• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Abstract MINING TRUCK SPOTTING UNDER A SHOVEL Methods, systems, devices and/or apparatus related to aligning a mining truck with a shovel are disclosed including, for example, semi-automatic and/or automatic alignment of mining trucks (520) relative to an excavating shovel (510) during truck loading operations. In one form there is provided a system (100) for aligning a mining vehicle (102) under a shovel, the vehicle having a transmission (110), a throttle (112) and a steering mechanism (114), the system including: a communication interface (106) configured to direct an operator of the mining vehicle to perform one or more vehicle operations; one or more distance sensor/s (104) configured to measure a distance between the mining vehicle and the shovel; one or more steering sensor/s (105) configured to determine a steering angle associated with the steering mechanism; and an electronic control module (108). The electronic control module (108) being configured to cause the mining vehicle (102) to at least one of accelerate, decelerate, and adjust the steering angle; repeatedly receive the distance from the one or more distance sensor/s (104); repeatedly receive the steering angle from the one or more steering sensor/s (105); and adjust at least one of the throttle (112) and the steering mechanism (114) based, at least in part, on either the distance and/or the steering angle. 104 104 105 105 r - - - - - - - -- -512 REVERSING DIRECTION 510 | 5
    公开号:AU2013207626A1
    申请号:U2013207626
    申请日:2013-07-18
    公开日:2014-02-27
    发明作者:Eric RUTH
    申请人:Caterpillar Inc；
    IPC主号:B62D6-00
    专利说明:
    P/00/01 1 Regulation 3.2 AUSTRALIA Patents Act 1990 COMPLETE SPECIFICATION STANDARD PATENT Invention Title: Mining truck spotting under a shovel The following statement is a full description of this invention, including the best method of performing it known to us: 1000335767 2 Description MINING TRUCK SPOTTING UNDER A SHOVEL 5 Technical Field The present disclosure generally relates to alignment of mining trucks under a shovel. More specifically, the present disclosure relates to automatic and/or semi-automatic alignment of large mining trucks under a shovel used in mining operations. 10 Background The present disclosure contemplates that mining operations involve large vehicles, including mining trucks and shovels. Moving such large vehicles is conventionally a time-consuming process due to safety concerns and difficulties in navigating while driving and/or parking. 15 One use of large vehicles in mining operations includes transporting excavated materials (e.g., soil, rock, ore, coal, sand) around and/or away from a mining site. Conventional mining trucks include a cab for the vehicle's operator and a truck body for receiving and hauling material. Many vehicle operations, including aligning a vehicle under a shovel to receive material 20 from a shovel (i.e., spotting), involve difficult and/or dangerous maneuvers. When spotting a large vehicle such as a mining truck near a shovel, an operator must align the mining truck substantially near and under the shovel to reduce spillage of material during transfer from the shovel to the mining truck's truck body. At the same time, the mining truck operator must be cautious 25 to avoid backing into the shovel during the spotting process. Accidents may occur or respotting may be necessary due to limited visibility and/or lack of operator skill. If an operator requires multiple attempts to properly spot the mining truck under the shovel, time and fuel may be wasted during the respotting 1000335767 3 process. Repositioning the shovel relative to the mining truck is slow, impractical, and dangerous. There are several existing methods for vehicle-assisted manuvearing for trucks. International Publication No. WO 2010/064989 to 5 Hilliges, et al., for example, relates to backing up a truck to a loading dock for loading and/or unloading cargo. Hillegas relates to a moving truck operating in a reversing direction to a fixed loading dock. Hillegas system and method attempts to avoid unwanted contact between truck and the loading dock. The problem addressed by Hillegas is less complex than that posed in mining environments. 10 In mining environments, the location of excavation loading zones may vary based on the progress and speed of mining activities, the requirements of the mining shovel, and/or considerations of the mining environment. Additionally, Hillegas does not address operator interaction associated with manuvearing a truck. In an effort to increase efficiency of truck operation to avoid 15 wasting time to avoid respotting a mining truck to receive a load from a shovel, and to avoid truck accidents, a semi-automatic or automatic system and/or process may be beneficial. Summary In a first aspect, an example system for aligning a mining vehicle 20 under a shovel is provided. The vehicle may include a transmission, a throttle, and a steering mechanism. The example system may include a communication interface, distance sensor(s), steering sensor(s), and an electronic control module. An example communication interface may be configured to direct an operator of the mining vehicle to perform vehicle operation(s). Example distance sensor(s) 25 may be configured to measure a distance between the mining vehicle and the shovel. Example steering sensor(s) may be configured to determine a steering angle associated with the steering mechanism. An example electronic control module may be configured to cause the mining vehicle to accelerate, decelerate, and/or turn. An example electronic control module may also be configured to 1000335767 4 repeatedly receive the distance from the distance sensor(s), repeatedly receive the steering angle from the steering sensor(s); and adjust the throttle and/or the steering mechanism based on the distance and/or the steering angle. In a second aspect, an example method of aligning a mining 5 vehicle with a shovel is provided. