current location, velocity (if any), and planned driving route (if any), it is typically using satellite based navigation such as GPS, Galileo or GLONASS, but can also be using other types of navigational techniques such as inertlal navigation, leaky feeders, or RFID based systems to determine location and velocity.
The human machine interface 13, 20 can be a visual or audio system with audio or tactile inputs or a combination of these, examples of such systems include but are not limited to tablet computers, smart phones and audio headphones. The human machine interface 13, 20 collects input from the machine operator that are needed to determine predicted working rates. Such input could for example be planned breaks, duration of working shift, as well as information about unplanned events in real time that will impact the work rate, for example equipment failure, interference caused by 3rd parties, or personal issues. It could also receive input about certain parameters about the specific substance transport or moving unit such as vibration, information about hydraulic leaks, bearing wear, time to next maintenance, etc., or parameters about the environment or site around the machine such as temperature, ground conditions, lighting, weather, etc. The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
The human machine interface 13, 20 may also be used to provide information to the operator about what operations he/she should conduct and in which order. For substance transport units 11, this could for example be information about substance pick up points, driving routes, road conditions, waiting points, waiting times, driving speeds, additional substance pick-up points along the route, and dumping points and so forth. For substance moving units 1, 2 , this could for example be information about desired substance moving rate, it could also be route information in case the substance moving involves a substance moving unit that is expected to operate over a larger area (e.g., a wheel loader 1 clearing snow off streets). The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
The data storage 19 stores a number of key characteristics of the substance moving 1, 2 or substance transport unit 11. This data includes the unit ID, the capacity of the bucket or dump bed, the maximum working speed for example earth moving cycle, or driving speed loaded and unloaded on a site and on roads, it can also store historical data about working rate (transport or substance moving), as well as working schedules, planned breaks, and maintenance. The processor 18 preferably uses data from sensors 9, 22, data storage 19, human machine interface 13, 20, and navigation system 21 to generate information according to the method as described in figure 7a and figure 7b that will be transmitted wirelessly by the communications unit 5, 17 to the central processing unit 6 described in figure 5. The communications unit 5, 17 can be part of one or more communications infrastructures, such as a two-way, point-to-point communication, GSM, G3, G4, G5, Bluetooth, leaky feeders, self-organizing mesh-network shown in figure 13, a wifi-system, or similar. It may use additional technology for enhanced communications security and robustness such as encryption, frequency hopping, etc. In very special cases wired communications may be preferred, but wireless communications solutions as described will be the normal case.
After the central processing unit 6, 15 has determined the desired actions for each field unit, this information is transmitted to and received by each field unit's communications unit 5, 17. The processor 18 then receives the information and sends some of this to the storage 19, makes an update of the navigation system 21 as applicable, and sends some of the information to the operator by using the human machine interface 13, 20. A confirmation message may be transmitted by the processor 18 through the
communications unit 5, 17 to the central processing unit 6, 15 to indicate that the information is received and displayed to the operator.
The system optimization governing the interactions between substance moving units 1, 2 and substance transport units 11 can also be realized without a central processing unit 6.
When a distributed decision making system architecture is preferred according to the second embodiment of the present invention, the communications need to take place between all functional units working as part of the system as illustrated in figure 8.
In a distributed decision making system, all substance moving units 1, 2 and the substance transport units 11 will need local data units as described in figure 6.
Figure 6 shows functional blocks of local data units that preferably exist at the substance moving unit 1, 2 and the substance transport 11 units in order to send and receive information as well as make all necessary processing to optimize the system of substance moving units 1, 2 and the substance transport units 11. The local data unit described in figure 6 comprises sensors 9, 22 which are used to measure parameters and collect data used to determine the current substance moving rate or substance transport rate for the field unit to which it is attached.
In a substance moving unit 1, 2 such sensors 9, 22 may for example measure weight of bucket 3, position of bucket, motion of bucket, motion of boom 4, and motion of units 1, 2. In a substance transport unit 11, such sensors 9, 22 can for example measure load in dump bed 10, and orientation of dump bed relative to the vehicle.
The sensors 9, 22 provide their data to a processor 18 which also receives data from a navigation system 21, a human machine interface 13, 20, a data storage 19 and a communications unit 5, 17.
