Method and apparatus for monitoring material removal using mobile machinery

• US 5,850,341 A
• Filed: 06/30/1994
• Issued: 12/15/1998
• Est. Priority Date: 06/30/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Fournier, Richard J., Schaidle, Charles L., Gordon, Doug S., Setterlund, Ken R., Siroky, Ron J., Gudat, Adam J., Harrod, Gregory R., Henderson, Daniel E., Kleimenhagen, Karl W., Sahm, William C.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): PHAN, THAI Q
• Application Number:
  US08/241,305
• Time in Patent Office: 1,629 Days
• Field of Search: 364/424.07, 364/508, 364/509, 364/167.01, 364/424.04, 364/DIG. 1, 37/348, 37/347, 444/699, 342/357, 342/147, 342/173
• US Class Current: 701/50
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G01C 21/3881 Tile-based structures

Abstract

A method and apparatus for monitoring in real time the removal of material from a land site such as a mine by a mobile machine. A digitized three-dimensional model of the site is stored in a digital data storage and retrieval facility. The site model includes a model of the material to be removed subdivided into regions of differentiating characteristics, for example ore grade or type. The machine is provided with means for generating digital signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site. Loading signals are generated corresponding to the removal of material from the site by the machine, and an instantaneous loading position for the mobile machine relative to the site is recorded in response to the loading signal. The invention preferably includes a payload measurement system which measures each discrete load of material removed. The characteristics of the site material at the recorded loading position are correlated to the material removed from the site. In a preferred form a dynamic site database is used to update the site as material is removed and direct the machinery in altering the site to a desired state.

Claims

1. Apparatus for monitoring in real time the removal of material from a land site by a mobile machine, comprising:

digital data storage and retrieval means for storing a site model, the site model including a model of the material to be removed and subdivided into regions of differentiating characteristics;

means for generating digital signals representing in real time the instantaneous position of at least a portion of the machine relative to the site as it traverses the site;

means for sensing the removal of material from the site by the mobile machine and generating a corresponding loading signal;

means for recording an instantaneous loading position for the mobile machine relative to the site in response to the loading signal; and

means for correlating the characteristics of the site material at the instantaneous loading position to the material removed by the machine.

2. Apparatus as defined in claim 1, further including means for measuring a discrete load of material as it is removed from the site by the mobile machine.

3. Apparatus as defined in claim 2, further including means for correlating the measured load to the instantaneous loading position.

4. Apparatus as defined in claim 3, further including means for recording measurements for a plurality of discrete loads comprising a payload, and for determining a payload measurement.

5. Apparatus as defined in claim 4, further including means for determining an average for the site material characteristics of the payload.

6. Apparatus as defined in claim 5, wherein the means for sensing the removal of material from the site comprise transmission shift sensor means.

7. Apparatus as defined in claim 1, further including means for recording a plurality of loading positions corresponding to a plurality of discrete loads of material removed from the site comprising a payload, and for determining an average loading position for the payload.

8. Apparatus as defined in claim 7, further including means for correlating the characteristics of the site material at the average loading position to the payload of material removed.

9. Apparatus as defined in claim 1, wherein the means for generating position signals is carried on the machine.

10. Apparatus as defined in claim 9, wherein the machine includes an operative tool portion movable relative to the machine for removing material from the site, and the means for generating position signals is located on the operative tool portion.

11. Apparatus as defined in claim 1, wherein the means for generating position signals include a GPS receiver.

12. Apparatus as defined in claim 1, wherein the means for recording the loading position are located on the mobile machine, and further including means for transmitting the loading position information to a location off the machine.

13. Apparatus as defined in claim 1, wherein the mobile machine comprises a wheel-type ore loader.

14. Apparatus as defined in claim 1, further including means for receiving the three-dimensional position signals and for displaying the position of the machine relative to the site in real time.

15. Apparatus as defined in claim 14, wherein the display means are located on the machine.

16. Apparatus as defined in claim 1, further including means for updating the site model in real time as material is removed by the machine.

17. Apparatus as defined in claim 16, wherein the site model stored in the digital data storage and retrieval means includes a first site model representing the desired geography of the site and a second site model representing the actual geography of the site, and further including means for determining the difference between the first and second site models in real time and for generating signals for directing the operation of the machine in accordance with the difference to bring the second model into conformity with the first model.

18. Apparatus as defined in claim 1, further including transport means for receiving the material removed by the mobile machine and transporting the material to a remote location, and means for correlating the material removed to the transport means.