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear; measuring the distance between the rear of the mining vehicle and the front of the shovel; measuring the distance between a side 10 portion of the mining vehicle and a side portion of the shovel; measuring a steering angle of the steering mechanism; controlling the mining vehicle steering mechanism and the mining vehicle throttle to reduce the distance between the rear of the mining vehicle and the front of the shovel; and controlling the mining vehicle steering mechanism and the mining vehicle throttle to reduce the distance 15 between a side portion of the mining vehicle and a side portion of the shovel. In a third aspect, an example system for aligning a mining vehicle with a shovel is provided. An example mining vehicle may include a transmission, a throttle and a steering mechanism. The example system may include sensor(s), a communication interface, and an electronic control module. 20 The sensor(s) may be coupled to a mining vehicle, and they may be configured to measure a distance between the mining vehicle and a shovel, a location of the shovel relative to the mining truck, an orientation of the shovel relative to the mining truck, and/or a steering angle of the steering mechanism. The communication interface may be configured to instruct a mining vehicle operator 25 to perform vehicle operations. The electronic control module may be configured to receive the distance, the location, the orientation, and/or the steering angle from the sensor(s). The electronic control module may also be configured to control the throttle based on the distance, the location, the orientation, and/or the steering angle. The electronic control module may further be configured to adjust 1000335767 5 the steering mechanism based on the distance, the location, the orientation, and/or the steering angle. Brief Description of the Drawings The foregoing and other features of the present disclosure will 5 become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings depict only several embodiments in accordance with the disclosure and are, therefore, not to be considered limiting of its scope, the disclosure will be described with additional specificity and detail through use of the accompanying 10 drawings. In the drawings: FIG. 1 depicts a schematic view of an example spotting system; FIG. 2 depicts an example mining truck including example spotting systems; 15 FIG. 3 depicts an example method of aligning a mining truck and a shovel; FIG. 4 depicts an example method of aligning a mining truck and a shovel; FIG. 5 depicts an overhead schematic view of example alignment 20 of mining truck and a shovel in an example mining loading operation; and FIG. 6 depicts an overhead schematic view of example alignment of mining truck and a shovel in an example mining loading operation, all arranged in accordance with at least some embodiments of the present disclosure. Detailed Description 25 FIG. 1 depicts a schematic view of an example system 100 for aligning a mining vehicle 102 under a shovel. The vehicle 102 may include a transmission (or drive system) 110, a throttle 112, and a steering mechanism 114. The example system 100 may include a communication interface 106, distance 1000335767 6 sensor(s) 104, steering angle sensor(s) 105, and an electronic control module 108. An example communication interface 106 may be configured to direct an operator of the mining vehicle 102 to perform vehicle operation(s). Example distance sensor(s) 104 may be configured to measure a distance between the 5 mining vehicle 102 and the shovel. Example steering sensor(s) 105 may be configured to determine a steering angle associated with the steering mechanism 114. An example electronic control module 108 may be configured to cause the mining vehicle 102 to accelerate, decelerate, and/or turn. An example electronic control module 108 may also be configured to repeatedly receive the distance 10 from the distance sensor(s) 104 and adjust the throttle 112 and/or the steering mechanism 114 based on the distance. An example electronic control module 108 may also be configured to repeatedly receive the distance from the steering sensor(s) 105 and adjust the throttle 112 and/or the steering mechanism 114 based on the steering angle. An example electronic control module 108 may also 15 be configured to adjust the throttle 112 and/or the steering mechanism 114 based on the distance and/or the steering angle. Example transmissions (or drive systems) 110 may include mechanical transmissions, electrical transmissions and/or electro-mechanical transmissions. Example vehicle operations that the communication interface 106 may instruct may include stopping the mining 20 vehicle 102, reversing the mining vehicle 102, decelerating the mining vehicle 102, accelerating the mining vehicle 102, and/or steering the mining vehicle 102. Example steering sensors 105 may be integrated within the control system of the mining vehicle 102 and/or may be placed near one or more wheels of the mining vehicle 102. 