The navigation system 21 provides information about its current location, velocity (if any), and planned driving route (if any), it is typically using satellite based navigation such as GPS or GLONASS, but can also be using other types of navigational techniques such as inertial navigation, leaky feeders, or RFID based systems to determine location and velocity.
The human machine interface 13, 20 can be a visual or audio system with audio or tactile inputs or a combination of these, examples of such systems include, but is not limited to tablet computers, smart phones and audio headphones. It collects input from the machine operator that are needed to determine predicted working rates. Such input can be planned breaks, duration of working shift, as well as information about unplanned events in real time that will impact the work rate, for example equipment failure, interference caused by 3rd parties, or personal issues. It could also receive input about certain parameters about the specific substance transport or moving unit such as vibration, information about hydraulic leaks, bearing wear, time to next maintenance, etc., or parameters about the environment or site around the machine such as temperature, ground conditions, lighting, weather, etc. The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site.
The human machine interface 13, 20 can also be used to provide information to the operator about what operations he/she should conduct and in which order. For substance transport units 11, this could be information about substance pick up points, driving routes, waiting points, waiting times, driving speeds, additional substance pick-up points along the route, and dumping points. For substance moving units 1, 2, this could be information about desired substance moving rate, it could also be route information in case the substance moving involves a substance moving unit that is expected to operate over a larger area (e.g., a wheel loader clearing snow off streets). The human machine interface 13, 20 can also provide information to the operator about the status and location of other units working in the site or general messages distributed across the location or site.
The data storage 19 stores a number of key characteristics of the substance moving or substance transport unit. This data includes the unit ID, the capacity of the bucket or dump bed, the maximum working speed (earth moving cycle, or driving speed loaded and unloaded on a site and on roads), it can also store historical, current and planned working rates (transport or substance moving), driving routes, as well as working schedules, planned breaks, and maintenance and so forth.
The processor 18 uses data from sensors 9, 22, data storage 19, human machine interface 13, 20, navigation system 21, and data received from other substance moving units 1, 2 and substance transport units 11 through the communications unit 5, 17 to generate information as described in figure 9, figure 10 and figure 11 that will be used locally and transmitted wirelessly by the communications unit 5, 17 to the other field units as described in figure 8. The communications unit 5, 17 can be part of one or more communications infrastructures, such as a two-way, point-to-point communication, GSM, G3, G4, G5, Bluetooth, leaky feeders, self-organizing mesh-network shown in figure 13, a wifi-system, or similar. It may use additional technology for enhanced communications security and robustness such as encryption, frequency hopping, etc.
After optimal actions for each substance moving unit 1, 2 and substance transport unit 11 have been established within the system, this information is sent to storage 19 and information relevant to a specific substance moving unit 1, 2 and substance transport unit 11 is presented to its operator through its human machine interface 13, 20. A confirmation message may be transmitted by the processor 18 using the communications unit 5,17 to the other substance moving units 1, 2 and substance transport units 11 to indicate that the information is received and displayed to the operator. In the centralized model shown in figure 3 and figure 4, one method for optimizing the system is described in figure 7a, figure 7b and figure 7c. The specifics of this particular method is as follows: Figure 7a shows a high level abstraction of this method. During the steps Sla and Sib, each substance moving unit 1, 2 and substance transport unit 11 use their sensors to collect data about their current operations and transmit this information to the central unit 6. During step S2, the processor 15 receives this data and use it together with previously stored data from the data storage 16 to determine optimal system operation. In step S3 the result of step S2 is stored locally in the data storage 16 and wirelessly transmitted using the communications unit 14 back to the substance moving units 1, 2 and the substance transport units 11, and in step S4, this information is received by the communication units 5, 17 in the substance moving units 1, 2 and the substance transport units 11. The processor 18 which identifies which information applies to the specific unit, stores received data locally 19 and presents applicable information to its operator using the human machine interface, 13, 20. The operator adjusts the operation of his/her substance moving unit 1, 2 or the substance transport unit 11 accordingly. At this point, step Sla and Sib are repeated and the method continues in a cyclic manner. Figure 7b shows the steps in the substance moving unit 1, 2, and the substance transport unit 11. For substance moving units 1, 2, step Sla comprises three steps performed locally on the substance moving unit. During the first of them Slal the sensors 9, 22, are used to gather data necessary to determine the current substance moving rate using the processor 18. To calculate substance moving rate, volume or mass moved during each working cycle is collected by sensors 9, 22 weighing the bucket or determining the filling level of the bucket through e.g., optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted. Data about time taken for each substance moving cycle is also collected by sensors 9, 22 measuring the movement of key parts on the substance moving unit 1, 2. From this information, it is possible to take the next step Sla2: using the processor 18 to calculate substance moving rate by averaging the data about substance movement, then dividing by time per cycle. This yields information about volume or mass moved per time unit (second, minute or hour). Through multiplications, it is possible to determine volume moved in any other unit than those given in the base case (e.g., convert metric tons/sec to imperial tons per minute, or cubic feet per minute to cubic meters per hour). In the final step Sla3, the information about substance moving rate is transmitted using the communications unit 5, 17 to the central unit 6 together with the unit ID and geographical location for the particular substance moving unit, this information is found in the data storage component 19 or navigation system 21.
