巴西专利BR102015009387B1 METHOD OF LOADING MATERIAL USING A TRANSPORT VEHICLE, AND, METHOD OF TRANSPORT

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专利摘要:
method, e, material transport vehicle a position of a loading device on a transport vehicle, with respect to a receiving area, is calculated. the loading device is positioned based on the relative position. the relative position of the loading device in relation to the receiving area is output. an operator input is received and material is automatically unloaded from the loading device to the receiving area.
公开号:BR102015009387B1
申请号:R102015009387-0
申请日:2015-04-27
公开日:2021-08-17
发明作者:Steven D. Deines
申请人:Deere & Company；
IPC主号:

专利说明:

FIELD OF THE INVENTION
[001] The present invention relates to a vehicle to transport material. More specifically the present invention relates to the semi-automatic loading of material using a transport vehicle. BACKGROUND
[002] There are a wide variety of different environments in which transport vehicles transport material to a target location. For example, loaders working in a pile often have an operator compartment where an operator sits to operate the loader to load material from the pile to a dump truck. The loader can be any type of material loader, such as a tractor, backhoe, skid steer loader, or the like.
[003] The loader can have a bucket that has a positioning system that is controlled by the operator to position the bucket. The bucket positioning system controls lift and tilt actuators (such as hydraulic cylinders, pneumatic cylinders, hydraulic cylinders by air, etc.). The wheel loader also has a traction system, such as a combustion engine that drives traction motors which, in turn, drive ground contact wheels, tracks, or other traction mechanisms that are used to move the wheel loader in relation. to the ground.
[004] Some material transport (or loading) operations can be highly repetitive. For example, when a loader is working on a pile, the operator controls the loader to repeatedly approach the pile to load the bucket, and then maneuver the vehicle so that the bucket is positioned over a target area where the load is dumped. The target area can be, for example, the bed of a dump truck, or another target location. Some work has been done to try to manufacture fully automated loaders. In such systems, the goal is to fully automate the loading process so that an operator does not need to be involved in any way. These types of systems can have their own drawbacks.
[005] The above discussion is given for general historical information only and is not intended to be used as an aid in determining the scope of the matter claimed. SUMMARY
[006] A position of a loading device on a transport vehicle, relative to a receiving area, is obtained. The loading device is automatically positioned based on the relative position. The position of the loading device in relation to the receiving area is output. Operator input is received and material is automatically unloaded from the loading device to the receiving area in response to operator input.
[007] This summary is only given to introduce some concepts in a simplified form. The concepts are further described below in the Detailed Description. This summary is not intended to identify any key aspects or essential aspects of the matter claimed, nor is it intended to be used as an aid in determining the scope of the matter claimed. Furthermore, the claimed subject matter is not limited to implementations that address any or all of the disadvantages noted in the foregoing. BRIEF DESCRIPTION OF THE DRAWINGS
[008] Figure 1 is a pictorial illustration of an illustrative operating environment in which a loader is used to load material onto a dump truck.
[009] Figures 2A and 2B (collectively Figure 2) show a more detailed block diagram of a transport vehicle and a target.
[0010] Figures 3A-3B (collectively Figure 3) show a flowchart illustrating an embodiment of the transport vehicle operation shown in Figure 2.
[0011] Figure 3C shows a more detailed flowchart of an embodiment of the transport vehicle operation shown in Figure 2.
[0012] Figure 4 is a block diagram of an illustrative user interface display.
[0013] Figure 5 is a block diagram of an embodiment of a mobile device that can be used to implement some portions of the transport vehicle shown in figures 2A and 2B.
[0014] Figure 6 is a block diagram of an illustrative computing environment. DETAILED DESCRIPTION
[0015] Figure 1 shows an embodiment of an environment 100 in which a loader 102 loads material located in a pile 104 on the bed of a dump truck 106. It will be appreciated that the semi-automatic material loading described herein can be used in a wide variety of different environments where a transport vehicle transports material to a receiving area at a target location. Some of these environments are discussed below. However, for purposes of example, the present discussion will proceed primarily with respect to semi-automatic loading that is carried out in an environment 100 where the transport vehicle is a loader 102, the target is a dump truck 106, and the reception area it is the bed of the dump truck 106. Other transport vehicles, targets and reception areas, some of which are described below, are also contemplated here.
[0016] In the embodiment shown in Figure 1, the loader 102 illustratively includes a frame 108. The frame 108 is illustratively attached to a set of traction mechanisms such as wheels 110. It will be appreciated that traction mechanisms can be tracks, or other traction mechanisms, and wheels 110 are shown for example purposes only.
[0017] Loader 102 also illustratively includes a bucket 112 that is controlled by a set of actuators 114. Actuators 114 may illustratively include lift and tilt actuators that are used to position the bucket 112 so that the user can dig material. starting from the pile 104 and discharging it into the dump truck bed 106. The loader 102 also illustratively includes a control system, shown diagrammatically by box 116. A control system 116 illustratively receives a variety of sensor inputs and input mechanisms and controls the operation of the loader 102 based on these inputs. It will be appreciated that the components of the control system 116 can include electronic components and electromechanical or other mechanical components.
[0018] In either case, the operator illustratively resides in a compartment for the operator of loader 102 and provides inputs to control loader 102 to repeatedly contact stack 104 with bucket 112, along a loading path such as that illustrated by arrow 118. The operator then controls the loader 102 to move along an unloading path such as that indicated by arrow 120. In so doing, the operator illustratively maneuvers the loader 102 so that the bucket 112 is positioned over the bed of the tipper truck 106, and then unloads the material that was loaded from the pile 104 into the bed of the truck. Some construction firms employ operators to load trucks and often ask them to do so as quickly as possible. Loading operators typically either maneuver the loader or guide the bucket to dig and dump material onto trucks. Such operators usually work long hours and the operators' work efficiency tends to degrade for extended periods, sometimes to the point where some loads are partially lost in the truck beds or that an operator error can cause unwanted contact between the loader and other items.
[0019] For example, it is not uncommon for an operator to misinterpret the placement of the bucket loader slightly in relation to the bed of the dump truck. This can cause the operator to dump the load when the two are misaligned so that a portion of the load is lost on the truck. Also, if the operator slightly misinterprets the relative position of the bucket and truck, this can result in unwanted contact between the bucket and truck.