25 Sensors 204 (e.g., distance sensors, location sensors and/or orientation sensors) may be located at one or more locations on and/or around a mining vehicle 202. Several examples of such locations are depicted in FIG. 2. While FIG. 2 depicts example placement locations for sensors 204, sensors 204 may be located at any location in which the sensor 204 may operate to determine 30 the distance, location and/or orientation of a shovel. Some sensors 204 may 1000335767 7 measure or determine a lateral distance between the mining vehicle 202 and the shovel. Some sensors 204 may measure or determine a distance between the side of the mining vehicle 202 and the side of the shovel. Some sensors 204 may be laser-based sensors (e.g., laser sensor), light-based sensors (e.g., Light Detection 5 And Ranging (LIDAR) sensor), radio-based sensors (e.g., Radio Detection And Ranging (RADAR) sensor), sound-based (e.g., Sound Navigation And Ranging (SONAR) sensor, ultrasonic sensor) and/or satellite-based sensors (e.g., global positioning system sensor). Example steering sensors 205 (e.g., cylinder position sensors) may be integrated within the control system of the mining vehicle 202 10 and/or may be placed near one or more wheels of the mining vehicle 202. FIG. 3 depicts an example method 300 of aligning a mining vehicle with a shovel. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include operations 310, 320, 330, 340, 350, and 360. Example operations may include prompting 310 an 15 operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear. The distance between the rear of the mining vehicle and the front of the shovel may be measured 320. The distance between a side portion of the mining vehicle and a side portion of the shovel may also be measured 330. The steering angle of the steering mechanism may be measured and/or obtained 340. 20 The mining vehicle steering mechanism and the mining vehicle throttle may be controlled 350 to reduce the distance between the rear of the mining vehicle and the front of the shovel. The mining vehicle steering mechanism and the mining vehicle throttle may be controlled 360 to reduce the distance between a side portion of the mining vehicle and a side portion of the shovel. In some examples, 25 operations may be repeated continuously and/or periodically. FIG. 4 depicts an example method 400 of aligning a mining vehicle with a shovel. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include operations 410, 420, 430, 440, 450, 460, and 470. Example operations may include 410, 30 determining the shovel's location relative to the mining vehicle, storing the 1000335767 8 shovel's location relative to the mining vehicle, determining the mining vehicle's location, and comparing the mining vehicle's location to the stored shovel's location relative to the mining vehicle to determine if the mining vehicle's location satisfies predetermined safety parameters. Example operations may also 5 include prompting 420 an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear. The distance between the rear of the mining vehicle and the front of the shovel may be measured 430. The distance between a side portion of the mining vehicle and a side portion of the shovel may also be measured 440. The steering angle of the steering mechanism may be 10 measured and/or obtained 450. The mining vehicle steering mechanism and the mining vehicle throttle may be controlled 460 to reduce the distance between the rear of the mining vehicle and the front of the shovel. The mining vehicle steering mechanism and the mining vehicle throttle may be controlled 470 to reduce the distance between a side portion of the mining vehicle and a side 15 portion of the shovel. In some examples, operations may be repeated continuously and/or periodically. Some example systems for aligning a mining vehicle 102 with a shovel may include sensor(s) 104, 105, a communication interface 106, and an electronic control module 108. The sensor(s) 104, 105 may be coupled to a 20 mining vehicle 102, and they may be configured to measure a distance between the mining vehicle 102 and a shovel, a location of the shovel relative to the mining vehicle 102, and/or an orientation of the shovel relative to the mining vehicle 102. The communication interface 106 may be configured to instruct a mining vehicle 102 operator to perform vehicle operations. The electronic 25 control module 108 may be configured to receive the distance, the location, and/or the orientation from the sensor(s) 104, 105. The electronic control module 108 may also be configured to control the throttle 112 based on the distance, the location, and/or the orientation. The electronic control module 108 may further be configured to adjust the steering mechanism 114 based on the distance, the 30 location, and/or the orientation.