For substance transport units 11, step Sib includes collecting data necessary to determine the current substance transport rate, as well as whether there is spare capacity in the current transport cycle which could be used to pick up additional substance along the route to the dumping site. During the first step that is performed locally on the substance transport unit Slbl, current transport volume or mass is determined by sensors 9, 22 which can be weighing the dump bed or substance transport unit or by determining the load percentage using optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted. In the following step Slb2, the information about current substance mass or volume is calculated in the processor 18 from sensor input, and then, during the final step Slb3, transmitted using the communications unit 5, 17 to the central unit 6 together with geographical location and speed retrieved from the navigation system 21 as well as the unit ID of the particular substance transport unit, this information is found in the data storage component 19).
Step S2 comprises a number of sub-steps and takes place in the central unit 6, these are shown in figure 7c: In the first sub-step, S21, the processor 15 receives the data though its communications unit 14 from the substance moving units 1, 2, 7 and the substance transport units, 8, 11 and retrieves stored data from the data storage 16. Stored data may include geographic location of substance moving units 1, 2, 7, routes for substance transport units 8, 11, road conditions, maximum substance moving rate for each substance moving unit 1, 2, 7, maximum substance transport rate for each substance transport unit 8, 11, available transport routes, remaining substance to be moved at each location. During the second sub-step, S22 using this data input, the processor 15 calculates the following to determine optimal system operation:
• Current and forecasted substance transport need per substance moving unit
• Substance transport capacity available per substance moving unit in its currently scheduled transport cycle
· Excess capacity available in moving substance transport unit
• Optimal driving route and speed per substance transport unit, including additional loading points for units moving with excess capacity
• Optimal substance moving rate per substance moving unit
• Optimal driving route for each substance moving unit that is not stationary (e.g., wheel loaders working on snow removal).
In step 23 the central unit 6 uses its communications unit 14 to transmit information to all substance moving and transport units 1, 2, 7, 8. Each transmitted piece of information has an address label identifying which specific unit 1, 2, 7, 8 it applies to. To each substance moving unit 1, 2, 7 it transmits optimal substance moving rate, in addition for each non- stationary substance moving unit (e.g., wheel loader 1), it also transmits optimal driving route using its communications unit 14. For each substance transport unit 8, 11 it transmits optimal driving route, speed and any additional pick-up points along the route. The central unit also updates its data storage 16 with the latest information.
In the next main step S3, the details at the field units (i.e., substance moving and transport units 1, 2, 7, 8, 11) are described in the following steps S31, S32, and S33 as shown in figure 7c. During S31, information transmitted from the central unit 6 is received by the communications unit 5, 17 in the field units. Then during S32, the information specific to a field unit is presented using its human machine interface 13, 20 to the operator of the specific field unit as a work instruction. For a substance moving unit 1, 2, 7 it will present optimal substance moving rate and in case it is a non-stationary unit it also updates the navigation system 21 and presents the optimal driving route. For a substance transport unit 8, 11 it will update the navigation system 21 and present optimal driving route, pick up points and speed using its human machine interface 13, 20. The local data storage 19 is then updated.
Finally, S33 is an optional step where the field units may send a confirmation message to the central unit 6 that the information has been received and presented to the operator.
