DUMP PLATE DEVICE, DUMP PLATE SYSTEM, AND METHOD OF HANDLING DUMP PLATE DEVICE

Abstract

A dump plate device includes a dump plate for supporting a vehicle adjacent to an edge at a worksite when dumping a load over the edge by the vehicle. The dump plate device further comprises at least one positioning device fixed to the dump plate, wherein each positioning device is configured to wirelessly transmit one or more plate position signals containing information indicative of an actual plate position of the dump plate.

Claims

1. A dump plate device comprising: a dump plate for supporting a vehicle adjacent to an edge at a worksite when dumping a load over the edge by the vehicle; characterized in that the dump plate device further comprises: at least one positioning device fixed to the dump plate, wherein each positioning device is configured to wirelessly transmit one or more plate position signals containing information indicative of an actual plate position of the dump plate.

2. The dump plate device according to claim 1, wherein each positioning device comprises a satellite communication receiver.

3. The dump plate device according to claim 1, wherein each positioning device comprises a radio transmitter.

4. The dump plate device according to claim 3, wherein the radio transmitter is an ultra wideband, UWB, transmitter.

5. The dump plate device according to claim 1, wherein the one or more plate position signals contain information indicative of an absolute position of the dump plate.

6. The dump plate device according to claim 1, wherein the at least one positioning device comprises a plurality of positioning devices distanced from each other.

7. The dump plate device according to claim 1, wherein the one or more plate position signals contain information indicative of an orientation of the dump plate.

8. The dump plate device according to claim 1, wherein the dump plate comprises a base part and a barrier raised relative to the base part, wherein the barrier is configured to be contacted by two wheels of the vehicle when dumping the load over the edge by the vehicle.

9. The dump plate device according to claim 8, wherein the one or more plate position signals contain information indicative of a barrier position of the barrier.

10. The dump plate device according to claim 8, wherein a barrier position of the barrier in relation to the actual plate position is predetermined.

11. A dump plate system comprising a dump plate device according to claim 1.

12. The dump plate system according to claim 11, further comprising at least one receiver configured to receive the one or more plate position signals transmitted from the at least one positioning device.

13. The dump plate system according to claim 11, further comprising the vehicle.

14. The dump plate system according to claim 13, wherein the vehicle is an autonomous vehicle.

15. The dump plate system according to claim 13, wherein the vehicle comprises one or more of the at least one receiver.

16. The dump plate system according to claim 15, wherein the vehicle is configured to determine the actual plate position of the dump plate based on the one or more plate position signals.

17. The dump plate system when depending on claim 12, wherein the vehicle is configured to generate position data indicative of the actual plate position of the dump plate based on the one or more plate position signals.

18. The dump plate system when depending on claim 12, further comprising at least one stationary base station comprising one or more of the at least one receiver, wherein the at least one base station is configured to receive the one or more plate position signals transmitted from the at least one positioning device, and to generate position data indicative of the actual plate position of the dump plate based on the one or more plate position signals.

19. The dump plate system according to claim 18, wherein the vehicle is configured to wirelessly receive the position data.

20. The dump plate system according to claim 11, further comprising a control system, the control system comprising at least one data processing device and at least one memory having a computer program stored thereon, the computer program comprising program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of: providing the actual plate position of the dump plate based on the one or more plate position signals; comparing the actual plate position with a previous plate position of the dump plate; and determining that the actual plate position has changed if the actual plate position differs from the previous plate position.

21. The dump plate system according to claim 20, wherein the computer program comprises program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the step of: commanding issuance of a warning upon determining that the actual plate position has changed.

22. A method of handling a dump plate device having a dump plate for supporting a vehicle adjacent to an edge at a worksite when dumping a load over the edge by the vehicle, characterized in that the method comprises: wirelessly transmitting one or more plate position signals containing information indicative of an actual plate position of the dump plate by means of at least one positioning device fixed to the dump plate.

23. The method according to claim 22, wherein the method further comprises: determining whether the actual plate position of the dump plate has changed.

24. The method according to claim 23, wherein the method further comprises: issuing a warning upon determining that the actual plate position of the dump plate has changed.

25. The method according to claim 22, further comprising controlling an autonomous vehicle based on the actual plate position of the dump plate.

