Definition of control data for automatic control of mobile mining machine

• US 8,571,765 B2
• Filed: 06/23/2010
• Issued: 10/29/2013
• Est. Priority Date: 06/24/2009
• Status: Active Grant

• Current Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Original Assignee: Sandvik Mining and Construction OY (Sandvik AB)
• Inventors: Lehtinen, Antti, Mkel, Hannu, Ruokojrvi, Jarkko, Sievil, Jouni
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US13/380,243
• Publication Number:
  US 20120095640A1
• Time in Patent Office: 1,224 Days
• Field of Search: 701/23, 701/25, 701/50, 701/59, 701/400
• US Class Current: 701/50
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig

Abstract

A method for arranging automatic control of a mobile mining machine equipped with a bucket is disclosed. The method generates a general purpose bucket emptying model that defines at least the path of the bucket of the mining machine for emptying it. The bucket emptying model is stored on a memory. The bucket emptying model is fetched from the memory in response to a need to define emptying the bucket for the route. At least data defining the path of the bucket in the fetched bucket emptying model are appended to the path data for use in the automatic control of the mining machine.

Claims

1. A method for defining control data for arranging automatic control of a mobile mining machine equipped with a bucket, comprising:

defining for the mining machine control data which define a position of the bucket,

generating a general-purpose bucket emptying model that defines at least a bucket path for emptying the bucket of the mining machine,

storing said bucket emptying model on a memory means for use in the definition of control data for the automatic control of the mining machine comprising one or more buckets,

fetching said bucket emptying model from the memory means in response to a need to define emptying the bucket for a route, and

appending at least data defining the path of the bucket in the bucket emptying model fetched from the memory means to data of said route for use in the automatic control of the mining machine.

2. A method as claimed in claim 1, wherein said bucket emptying model comprises path points defining the path of the bucket and boom of the mining machine, and for each path point at least bucket control data and boom control data are defined.

3. A method as claimed in claim 1, comprising:

retrieving from a file defining an earlier defined second route data of route points associated with emptying the bucket, and

defining in said bucket emptying model, path points on the basis of the route point data retrieved from the file defining the second route.

4. A method as claimed in claim 3, comprising:

defining for a location of the mining machine a reference point from the route points associated with emptying the bucket in the file defining the earlier defined second route,

defining in said bucket emptying model, distance data for the one or more path points from the defined reference point for a purpose of determining the location of the mining machine, and

appending data defining at least the bucket path in the bucket emptying model to at least one route point of said route on the basis of the distance data.

5. A method as claimed in claim 1 wherein said bucket emptying model comprises control data for performing a bucket emptying movement and control data for guiding the mining machine away from an emptying site.

6. A method as claimed in claim 1, wherein said bucket emptying model is stored in an XML-format file that comprises path point sub-elements of at least one path, wherein each path point sub-element comprises a sub-element for defining a boom position value, a sub-element for defining a bucket position value, and a sub-element for defining a distance from a start point of the path.

12. A non-transitory computer-readable medium comprising:

a computer program for controlling a processing unit,

wherein the computer program comprises instructions for execution by the processing unit, and

wherein the instructions comprise steps of the method as claimed in claim 1.

7. An apparatus comprising a data processing device for defining control data used for automatic control of a mobile mining machine, wherein the apparatus is adapted to:

generate a general-purpose bucket emptying model that defines at least a path of a bucket of the mining machine for emptying the bucket, wherein the apparatus is arranged to define in said bucket emptying model path points on the basis of data of route points of an earlier defined route and associated with emptying the bucket; and

store said bucket emptying model on a memory means for use in a definition of route data for the automatic control of the mobile mining machine.

8. An apparatus as claimed in claim 7, wherein the apparatus is arranged to define in said bucket emptying model, path points defining the path of the bucket and boom of the mining machine, and defining for each path point at least bucket control data and boom control data.

9. An apparatus as claimed in claim 8, wherein the apparatus is arranged to define for a location of the mining machine, a reference point from the route points associated with emptying the bucket in a file defining the earlier defined route, and

the apparatus is arranged to define in said bucket emptying model, distance data for the one or more path points from the defined reference point for a purpose of determining the location of the mining machine.

10. An apparatus as claimed in claim 7, wherein the apparatus is arranged to define in said bucket emptying model, control data for performing a bucket emptying movement and control data for guiding the mining machine away from an emptying site.

11. An apparatus as claimed in claim 7, wherein the apparatus is arranged to store said bucket emptying model in an XML-format file that comprises path point sub-elements of at least one path, wherein each path point sub-element comprises a sub-element for defining a boom position value, a sub-element for defining a bucket position value, and a sub-element for defining a distance from a start point of the path.

13. An apparatus comprising a data processing device for defining control data used for automatic control of a mobile mining machine, wherein the apparatus is arranged to:

fetch a pre-stored general-purpose bucket emptying model from a memory means in response to a need to define an emptying of a bucket for a route, the bucket emptying model defining at least a path of the bucket for emptying the bucket of the mining machine, and

append at least data defining the path of the bucket in the bucket emptying model fetched from the memory means to data of said route.

14. An apparatus as claimed in claim 13, wherein said bucket emptying model comprises path points defining the path of the bucket and a boom of the mining machine, and for each path point at least bucket position data and boom position data are defined, and

the apparatus is arranged to define on the basis of said bucket emptying model, bucket position data and boom position data for route point data of the route.

15. An apparatus as claimed in claim 13, wherein said bucket emptying model comprises control data for performing a bucket emptying movement and control data for guiding the mining machine away from an emptying site, and

the apparatus is arranged to define on the basis of said bucket emptying model, route point data for the route for performing the bucket emptying movement and for guiding the mining machine away from the emptying site.

16. An apparatus as claimed claim 13, wherein the apparatus is arranged to store said bucket emptying model in an XML-format file that comprises path point sub-elements of at least one path, wherein each path point sub-element comprises a sub-element for defining a boom position value, a sub-element for defining a bucket position value, and a sub-element for defining a distance from a start point of the path.

17. An apparatus as claimed in claim 14, wherein said bucket emptying model defines a reference point for a location of the mining machine, distance data for one or more path points of the bucket emptying model from a defined reference point for a purpose of determining the location of the mining machine, and

the apparatus is arranged to append data defining at least the bucket path of the bucket emptying model to at least one route point of the route on the basis of the distance data.