[0020] Some work has been done to obtain fully automated systems. However, these fully automated systems are often unable to predict the fine adjustments needed to precisely position the bucket relative to the dump truck. Furthermore, as human judgment is removed from the fully automated system, the system can operate in an unwanted manner.
[0021] Figures 2A and 2B are collectively referred to herein as figure 2. Figure 2 shows the embodiment of a more detailed block diagram of some of the components of loader 102 shown in figure 1. Figure 2 also illustratively includes a block diagram of some of the components of the tipper 106. Items in figure 2 that are similar to those shown in figure 1 are similarly numbered. In the embodiment discussed here, the receiving area 162 is illustratively the truck bed of the dump truck 106. However, in other embodiments, the receiving area may be a loading pallet of a storage shed, or any such from a wide variety of other reception areas. Some of these are described in more detail below.
[0022] Before describing the operation of the vehicle 102 in loading material onto the bed truck of the truck 106, a brief description of the various components of the loader 102 and the dump truck 106 will first be provided. Figure 2 shows that loader 102 illustratively includes operator input mechanisms 122, as well as sensors 124 both of which provide inputs to vehicle control system 116. Control system 116 provides outputs for controlling a display device 126 (which can generate user interface displays 128), drive mechanisms (such as wheels) 110, lift and tilt actuators 114, and other components 127.
[0023] The vehicle control system 116, in turn, illustratively includes a processor 130, a data store 132, semi-automatic dump control system 134, traction control system 136 (which includes a speed controller 138) , a bucket positioning system 140 that receives input from a relative position calculator 14d2, a user interface component 144, and it may also include mechanical components (such as valves, joints, and other mechanical components) 146.
[0024] Sensors 124 illustratively include one or more bucket position sensors 150, speed sensors 152, load sensors 154, obstacle sensors 156, reception area sensors 158, and position sensors 159. Sensors 124 may also include a variety of other sensors 160.
[0025] Operator input mechanisms 122 can include a wide variety of different types of mechanisms that can be actuated by an operator either within the operating compartment of the loader 102, or outside the compartment for the operator. For example, they can include joysticks, a steering wheel, levers, buttons, switches, triggers, pedals, and other operator-actuable input mechanisms. They can also include touch screen displays that allow the user to trigger user input mechanisms over a touch screen. Furthermore, when the vehicle's control system 116 includes voice recognition components, the user input mechanisms may include a microphone for receiving voice commands. O
[0026] The bucket position sensors 150 may include a set of sensors that provide sensor signals to the control system 116 that can be used to calculate the position of the bucket 112, relative to the frame of the loader 102. For example , they can include angular encoders that detect the bucket's angular orientation in relation to the boom (or lift arm) that supports it. They may also include sensors on hydraulic cylinders, electric actuators, or other actuators that are used to raise and tilt bucket 112. These sensors provide an output that is indicative of the extent to which a given hydraulic cylinder (or other actuator) is extended. They can also include other sensors.
[0027] Speed sensors 152 illustratively detect the speed at which loader 102 is traveling over the ground. They may include wheel speed sensors that detect the rotation speed of wheels (or other traction mechanisms) 110. They may also include ground radar sensor systems that detect how quickly the ground is passing under the loader 102 Of course, they can also include other speed sensors or speedometers.
[0028] Load sensor 154 illustratively provides a signal indicative of whether bucket 112 is carrying a load. This can include a strain gauge sensor or a variety of other types of sensors.
[0029] The obstacle sensor 156 illustratively includes a scanning laser sensor, or a radar sensor or another type of sensor that can provide a signal indicative of the location of obstacles in the travel path (or near the travel path) of the loader 102. It may also include a set of sensors, such as an infrared detector, that detects the presence of objects that have a detectable temperature.
[0030] Receiving area locator components 164 on the dump truck 106 illustratively interact with the receiving area sensor 158 on the loader 102 so that the loader 102 can detect the position and orientation of the receiving area (or truck bed ) 162.
[0031] In one embodiment, the receiving area sensor 158 may be a scanning laser system and the receiving area locator components 164 may comprise an array of hub corner reflectors 166 that are placed at the corners of the truck bed, to mark the location of the corners (or periphery) of the truck bed. In one embodiment, the cube corner reflectors are arranged such that when a laser beam impinges on them, the laser beam is retro-reflected in the same direction and with approximately the same intensity as the incident beam. Thus, the receiving area sensor 158 provides a signal indicative of the direction and intensity of the reflections (or returns) received to the vehicle control system 116 which can then calculate the location and orientation of the truck bed, relative to the loader. 102.
[0032] Vehicle position sensor 159 illustratively provides a signal indicative of the location or position of loader 102. It may include, for example, a GPS receiver, a LORAN system, an estimation navigation system, or a variety of others systems (either alone or in combination) that provide one or more sensor signals indicative of the location, and possibly orientation, of the loader 102. Other sensors 160 can include a wide variety of sensors, such as seat belt or other interlock sensors , operator presence sensors, door lock sensors and a wide variety of other sensors.
[0033] In vehicle control system 116, processor 130 is illustratively a computer processor which is described in more detail below. It is illustratively activated by the various components and systems in the vehicle control system 116 and facilitates its functionality. Data store 132 illustratively stores data that can be operated by processor 130. Data can include raw data applications, an operating system, communications programs, or other programs or algorithms, as well as a wide variety of other information.
[0034] The bucket positioning system 140 illustratively receives an input from the relative position calculator 142. The relative position calculator 142 illustratively receives inputs from the bucket position sensors 150 and calculates the bucket position 112, in relation to the frame of loader 102. Bucket positioning system 140 also illustratively receives inputs from operator input mechanisms 122. Operator inputs indicate that the operator is positioning bucket 112. For example, operator input mechanisms 122 may be one or more sticks that provide lift and tilt signals indicating the operator wants to raise and tilt bucket 112. In response to input signals, the bucket positioning system 140 controls lift and tilt actuators 114 to position bucket 112, with base in the input signals. By way of example, bucket positioning system 140 can energize solenoids on hydraulic valves (based on input signals) to control the flow of hydraulic fluid to lift and tilt actuators 114 to raise and lower bucket 112, and in order to tilt it. Of course, the bucket positioning system 140 can control lift and tilt actuators 114 in other ways, and energizing a solenoid is just one example.