19. Apparatus for monitoring in real time the removal of material from a land site by a mobile machine, comprising:

digital data storage and retrieval means for storing a site model, the site model including a model of the material to be removed subdivided into regions of differentiating characteristics;

means for generating digital signals representing in real time the instantaneous position of at least a portion of the mobile machine relative to the site;

means for sensing the removal of a discrete load of material from the site by the mobile machine and for generating a corresponding loading signal;

means for recording an instantaneous loading position for the mobile machine relative to the site in response to the loading signal; and

means for measuring the discrete load of material removed and for correlating the measured load to the instantaneous loading position and the characteristics of the site material at the instantaneous loading position.

20. Apparatus as defined in claim 19, further including means for recording a plurality of loading positions corresponding to a plurality of discrete loads of material removed from the site comprising a payload, and for determining the average loading position for the payload.

21. Apparatus as defined in claim 19, further including means for measuring the weight of a plurality of discrete loads of material removed from the site comprising a payload, and for determining an average for the material characteristics of the payload based on the material characteristics for each discrete load.

22. Apparatus as defined in claim 19, wherein the means for sensing material removal comprise transmission shift sensor means.

23. Apparatus as defined in claim 19, wherein the means for generating position signals is carried on the machine.

24. Apparatus as defined in claim 23, wherein the machine includes an operative tool portion movable relative to the machine for removing material from the site, and the means for generating position signals is located on the operative tool portion.

25. Apparatus as defined in claim 19, wherein the means for generating position signals include a GPS receiver.

26. Apparatus as defined in claim 19, wherein the means for measuring the discrete load of material removed and for correlating the measured load to the instantaneous loading position are located on the machine, and further including means for transmitting the load position and measurement information off the machine.

27. Apparatus as defined in claim 19, wherein the machine is a wheel-type ore loader.

28. Apparatus as defined in claim 19, further including means for receiving the position signals and for displaying the position of the machine relative to the site to an operator.

29. Apparatus as defined in claim 28, wherein the display means is located on the machine.

30. Apparatus as defined in claim 19, further including means for updating the site model in real time as material is removed by the machine.

31. Apparatus as defined in claim 30, wherein the site model includes a first site model of the desired site geography and a second model of the actual site geography, and further including means for determining the difference between the first and second site models in real time and generating signals to direct the operation of the machine in accordance with the difference to bring the second model into conformity with the first model.

32. Apparatus as defined in claim 19, further including transport means for receiving the material removed by the mobile machine and transporting the material to a remote location, and means for correlating the material removed to the transport means.

33. Apparatus for monitoring in real time the removal of material from a mine or similar site by a mobile machine, and for directing the operation of the machine, comprising:

digital data storage and retrieval means for storing a site model of the material to be removed, subdivided into regions of differentiating characteristics;

means for generating digital signals representing in real time the instantaneous position relative to the site of at least a portion of the machine as it traverses the site;

means for receiving the position signals and for displaying the position of the mobile machine relative to the site in real time;

means for sensing the removal of a discrete load of material from the site by the mobile machine and for generating a corresponding loading signal;

means for recording the instantaneous three-dimensional loading position of the mobile machine relative to the site in response to the loading signal;

means for correlating each discrete load of material removed with the instantaneous loading position and the characteristics of the site material corresponding to the loading position; and

dynamic database means communicating with the digital data storage and retrieval means and the means for generating position signals, the dynamic database means monitoring the path of the machine relative to the site in real time and updating the site model in real time in response to the monitored path of the machine as it traverses the site.

34. A method for monitoring in real time the removal of material from a land site by a mobile machine, comprising the steps of:

storing a site model in digital data storage and retrieval means;

generating digital signals representing in real time the instantaneous position of at least a portion of the machine as it traverses the site;

sensing the removal of material from the site by the mobile machine and generating a corresponding loading signal; and

recording an instantaneous loading position for the mobile machine relative to the site in response to the loading signal, wherein the site model includes a model of the material to be removed and subdivided into regions of differentiating characteristics, further including the step of correlating the characteristics of the site material at the instantaneous loading position to the material removed by the machine.

35. A method as defined in claim 34, further including the step of measuring a discrete load of material as it is removed from the site by the mobile machine.

36. A method as defined in claim 35, further including the step of correlating the measured load to the instantaneous loading position.

37. A method as defined in claim 36, further including the step of recording measurements for a plurality of discrete loads comprising a payload, and determining a payload measurement.

38. A method as defined in claim 37, further including the step of determining an average for the site material characteristics of the payload.

39. A method as defined in claim 38, wherein the step of sensing the removal of material from the site includes the step of sensing a transmission shift.

40. A method as defined in claim 34, further including the step of recording a plurality of loading positions corresponding to a plurality of discrete loads of material removed from the site comprising a payload, and determining an average loading position for the payload.

41. A method as defined in claim 40, further including the step of correlating the characteristics of the site material at the average loading position to the payload of material removed.

