System and method for in-pit crushing and conveying operations

• US 9,803,337 B2
• Filed: 02/16/2016
• Issued: 10/31/2017
• Est. Priority Date: 02/16/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Humphrey, James D., Ryan, James W., Friend, Paul R.
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US15/044,133
• Publication Number:
  US 20170233984A1
• Time in Patent Office: 623 Days
• Field of Search: 701 1, 701 50
• CPC Class Codes: B02C 25/00 Control arrangements specially adapted for crushing or disintegrating
• CPC Class Codes: E02F 3/308 working outwardly
• CPC Class Codes: E02F 3/46 with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor E02F3/205, E02F3/905 take precedence
• CPC Class Codes: E02F 7/06 Delivery chutes or screening plants or mixing plants mounted on dredgers or excavators for back-filling E02F5/226 takes precedence; separating equipment in general B03; delivery chutes in general B65G
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame
• 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 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A control system implemented for in-pit crushing and conveying (IPCC) operations employing a shovel machine and a crusher machine is provided. The shovel machine includes an implement configured to excavate a material from a worksite and load the material into a hopper of the crusher machine. The control system includes a position determination module, an excavation determination module, and a path determination module. The path determination module is configured to determine one or more travel paths, with a plurality of loading positions, for the shovel machine and the crusher machine. The plurality of loading positions is based at least in part on the relative position of the shovel machine and the crusher machine and a plurality of excavation positions, such that at each of the plurality of loading positions, the implement traverses an arc passing above the hopper.

Claims

1. A control system implemented for in-pit crushing and conveying (IPCC) operations employing a shovel machine and a crusher machine, the shovel machine having an implement configured to excavate a material from a worksite and load the material into a hopper of the crusher machine, the control system comprising:

a position determination module configured to determine a relative position of the shovel machine and the crusher machine;

an excavation determination module configured to determine a plurality of excavation positions for the shovel machine, wherein the implement excavates the material from the worksite when the shovel machine is at one of the plurality of excavation positions; and

a path determination module configured to determine one or more travel paths, with a plurality of loading positions, for the shovel machine and the crusher machine, the plurality of loading positions based at least in part on the relative position of the shovel machine and the crusher machine and the plurality of excavation positions, such that at each of the plurality of loading positions the implement traverses an arc passing above the hopper.

2. The control system of claim 1, wherein each of the plurality of excavation positions and each of the plurality of loading positions for the shovel machine coincide with each other.

3. The control system of claim 1 further comprising, one or more traction control units configured to operate the shovel machine and the crusher machine such that the shovel machine and the crusher machine travel within predefined limits of the one or more travel paths during the IPCC operation.

4. The control system of claim 1 further comprising, one or more operator interface units configured to display the one or more travel paths for one or more operators of the shovel machine and the crusher machine.

5. The control system of claim 1 further comprising, a position data unit configured to collect position data of the shovel machine and the crusher machine using one or more of Global Positioning System (GPS), Global Navigation Satellite System (GNSS), trilateration/triangulation of cellular networks or Wi-Fi networks, Pseudo satellites (Pseudolite), ranging radios, and the perception sensors, wherein the position determination module is configured to determine the relative position of the shovel machine and the crusher machine based on the position data.

6. The control system of claim 1 further comprising, a site monitoring unit configured to determine topography of the worksite, wherein the excavation determination module is configured to determine the plurality of excavation positions based on the topography of the worksite.

7. The control system of claim 6, wherein the site monitoring unit is further configured to detect one or more obstacles in the one or more travel paths and in the arc traversed by the implement, and wherein the path determination module is configured to adjust the one or more travel paths based on the detection of the one or more obstacles.

8. A method of implementing in-pit crushing and conveying (IPCC) operations employing a shovel machine and a crusher machine, the shovel machine having an implement configured to excavate a material from a worksite and load the material into a hopper of the crusher machine, the method comprising:

determining a relative position of the shovel machine and the crusher machine;

determining a plurality of excavation positions for the shovel machine, wherein the implement excavates the material from the worksite when the shovel machine is at one of the plurality of excavation positions; and

determining one or more travel paths, with a plurality of loading positions, for the shovel machine and the crusher machine, the plurality of loading positions based at least in part on the relative position of the shovel machine and the crusher machine and the plurality of excavation positions, such that at each of the plurality of loading positions the implement traverses an arc passing above the hopper.

9. The method of claim 8, wherein each of the plurality of excavation positions and each of the plurality of loading positions for the shovel machine coincide with each other.

10. The method of claim 8 further comprising, operating the shovel machine and the crusher machine such that the shovel machine and the crusher machine travel within predefined limits of the one or more travel paths during the IPCC operation.

11. The method of claim 8 further comprising, displaying the one or more travel paths for one or more operators of the shovel machine and the crusher machine.

12. The method of claim 8 further comprising, determining the relative position of the shovel machine and the crusher machine based on one or more of Global Positioning System (GPS), Global Navigation Satellite System (GNSS), trilateration/triangulation of cellular networks or Wi-Fi networks, Pseudo satellites (Pseudolite), ranging radios, and the perception sensors.

13. The method of claim 8 further comprising, determining the plurality of excavation positions based on topography of the worksite.

14. The method of claim 8 further comprising, adjusting the one or more travel paths based on the detection of one or more obstacles in the one or more travel paths or in the arc traversed by the implement.

15. An excavating machine comprising:

one or more traction units;

a frame supported on the one or more traction units,

a body supported on the frame, the body configured to rotate with respect to the frame, about an axis of rotation;

an arm pivotally extending from the body from a first end;

an implement coupled to the arm at a second end; and

a control system comprising;

a position determination module configured to determine a position of the excavating machine relative to a loading machine;

an excavation determination module configured to determine a plurality of excavation positions for the excavating machine, wherein the implement excavates a material from a worksite when the excavating machine is at one of the plurality of excavation positions; and

a path determination module configured to determine a travel path for the excavating machine, with a plurality of loading positions, relative to the loading machine, the plurality of loading positions based at least in part on the position of the excavating machine relative to the loading machine and the plurality of excavation positions, such that at each of the plurality of loading positions the implement traverses an arc passing above the loading machine as the body rotates with respect to the frame about the axis of rotation.

16. The excavating machine of claim 15, wherein each of the plurality of excavation positions and each of the plurality of loading positions coincide with each other.

17. The excavating machine of claim 15 further comprising, a traction control unit configured to operate the one or more traction units, such that the excavating machine travels within predefined limits of the travel path.

18. The excavating machine of claim 15 further comprising, a site monitoring unit configured to:

determine topography of the worksite; and

detect one or more obstacles in the travel path and in the arc traversed by the implement;

wherein the excavation determination module is configured to determine the plurality of excavation positions based on the topography of the worksite; and

wherein the path determination module is configured to adjust the travel path based on the detection of the one or more obstacles.

19. The excavating machine of claim 15 further comprising, a communication unit configured to signal the travel path to a corresponding communication unit of the loading machine.

20. The excavating machine of claim 15 selected from one of a shovel machine, an electric mining machine, and a back-hoe loader.