In the second embodiment of the invention, a system without a central unit, as described in figure 8, one example of a method for optimizing the system using a distributed decision making algorithm is described at a high level of abstraction in figure 9. The main steps of this particular method comprises are Dla, Dlb, D2, D3, and D4. During Dla and Dlb, each substance moving unit 1, 2, 22 and substance transport unit, 11, 23 generates data to use for the system optimization algorithm. In step D2, the substance moving and substance transport units share data with each other wirelessly using their communication units 5, 17, and store the received data locally 19. During the following step D3, the distributed system optimization algorithm is executed and data sharing done through wireless interactions between all units using their communication units 5, 17. Step D4 is executed once an optimized result is achieved in step D3. During D4, the results of the optimization in D3 is transmitted wirelessly using the communications units 5, 17 and stored locally in each unit 19. The specific information for the local unit is also presented on the human machine interface 13, 20 to the local operator who adjusts the operation of the local substance moving or transport unit accordingly. At this point steps Dla and Dlb are repeated and the method continues in a cyclic manner.
In figure 10, the steps taken by each substance moving unit 1, 2, 22 are shown. First, in step Dial it uses its sensors 9, 22 to collect data, it also retrieves information from the data storage 19 and the navigation system 21. In step Dla2 it calculates its current substance moving needs using its processor 18. This is followed by step D2a where the information is stored locally 19 and transmitted using its communications unit 5, 17 to the all other field units (i.e., substance moving units 1, 2, 22, and substance transport units 11, 23) as shown in figure 8.
Step Dial includes collecting data necessary to determine the current substance moving rate. To calculate substance moving rate, volume or mass moved by each working cycle is collected using locally installed sensors 9, 22, which for example may be weighing the bucket 3 or determining the filling level of the bucket through e.g., optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted. Data about time taken for each substance moving cycle is also collected by measuring the movement of key parts on the substance moving unit, for example the bucket 3 position. From this information, it is possible in step Dla2 to using the processor 18, calculate substance moving rate by averaging the data about substance movement, then dividing by time per cycle. This yields information about volume or mass moved per time unit (second, minute or hour). Through multiplications, it is possible to determine volume moved in any other unit than those given in the base case (e.g., convert metric tons/sec to imperial tons per minute, or cubic feet per minute to cubic meters per hour).
In addition to the substance moving rate, the processor 18 also calculates the remaining amount of substance to be moved at the site by subtracting the amount of substance removed from the data stored in the storage unit 19 about the initial amount (mass or volume) of substance to be moved.
Based on the information about substance moving rates and remaining substance to move, substance transportation need for the specific substance moving unit is calculated.
Step D2a: The substance moving need for the unit, geographic location and unit ID is transmitted to all other field units in the system using its communications unit 5, 17.
Finally, the data storage 19 is updated with the new information. In figure 11, the steps taken by the transport units 11, 23, are shown. First, in step Dlb they receive data from other field units using their communications unit 5, 17. Then in step D2b, the transport units each use their sensors 9, 22, navigation system 21 and data storage 19 to collect data necessary to determine its current substance transport rate, as well as whether there is spare capacity in the current transport cycle which could be used to pick up additional substance along the route to the dumping site. Current transport volume or mass is determined by weighing the dump bed or substance transport unit or by determining the load percentage using optical measurements. In modern machines, such sensors may be built in, in older machines these sensors will have to be retrofitted. In step D3b: The current load plus information from the navigation system 21 on current geographic location, speed and currently selected route plus information from the data storage 19 on maximum working speed, and data received from other field units including substance transport need per substance moving location, transmitted in step D2a, alternative routes, road conditions (based on speed of transport units and/or driver input via the human machine interface 13, 20, or road sensor input) can now be used in an optimization algorithm for optimizing driving routes for all substance transport units 11, 23 and substance moving rates for all substance moving units 1, 2, 22. Optimal routes (including any additional pick up points) and driving speed per substance transport unit, and optimal substance moving rates per substance moving unit are now calculated using the processor 18 through the exchange of information between the communications units 17 of the field units and applying an optimization algorithm. Examples of applicable optimization algorithms include multi-agent negotiations such as the algorithm proposed by Wangerman and Stengel in Journal of Guidance Control and Dynamics vol 22, no 1, 1999. In the next step D4bl : Each processor 18 presents the results of the optimization algorithm to on its human machine interface 13, 20 to its operator. Information is updated in the local data storage units 19, and the navigation system 21.
