WO2022086512A1 - Système de chargement à lidar - Google Patents

Système de chargement à lidar Download PDF

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Publication number
WO2022086512A1
WO2022086512A1 PCT/US2020/056572 US2020056572W WO2022086512A1 WO 2022086512 A1 WO2022086512 A1 WO 2022086512A1 US 2020056572 W US2020056572 W US 2020056572W WO 2022086512 A1 WO2022086512 A1 WO 2022086512A1
Authority
WO
WIPO (PCT)
Prior art keywords
point
working space
engagement means
distance measuring
optical distance
Prior art date
Application number
PCT/US2020/056572
Other languages
English (en)
Inventor
Jay Cashman
Timothy MANNERING
Aiden HORAN
Original Assignee
Cashman Dredging And Marine Contracting, Co., Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cashman Dredging And Marine Contracting, Co., Llc filed Critical Cashman Dredging And Marine Contracting, Co., Llc
Priority to PCT/US2020/056572 priority Critical patent/WO2022086512A1/fr
Publication of WO2022086512A1 publication Critical patent/WO2022086512A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/02—Bucket grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/006—Dredgers or soil-shifting machines for special purposes adapted for working ground under water not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • 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
    • E02F9/2045—Guiding machines along a predetermined path

Definitions

  • the present technology relates to a loading system employing optical distance measuring, such as Light Detection and Ranging (LiDAR), to facilitate the relocation of one or more objects or materials, where a particular application includes a dredging operation.
  • optical distance measuring such as Light Detection and Ranging (LiDAR)
  • LiDAR Light Detection and Ranging
  • Moving material between locations can be accomplished in various ways using many types of equipment.
  • Various types of materials including various objects, containers, packages, cargo, bulk materials, and environmental materials such as sand, earth, gravel, etc. can be relocated for shipping or receiving purposes, collection or harvesting purposes, or simply where such materials are moved from an undesired location to a desired location.
  • an operator can guide and control the equipment to engage a material in order to relocate the material to a final destination or relocate the material within or on a transport that serves to further move the material to a remote location. Examples include the loading or unloading containers or materials to or from transport or storage locations as well as removal of materials, such as environmental materials, from an unwanted location.
  • Dredging is one particular operation of relocating or excavating an environmental material from a water environment.
  • a dredging operation can employ a dredge, such as a mechanical dredge, that acquires material located within the water environment and relocates the material to a transport, such as a scow or barge.
  • a mechanical dredge includes a grab dredger that can grasp submerged material with a grab, such as a clam shell bucket, where the bucket can be suspended from a crane or a crane barge, carried by a hydraulic arm, or mounted on a dragline, for example.
  • Dredging can be an important part of improving existing water features, reshaping land and water features to alter drainage, navigability, and/or commercial use, in construction of dams, dikes, and other controls for streams or shorelines, as well as in recovering or obtaining desirable submerged materials having commercial value.
  • Issues faced by an operator of mechanized or powered equipment, like a mechanical dredge, include locating the material to be engaged by the equipment and navigating the engaged material to a desired deposit location. Often the operating environment can present obstacles to locating the material to be engaged, moving the engaged material through the environment, and depositing the material in a particular desired location.
  • Such obstacles can include obstacles to the line of sight of the operator, physical obstacles, as well as difficulties in estimating one or more locations, distances, and/or pathways between a point of acquiring material and a point of depositing material.
  • Various locations can also change when moving material, as selectively engaging material, loading material, and/or unloading material can affect heights and/or positions of material and/or equipment, such as where drafts of a barge mounted mechanical dredge and/or scow can change when loaded or unloaded.
  • These types of obstacles can hinder optimal and/or proper equipment use, whether by a human operator or by automated operation of the equipment.
  • the present technology includes systems and processes that relate to moving materials throughout a space.
  • Loading systems for a material include a material engagement means, a translation means, an optical distance measuring means, and a control means.
