MX2016008819A - Controlador de vehiculo autocargador autonomo. - Google Patents

Controlador de vehiculo autocargador autonomo.

Info

Publication number
MX2016008819A
MX2016008819A MX2016008819A MX2016008819A MX2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A MX 2016008819 A MX2016008819 A MX 2016008819A
Authority
MX
Mexico
Prior art keywords
controller
dig
loading vehicle
sensor signal
vehicle controller
Prior art date
Application number
MX2016008819A
Other languages
English (en)
Inventor
Dobson Andrew
Marshall Joshua
Original Assignee
Atlas Copco Rock Drills Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Atlas Copco Rock Drills Ab filed Critical Atlas Copco Rock Drills Ab
Publication of MX2016008819A publication Critical patent/MX2016008819A/es

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La invención proporciona modalidades de un controlador de excavación y un método de control de excavación para un vehículo autocargador autónomo (VAA) que es utilizado en aplicaciones tales como la minería, la construcción y la exploración. Las formas de modalidad pueden comprender al menos un controlador que controla una cuchara y/o el VAA de acuerdo con al menos una señal de sensor, en donde la al menos una señal de sensor es representativa de la interacción entre la cuchara y la pila de rocas durante una excavación. Algunas modalidades incluyen al menos un controlador de admisión y, opcionalmente, al menos un controlador de aprendizaje iterativo (CAl) que utiliza la retroalimentación de al menos una excavación anterior para modificar la al menos una señal de sensor proporcionada a al menos un controlador.
MX2016008819A 2014-01-24 2015-01-23 Controlador de vehiculo autocargador autonomo. MX2016008819A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461931243P 2014-01-24 2014-01-24
US201462033904P 2014-08-06 2014-08-06
PCT/CA2015/000044 WO2015109392A1 (en) 2014-01-24 2015-01-23 Autonomous loading vehicle controller

Publications (1)

Publication Number Publication Date
MX2016008819A true MX2016008819A (es) 2016-09-08

Family

ID=53680534

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016008819A MX2016008819A (es) 2014-01-24 2015-01-23 Controlador de vehiculo autocargador autonomo.

Country Status (7)

Country Link
EP (1) EP3102744B1 (es)
AU (1) AU2015208631B2 (es)
CA (1) CA2935576C (es)
CL (1) CL2016001684A1 (es)
MX (1) MX2016008819A (es)
RU (1) RU2703086C2 (es)
WO (1) WO2015109392A1 (es)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9816248B2 (en) 2015-10-30 2017-11-14 Deere & Company System and method for assisted bucket load operation
EP3390730B1 (en) * 2015-12-18 2023-06-07 Volvo Construction Equipment AB System and method for determining a material entity to be removed from a pile and a control unit for a working machine comprising such a system
WO2022097499A1 (ja) * 2020-11-09 2022-05-12 国立大学法人広島大学 作業機械の自動運転装置
CA3129016A1 (en) * 2021-04-07 2022-10-07 Queen's University At Kingston Automatic classification of excavation materials

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07268897A (ja) * 1994-03-23 1995-10-17 Caterpillar Inc 自己適合性掘削制御システムとその方法
US5461803A (en) * 1994-03-23 1995-10-31 Caterpillar Inc. System and method for determining the completion of a digging portion of an excavation work cycle
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5544055A (en) * 1994-07-29 1996-08-06 Vermeer Manufacturing Company Track trencher control system and process
US5553407A (en) * 1995-06-19 1996-09-10 Vermeer Manufacturing Company Excavator data acquisition and control system and method of use
US5681312A (en) * 1996-05-31 1997-10-28 Acromed Corporation Spine construct with band clamp
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
CN1166841C (zh) * 1998-03-18 2004-09-15 日立建机株式会社 自动操作的挖土机和包括该挖土机的石头压碎***
US6363632B1 (en) * 1998-10-09 2002-04-02 Carnegie Mellon University System for autonomous excavation and truck loading
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6510628B1 (en) * 2001-10-31 2003-01-28 Caterpillar Inc Method and apparatus for determining a contact force of a work tool
US6879899B2 (en) * 2002-12-12 2005-04-12 Caterpillar Inc Method and system for automatic bucket loading
US6845311B1 (en) * 2003-11-04 2005-01-18 Caterpillar Inc. Site profile based control system and method for controlling a work implement
US7630793B2 (en) * 2004-12-10 2009-12-08 Caterpillar S.A.R.L. Method of altering operation of work machine based on work tool performance footprint to maintain desired relationship between operational characteristics of work tool and work machine
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
US7979181B2 (en) * 2006-10-19 2011-07-12 Caterpillar Inc. Velocity based control process for a machine digging cycle
WO2009011630A1 (en) * 2007-07-13 2009-01-22 Volvo Construction Equipment Ab A method for providing an operator of a work machine with operation instructions and a computer program for implementing the method
US8751114B2 (en) * 2008-05-27 2014-06-10 Volvo Construction Equipment Ab Method for controlling a hydraulic system
WO2009152561A1 (en) * 2008-06-16 2009-12-23 Commonwealth Scientific And Industrial Research Organisation Method and system for machinery control
US8160783B2 (en) * 2008-06-30 2012-04-17 Caterpillar Inc. Digging control system
FI20105082A0 (fi) * 2010-01-29 2010-01-29 Waertsilae Finland Oy Kaasunvaihtoventtiilin sähköhydraulisen käyttöjärjestelmän säätöjärjestely
DE102010010718A1 (de) * 2010-03-09 2011-09-15 Kuka Laboratories Gmbh Verfahren zur Montage von Bauteilen mittels eines Industrieroboters
KR101696292B1 (ko) * 2011-12-15 2017-01-13 현대중공업 주식회사 휠로더의 버켓 지면접촉 방지장치 및 제어방법

Also Published As

Publication number Publication date
RU2016134403A (ru) 2018-03-01
AU2015208631A1 (en) 2016-07-28
EP3102744A4 (en) 2018-03-07
CA2935576C (en) 2022-08-02
RU2703086C2 (ru) 2019-10-15
EP3102744B1 (en) 2023-07-05
AU2015208631B2 (en) 2019-07-25
CL2016001684A1 (es) 2016-11-18
EP3102744A1 (en) 2016-12-14
RU2016134403A3 (es) 2018-08-21
CA2935576A1 (en) 2015-07-30
EP3102744C0 (en) 2023-07-05
WO2015109392A1 (en) 2015-07-30

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Legal Events

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HC Change of company name or juridical status

Owner name: KOCH AGRONOMIC SERVICES, LLC.

FG Grant or registration