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EP-4739850-A1 - METHODS AND LOADING SYSTEMS FOR LOADING VEHICLES FOR LOADING MATERIAL INTO LOADING VEHICLES FROM A PILE

EP4739850A1EP 4739850 A1EP4739850 A1EP 4739850A1EP-4739850-A1

Abstract

A method performed by a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the method comprising: continuously receiving (304) a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) driving towards the pile (100); determining (306) if the detected force exerted on the boom (102) exceeds a first threshold; determining (308) if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.

Inventors

  • ALMQVIST, Håkan
  • TRAMPE, Torkel

Assignees

  • Epiroc Rock Drills Aktiebolag

Dates

Publication Date
20260513
Application Date
20230707

Claims (20)

  1. 1 . A method performed by a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the method comprising: continuously receiving (304) a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) is driving towards the pile (100); determining (306) if the detected force value exceeds a first threshold value; determining (308) if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.
  2. 2. The method according to claim 1 , when the bucket (104) penetrates the pile (110), the bucket (104) having a downward angle to a horizontal vehicle plane (120), the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is between 1 ° to 10°, preferably 1 ° to 5°.
  3. 3. The method according to claim 1 or 2, wherein the loading vehicle (100) is an autonomous vehicle or a remote controlled or manually operated vehicle.
  4. 4. The method according to any one of the claims 1 -3, the first threshold value is 100 kN to 1000 kN, preferably 300 kN to 500 kN.
  5. 5. The method according to any of the claims 1-4, wherein the method further comprises: when the value of the derivative of the force exerted on the boom (102) is determined to be equal to or below the second threshold value for the first time, instructing (310) the boom (102) to lift and the bucket (104) continue to penetrate the pile (110), the lifting angle being between 0° to 10°, preferably 3° to 5°; determining (312) if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the second time, proceeding to the step of instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110).
  6. 6. The method according to any one of the claims 1 -5, the second threshold value is 0 N/s.
  7. 7. The method according to any one of claims 1-6, wherein the force detected by the force sensor (108) is low pass filtered.
  8. 8. The method according to any one of claims 1-7, wherein the step of instructing (314) the bucket (104) to dig in the pile (110) so as to load material from the pile (110) further comprises: the loading vehicle (100) continuously moving towards the pile (110); during the loading vehicle (100) moving towards the pile (110), instructing the bucket (104) to tilt upward for a predetermined angle; and instructing the bucket (104) to hold still for a predetermined time, after the bucket (104) has finished tilting.
  9. 9. The method according to the claim 8, the method further comprises: when the angle between bottom plane (122) of the bucket (104) and a horizontal vehicle plane (120) is equal to the angle of repose of the pile (110), instructing the loading vehicle (100) to finish digging.
  10. 10. A loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104) interconnected to the boom (102), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the bucket (104) penetrates the pile (110), the loading system (106) comprises a processing circuitry (403) and a memory (404), the memory (404) containing instructions executable by the processing circuitry (403), whereby the loading system (106) is operative for: continuously receiving a force value of a force exerted on the boom (102) detected by the force sensor (108), while the loading vehicle (100) is driving towards the pile (100); determining if the detected force value exceeds a first threshold value; determining if a value of a derivative of the force exerted on the boom (102) is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value; instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110), if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the first time.
  11. 11 . The loading system (106) according to claim 10, when the bucket (104) penetrates the pile (110), the bucket (104) having a downward angle to a horizontal vehicle plane (120), the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is between 1 ° to 10°, preferably 1 ° to 5°.
  12. 12. The loading system (106) according to claim 10 or 11 , wherein the loading vehicle (100) is an autonomous vehicle or a remote controlled or a manually operated vehicle.
  13. 13. The loading system (106) according to any one of the claims 10-12, the first threshold value is 100 kN to 1000 kN, preferably 300 kN to 500 kN.
  14. 14. The loading system (106) according to any one of the claims 10-13, wherein the loading system (106) is further operative for: when the value of the derivative of the force exerted on the boom (102) is determined to be equal to or below the second threshold value for the first time, instructing the boom (102) to lift and the bucket (104) continue to penetrate the pile (110), the lifting angle being between 0° to 10°, preferably 3° to 5°; determining if the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for a second time; when the value of the derivative of the force exerted on the boom (102) is equal to or below the second threshold value for the second time, instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110).
  15. 15. The loading system (106) according to any one of the claims 10-14, the second threshold value is 0 N/s.
  16. 16. The loading system (106) according to any one of claims 10-15, wherein the force detected by the force sensor (108) is low pass filtered.
  17. 17. The loading system (106) according to any one of claims 10-16, wherein instructing the bucket (104) to dig in the pile (110) so as to load material from the pile (110) further comprises: the loading vehicle (100) continuously moving towards the pile (110); during the loading vehicle (100) moving towards the pile (110), instructing the bucket (104) to tilt upward for a predetermined angle and/or time; and instructing the bucket (104) to hold still for a predetermined time, after the bucket (104) has finished tilting.
  18. 18. The loading system (106) according to the claim 17, the loading system (106) is further operative for: when the angle between the bottom plane (122) of the bucket (104) and the horizontal vehicle plane (120) is equal to the angle of repose of the pile (110), instructing the loading vehicle (100) to finish digging.
  19. 19. A computer program (405) comprising instructions, which, when executed by a processing circuitry (403) of a loading system (106) for a loading vehicle (100) for loading material into the loading vehicle (100) from a pile (110) in a mining environment (200), the loading vehicle (100) comprising a boom (102), a bucket (104), and a force sensor (108), the loading vehicle (100) being instructed to drive towards the pile (110) so that the boom (102) penetrates the pile (110), causes the loading system (106) to perform the method according to any of the claims 1-9.
  20. 20. A carrier containing the computer program (405) according to claim 19, wherein the carrier is one of an electronic signal, an optical signal, a radio signal, an electric signal, or a computer readable storage medium.