  • the material engagement means can be configured to selectively engage the material.
  • the translation means can be configured to move the material engagement means within a working space having three dimensions, the working space including a minimum engagement distance and a maximum engagement distance.
  • the optical distance measuring means can be configured to locate a material acquisition point within the working space, to locate a material deposit point within the working space, and to locate at least one obstacle point located in a pathway between the material acquisition point and the material deposit point.
  • the control means can be configured to operate the translation means to move the material engagement means within the working space and operate the material engagement means to selectively engage the material.
  • the material can be engaged with the material engagement means at the material acquisition point.
  • the translation means can be used to move the material engagement means with the engaged material through the pathway to the material deposit point while negotiating the at least one obstacle point.
  • the material can be disengaged with the material engagement means at the material deposit point.
  • Embodiments include using the optical distance measuring means to locate one of the material deposit point, the at least one obstacle point, and the material deposit point and the at least one obstacle point upon engaging the material with the material engagement means at the material acquisition point. At this time, it is possible for the translation means to move from an unloaded position to a loaded position.
  • the optical distance measuring means can locate one of another material acquisition point, the at least one obstacle point, and another material acquisition point and the at least one obstacle point upon disengaging the material with the material engagement means at the material deposit point. At this time, it is possible for the translation means to move from a loaded position to an unloaded position and/or for the at least one obstacle point to move from an unloaded position to a loaded position.
  • the present systems and methods can account for changes in various locations, objects, and obstacles when moving material, as selectively engaging material, loading material, and/or unloading material can affect heights and/or positions of material and/or equipment when loaded or unloaded.
  • Optimal pathways for moving material and negotiating one or more obstacles can provide efficient use of equipment use, whether by a human operator or by automated operation of the equipment.
  • FIG. l is a schematic elevational view of an embodiment of a loading system for moving material from a series of submerged locations to a scow to perform a dredging operation;
  • FIG. 2 is a schematic top plan view of the embodiment of the loading system of FIG. 1;
  • FIG. 3 is a flowchart of an embodiment of a process for moving a material throughout a space.
  • compositions or processes specifically envisions embodiments consisting of, and consisting essentially of, A, B and C, excluding an element D that may be recited in the art, even though element D is not explicitly described as being excluded herein.
  • ranges are, unless specified otherwise, inclusive of endpoints and include all distinct values and further divided ranges within the entire range.
  • a range of “from A to B” or “from about A to about B” is inclusive of A and of B. Disclosure of values and ranges of values for specific parameters (such as amounts, weight percentages, etc.) are not exclusive of other values and ranges of values useful herein. It is envisioned that two or more specific exemplified values for a given parameter may define endpoints for a range of values that may be claimed for the parameter.
  • Parameter X is exemplified herein to have value A and also exemplified to have value Z, it is envisioned that Parameter X may have a range of values from about A to about Z.
  • disclosure of two or more ranges of values for a parameter (whether such ranges are nested, overlapping or distinct) subsume all possible combination of ranges for the value that might be claimed using endpoints of the disclosed ranges.
  • Parameter X is exemplified herein to have values in the range of 1-10, or 2-9, or 3-8, it is also envisioned that Parameter X may have other ranges of values including 1-9, 1-8, 1-3, 1-2, 2-10, 2-8, 2-3, 3- 10, 3-9, and so on.
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
  • Spatially relative terms such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the FIGS, is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • a loading system for a material can include a material engagement means configured to selectively engage the material.
  • a translation means can be included that is configured to move the material engagement means within a working space having three dimensions, the working space including a minimum engagement distance and a maximum engagement distance.
  • An optical distance measuring means can be used to locate a material acquisition point within the working space, to locate a material deposit point within the working space, and to locate at least one obstacle point located in a pathway between the material acquisition point and the material deposit point.
  • a control means can be configured to operate the translation means to move the material engagement means within the working space and operate the material engagement means to selectively engage the material.