42. A method as defined in claim 34, wherein the position signals are generated by means carried on the machine.

43. A method as defined in claim 42, wherein the machine includes an operative tool portion movable relative to the machine for removing material from the site, and the means for generating position signals is located on the operative tool portion.

44. A method as defined in claim 34, wherein the position signals are generated by a GPS receiver.

45. A method as defined in claim 34, wherein the step of recording the loading position is carried out by means located on the mobile machine, and further including the step of transmitting the loading position information to a location off the machine.

46. A method as defined in claim 34, wherein the mobile machine comprises a wheel-type ore loader.

47. A method as defined in claim 34, further including the step of receiving the three-dimensional position signals and displaying the position of the machine relative to the site in real time.

48. A method as defined in claim 47, wherein the position of the machine is displayed by means located on the machine.

49. A method as defined in claim 34, further including the step of updating the site model in real time as material is removed by the machine.

50. A method as defined in claim 49 wherein the site model stored in the digital data storage and retrieval means includes a first site model representing the desired geography of the site and a second site model representing the actual geography of the site, and further including the step of determining the difference between the first and second site models in real time and generating signals for directing the operation of the machine in accordance with the difference to bring the second model into conformity with the first model.

51. A method as defined in claim 34, further including the step of transporting the material removed by the mobile machine to a remote location with transport means, and correlating the material removed to the transport means.

52. A method for monitoring in real time the removal of material from a land site by a mobile machine, comprising the steps of:

storing a site model in digital data storage and retrieval means, the site model including a model of the material to be removed subdivided into regions of differentiating characteristics;

generating digital signals representing in real time the instantaneous position in thee-dimensional space of at least a portion of the mobile machine relative to the site;

sensing the removal of a discrete load of material from the site by the mobile machine and generating a corresponding loading signal;

recording an instantaneous loading position for the mobile machine relative to the site in response to the loading signal; and

measuring the discrete load of material removed and correlating the measured load to the instantaneous loading position and the characteristics of the site material at the instantaneous loading position.

53. A method as defined in claim 52, further including the step of recording a plurality of loading positions corresponding to a plurality of discrete loads of material removed from the site comprising a payload, and determining the average loading position for the payload.

54. A method as defined in claim 52, further including the step of measuring the weight of a plurality of discrete loads of material removed from the site comprising a payload, and determining an average for the material characteristics of the payload based on the material characteristics for each discrete load.

55. A method as defined in claim 52, wherein the step of sensing material removal includes the step of sensing a transmission shift.

56. A method as defined in claim 52, wherein the step of generating position signals is carried out by means located on the machine.

57. A method as defined in claim 56, wherein the machine includes an operative tool portion movable relative to the machine for removing material from the site, and the means for generating position signals is located on the operative tool portion.

58. A method as defined in claim 52, wherein the position signals are generated by a GPS receiver.

59. A method as defined in claim 52, wherein the step of measuring the discrete load of material removed and correlating the measured load to the instantaneous loading position is carried out by means located on the machine, and further including the step of transmitting the load position and measurement information off the machine.

60. A method as defined in claim 52, wherein the machine is a wheel-type ore loader.

61. A method as defined in claim 52, further including the step of receiving the position signals and displaying the position of the machine relative to the site to an operator.

62. A method as defined in claim 61, wherein the position of the machine is displayed by means located on the machine.

63. A method as defined in claim 52, further including the step of updating the site model in real time as material is removed by the machine.

64. A method as defined in claim 63, wherein the site model includes a first site model of the desired site geography and a second model of the actual site geography, and further including the step of determining the difference between the first and second site models in real time and generating signals to direct the operation of the machine in accordance with the difference to bring the second model into conformity with the first model.

65. A method as defined in claim 52, further including the step of receiving the material removed by the mobile machine and transporting the material to a remote location with transport means, and correlating the material removed to the transport means.

66. A method for monitoring in real time the removal of material from a mine or similar site by a mobile machine, and for directing operation of the machine, comprising the steps of:

storing a site model of the material to be removed, subdivided in to regions of differentiating characteristics in digital data storage and retrieval means;

generating digital signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine relative to the site as it traverses the site;

sensing the removal of a discrete load of material from the site by the mobile machine and generating a corresponding loading signal;

recording the instantaneous three-dimensional loading position of the mobile machine relative to the site in response to the loading signal;

correlating each discrete load of material removed with the instantaneous loading position and the characteristics of the sire material corresponding to the loading position; and

providing dynamic database means communicating with the digital data storage and retrieval means and the means for generating position signals, the dynamic database means monitoring the path of the machine relative to the site in real time and updating the site model in real time in response to the monitored path of the machine as it traverses the site;

measuring the discrete load of material removed and correlating the measured load to the instantaneous loading position and the characteristics of the site material at the instantaneous loading position.