    1000335767 9 Example vehicle operations that the communication interface 106 may instruct may include applying the mining vehicle's 102 brake, engaging gears of the transmission 110, disengaging gears of the transmission 110, and/or adjusting the throttle 112. Example communication interfaces 106 may be 5 integrated into the mining vehicle's 102 instrument panel and/or may be standalone devices. In some examples, visual and/or audible instructions may be provided to the operator. In some examples, visual instructions may be provided via one or more of the mining vehicle's 102 mirrors (e.g., side mirror). FIGS. 5-6 depict overhead schematic views of example alignment 10 of mining vehicle 520, 620, 630 and a shovel 510, 610 in an example mining loading operation. FIG. 5 depicts an overhead schematic view of a single side loading environment. FIG. 6 depicts an overhead schematic view of a double side loading environment. In the example of FIG. 5, a shovel 510 is performing mining 15 operations. In doing so, the shovel's 510 bucket 512 may be at least partially filled with excavated materials (e.g., soil, rock, ore, coal, sand). To empty bucket 512, the shovel 510 operator may maneuver the bucket 512 along the example bucket path 514 to truck loading zone 516. The bucket 512 operator may expect a mining vehicle 520 to be located in truck loading zone 516 to transfer the 20 contents of the bucket 512 to the mining vehicle 520. In some examples, the mining vehicle 520 may be oriented such that the rear of the mining vehicle 520 faces the truck loading zone 516. The mining vehicle 520 may operate in a reversing direction to approach the truck loading zone 516 to receive the contents of the bucket 512. Example systems (as described herein) may be implemented 25 to at least semi-automatically align the mining vehicle 520 into the truck loading zone 516. In FIG. 6, a shovel 610 is performing mining operations. In doing so, the shovel's 610 bucket 612 may be at least partially filled with excavated materials (e.g., soil, rock, ore, coal, sand). To empty bucket 612, the shovel 610 30 operator may maneuver the bucket 612 along the first example bucket path 614 to 1000335767 10 first truck loading zone 616. The bucket 612 operator may expect a first mining vehicle 620 to be located in first truck loading zone 616 to transfer the contents of the bucket 612 to the first mining vehicle 620. In some examples, the first mining vehicle 620 may be oriented such that the rear of the first mining vehicle 5 620 faces the first truck loading zone 616. The first mining vehicle 620 may operate in a reversing direction to approach the first truck loading zone 616 to receive the contents of the bucket 612. Example systems (as described herein) may be implemented to at least semi-automatically align the first mining vehicle 620 into the first truck loading zone 616. After the bucket 612 transfers its 10 contents to first mining vehicle 620, it may resume mining operations. When the bucket 612 is again at least partially filled with excavated materials, the shovel 610 operator may maneuver the bucket 612 along the second example bucket path 615 to second truck loading zone 617. The bucket 612 operator may expect a second mining vehicle 630 to be located in second truck loading zone 617 to 15 transfer the contents of the bucket 612 to the second mining vehicle 630. In some examples, the second mining vehicle 630 may be oriented such that the rear of the second mining vehicle 630 faces the second truck loading zone 617. The second mining vehicle 630 may operate in a reversing direction to approach the second truck loading zone 617 to receive the contents of the bucket 612. 