  • the material engagement means can include various types of equipment.
  • the material engagement means can embody a grab, such as a grab having at least two jaws.
  • Grabs include round nose grabs, clamshell grabs, and orange-peel grabs.
  • Certain types of grabs include a clamshell bucket and an excavator bucket.
  • the translation means can include various types of equipment. Certain embodiments include where the translation means has a boom and a line coupled to the material engagement means. In this way, the boom and the line can move the material engagement means throughout the working space, where the working space can include an arc within a plane defined by a first dimension and a second dimension of the working space, and a third dimension of the working space lies perpendicular to the plane. In particular, the boom can swing throughout the arc and be raised and lowered to define a maximum arc path and a minimum arc path. The line can raise and lower the material engagement means in the third dimension lying perpendicular to the plane. In this way, the boom and the line together can define the working space.
  • the translation means and the material engagement means can be comprised by a grab dredger, where the grab dredger can pick up submerged material with a clamshell bucket, which can hang from an onboard crane boom or crane barge, can be carried by a hydraulic arm, or can be mounted on a dragline. Certain embodiments include where the grab dredger is positioned onboard a barge.
  • the optical distance measuring means can have certain functionalities that can be performed by various types of equipment. Embodiments include where the optical distance measuring means is configured to determine a three-dimensional map of the pathway between the material acquisition point and the material deposit point. The optical distance measuring means can be configured to determine the three-dimensional map in real time. One example of the optical distance measuring means includes a Light Detection and Ranging (LiDAR) module.
  • the optical distance measuring means can also locate the material acquisition point, the material deposit point, and/or the at least one obstacle point when the material engagement means selectively engages or disengages the material. In this way, an accurate position of the material acquisition point, the material deposit point, and/or the at least one obstacle point can be determined in response to any position changes in the system and/or environment that can result following engagement or disengagement of the material.
  • LiDAR Light Detection and Ranging
  • the control means can have certain functionalities that can be performed by various types of equipment.
  • the control means can be configured to operate the translation means to move the material engagement means within the working space and operate the material engagement means to engage and disengage the material according to a predetermined set of instructions.
  • the control means can operate a boom and a line coupled to a clamshell bucket.
  • the control means can include manual controls for use by a human operator and/or automated controls for operation by a computer system including a processor and a non-transitory computer-readable storage medium.
  • control means can include a non-transitory computer-readable storage medium having encoded thereon one or more predetermined sets of instructions that, when executed by a computer, cause the computer to perform one or more methods or cycles of methods and/or method steps as described herein.
  • the loading systems and uses thereof can include certain combined functionalities. These include where the optical distance measuring means can be configured to determine a three-dimensional map of the pathway between the material acquisition point and the material deposit point in real time. In such cases, the optical distance measuring means can be configured to locate the material acquisition point, the material deposit point, and/or the at least one obstacle point when the material engagement means selectively engages or disengages the material.
  • the control means can also be configured to operate the translation means to move the material engagement means within the working space and operate the material engagement means to engage and disengage the material according to a predetermined set of instructions.
  • Various methods of moving materials are provided, including where such methods can employ various loading systems, including the loading systems described herein. Uses of such loading systems to move a material include engaging the material with a material engagement means at a material acquisition point.
  • a translation means can be used to move the material engagement means with the engaged material through a pathway to a material deposit point while negotiating at least one obstacle point.
  • the material engagement means can disengage the material at a material deposit point.
  • Certain embodiments include where upon engaging the material with the material engagement means at the material acquisition point, the optical distance measuring means can locate the material deposit point, the at least one obstacle point, or both the material deposit point and the at least one obstacle point. Consequently, upon engaging the material with the material engagement means at the material acquisition point, the translation means can move from an unloaded position to a loaded position. In a similar fashion, where upon disengaging the material with the material engagement means at the material deposit point, the optical distance measuring means can locate another material acquisition point, the at least one obstacle point, or both another material acquisition point and the at least one obstacle point.