[0035] Traction control system 136 illustratively receives inputs from speed sensors 152 as well as input mechanisms 122 and controls traction mechanisms (e.g., wheels) 110 to move loader 102 as desired by the operator. For example, the operator input mechanism 122 may be a brake or accelerator pedal, or a choke mechanism. These mechanisms may mechanically communicate with, or provide other inputs to, traction control system 136. Speed controller 138 then illustratively controls the speed of wheels 110 based on these inputs. Operator input mechanisms 122 also illustratively include a shift mechanism that is indicative of the operator placing loader 102 in forward, reverse, neutral, etc. Thus, traction control system 136 can control wheels 110 to move the vehicle in the desired direction at a desired speed.
[0036] In one embodiment, as discussed below, speed controller 138 also receives inputs from reception area sensors 158, obstacle sensors 156 and bucket position sensors 150 and calculates a rate at which loader 102 is approaching either an obstacle or the dump truck 106. It also illustratively calculates the rate at which bucket positioning system 140 is raising, lowering or otherwise positioning bucket 112. Speed controller 138 then controls the speed of movement of the loader 102 to ensure that the bucket 112 is raised to an appropriate level so that it does not contact any detected obstacles, or dump truck 106. This is described in more detail below with respect to figures 3A-3C.
[0037] The semi-automatic dump control system 134 illustratively receives input signals from the relative position calculator 142 indicating the bucket position 112, relative to the loader frame 102. It also illustratively receives inputs from the receiving area sensor 158 ( and possibly other sensors, such as vehicle position sensor 159 or other sensors). Control system 134 performs a calculation to identify the relative position and orientation of bucket 112 with respect to the truck bed (or other receiving area) 162. It also illustratively provides an output signal to bucket positioning system 140 so that the bucket positioning system 140 raises the bucket 112 (and possibly also tilts it) to position it on the truck bed 162, prior to dump. The semi-automatic dump control system 134 also generates a user interface output, such as a display 128, an audio output, a haptic output, or other output. The user interface output indicates the relative position of the bucket 112 and the truck bed 162. In an exemplary embodiment, the user interface display 128 (one of which is described in more detail below with respect to Figure 4) , displays the relative position of the bucket 112 and the truck bed 162 so that the operator can confirm that the bucket 112 is in the proper dump position on the truck bed before starting the dump operation. Thus, in one embodiment, the vehicle control system 116 receives sensor inputs indicative of one or more conditions and parameters so that the semi-automatic dump control system 134 can automatically control the position of the bucket 112 and display (or indicate otherwise) its position, relative to the bed of the truck, so that the operator simply needs to maneuver the loader 102 as desired. When the user interface output (eg, display 128) indicates that the operator has maneuvered the loader 102 so that the bucket 112 is in the proper dump position relative to the truck bed 162, the operator actuates a user input mechanism. (such as a switch, a trigger, etc.). In response to the operator actuating the dump user input mechanism, semi-automatic dump control system 134 provides a signal to the bucket positioning system 140 to automatically control bucket 112 to dump the load onto the truck bed and return the bucket. to its original position on the bed of the truck. When the operator maneuvers the loader 102 (eg, to reverse) so that the bucket is no longer on the bed of the truck, the semi-automatic dump control system 134 can automatically control the bucket positioning system 140 to return the bucket 112 to its offset position until it approaches the stack 104 again. At this point, the semi-automatic dump control system 134 illustratively controls the bucket positioning system 140 to return the bucket 112 to its digging (or loading) position. The operator can then obtain a charge from the stack 104 and the semi-automatic dump process repeats.
[0038] Figures 3A and 3B show a simplified flowchart illustrating the operation of vehicle control system 116 to control the loader 102 to carry out the semi-automatic dump process. The examples described here will refer to the user interface output that indicates the relative position of the bucket and truck bed as a display. It can also be other types of outputs (such as audio, haptics, etc.). It will be appreciated that an exhibit is just an example.
[0039] In one embodiment, the loader 102 first captures a load in the stack. This is indicated by block 101. The loader then begins to approach the dump truck 106. This is indicated by 103.
[0040] Either the optical sensor 156 or the receiving area sensor 158 detects that the vehicle is approaching a detected object. This is indicated by block 105. Vehicle position sensor 159 provides an input to system 116 so that system 116 can calculate vehicle position 102 relative to the detected object. This is indicated by block 107. The system 116 then determines if vehicle 102 is approaching the detected object too quickly. For example, it may be approaching too quickly if the bucket is going to make unwanted contact with the object before the loader has a chance to raise the bucket to a position where it will release the detected object. This is indicated by block 109. If not, processing continues below with respect to block 111. However, if vehicle 102 is approaching the detected object too quickly, then speed controller 138 commands a slower speed. This is indicated by block 113 in Figure 3A.
[0041] The system 116 then determines whether the detected object is the truck 106 or some type of obstacle. This is indicated by block 111. If it is an obstacle then control system 116 signals the location of the obstacle and processing continues at block 103 where the loader continues to approach the tipper. Obstacle location signaling is indicated by block 115.
[0042] If, in block 111, it is determined that the detected object is the dump truck, then the bucket positioning system 140 begins to raise the load to the appropriate lift height where it can be positioned on the truck bed 162 This is indicated by block 117. User interface component 144 generates a user interface display that shows the bucket as it is positioned relative to the bed of the truck. This is indicated by block 119. This is described in more detail below with respect to figures 3C and 4.
[0043] The control system 134 then determines if the bucket is in the proper unloading position in relation to the bed of the truck. This is indicated by block 121. If not, then processing continues at block 123 where loader 102 continues to approach the bed of the truck. However, if it is determined at block 121 that the bucket is in the proper dump position, then the UI component 144 generates a UI display or other user output, indicating that the user must confirm that the dump operation must start. This is indicated by block 125. If the operator does not confirm this then processing continues again at block 123 where the operator can continue to maneuver the loader relative to the tipper.
[0044] However, if the operator does confirm that the dump operation must proceed, then system 134 commands lift/tilt actuators 114 to dump bucket 112. This is indicated by block 127. System 134 maintains the height of lifting the bucket until the loader releases the truck as the loader moves away from the truck. This is indicated by block 129. Once the bucket has released the truck, system 134 returns the bucket to a preset level while the loader 102 is moving back to the stack 104 (shown in figure 1). Returning the bucket to the preset level is indicated by block 131 and returning the stack is indicated by block 133.