20 Example systems (as described herein) may be implemented to at least semi automatically align the second mining vehicle 630 into the second truck loading zone 617. This alternating process may then continue. Industrial Applicability In mining operations, example systems and methods in accordance 25 with the descriptions herein may be employed so that mining trucks may quickly and efficiently maneuver into a position suitable to receive excavated materials from mining shovels. In an example, the mining truck operator may operate the mining truck near an excavation loading zone such that the mining truck's rear 1000335767 11 substantially faces the excavation loading zone. A communication interface may instruct the operator to engage the mining truck's transmission or drive control in a reversing direction. An example system may continuously or periodically monitor the relative location of the shovel and one or more distances between the 5 mining truck and the shovel. An example system may also continuously or periodically monitor a steering angle of the mining truck to determine and make steering angle adjustments needed to maneuver the mining truck into the excavation loading zone. An electronic control module may be located on the mining truck to cause the mining truck to accelerate, decelerate, and adjust the 10 steering angle. The throttle and steering mechanism may be engaged and/or adjusted to effectuate actions to minimize the distance between the mining truck and the shovel within predetermined safety parameters. In some examples, multiple mining trucks may employ the example systems and methods described herein. This may allow mining trucks to 15 simultaneously maneuver into respective excavation loading zones adjacent a shovel when an excavation site is so configured. While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of 20 illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.
    权利要求:
    Claims (20)
    [1] 1. A system for aligning a mining vehicle under a shovel, the vehicle comprising a transmission, a throttle, and a steering mechanism, the 5 system comprising: a communication interface configured to direct an operator of the mining vehicle to perform one or more vehicle operation; one or more distance sensor configured to measure a distance between the mining vehicle and the shovel; 10 one or more steering sensor configured to determine a steering angle associated with the steering mechanism; and an electronic control module configured to: cause the mining vehicle to at least one of accelerate, decelerate, and adjust the steering angle; 15 repeatedly receive the distance from the one or more distance sensor; repeatedly receive the steering angle from the one or more steering sensor; and adjust at least one of the throttle and the steering 20 mechanism based, at least in part, on at least one of the distance and the steering angle.
    [2] 2. The system of claim 1, wherein the one or more vehicle operation includes: 25 stopping the mining vehicle; reversing the mining vehicle; decelerating the mining vehicle; accelerating the mining vehicle; and steering the mining vehicle. 30 1000335767 13
    [3] 3. The system of claim 1, wherein at least one of the one of more distance sensor is configured to measure a lateral distance between a rear portion of the mining vehicle and a front portion of the shovel. 5
    [4] 4. The system of claim 1, wherein at least one of the one of more distance sensor is configured to measure a distance between a side of mining vehicle and a side of the shovel.
    [5] 5. The system of claim 1, wherein the one or more distance 10 sensor includes at least one of a laser-based sensor, a light-based sensor, a radio based sensor, a sound-based sensor, and a satellite-based sensor.
    [6] 6. The system of claim 1, wherein the one or more distance sensor includes at least one of a laser sensor, a LIDAR sensor, a RADAR sensor, 15 a SONAR sensor, an ultrasonic sensor, and a global positioning system.
    [7] 7. A method of aligning a mining vehicle with a shovel, the mining vehicle comprising a transmission, a throttle and a steering mechanism, the method comprising: 20 prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear; measuring a first distance between the mining vehicle and the shovel, the first distance comprising a distance between a rear portion of the mining vehicle and a front portion of the shovel; 25 measuring a second distance between the mining vehicle and the shovel, the second distance comprising a distance between a side portion of the mining vehicle and a side portion of the shovel; measuring a steering angle of the steering mechanism; controlling the steering mechanism and the throttle to reduce the 30 first distance; and 1000335767 14 controlling the steering mechanism and the throttle to reduce the second distance.