  • Disengaging the material with the material engagement means at the material deposit point can also result in where the translation means moves from a loaded position to an unloaded position.
  • the at least one obstacle point can move from an unloaded position to a loaded position.
  • the optical distance measuring means can be used to determine a three-dimensional map of the pathway between the material acquisition point and the material deposit, thereby identifying a route to negotiate the material engagement means through the pathway and avoid any obstacles therein.
  • the three-dimensional map can be determined in real time and the translation means can be used to move the material engagement means with the engaged material from the material acquisition point through the pathway to the material deposit point, as well as move the material engagement means from the material deposit point through the pathway to another material acquisition point.
  • the optical distance measuring means can employ LiDAR technology for assisting an operator of a piece of machinery in moving an object from one location to another.
  • LiDAR can be used to locate and to image objects.
  • LiDAR can measure distances to a target by illuminating the target with laser light and measuring the reflected light with a sensor. Differences in laser return times and wavelengths can be used to make a digital three-dimensional representation of one or more targets, including mapping a working space and local environment thereof.
  • a LiDAR unit or module can be in communication other portions of the systems described herein, including the control means as well as one or more display units used to show a representation of one or more material acquisition points, one or more material deposit points, one or more obstacle points, one or more pathways between the material acquisition point(s) and the material deposit point(s) for one or more working spaces.
  • the LiDAR module can include a laser, a lens, and a sensor for receiving reflected laser light.
  • the LiDAR module can determine distance to a point of interest, target, or obstacle by recording a time between transmitted and backscattered laser pulses and by using the speed of light to calculate the distance traveled. It is possible to use the LiDAR module to create an accurate three dimensional map of an area of interest, such as the working space and a pathway between a given material acquisition point and a given material deposit point. The LiDAR module can also be used to scan and/or map areas outside of the working space and expected pathways. The rapid and accurate determination of distances and/or mapping of areas can replace mechanical measurements or estimates and can take the place of or complement the line of sight of a human operator.
  • a number of LiDAR modules can be employed and positioned at various points within and around the system, such the LiDAR modules can be scalable by a person skilled in the art, to optimize optical distance measuring for a given loading system configuration.
  • one or more LiDAR modules can be configured to project laser beams within a 180° horizontal field of view (FOV) or one or more LiDAR modules can project laser beams within a 360° horizontal FOV. It should be appreciated that the field of view of the LiDAR module can be adjusted according to the given position and application.
  • FOV field of view
  • the LiDAR module is a VELODYNE® PUCKTM available from Velodyne (San Jose, CA).
  • the PUCKTM includes sixteen (16) channels with a range of 100 meters.
  • the PUCKTM can be capable of generating up to 600,000 points per second, across a 360° horizontal FOV and a 30° FOV.
  • the rotations per minute of laser can be adjusted to increase or decrease the amount of points obtained by the PUCKTM. It should be appreciated that although the VELODYNE® PUCKTM has been shown to be useful, other LiDAR modules can be employed.
  • Loading systems for materials and uses thereof can be adapted for a variety of tasks, including moving various types of materials, including various objects, containers, packages, cargo, bulk materials, and environmental materials such as sand, earth, gravel, etc., where such materials can be moved or relocated for shipping or receiving purposes, collection or harvesting purposes, or where such materials are moved from an undesired location to a desired location. Certain applications of the loading systems and uses thereof are especially beneficial in dredging operations, where material is to be excavated underwater and loaded onto a scow or barge.
  • the draft of the mechanical dredge e.g., positioned on a barge
  • the draft of the scow can change.
  • the optical distance measuring means e.g., LiDAR module
  • the system can also alert an operator if the material engagement means (including engaged material) that is being moved to the scow is not at a sufficient height or placement and may contact one or more obstacles within the travel path.