[0045] Figure 3C is a more detailed flowchart illustrating an embodiment of the vehicle control system 116 operation to control the loader 102 to perform the semi-automatic dump process. It is first assumed that the operator has started the loader so that the combustion engine is running and that the operator has provided input, through an appropriate operator user input mechanism 122, enabling the semi-automatic dump control system 134 perform the semi-automatic dump process. This is indicated by block 200 in figure 3.
[0046] The semi-automatic dump control system 134 illustratively controls the various vehicle components 102 in an efficient manner. For example, when load sensor 154 provides a signal indicating that bucket 112 does not have a load in it, then there is no need to activate reception area sensors 158, because loader 102 will not normally be approaching the tipper without a load. Thus, semi-automatic dump control system 134 determines whether load sensor 154 is providing a signal indicating that a load is present in bucket 112. This is indicated by block 202. If not, then system 134 illustratively turns off the area sensor 158, and other systems or sensors that are not being used. This is indicated by block 204 in figure 3.
[0047] Since the load sensor 154 provides a signal indicating that a load is present in bucket 112, semi-automatic dump control system 134 illustratively powers the various sensors and systems that are used in carrying out the semi-automatic dump process. This is indicated by block 206 in Figure 3.
[0048] In one embodiment, once the bucket 112 is loaded, the operator can provide a manual input to manipulate the lift or tilt actuators 114. In that case, the semi-automatic dump control system 134 interprets this as required. that the operator performs manual control of the dump process. Therefore, system 134 again turns off the various sensors and systems that are used in carrying out the semi-automatic dump control process, because the user is now controlling this process manually. Determining whether the operator has actuated one of the lift or tilt actuators 114 is indicated by block 208 in figure 3.
[0049] Assuming in block 208 that the user has not decided to exercise manual control of the dump process, then the obstacle sensor 156 and the reception area sensor 158 are illustratively looking at obstacles and the location and orientation of the truck bed 162. In one embodiment, the obstacle sensor 156 and the receiving area sensor 158 are the same sensors. That is, they can be radar sensors, laser scanning sensors, etc. The present description will proceed with respect to obstacle sensor 156 being a radar sensor and sensor 158 being a scanning laser sensor. However, this is just an example.
[0050] In such an embodiment, when a scanning laser comprising the receiving area sensor 158 focuses the laser on the receiving area locating components (such as cube reflectors), the return reflections are of power relatively high, relative to return reflections from other (non-mirror) objects. Therefore, as the loader 102 approaches the dump truck 106 the sensor 158 will eventually receive some reflections, either from an object or from the hub reflectors on the bed of the truck.
[0051] When the scanning laser 158 is receiving reflections of less than a predetermined number (eg, all four) from the cube reflectors 166, then the power of the return reflections (such as when an obstacle is being detected) will also be less than if it is receiving reflections of the predetermined number (eg, all four) from cube reflectors 166. Thus, at some point, the sensor will receive targeted reflections that are or high power reflections (indicating that sensor 158 is receiving reflections from all four cube reflectors 166) or lower power reflections (indicating the sensor is receiving reflections from or less than all cube reflectors 166, or from another object that is in an incident laser beam path ). Determining that sensor 158 is receiving some sort of targeted reflections target is indicated by block 210 in Figure 3.
[0052] If reflections are of too low power, this indicates to the control system 134 that none of the reflections are coming from any of the cube reflectors 166. Therefore, they are coming from some other object. Control system 134 thus checks obstacle sensor 156 to determine if loader 102 is approaching an obstacle in its travel path. This is indicated by block 212. If not, this indicates that the object is being detected by sensor 158, but it is not in the travel path of loader 102 and processing reverts back to block 210. However, if, in block 212, control system 134 determines that loader 102 is approaching an obstacle, then control system 134 sets a signal indicating that an obstacle has been detected in the path (or near the path) of loader 102. This is indicated by block 214 in figure 3.
[0053] The control system 134 then illustratively calculates the relative coordinates of the obstacle, relative to the position of the loader 102. This is indicated by block 216 and can be done in a variety of different ways. For example, system 134 may use vehicle position or local signal from sensor 159 to identify the vehicle's location. It can then use the various sensor inputs from the obstacle sensor 156 or the receiving area sensor 158 (or the combined sensors) to determine where the obstacle is in relation to the loader 102.
[0054] Once the relative locations of obstacle and loader 102 have been calculated by system 134, system 134 receives a vehicle speed indicator signal from speed sensor 152. This is indicated by block 218 in figure 2. system 134 then calculates the approach time (the time it will take to reach the obstacle) versus the lift time (the time it will take to raise the bucket 112 to an obstacle avoidance position where it will avoid the obstacle. ). This is indicated by block 220 in figure 3.
[0055] The control system 134 then provides an output signal to the bucket positioning system 140 to control the lift actuator 114 so that it raises the bucket 112 to a position where it will clear the obstacle. This is indicated by block 222 in Figure 3. System 134 then determines if loader 102 is moving too fast so that the bucket will not be lifted free of the obstacle before the loader reaches the obstacle. This is indicated by block 224 in Figure 3. If the vehicle speed is not too high, then system 134 has determined that bucket 112 will clear the obstacle by the time loader 102 arrives at the obstacle and processing simply continues at the block 210. However, if, in block 224, it is determined that the vehicle speed is very high (so that bucket 112 is not movable to an obstacle avoidance position where it will clear the obstacle for as long as the loader 102 reaches the obstacle), then control system 134 provides an output for traction control system 136 (and specifically for speed controller 138) to reduce the travel speed of loader 102. This is indicated by block 226 in figure 3. When the vehicle speed has been reduced to a sufficient level so that the lift rate of bucket 112 will raise bucket 112 to a position where it will clear the obstacle in time, the process then again reverts back to block 210.
[0056] It should be remembered that, in block 210 in the flowchart of figure 3, the sensors are receiving targeted reflections. Assume that control system 134 has detected that the targeted reflections are high power reflections. The control system 134 then determines whether the high power reflections are from the predetermined number of (eg, all four) primary cube reflectors 166. The present description proceeds with respect to the predetermined number of cube reflectors being all four reflectors of cube. It will be appreciated that this is exemplary only a greater or lesser number may be the predetermined number.