Description

METHODS AND LOADING SYSTEMS FOR LOADING VEHICLES FOR LOADING MATERIAL INTO LOADING VEHICLES FROM A PILE Technical Field [0001] The present disclosure relates generally to methods and systems of loading vehicles for loading material into the loading vehicles from a pile. Background [0002] Loading vehicles are commonly used in various kinds of working environment, e.g., mining environment, to penetrate/dig into material piles and the buckets on the loading vehicles are loaded with the material in the piles when working. Loading vehicles include various types, e.g., bucket loader, front loader, front-end loader, etc. A loading vehicle comprises a bucket which is used for digging in the pile, and a boom which is connected to the bucket and guides the bucket. The material of the piles can be soil, rock, sand, debris, ores, etc. [0003] When the loading vehicle is working, it is important to ensure that the bucket is positioned deeply into the pile, so that the bucket can be loaded as much as possible when digging in the pile, therefore the digging efficiency is improved. In the prior art, this is achieved by monitoring several parameters which are related to the bucket and/or boom. For example, by monitoring the force exerted on the boom, the boom angle, the bucket position, etc. These multiple parameters are compared with respective thresholds, and the position/status of the boom/bucket is determined based on the comparisons. When these multiple parameters fulfill certain conditions, the bucket can dig in the pile. [0004] However, there are several disadvantages with the prior art. Firstly, since there are multiple parameters to monitor and multiple thresholds to determine, it is quite complicated to monitor and tune these parameters/thresholds. Secondly, since there are multiple parameters/thresholds involved in this solution, if any of the parameter/threshold is inaccurate, the result of the solution becomes inaccurate, i.e. , the bucket may dig at an unproper position of the pile, and the bucket cannot be fully loaded, thus the efficiency is decreased. Furthermore, the parameters/thresholds may depend on the working environment, e.g., the conditions of the rock. When the environment changes, the parameters/thresholds are also changed accordingly. It makes the situation more complicated. [0005] Therefore, there is a need for a loading solution for a loading vehicle, so that the loading vehicle can dig in a proper way and enhance the digging efficiency. The loading solution should be simple and accurate. Summary [0006] It is an object of the invention to address at least some of the problems and issues outlined above. It is an object of embodiments of the invention to determine if the pile is penetrated and the bucket can dig in a pile. It is another object of embodiments of the invention to load the bucket efficiently. It is possible to achieve one or more of these objects and possibly others by using methods and loading systems as defined in the attached independent claims. [0007] In a first aspect of the disclosure there is provided a method performed by a loading system for a loading vehicle for loading material into the loading vehicle from a pile in a mining environment, the loading vehicle comprising a boom, a bucket interconnected to the boom, and a force sensor, and the loading vehicle being instructed to drive towards the pile so that the bucket penetrates the pile. The method comprises continuously receiving a force value of a force exerted on the boom detected by the force sensor while the loading vehicle is driving towards the pile. The method further comprises determining if the detected force value exceeds a first threshold value. The method further comprises determining if the value of the derivative of the force exerted on the boom is equal to or below a second threshold value for a first time, if the detected force value exceeds the first threshold value. The method further comprises instructing the bucket to dig in the pile so as to load material from the pile, if the value of the derivative of the force exerted on the boom is equal to or below the second threshold value for the first time. [0008] The disclosure is based on the insight that when the value of the derivative of the force exerted on the boom is equal to or below a threshold, i.e. , low enough or even zero, the boom is deep enough in the pile and the bucket cannot penetrate further. Then the bucket can begin to perform an efficient dig. The force exerted on the boom is monitored by a force sensor. Firstly, the value of the force exerted on the boom is monitored. When the force value is above a first threshold value, it indicates that the boom is quite deep in the pile. Then the value of the derivative of the force is calculated. When the value of the derivative of the force is equal to or below a second threshold value, i.e. , zero or very low, it indicates that the force on the boom does not change much, which means the posi