  • Such obstacles include the side of the scow, the side of a material holding area on the scow, a portion of a barge on which the mechanical dredge is positioned, various environmental obstacles, including pilings, other vessels, buoys, etc.
  • the optical distance measuring means e.g., LiDAR module
  • optical distance measuring means e.g., LiDAR module
  • the LiDAR module can image the outline of the vessel and aid in the placement of material/cargo onto the vessel by a second vessel such as a dredge, landside excavator, crane, conveyor, or similar equipment.
  • a second vessel such as a dredge, landside excavator, crane, conveyor, or similar equipment.
  • the equipment operator has to rely upon skill, experience, and human perception to move material/cargo onto vessels. This includes swinging a material engagement means over the sides of the vessel or other obstacles that may be present.
  • the present systems can methods utilize optical distance measuring to significantly aid the equipment operator in loading the vessel and moving material in a controlled and efficient manner by providing feedback on the locations of obstacles within the environment that can be in the way of the loading workspace or pathway.
  • Loading systems and uses thereof can be configured to operate in various configurations of equipment. That is, various types of material engagement means, translation means, optical distance measuring means, and control means can be implemented.
  • the loading system is configured as a floating crane used for placing/removing materials/cargo on another separate floating piece of equipment.
  • Another example includes a floating crane used for placing/removing materials/cargo onto land.
  • Yet another example includes a floating crane used for manipulating material/cargo on another, separate floating piece of equipment.
  • Still another example includes a floating crane used for manipulating material/cargo on the same piece of equipment on which the crane is mounted.
  • a further example includes a floating crane used for manipulating material/cargo on land.
  • Yet a further example includes a land crane used for manipulating material/cargo on a floating piece of equipment. Still a further example includes a land crane used for manipulating material/cargo on a land-based piece of equipment. Another example includes a land crane used for manipulating material/cargo on land.
  • the loading system use thereof can be complimented with additional optical distance measuring means (e.g., LiDAR modules) and sensors placed in the vicinity of the material engagement means and translation means (e.g., a crane configured with a boom, line, and grab) in order to develop a more complete image of the working space, environment, or pathway(s) or for instances when a portion of the operation can be out of view of the equipment operator; e.g., where material/cargo is moved into or out of deep shafts or deep draft vessels.
  • optical distance measuring means e.g., LiDAR modules
  • sensors placed in the vicinity of the material engagement means and translation means (e.g., a crane configured with a boom, line, and grab) in order to develop a more complete image of the working space, environment, or pathway(s) or for instances when a portion of the operation can be out of view of the equipment operator; e.g., where material/cargo is moved into or out of deep shafts or deep draft vessels.
  • Certain aspects of the loading systems and uses thereof can include automating movement of certain materials.
  • a function of the system can include detection of horizontal and vertical locations of a material acquisition point, a material deposit point, and at least one obstacle point located in a pathway between the material acquisition point and the material deposit point.
  • automated controls can navigate a material engagement means (e.g., clamshell bucket) over or past any obstacle and remove or release the material/cargo into the scow without contact with the scow itself.
  • the optical distance measuring means can also image the previously placed material within the scow to create a real time surface of material contained within the scow to assist where additional material should be deposited to achieve correct and efficient loading of the scow, including the balancing of material loads and efficient utilization of available space.
  • the optical distance measuring means can image the area and provide an auditory and/or visual notification, alarm, or provide an automatic stop when a potential impact is detected between the material engagement means and an object or structure within a pathway between a given material acquisition point and a given material deposit point.
  • the optical distance measuring means can include one or more LiDAR modules mounted at various locations advantageous to allow line of sight for the following: inside the scow, a representation of the scow, barge, or other vessel combings or any other physical obstructions that keep material inside the scow, material to be moved, material that has already been moved, a water surface (e.g., used for referencing elevation).
  • additional LiDAR sensors may be utilized to develop a more complete image of the working space and surrounding environment where such additional imaging can prove advantageous to a particular equipment configuration or task.