[0057] In any case, determining whether the reflectors are all four cube reflectors can be determined based on the power in the received reflections. If not, then control system 134 determines that it is still not receiving reflections from all four hub reflectors that mark the corners of the truck bed. Thus, processing reverts back to block 210 where sensor 158 continues to sweep to the cube reflectors. Determining whether the reflections are from all four corners of the truck bed is indicated by block 228 in figure 3.
[0058] If, at block 228, the control system 134 determines that it is receiving reflections from all four cube reflectors, then processing continues at block 216. The control system 134 thus calculates the truck bed coordinates and its position and orientation in relation to the position of bucket 112. This can be done when the power and phase of the reflections are returned as well as the direction in which they are received. Control system 134 then again receives the vehicle speed signal as indicated by block 218 and calculates the approach time of loader 102 versus the time required to raise bucket 112 (given a detected lift rate) so that it will release the top of the truck bed. This is indicated by block 220.
[0059] As system 134 has determined that the reflections are from all four corners of the truck bed, processing continues at block 230, where system 134 determines whether it is within a predetermined radius of the dump truck 106. If not , processing reverts to block 220 where control system 134 continues to calculate approach time (the time it will take loader 102 to reach dump truck 106) versus lift time (the time the positioning system takes bucket 140 will take to raise bucket 112 so that it will get rid of the top of the truck bed).
[0060] At some point, control system 134 determines at block 230 that it is within a predetermined distance from dump truck 106. Processing then continues at block 224 where control system 134 calculates whether loader 102 is approaching of the dump truck 106 too quickly (so that bucket 112 will not be raised above the top of the truck bed before it reaches the dump truck 106). This is indicated by block 224. If loader 102 is approaching tipper 106 too quickly, then control system 134 commands traction control system 136 (and specifically speed controller 138) to reduce the travel speed of the truck. loader 102. This is indicated by block 226. Processing again reverts to block 210.
[0061] However, if, in block 224, it is determined that the travel speed of loader 102 is not very high and that bucket 112 will be raised above the top of the truck bed before it reaches the tipper truck 106, then control system 134 provides a control signal to bucket positioning system 140. Control signal controls system 140 to raise bucket 112 to a desired lift height, where the bucket will release the top of the truck bed . This is indicated by block 232 in figure 3.
[0062] As the loader 102 approaches the dump truck 106, the control system 134 generates a user interface display 128 that displays the position of bucket 112, relative to the bed of truck 162. This allows the operator to visually confirm when bucket 112 is in proper dump position above truck bed 162. Figure 4 shows a block diagram of one embodiment of a user interface display 240 that can be generated to show this.
[0063] In the embodiment shown in Figure 4, the user interface display 240 is illustratively displayed on a display screen 242. The display screen 242 can be any of a wide variety of different types of display screens that are described below with respect to Figures 5 and 6. Display 240 illustratively includes a first display portion 244 that displays an outline of the reception area (eg, the bed of the truck). It further includes a second display portion 246 which shows an outline representing the bucket 112 as it is positioned relative to the bed of the truck. Thus, in the embodiment shown in Figure 4, the bucket display portion 246 is superimposed over the truck bed display portion 244 to show whether the bucket 112 is positioned in the proper dump position with respect to the truck bed 162 For example, if the bucket 112 is positioned such that it is only partially on the bed of the truck, then the display portion 246 is displayed so that it is only partially within the display portion 244. you can quickly verify that bucket 112 is in the proper dump position relative to truck bed 162.
[0064] It will be appreciated that display 240 may include a wide variety of other information. For example, it may include alphanumeric or graphical information 248 that provides a variety of different data to the user. For example, information 248 can indicate a distance that bucket 112 is from truck bed 162, it can provide visual alerts when the two are not aligned, it can provide speed information, elevation height information, and a wide variety of other information. The information displayed 248 may also illustratively include user-actuable input mechanisms, such as icons that can be actuated by the user in order to perform certain actions. Furthermore, when the display screen 242 is a touch-sensitive screen, the display may allow the user to perform certain actions using touch gestures.
[0065] Also, it is again noted that other operator interface components (other than a display) can be used instead of or in addition to the display. Such components can include audio components, haptic components or other components.
[0066] In any case and with reference again to the exemplary flowchart of Figure 3, the control system 134 illustratively generates the display so that the operator can quickly determine if the bucket is in the proper dump position in relation to the bed of the truck. The control system 134 then illustratively waits for an operator confirmation input, confirming that the operator wishes to proceed with the dump operation. Confirmation can be accomplished by actuating a thumb switch or a trigger switch or another switch on a yoke, on an operator control panel or user interface display, or in a wide variety of other means. Determining whether the acknowledgment was received by the operator is indicated by block 234 in figure 3.
[0067] If the control system 134 does not receive an acknowledgment input, it simply waits for a predetermined period of time to elapse. For example, it can wait for a predetermined period of time of 15 seconds, 30 seconds, or a longer or shorter period of time. When the time period has elapsed, control system 134 controls bucket positioning system 140 to hold the bucket at its current lift height and processing reverts back to block 210. Maintaining bucket lift height is indicated by block 236 in figure 3.
[0068] In another embodiment, when the period of time has elapsed or earlier, the operator can provide control inputs. For example, the operator can adjust the position of the bucket in relation to the truck and then carry out the dump operation. This is just an example.
[0069] If, at block 234, the control system 134 does receive an operator confirmation input, then it provides a control signal to the bucket positioning system 140 to actuate the tilt actuators 114 to dump or unload the load. of bucket 112 in the bed of the truck. It then provides a control signal to bucket positioning system 140 to return bucket 112 to its dump position. Commanding actuators 114 to unload is indicated by block 238 in figure 3.
[0070] Once the load has been dumped or unloaded, then control system 134 provides a control signal to bucket positioning system 140 to maintain the lift height of bucket 112. Control system 134 also continues to receive receiving area sensor input signals 158 as the operator moves the loader 102 away from the dump truck 106. This is indicated by block 250 in Figure 3.