26. The method according to claim 22, further comprising: moving the dump plate device by means of a vehicle; determining a coarse plate position of the dump plate based on a vehicle position of the vehicle after having moved the dump plate device; and determining the actual plate position of the dump plate by means of the at least one positioning device based on the coarse plate position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] With reference to the appended drawings, below follows a more detailed description of embodiments of the invention cited as examples.

[0037] In the drawings:

[0038] FIG. 1 schematically illustrates a top view of a dump plate system according to one example of the invention;

[0039] FIG. 2 schematically represents a partial side view of the dump plate system when a vehicle drives towards a dump plate;

[0040] FIG. 3 schematically represents a partial side view of the dump plate system the vehicle is positioned on the dump plate and dumps a load over an edge;

[0041] FIG. 4 schematically represents a top view of a dump plate system according to a further example of the invention when a dump plate has been moved by a vehicle;

[0042] FIG. 5 schematically represents a top view of the dump plate system in FIG. 4 when a vehicle drives towards a dump plate;

[0043] FIG. 6 schematically represents a top view of the dump plate system in FIGS. 4 and 5 when the vehicle is positioned on the dump plate and is about to dump a load over an edge; and

[0044] FIG. 7 is flowchart outlining the general steps of the method according to the invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE INVENTION

[0045] In the following, a dump plate device, a dump plate system comprising a dump plate device, and a method of handling a dump plate device having a dump plate for supporting a vehicle adjacent to an edge at a worksite when dumping a load over the edge by the vehicle, will be described. The same reference numerals will be used to denote the same or similar structural features.

[0046] FIG. 1 schematically illustrates a top view of a dump plate system 10a according to one example of the invention, and FIGS. 2 and 3 schematically represent partial side views of the dump plate system 10a. With collective reference to FIGS. 1 to 3, the dump plate system 10a is arranged at a worksite 12. The worksite 12 comprises an edge 14. The edge 14 separates a geodetically high ground from a geodetically low ground. The worksite 12 in FIG. 1 may for example be a stone pit. The material can be dumped over the edge 14 to a subsequent process step of the material. In the specific example of a stone pit, the subsequent process step may be a stone crushing step.

[0047] The dump plate system 10a comprises a dump plate device 16. The dump plate device 16 comprises a dump plate 18. The dump plate 18 in turn comprises a base part 20 and a barrier 22. The base part 20 is flat and laid horizontally on the ground. The barrier 22 is raised from the base part 20. In this example, the barrier 22 extends at an angle of approximately 60 degrees to the base part 20. The dump plate 18 is positioned adjacent to the edge 14 where the load is to be dumped over the edge 14. As shown in FIGS. 1 to 3, the barrier 22 is substantially coinciding with the edge 14. The base part 20 may be provided with spikes (not shown) protruding down into the ground. In this way, the dump plate 18 rests more stably on the ground.

[0048] The dump plate system 10a of this example further comprises a plurality of autonomous haulers 24. The haulers 24 are configured carry a load, to drive onto the dump plate 18 and to dump the load over the edge 14. Each hauler 24 is thereby one example of a vehicle for dumping a load over the edge 14 according to the invention.

[0049] Each hauler 24 comprises a plurality of wheels 26 forming a wheelbase, and a container 28 for carrying a load. Each hauler 24 can stop on the base part 20 when dumping a load over the edge 14 such that the front wheels 26 are in contact with the barrier 22. The dump plate 18 is thus configured to support one of the haulers 24 when dumping a load over the edge 14. Moreover, the base part 20 of the dump plate 18 is rectangular and elongated in a direction perpendicular to the edge 14. An area of the base part 20 is larger than an area corresponding to the wheelbase.

[0050] The dump plate system 10a of this example further comprises an excavator 30 and a conveyor 32. The excavator 30 loads material to the conveyor 32. The haulers 24 are autonomously controlled to drive to an outlet of the conveyor 32 for being loaded with material.

[0051] The dump plate system 10a further comprises a control system 34. The control system 34 comprises a data processing device 36 and a memory 38. The memory 38 has a computer program stored thereon. The computer program comprises program code which, when executed by the data processing device 36 causes the data processing device 36 to perform, or command performance of, various steps as described herein. A fleet management system comprising a path planner for the haulers 24 is implemented in the control system 34.