Step D4b2: Information is transmitted using the communications unit 5, 17 to all other field units where it is received by their communications unit 5, 17. The information specific to a field unit is then presented using the human machine interface 13, 20 to the operator of the specific field unit as a work instruction. For a substance moving unit 1, 2, 22, it will present optimal substance moving rate and in case it is a non-stationary unit 1 it also updates the navigation system 21 and presents the optimal driving route. For a substance transport unit 11, 23 it will update the navigation system 21 and present optimal driving route, pick up points and speed on the human machine interface 13, 20. All field units, store transmitted and received data locally 19.
As an optional additional step, not shown in figure 11, the field unit sends information to a central location (if such exists) about the current field activities to keep a site management function updated about on-going activities. The algorithm may also generate information on additional capacity needs which could also be transmitted to the site management function for decision to add more capacity to the site to better balance the system.
In both embodiments of the invention (with a central processing unit 6 as described in figure 3 and 4, or distributed system without a central unit as described in figure 8) it should preferably be possible for human intervention into the system whereby an authorized person can go in and manually change the routing for substance moving units or substance moving rates for substance moving units via a terminal 12 as shown in figure 12. This person could be in a central location, in a construction vehicle which is part of the system, or in a remote location. Further it should preferably be possible for a system to switch from operating in a mode with a central processing unit 6 described in figure 3 and figure 4 to become a system operating in a mode with a distributed optimization model as described in figure 8. It should also be possible for a system operating with a distributed optimization model as described in figure 8 to switch into a mode with a central processing unit 6 described in figure 3 and figure 4. It could be desirable to make a switch from a centrally controlled model (figure 3, figure 4, figure 12) to a distributed model (figure 8) if a central unit 6 for goes off line and become unable to communicate with the substance moving 1, 2, and transport 11 units in the system. It could be desirable to make a switch from a distributed model (figure 8) to a centrally controlled model (figure 3, figure 4) if it is desirable to switch optimization model.

Claims

1. A system for optimal utilization of transport units and substance moving units within a geographical area, the system comprising at least one substance moving unit and two or more substance transport units, and a central server, the substance moving unit comprising
• a bucket attached to an boom for moving substance,
• one or more sensors for determining a load in the bucket,
· one or more sensors for determining a movements of the bucket
• a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors,
• a geographic position sensor or navigation system for determining a location of the substance moving unit, and
· a communication unit communicating in real time at least the location of the
substance moving unit and the substance moving rate with the central server,
• a human machine interface for presenting and receiving information to/from a human operator, the transport unit comprising
• a navigation system comprising data about location, speed and route of the
transport unit,
• a substance volume or weight sensor indicating current volume or weight of
substance in a dump bed,
· a computer readable memory for storing data,
• a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors,
• a human machine interface for presenting and receiving information to/from a human operator,
· a communication unit for communicating at least location, speed, route and the substance mass or volume data with the central server, the central server comprising a processing unit for calculating an optimal substance moving rate for the substance moving unit and an optimal route and speed for the transport unit, the optimal substance moving rate and the optimal route and speed for the transport unit is stored in a database and sent to the substance moving unit and the transport unit, via a communication network so that it can be displayed via the human machine interface to an operator of the substance moving unit or of the transport unit.
2. A system according to claim 1 wherein the substance comprises at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral.
3. A system according to claim 1-2 wherein the system further comprises a
surveillance/monitoring terminal connectable to the central server for reading or changing the data about optimal substance moving rate and optimal routes of the substance moving unit and transport unit stored at the central server.
4. A method for optimally utilize transport units and substance moving units within a geographical area, the method comprising the steps of: · determining and transmitting a position and substance moving rate of the
substance moving unit to a central server and processing unit,
• determining and transmitting a location, speed and route of the transport unit to the central server and processing unit,
• calculating optimal substance moving rate and optimal route and speed at the central server and processing unit
• sending the optimal substance moving rate to the substance moving unit from the central server and processing unit,
• sending the optimal route and speed to the transport unit from the central server and processing unit, and · receiving, storing, and displaying the optimal substance moving rate and the
optimal route and speed via a visual or an audio interface to an operator of the substance moving unit or the transport unit.
5. The method according to claim 6 further comprising the step of exchanging the data in the central server related to the units with a project planning and managing function terminal.
6. The method according to claims 4-5 further comprising the step of calculating a need for additional or less substance moving units or transport units and providing this new need to the central server.