[0071] While the operator is pulling the loader 102 away from the dump truck 106, the control system 134 continues to calculate the relative coordinates of the bucket and the dump truck 106. Once the control system 134 determines that the bucket 112 is free. of the dump truck, so that it can be lowered, it illustratively returns the bucket 112 to a preset level that is suitable for travel between the dump truck 106 and the stack 104 (shown in figure 1). Computing the relative coordinates of bucket 112 and dump truck 106 is indicated by block 252. Determining whether bucket 112 is free to lower is indicated by block 254 and returning the bucket to a preset level is indicated by block 256.
[0072] Once the bucket returns to its preset level, processing continues at block 204 in figure 3. The control system 134 illustratively turns off the various sensors and systems on the loader 102 that are used during the process of semi-automatic unloading.
[0073] It should also be noted that other operations can also be performed. For example, at any point in the processing of the flowchart shown in Figure 3, the operator may turn off loader 102. If this occurs, then system 134 illustratively exits the semi-automatic dump algorithm and turns off the various electronics.
[0074] It will be noted that the embodiments discussed above are exemplary only. They can vary widely. For example, the receiving area sensor 158 and the receiving area locator components 164 illustratively comprise a remote sensing system. They are described herein as a scanning laser 158 interacting with cube reflectors 166. Other embodiments may include radar systems, cameras, multi-camera systems or other image processing systems, transponders that send radio signals between the two vehicles, or other devices or systems. Radio signals can be provided, for example, from a single antenna on both vehicles or from multiple antennas to determine location and orientation. All of these systems illustratively indicate a location and an orientation of the receiving area such as by identifying a periphery (or a portion of the periphery) of the receiving area, or otherwise.
[0075] It will also be noted that the present discussion proceeded with respect to vehicle 102 being a loader and target 106 being a dump truck. However, this is just an example. The same concepts and implementations can also be applied in other environments. For example, vehicle 102 may be a forklift where, instead of having a bucket 112, the vehicle is equipped with a fork. Target 106 can be a storage shed and reception area 162 can be a particular location on a loading pallet where a pallet or other load is to be placed by the forklift. In another embodiment, vehicle 102 is a combine and target 106 is a box portion of a wagon or other recipient of the crop. Thus, the combine will be delivering harvested material (via continuous or intermittent flow) to the receiving area (e.g., the receiving box) of the wagon. In that case, the combine 102 may illustratively have a nozzle with an auger, rather than a bucket 112. The semi-automatic dump control system 134 may provide a display indicating whether the nozzle outlet is properly located on the wagon for transferring the material start.
[0076] The same can be done where target 106 is a truck, which is being maneuvered so that its truck bed (e.g., reception area 162) is properly positioned below a hopper. In that case, system 134 can be over the target (e.g., the truck) to semi-automatically operate the truck. System 134 can provide the display or other operator interface for the truck driver to show that the truck bed is under the hopper. When the driver confirms this, the hopper door opens and material is dumped into the truck.
[0077] In another embodiment, the vehicle 102 can illustratively be a tree handler that uses a trusser or other mechanism to lift trees or logs and place them on a truck for transport to a mill. So, instead of having a 112 bucket, the tree handler will have a tie or other mechanism to hold trees or logs. The control system 134 will thus generate a display indicating whether the logs, loaded by the trusser, are properly positioned on the truck for unloading.
[0078] In other embodiments, the material transport vehicle is a sugar cane harvester that has an elevator that delivers harvested cane into a bed of a truck or box car comprising the reception area. Similarly, the material transport vehicle can be a truck or other vehicle that carries spreadable material and the target is a sprinkler box. In yet another embodiment, the transport vehicle is a vehicle that carries seeds that are unloaded into a planter that comprises the receiving area.
[0079] Also, the present discussion used the term “cwVqocVkecogpVg” Go woc fotoc fg tgcnkzc>«q gzgornkfkecVkxc. “cwVqocVkecogpVg” ukipkfkec swg woc fup>«o ow gVcrc fi tgcnkzcfc ugo any manual interventions.
[0080] This discussion also mentioned processors and servers. In one embodiment, the processors and servers include computer processors with associated memory and timing circuitry, not shown separately. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of, other components or items on those systems.
[0081] Also, a number of user interface views were discussed. They can take a wide variety of different forms and can have a wide variety of different user-actuable input mechanisms arranged over them. For example, user-actuable input mechanisms can be text boxes, check boxes, icons, links, download menus, search boxes, etc. They can also be acted on in a wide variety of different ways. For example, they can be actuated using a point-and-click device. They can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. Also, when the screen they are displayed on is a touch screen, they can be acted on using touch gestures. Also, when the device displaying them has voice recognition components, they can be acted on using speech commands.
[0082] A number of data stores were also discussed. It will be noted that each of them can be split into multiple data stores. All can be local to the systems accessing them, all can be remote, or some can be local while others are remote. All these settings are covered here.
[0083] Also, the figures show a series of blocks with functionality assigned to each block. It will be noted that fewer blocks can be used so that functionality is realized by fewer components. Also, more blocks can be used with functionality distributed among more components. The control system 116 can be implemented over a variety of different devices, such as mobile devices or other computing devices. Figure 5 provides a general block diagram of the components of a mobile device 16 that can rotate components of the control system 116. In the device 16, a communications link 13 is provided that allows the handheld device to communicate with other mobile devices. computing and in some embodiments provides a channel to receive information automatically, such as by scanning. Examples of communications link 13 include infrared port, a serial/USB port, a cable network port such as an Ethernet port and a wireless network port allowing communication over one or more communication protocols including General Packet Radio Service ( GPRS), LTE, HSPA, HSPA+ and other 3G and 4G radio protocols, 1Xrt and Short Message Service, which are wireless services used to provide cellular access to a network, as well as 802.11b and 802.11b (Wi-Fi) protocols ) and Bluetooth protocol that establishes wireless local connections to networks.
[0084] In other embodiments, applications or systems (such as mobile agricultural application 160) are received over a removable secure digital (SD) card that is connected to an SD card interface 15. The SD card interface 15 and the communication links 13 communicate with a processor 17 over a bus collector 19 which is also connected to memory 21 and input/output (I/O) components 23, as well as clock 25 and local system 27. I/O components 23, in one embodiment, are provided to facilitate input and output operations.