[0052] In order to accurately dump a load over the edge 14, it is desired that the haulers 24 (or other dumping vehicle) can be positioned very accurately relative to the dump plate 18. There are several reasons for this desire.

[0053] An inaccurate positioning of the dump plate 18 might result in a failure of the hauler 24 to dump its entire load over the edge 14. For example, the load may instead be partly or entirely dumped onto the dump plate 18.

[0054] Furthermore, in case the hauler 24 drives onto the dump plate 18 at an angle relative to the dump plate 18, one of its front wheels 26 will hit the barrier 22 before the other front wheel 26. As a result, the container 28 of the hauler 24 might collide with the barrier 22 during tilting of the container 28 such that tipping of the entire load is prevented.

[0055] Furthermore, in case the position of the dump plate 18 is not accurately known, there is an increased risk that the haulers 24 drive forcefully against the barrier 22. This might cause the dump plate 18 to move slightly on the ground. This in turn makes the position of the dump plate 18 even more inaccurate and the above problems become augmented. Although the problem of movement of the dump plate 18 can be prevented to some extent by the provision of spikes below the dump plate 18 that protrudes down into the ground, these spikes should not secure the dump plate 18 too forcefully to the ground since this makes it more difficult to intentionally move the dump plate 18.

[0056] Furthermore, an inaccurate positioning of the dump plate 18 increases the risk of a severe safety accident where the hauler 24 falls over the edge 14.

[0057] In order to provide a more accurate knowledge about the position of the dump plate 18, the dump plate device 16 of this example further comprises two GNSS transceivers 40. The GNSS transceivers 40 are fixed to the dump plate 18 at known positions, here at opposite sides of the base part 20. Each GNSS transceiver 40 is an example of a positioning device according to the invention. The dump plate device 16 may further comprise a battery (not shown) for providing electric power to the GNSS transceivers 40.

[0058] Each GNSS transceiver 40 is configured to accurately determine its position based on received GNSS signals from a remote source. Each GNSS transceiver 40 is further configured to wirelessly send plate position signals 42 with information regarding its absolute position. Since the GNSS transceivers 40 are fixed to the dump plate 18 at known positions, an actual plate position of the dump plate 18 can be accurately determined based on the plate position signals 42. Also the orientation of the dump plate 18, a barrier position of the barrier 22, and a barrier orientation of the barrier 22 can be accurately determined based on the plate position signals 42 from the two GNSS transceivers 40.

[0059] The plate position signals 42 containing information indicative of the actual plate position can be distributed in the dump plate system 10a in a wide range of ways. In this example, each hauler 24 further comprises a vehicle receiver 44 and a vehicle transmitter 46. By means of the vehicle receiver 44, each hauler 24 can receive the plate position signals 42 transmitted from the GNSS transceivers 40. By means of the vehicle transmitter 46, each hauler 24 can wirelessly distribute information indicative of the actual plate position as position data 48 based on the plate position signals 42.

[0060] The dump plate system 10a of this example further comprises a base station 50, here exemplified as a pole. The base station 50 is fixed to the ground. The base station 50 comprises a base receiver 52 and a base transmitter 54. By means of the base receiver 52, the base station 50 can receive the plate position signals 42 transmitted from the GNSS transceivers 40. By means of the base transmitter 54, the base station 50 can wirelessly distribute information indicative of the actual plate position as position data 48 based on the plate position signals 42. The position data 48 may for example be sent from the base station 50 to the control system 34 in order for the fleet management system to know the exact position of the dump plate 18 and to thereby be able to plan the routing of the haulers 24 to and from the dump plate 18 accordingly. The dump plate system 10a thereby provides an efficient and safe control of material dumping over the edge 14.

[0061] FIG. 4 schematically represents a top view of a dump plate system 10b according to a further example of the invention. From time to time, the dump plate 18 needs to be relocated within the worksite 12. In this case, the routing of the haulers 24 needs to be immediately updated based on the latest actual plate position of the dump plate 18 in order to avoid any downtime of the worksite 12 and to avoid safety issues.