7. A system for optimal utilization of transport units and substance moving units within a geographical area comprising at least one substance moving unit and two or more substance transport units, the substance moving unit comprising
• a bucket attached to a boom for moving substance,
• one or more sensors for determining a load in the bucket,
• one or more sensors for determining a movements of the bucket
· a processor for determining a substance moving rate based on the load and the movement of the bucket received from the sensors, and for participating in an optimization calculation,
• a computer readable memory at least storing the substance moving rate and for storing an optimization result,
· a geographic position sensor or navigation system for determining a location of the substance moving unit,
• a communication unit communicating the substance moving rate, and the
optimization result and a transport needs message with other substance moving and transport units, and
· a human machine interface for presenting and receiving information to/from a human operator, the transport unit comprising
• a navigation system comprising data about location, speed and route of the
transport unit,
· a substance volume or weight sensor indicating current volume or weight of
substance in a dump bed,
• a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors, and for participating in the optimization calculation,
· a computer readable memory at least storing the substance mass or volume data and for storing an optimization result
• a communication unit for communicating at least location, speed, route and the substance mass or volume of the transport unit to the substance moving unit and second transport unit, and for receiving the transport need message from the substance moving unit and for receiving location, speed, current volume of substance and load capacity parameters data from the second transport unit,
• a human machine interface for presenting and receiving information to/from a
human operator,
8. A system according to claim 7 wherein the substance comprises at least one of the following substances, earth and/or snow and/or dirt and/or sand and/or stone and/or mineral.
9. A system according to claim 7-8 wherein the system further comprises a
surveillance/monitoring terminal connectable to the communications network and able to communicate with all substance transport and substance moving units to influence the optimization algorithm to follow the instructions of an authorized person.
10. A method for optimally utilize transport units and substance moving units within a geographical area, the method comprising the steps of: determining and transmitting a position and substance moving rate of a first substance moving unit to a second substance moving unit and a first and second substance transport unit, determining and transmitting a location, speed and route of the first transport unit to the second transport unit and the first and second substance moving unit, the substance moving and transporting units receive and store transmitted information,
using a multi agent negotiation optimization algorithm prescribing a protocol for negotiations between participating units to determine optimal substance moving rates for the substance moving units and optimal route and speed for the transport units transmitting the established optimal substance moving rates and optimal routes and speeds to the substance moving and transport units, receiving, storing, and displaying the optimal substance moving rate and the optimal route and speed via a visual or an audio interface to an operator of the first and second substance moving unit or the first and second transport unit.
11. The method according to claim 10 further comprising the step of exchanging the data transmitted in the system to a project planning and managing function terminal.
12. The method according to claim 10-11 further comprising the step of calculating a need for additional or less substance moving units or transport units and providing this new need to a project planning and managing function.
13. A server connected to the system in claims 1-3 or 7-9 for storing all data collected and transmitted between the substance moving units and transport units as they follow the methods described in claims 4-6 or 10-12, for future use by data-mining algorithms or machine learning algorithms.
14. A substance moving unit comprising
· a bucket attached to an boom for moving substance,
• one or more sensors for determining a load in the bucket,
• one or more sensors for determining a movements of the bucket
• a processor for determining a substance moving rate, based on the load and the movement of the bucket received from the sensors,
· a geographic position sensor or navigation system for determining a location of the substance moving unit, and
• a human machine interface for presenting and receiving information to/from a human operator,
• a communication unit communicating in real time at least the location of the
substance moving unit and the substance moving rate to a central server or a transport unit,
so that the substance moving unit and the transport unit can be synchronized.
15. A transport unit comprising
· a navigation system comprising data about location, speed and route of the
transport unit,
• a substance volume or weight sensor indicating current volume or weight of
substance in a dump bed,
• a computer readable memory for storing data,
· a processor for calculating substance mass or volume data, based on the volume or weight of substance received from the sensors,
• a human machine interface for presenting and receiving information to/from a human operator,
• a communication unit for communicating at least location, speed, route and the substance mass or volume data with a central server or a substance moving unit or a second transport unit,
so that the transport unit, the substance moving unit and the second transport unit can be synchronized.
PCT/SE2016/000044 2015-09-01 2016-08-29 A system for optimal utilization of substance transport and moving units. WO2017039514A1 (en)

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