  • the present technology provides benefits and advantages in moving material in many contexts.
  • Examples of such contexts include: marine construction, dredging, deep hole excavation, offshore wind turbine installation or modification, jetty /breakwater construction, land reclamation, port operations, loading and offloading of cargo materials of any type from vessels, loading and offloading of cargo materials of any type to haulage vehicles, automating repetitive loading/unloading cycles of vessels, general construction, hoisting construction materials of any type, use in situations where the operator of a loading system is faced with an obstructed view, and automating of repetitive hoisting operations.
  • Example embodiments of the present technology are provided with reference to FIGS. 1-3 enclosed herewith.
  • the loading system 100 includes a material engagement means 105, a translation means 110, an optical distance measuring means 115, and a control means 120.
  • the material engagement means 105 is configured to selectively engage the material, where the material engagement means 105 is depicted as a clamshell bucket 125 having two jaws 130.
  • the translation means 110 is configured to move the material engagement means 105 within a working space 135 having three dimensions, where the working space 135 includes a minimum engagement distance 140 and a maximum engagement distance 145.
  • the translation means 110 includes a boom 150 and a line 155 coupled to the material engagement means 105.
  • the boom 150 and the line 155 are configured to move the material engagement means 105 throughout the working space 135, where in the embodiment depicted, the working space 135 includes an arc 160 within a plane 165 defined by a first dimension 170 and a second dimension 175 (see FIG. 1) of the working space 135.
  • a third dimension 180 of the working space 135 lies perpendicular to the plane 165 (see FIG. 2).
  • the material engagement means 105 and the translation means 110 are comprised by a grab dredger 185.
  • the embodiment of the grab dredger 185 depicted is positioned onboard a barge 190. Within a working proximity of the grab dredger 185 is a scow 195 for depositing material therein.
  • the optical distance measuring means 115 is configured to locate a material acquisition point 200a-f within the working space 135, to locate a material deposit point 205a-f within the working space 135, and to locate at least one obstacle point 210 located in a pathway 215 between the material acquisition point 200a-f and the material deposit point 205a-f.
  • the optical distance measuring means 115 includes a LiDAR module 220 mounted to the grab dredger 185.
  • the system 100 can use the optical distance measuring means 115 to determine a three-dimensional map of the pathway 215 between the material acquisition point 200a-f and the material deposit point 205a-f.
  • the LiDAR module 220 of the optical distance measuring means 115 can determine the three-dimensional map in real time. It therefore possible for the optical distance measuring means 115 to ascertain the material acquisition point 200a-f, the material deposit point 205a-f, and/or the at least one obstacle point 210 relative to each other as well as relative to a three-dimensional map of the working space 135, as desired.
  • These various points can be located before, during, and/or after the material engagement means 105 selectively engages or disengages the material.
  • the system 100 can respond to changing conditions (e.g., loaded and unloaded states) that can change the location of various points relative to each other (e.g., draft of the barge 190 on which the grab dredger 185 is mounted, draft of the scow 195).
  • changing conditions e.g., loaded and unloaded states
  • the location of various points relative to each other e.g., draft of the barge 190 on which the grab dredger 185 is mounted, draft of the scow 195.
  • the control means 120 is configured to operate the translation means 110 to move the material engagement means 105 within the working space 135 and operate the material engagement means 105 to selectively engage the material.
  • the control means 120 can be positioned within an operator compartment 225 of the grab dredger 185. It is understood, however, that the control means 120 can also be positioned remotely from the grab dredger 185 and the present technology includes embodiments where the control means 120 can be wireless or operated wirelessly from various positions of the system 100 or remote from the system 100. For example, a human operator can use the control means 120 to operate the system 100 from the operator compartment 225.
  • control means 120 operate the translation means 110 to move the material engagement means 105 within the working space 135 and operate the material engagement means 105 to engage and disengage the material according to a predetermined set of instructions, whether fully autonomously or partially autonomously with input from the human operator.
