Autonomous loading
View Patent ↗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.
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.
2. A control method according to claim 1 , wherein the simulating step additionally takes account of particle size, distribution, voiding and spillage.
3. A control method according to claim 1 , wherein the selecting step involves iteratively testing the comparison at each location to find a best loading position.
4. A control method according to claim 1 , wherein the selecting step involves assigning a cost to the comparison at each location to find a best loading position.
5. A control method according to claim 1 , further comprising imaging the receptacle and a load of material as it is filled.
6. A control method according to claim 5 , wherein imaging equipment is mounted on rotary loading equipment such that it scans in a vertical plane, and rotational motion of the loading equipment is used to build up a three-dimensional point cloud of the surrounding terrain from which a Digital Terrain Map (DTM) is generated.
7. A control method according to claim 5 , wherein as the loading equipment moves toward or away from the dumping point the receptacle, including any load, is segmented from the background.
8. A control method according to claim 5 , wherein imaging of the receptacle takes account of shadowing effects, to compensate where there are hidden parts of the interior of the receptacle.
9. A control method according to claim 5 , wherein the receptacle is loaded from more than one side, and imaging is conducted from more than one side.
10. A control method according to claim 1 , further comprising the step of identifying the receptacle, its location, orientation and geometry in 2 or 3 Dimensions.
11. A control method according to claim 1 , wherein the simulating step includes using knowledge of a fillable part of the empty or partially filled receptacle, including the shape of a surface of the receptacle and an upper surface of any load in it, a maximum volume of a dump, and the repose angle of the material.
12. A control method according to claim 1 , comprising the further step of determining whether the receptacle is full or not.
13. A control system 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 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.
14. A non-transitory computer readable medium with an executable program stored thereon that when executed causes a computer to perform the method of claim 1 .