[0085] I/O components 23 for various embodiments of device 16 may include input components such as buttons, touch sensors, multi-touch sensors, optical or video sensors, voice sensors, touch screens, proximity sensors, microphones, tilt sensors and gravity switches, and output components such as a display device, speaker and/or printer port. Other I/O 23 components can also be used.
[0086] The clock 25 illustratively comprises a real-time clock component that outputs a time and date. It can also, illustratively, provide timing functions for the processor 17.
[0087] The location system 27 may comprise a vehicle position sensor 159 and illustratively includes a component that outputs a current geographic location from the device 16. This may include, for example, a global positioning system (GPS) receiver. a LORAN system, an estimation navigation system, a cellular triangulation system, or another positioning system. It can also include, for example, mapping software or navigation software that generates maps, navigation routes and other desired geographic functions.
[0088] Memory 21 stores operating system 29, network settings 31, applications 33, application setting settings 35, a data store 37, communication triggers 39 and communication setting settings 41. Memory 21 may include all types of computer-readable non-volatile and volatile tangible memory devices. It may also include computer storage media (described below). Memory 21 stores computer-readable instructions which, when executed by processor 17, cause the processor to perform computer-implemented steps or functions in accordance with the instructions. Processor 17 can also be activated by other components to facilitate its functionality.
[0089] Examples of settings 31 include such things as proxy information, Internet connection information, and mappings. Tweaks 35 include tweaks that tailor the application to a specific user. Settings 41 provide parameters for communicating with other computers and include items such as GPRS parameters, SMS parameters, user login names and passwords.
[0090] The apps 33 can be apps that were previously stored on the device 16 or apps that are installed during use, although these can be part of the operating system 29, or else hosted externally to the device 16.
[0091] Figure 6 is an embodiment of a computing environment in which the control system 116 or parts thereof (for example) can be developed. Referring to Figure 6, an exemplary system for implementing some embodiments includes a general purpose computing device in the form of a computer 810. Components of the computer 810 may include, but are not limited to, a processing unit 820 (which may comprising processor 130), system memory 830, and system collector 821 which couples various system components including system memory to processing unit 820. System collector 821 can be any of several types of collector structures using any of a variety of collector architectures. Such architectures may include industry-standard architecture collector (ISAbus, micro-channel architecture (MCA) collector, enhanced ISA collector (EISA), Electronic Video Standards Association (VESA) local collector, and peripheral component interconnect collector ( PCI). The memory and programs described with respect to figure 2 can be developed in corresponding portions of figure 6.
[0092] Computer 810 typically includes a variety of computer-readable media. Computer readable media may be any media (or a combination of media) that can be accessed by computer 810 and includes both volatile and non-volatile media. Media can be removable or non-removable media. By way of example, and not limitation, computer readable computer media may comprise computer readable storage media and communication media. Computer readable storage media are other than, and do not include, a modulated data signal or carrier wave. They include hardware storage media including both volatile and non-volatile, removable and non-removable media implemented by any method or in any technology for storing information such as computer readable instructions, data structures, program modules or other data. For example, computer storage media include, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, versatile digital disks (DVD) or other optical disk storage, magnetic disk storage or other storage devices. magnetic storage, or any other media that can be used to store the desired information and that can be accessed by computer 810. The communication media comprises computer readable instructions, data structures, program modules or other data in any fomgekogpVo media fg mhormction. Q Vgtoq "ukpc fg fcfqu oqfwncfq" ukipkfiec wo ukpcn swg Vgo woc ow ocku fg uwcu ectceVgtíuVkecu fixed or modified in such a way as to encode information in the signal. By way of example, communication media includes wired or wired network connection, and wireless media such as acoustic, RF, infrared and other wireless media.
[0093] System memory 830 may include computer storage media in the form of read-only memory (ROM) 831 and random access memory (RAM) 832. A basic input/output system 833 (BIOS) containing the routines that help transfer information between elements within computer 810, such as during startup, is normally stored in ROM 831. RAM 832 can store data and/or program modules that are readily accessible or are being operated by processing unit 820 , such as operating system 834, applications 835, other program modules 836, and other data 837.
[0094] Computer 810 may also include other computer storage media. Figure 6 shows a hard drive 841 that reads from or writes to magnetic media, a magnetic disk drive 851 that reads from or writes to a removable magnetic disk 852 and an optical disk drive 855 that reads from or writes to a removable optical disk 856 such as a CD ROM or other optical media. Hard disk drive 841 can be connected to system collector 821 through a memory interface such as interface 84, and magnetic disk drive 851 and optical disk drive 855 can be connected to system collector 821 by a memory interface, such as the 850 interface.
[0095] Alternatively, or additionally, the functionality described here may be performed, at least in part, by one or more logical hardware components. For example and without limitation, illustrative types of logical hardware components that can be used include field-programmable gate groups (FPGAs), program-specific integrated circuits (eg, ASICs), standard program-specific products (eg, ASSPs) , system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), etc.
[0096] The drive units and their associated computer storage media discussed above and illustrated in Figure 6 provide storage of computer readable instructions, data structures, program modules and other data for the computer 810.
[0097] A user may input commands and information on computer 810 through input devices such as a keyboard 862, a microphone 863 and a pointing device 861, such as a mouse, trackball or touch pad. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit 820 through an 860 user input interface that is coupled to the system collector, but can be connected by other interface and collector structures, such as a parallel port, port or a universal serial collector (USB). An 891 visual display or other type of display device is also connected to the 821 system manifold via an interface, such as an 890 video interface. In addition to the monitor, computers may also include other peripheral output devices such as 897 speakers. and 896 printer, which can be connected via an 895 peripheral output interface.
[0098] The 810 computer may be operated in a networked environment using logical connections to one or more remote computers, such as a remote computer 880. The remote computer 880 may be a personal computer, a handheld device, a server, a router, a PC network, a peering device or other common network node, and typically includes many or all of the elements described above in relation to computer 810. The logical connections illustrated in Figure 6 include a local area network (LAN) 871 and a wide area network (WAN) 873, but may also include other networks.