    [8] 8. The method of claim 7, further including: 5 repeating at least one of measuring a first distance between the mining vehicle and the shovel, measuring a second distance between the mining vehicle and the shovel, controlling the steering mechanism and the throttle to reduce the first distance, and controlling the steering mechanism and the throttle to reduce the second distance. 10
    [9] 9. The method of claim 7, further including: prior to prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear: determining the shovel's location relative to the mining 15 vehicle; storing the shovel's location relative to the mining vehicle; determining the mining vehicle's location; and comparing the mining vehicle's location to the stored shovel's location relative to the mining vehicle to determine if the mining 20 vehicle's location satisfies predetermined safety parameters.
    [10] 10. The method of claim 7, wherein controlling the steering mechanism and the throttle to reduce the first distance includes adjusting the steering mechanism based, at least 25 in part, on the measured steering angle; and wherein controlling the steering mechanism and the throttle to reduce the second distance includes adjusting the steering mechanism based, at least in part, on the measured steering angle. 1000335767 15
    [11] 11. A system for aligning a mining vehicle with a shovel, the mining vehicle comprising a transmission, a throttle and a steering mechanism, the system comprising: one or more sensor coupled to a mining vehicle, the one or more 5 sensor configured to measure at least one of a distance between the mining vehicle and a shovel, a location of the shovel relative to the mining truck, an orientation of the shovel relative to the mining truck, and a steering angle of the steering mechanism; a communication interface configured to instruct a mining vehicle 10 operator to perform one or more vehicle operations; and an electronic control module configured to receive at least one of the distance, the location, the orientation, and the steering angle from the one or more sensor, and further configured to control the throttle based, at least in part, on at least one of the distance, the location, the orientation, and the steering 15 angle, and further configured to adjust the steering mechanism based, at least in part, on at least one of the distance, the location, the orientation, and the steering angle.
    [12] 12. The system of claim 11, wherein the one or more sensor is 20 configured to periodically measure at least one of the distance, the location, the orientation, and the steering angle.
    [13] 13. The system of claim 12, wherein the one or more vehicle operations include: 25 applying the mining vehicle's brake; engaging one or more gears of the transmission; disengaging one or more gears of the transmission; and adjusting the throttle. 1000335767 16
    [14] 14. The system of claim 11, wherein the communication interface is integrated with the mining vehicle's instrument panel.
    [15] 15. The system of claim 11, wherein the communication 5 interface is incorporated in a standalone device.
    [16] 16. The system of claim 11, wherein the communication interface is integrated with at least one of the mining vehicle's mirrors. 10
    [17] 17. The system of claim 11, wherein the communication interface configured to instruct a mining vehicle operator to perform one or more vehicle operations includes one or more audible instructions.
    [18] 18. The system of claim 11, wherein the communication 15 interface configured to instruct a mining vehicle operator to perform one or more vehicle operations includes one or more visual instructions.
    [19] 19. The system of claim 11, wherein the one or more sensor includes at least one of a laser-based sensor, a light-based sensor, a radio-based 20 sensor, a sound-based sensor, and a satellite-based sensor.
    [20] 20. The system of claim 11, wherein the one or more sensor includes at least one of a laser sensor, a LIDAR sensor, a RADAR sensor, a SONAR sensor, an ultrasonic sensor, and a global positioning system.
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    JP2019065661A|2017-10-04|2019-04-25|株式会社小松製作所|Loading machine control device and control method|
    US11099018B2|2018-11-27|2021-08-24|Caterpillar Inc.|Route planner for work machines|
    法律状态:
    2016-04-14| MK1| Application lapsed section 142(2)(a) - no request for examination in relevant period|
    优先权:
    申请号 | 申请日 | 专利标题
    US13/572,038||2012-08-10||
    US13/572,038|US8954241B2|2012-08-10|2012-08-10|Mining truck spotting under a shovel|
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