  • material movement for a series of six material acquisition points 200a-f and a series of six material deposit points 205a-f can be automated, where the at least one obstacle point 210 is automatically negotiated based upon constantly updated real-time conditions by the optical distance measuring means 115.
  • the loading system 100 can be used in various ways to move a material.
  • the material engagement means 105 e.g., the clamshell bucket 125 having two jaws 130
  • the system 100 includes the grab dredger 185 positioned onboard a barge 190, where in working proximity, the scow 195 is positioned for depositing the material therein.
  • the material in the embodiment shown can include sediment located below a waterline 230.
  • the translation means 110 moves the material engagement means 105 with the engaged material through the pathway 215 to one or more respective material deposit points 205a-f while negotiating the at least one obstacle point 210.
  • the material engagement means 105 then disengages the material at the respective material deposit point 205a-f.
  • the engaging, moving, and disengaging operations can be repeated as desired. In the embodiment depicted in the figures, six cycles are shown for moving material from the respective six material acquisition points 200a-f to the respective six material deposit points 205a-f. It should be noted that successive engaging, moving, and disengaging operations can be spaced apart and/or can be performed on substantially repeat points or locations.
  • the optical distance measuring means 115 can locate the material deposit point 205a-f and/or the at least one obstacle point 210. Furthermore, upon engaging the material with the material engagement means 115 at the material acquisition point 200a-f, the translation means 110 can move from an unloaded position 235 to a loaded position 240. As shown in the embodiment depicted in FIG. 1, the translation means 110 is part of the grab dredger 185, where the draft of the grab dredger 185 changes from the unloaded position 235 to the loaded position 240 upon engaging the material due at least in part to the extra weight of the material on the grab dredger 185 barge 190.
  • the optical distance measuring means 115 can locate another material acquisition point 205a-f and/or the at least one obstacle point 210.
  • the translation means 110 Upon disengaging the material with the material engagement means 115 at the material deposit point 205a-f, it is possible for the translation means 110 to move from the loaded position 240 to the unloaded position 235, where the draft of the grab dredger 185 changes from the loaded position 240 to the unloaded position 235 upon disengaging the material due at least in part to removal of the extra weight of the material on the grab dredger 185 barge 190.
  • the at least one obstacle point 210 can move from an unloaded position 245 to a loaded position 250, where the draft of the scow 195 changes from the unloaded position 245 to the loaded position 250 due at least in part to the extra weight of the material on the scow 195.
  • a side 255 of a holding area 260 of the scow 195 can comprise the at least one obstacle point 210, which can change in location relative to the change in draft of the scow 195 between the unloaded position 245 and the loaded position 250. Further loading or unloading of the scow 195 can result in further changes.
  • the optical distance measuring means 115 can be used to determine a three- dimensional map of the pathway 215 between the material acquisition point 200a-f and the material deposit point 205a-f. Determination of the three-dimensional map can occur in real time and can be used to determine changes in the environment before, during, and after material movement. In particular, using the translation means 110 to move the material engagement means 105 with the engaged material through the pathway 215 to the material deposit point 205a-f while negotiating the at least one obstacle point 210 can account for the three-dimensional map of the pathway 215 as determined in real time.
  • an embodiment of a process for moving a material throughout a space in accordance with the present technology is provided at 300.
  • the process 300 can be performed using various embodiments of loading systems for materials, including the loading system 100 for a material as shown in FIGS. 1-2.
  • the process 300 can include additional aspects, steps, and operations as already described herein.
  • the process 300 can initiate with the determination of a three-dimensional (3D) map that includes a material acquisition point, a material deposit point, and one or more obstacle points, as indicated at 305.
  • a material can then be engaged at the material acquisition point, as indicated at 310.
  • the 3D map can include one or more of the material acquisition point, the material deposit point, and obstacle point(s).
  • engagement of the material can change a position or draft of a material engagement means employed in the process or can change a position or draft of the material acquisition point.