[0099] When used in a LAN networked environment, the 810 computer is connected to the 871 LAN through an 870 network interface or adapter. When used in a WAN networked environment, the 810 computer typically includes an 872 or 872 modem. other means of establishing communications over the WAN 873, such as the Internet. The 872 modem, which can be internal or external, can be connected to the 821 system manifold via the 860 user input interface, or other suitable mechanism. In a networked environment, program modules illustrated in relation to computer 810, or portions thereof, may be stored on the remote memory storage device. For example, Figure 6 illustrates remote application programs 885 as residing on the remote computer 880. It will be appreciated that the network connections shown are exemplary.
[00100] It should also be noted that the different embodiments described here can be combined in different ways. That is, parts of one or more embodiments can be combined with parts of one or more other embodiments. All of this is covered here.
[00101] Although the subject matter has been described in language specific to structural aspects and/or methodological acts, it will be understood that the subject matter defined in the appended claims is not necessarily limited to the specific aspects or acts described above. Rather, the specific aspects and acts described above are described as exemplary forms of implementation of the claims.

权利要求:
Claims (20)
[0001]
1. Method of loading material using a transport vehicle, characterized in that it comprises: detecting, in a transport vehicle (102), a position signal indicating a current position of a receiving area (162) that receives material, relating to a loading device operatively coupled to the transport vehicle (102); automatically positioning the loading device based on the current position of the loading device with respect to the receiving area (162); generating an operator interface output indicative of the current position of the loading device with respect to the receiving area (162); receive an operator download input; and automatically unloading material from the loading device in the receiving area (162) in response to receiving the operator unload input.
[0002]
A method according to claim 1, characterized in that generating an operator interface output comprises displaying an operator display (128) showing the relative position of the loading device with respect to the receiving area (162).
[0003]
A method according to claim 2, characterized in that displaying comprises displaying an orientation of the loading device relative to an orientation of the receiving area (162) to visually indicate whether the loading device is in an unloading position at in relation to the reception area (162).
[0004]
4. Method according to claim 1, characterized in that automatically positioning the loading device comprises automatically positioning the loading device at an elevation height in relation to the receiving area (162).
[0005]
5. Method according to claim 1, characterized in that automatically positioning comprises determining whether the loading device is loading the material; and, if so, allow automatic positioning of the charging device.
[0006]
6. Method according to claim 1, characterized in that detecting a position signal comprises: detecting a position and orientation of the receiving area (162); detect a position and orientation of the charging device; and calculating the relative position of the loading device based on the detected position and orientation of the receiving area (162) and the detected position and orientation of the loading device.
[0007]
7. Method according to claim 6, characterized in that detecting a position and orientation of the receiving area (162) comprises using a scanning laser to identify a location of a periphery of the receiving area (162).
[0008]
8. Method according to claim 6, characterized in that detecting a position and orientation of the receiving area (162) comprises using an image capture sensor to identify a location of a periphery of the receiving area (162).
[0009]
9. Method according to claim 1, characterized in that it further comprises: calculating a positioning rate of the loading device, the positioning rate being indicative of a rate at which the loading device is positioned relative to a frame of the transport vehicle; and automatically control a traveling speed of the transport vehicle, based on the positioning rate of the loading device.
[0010]
10. Method according to claim 9, characterized in that automatically controlling a displacement speed comprises automatically controlling the displacement speed based on the relative position of the loading device in relation to a position of the detected item.
[0011]
11. Method according to claim 10, characterized in that automatically controlling the displacement speed comprises: determining the displacement speed of the transport vehicle; determining whether the loading device is movable to a contact avoidance position to avoid contact with the detected item based on the relative position of the loading device, the positioning rate, and the transport vehicle's travel speed; and if the loading device is not movable to the contact-preventing position, controlling the travel speed of the transport vehicle so that the loading device is movable to the contact-preventing position.
[0012]
12. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a bucket (112) on a loader and the receiving area (162) comprises a truck bed of a dump truck (106), and calculating a relative position of a loading device comprises calculating a relative position of the bucket (112) on the loader with respect to the truck bed of the dump truck (106).
[0013]
13. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a log loading device on a log loader and wherein the receiving area (162) comprises a log loading portion of a log loader truck and wherein calculating a relative position of a loading device comprises calculating a relative position of the log loading device on the log loader with respect to the log loading portion of the log loading truck. logs.
[0014]
14. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a nozzle on a combine and wherein the receiving area (162) comprises a box portion of a crop loader vehicle and wherein calculating a relative position of a loading device comprises calculating a relative position of the nozzle on the combine with respect to the box portion of the crop loader vehicle.
[0015]
15. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a loading device on a loader of spreadable material and wherein the receiving area (162) comprises a box portion of a sprinkler and wherein calculating a relative position of a loading device comprises calculating a relative position of the loading device on the spreadable material carrier with respect to the box portion of the sprinkler.
[0016]
16. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a hopper and in that the receiving area (162) comprises a truck bed of a truck and in that calculating a relative position of a loading device comprises calculating a relative position of the hopper with respect to the truck bed.
[0017]
17. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises an exit end of an elevator on a cane harvester and in which the receiving area (162) comprises a box portion of a cane loading vehicle, and wherein calculating a relative position of a loading device comprises calculating a relative position of the exit end of the elevator on the cane harvester with respect to the box portion of the cane loading vehicle. cane.
[0018]
18. Method according to claim 1, characterized in that the loading device on the transport vehicle (102) comprises a seed loading device and wherein the receiving area (162) comprises a loading portion of seed of a seeding vehicle and wherein calculating a relative position of a loading device comprises: calculating a relative position of the seed loading device with respect to the seed loading portion of the seeding vehicle.
[0019]
19. Method of transport, characterized in that it comprises: automatically positioning a receiving vehicle based on a relative position of a material transport machine in relation to the receiving vehicle; generating an operator interface output indicative of the relative position of the material transport machine and the receiving vehicle; receive an operator loading input; and automatically loading material from the material transport machine to the receiving vehicle in response to the operator loading input.
[0020]
20. Method according to claim 19, characterized in that generating the operator interface output comprises: displaying an operator display showing the relative position of the material transport machine and the receiving vehicle.

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法律状态:
2016-01-05| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

2018-10-30| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

2020-07-14| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

2021-07-13| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

2021-08-17| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/04/2015, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

申请号 | 申请日 | 专利标题

US14/263,602|US9523180B2|2014-04-28|2014-04-28|Semi-automatic material loading|

US14/263,602|2014-04-28|

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