AUTONOMOUS LOADING
First Claim
1. A control method for loading equipment that performs one or more operational cycles, each of which involves:
- positioning a dumping point, of the loading equipment, at a predetermined location above a receptacle to be loaded; and
,dumping a quantity of material having less than or equal to a known volume into the receptacle from the dumping point;
wherein, the control method comprises the steps of;
simulating an effect of dumping the volume, using a repose angle of the material, at various locations above the receptacle;
comparing a result of dumping at each location with a template representing an ideally filled receptacle; and
,selecting a location of the dumping point according to the results of the comparison.
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Accused Products
Abstract
This invention concerns autonomous loading, that is autonomously dumping material one load at a time into a receptacle until it is full. In particular the invention involves a control method and system for the dumping equipment that performs one or more operational cycles, each of which involves: Positioning a dumping point of the loading equipment at a predetermined location above a receptacle to be loaded. And, dumping a quantity of material having less than or equal to a known volume into the receptacle from the dumping point. Wherein, the control method comprises the steps of: Simulating the effect of dumping the volume, using the material'"'"'s repose angle, from various locations above the receptacle. Comparing the result of dumping at each location with a template representing an ideally filled receptacle. And, selecting the location of the dumping point according to the results of the comparison. The invention can be applied to any type of mining machine, including rotating equipment such as rope shovels, and other types of machines such as a draglines, excavators or conveyers.
31 Citations
14 Claims
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1. A control method for loading equipment that performs one or more operational cycles, each of which involves:
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positioning a dumping point, of the loading equipment, at a predetermined location above a receptacle to be loaded; and
,dumping a quantity of material having less than or equal to a known volume into the receptacle from the dumping point; wherein, the control method comprises the steps of; simulating an effect of dumping the volume, using a repose angle of the material, at various locations above the receptacle; comparing a result of dumping at each location with a template representing an ideally filled receptacle; and
,selecting a location of the dumping point according to the results of the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14)
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13. A control system for loading equipment that performs one or more operational cycles, each of which involves:
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positioning a dumping point, of the loading equipment, at a predetermined location above a receptacle to be loaded; and
,dumping a quantity of material having less than or equal to a known volume into the receptacle from the dumping point; wherein, the control system comprises a computer system to; simulate an effect of dumping the volume, using a repose angle of the material, at various locations above the receptacle; compare a result of dumping at each location with a template representing an ideally filled receptacle; and
,select a location of the dumping point according to the results of the comparison.
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Specification