  • the engaged material can then be moved to the material deposit point while one or more obstacle points are negotiated, as per 320. It should be appreciated, however, that certain instances may not require negotiating any obstacle(s) a pathway between the material acquisition point and the material deposit point in the working space.
  • the 3D map can be redetermined, as per 325.
  • the determination of the 3D map and the various redeterminations of the 3D map, indicated at 305, 315, and 325, can be replaced by real-time or continuous determination of the 3D map throughout the process, as opposed to discrete 3D map determinations.
  • the material can then be disengaged at the material deposit point, as shown at 330, where the process can be repeated to move additional material, as desired.
  • Different material acquisition points can be selected as can different material deposit points, with respective determination(s) of new or repositioned obstacle(s) in subsequent pathways between the respective material acquisition points and material deposit points. In this way, optimal pathways can be determined for moving material and negotiating one or more obstacles, thereby allowing efficient use of equipment, whether by a human operator or by automated operation of the equipment.
  • Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms, and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well- known technologies are not described in detail. Equivalent changes, modifications and variations of some embodiments, materials, compositions and methods can be made within the scope of the present technology, with substantially similar results.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un système de chargement pour un matériau, qui comprend un engin à benne preneuse configurée pour entrer sélectivement en prise avec le matériau, l'engin à benne preneuse comprenant une flèche et une ligne configurée pour déplacer une benne preneuse dans un espace de travail. L'espace de travail comprend un arc dans un plan défini par une première dimension et une seconde dimension, une troisième dimension étant perpendiculaire au plan. L'espace de travail comprend une distance d'engagement minimale et une distance d'engagement maximale. Un module de détection de lumière et de télémétrie (LiDAR) permet de localiser un point d'acquisition de matériau, un point de dépôt de matériau et au moins un point d'obstacle. Un dispositif de commande actionne la penne preneuse pour la déplacer à l'intérieur de l'espace de travail afin d'entrer sélectivement en prise avec le matériau. Le système de chargement permet de déplacer le matériau du point d'acquisition de matériau au point de dépôt de matériau tout en franchissant l'au moins un point d'obstacle.
PCT/US2020/056572 2020-10-21 2020-10-21 Système de chargement à lidar WO2022086512A1 (fr)

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PCT/US2020/056572 WO2022086512A1 (fr) 2020-10-21 2020-10-21 Système de chargement à lidar

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030226290A1 (en) * 2000-05-05 2003-12-11 Savard Hassel J Laser-guided construction equipment
US20060085118A1 (en) * 2004-10-20 2006-04-20 Leica Geosystems Ag Method and apparatus for monitoring a load condition of a dragline
EP2322728A2 (fr) * 2009-11-13 2011-05-18 Baggerwerken Decloedt en Zoon N.V. Pelle rétrocaveuse pour le dragage sous-marin
US20160054114A1 (en) * 2014-08-25 2016-02-25 Trimble Navigation Limited All-in-one integrated sensing device for machine control
US20200299924A1 (en) * 2017-12-21 2020-09-24 Sumitomo Construction Machinery Co., Ltd. Shovel and system of managing shovel

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030226290A1 (en) * 2000-05-05 2003-12-11 Savard Hassel J Laser-guided construction equipment
US20060085118A1 (en) * 2004-10-20 2006-04-20 Leica Geosystems Ag Method and apparatus for monitoring a load condition of a dragline
EP2322728A2 (fr) * 2009-11-13 2011-05-18 Baggerwerken Decloedt en Zoon N.V. Pelle rétrocaveuse pour le dragage sous-marin
US20160054114A1 (en) * 2014-08-25 2016-02-25 Trimble Navigation Limited All-in-one integrated sensing device for machine control
US20200299924A1 (en) * 2017-12-21 2020-09-24 Sumitomo Construction Machinery Co., Ltd. Shovel and system of managing shovel

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