[0062] In FIG. 4, the dump plate device 16 has been lifted and moved to a new position by a wheel loader 56 of the dump plate system 10b. As shown in FIG. 4, the wheel loader 56 comprises an implement 58, here exemplified as a fork. In contrast to the haulers 24, the wheel loader 56 of this illustrating example does not comprise any vehicle receiver or vehicle transmitter corresponding to the vehicle receiver 44 and the vehicle transmitter 46. The wheel loader 56 however comprises a GPS sensor 60.

[0063] The dump plate system 10b in FIG. 4 differs from the dump plate system 10a in that the dump plate system 10b comprises a dump plate 18 having two radio transmitters 62 instead of the GNSS transceivers 40. In this example, each radio transmitter 62 is an UWB transmitter. Each radio transmitter 62 is a further example of a positioning device according to the invention. The vehicle receivers 44 of the haulers 24 may in this example comprise a UWB receiver. In contrast to the GNSS transceivers 40 in FIGS. 1 to 3 which provide a global positioning system, the radio transmitters 62 have a limited range and only provide a local positioning system.

[0064] Once the dump plate device 16 has been put on the ground by the wheel loader 56, the wheel loader 56 communicates its position as determined by the GPS sensor 60, for example to the fleet management system in the control system 34. Although the GPS sensor 60 as such may provide an accurate vehicle position, the actual plate position relative to the vehicle position may not be known. The reasons for this may for example be that the position of the implement 58 relative to the vehicle position is unknown or inaccurate, or that the position of the dump plate 18 relative to the implement 58 when lifted is unknown. The dump plate 18 may also be suspended in a chain from the wheel loader 56 when carried between two positions. In this case, the actual plate position relative to the vehicle position is even more uncertain.

[0065] In the invention, the vehicle position from the wheel loader 56 when putting the dump plate 18 on the ground is treated as a coarse plate position. The dump plate device 16 may alternatively be moved by the excavator 30 in FIG. 1.

[0066] FIG. 5 schematically represents a further top view of the dump plate system 10b. In FIG. 5, one of the haulers 24 drives towards the dump plate 18 based on the coarse plate position. When the hauler 24 is within a signal range from the radio transmitters 62, such that the plate position signals 42 can be received by the vehicle receiver 44, the actual plate position and the orientation of the dump plate 18 can be accurately determined by means of triangulation based on the plate position signals 42 transmitted from the radio transmitters 62. Since the absolute position of the hauler 24 is known, also the absolute position of the dump plate 18 can be accurately determined based on the plate position signals 42 transmitted from the radio transmitters 62. The actual plate position determined by the hauler 24 may then be sent as position data 48 to the control system 34 in order to share the actual plate position with the other haulers 24 and other vehicles. The local information provided by the radio transmitters 62 is thereby globalized by the hauler 24 in this example. The accurate determination of the actual plate position of the dump plate 18 by means of the radio transmitters 62 enables the driver of the wheel loader 56 to be relieved from the task of determining the actual plate position.

[0067] Also the base station 50 may be configured to receive the plate position signals 42 from the radio transmitters 62, to determine the actual plate position by means of triangulation based on the plate position signals 42, and to wirelessly communicate the determined actual plate position as position data 48 by means of the base transmitter 54. In this way, also the base station 50 can be used to globalize the actual plate position.

[0068] FIG. 6 schematically represents a top view of the dump plate system 10b in FIGS. 4 and 5. In FIG. 6, the hauler 24 is positioned on the dump plate 18 and is about to dump a load over the edge 14.

[0069] The actual plate position is monitored over time, for example by means of the control system 34. The position of the dump plate 18 may be continuously or repeatedly monitored during the load handling operation at the worksite 12. In case the actual plate position changes, a warning may be issued. In the above example where the dump plate 18 is intentionally moved by the wheel loader 56, the warning may be issued to the driver of the wheel loader 56 who then can confirm that the dump plate 18 has been intentionally relocated. In case the dump plate 18 was not intentionally moved, issuance of a countermeasure may be commanded. The countermeasure may for example comprise stopping or reducing the speeds of the haulers 24. The determination of whether or not the actual plate position has been changed can be made based on the plate position signals 42 without necessarily globalizing the actual plate position.

[0070] The combination of the coarse positioning by the wheel loader 56 and the fine positioning by the radio transmitters 62 provide an effective and reliable method of accurately determining and updating the actual plate position. The method thus provides an advantageous tracking of dumping safety.

[0071] FIG. 7 is flowchart outlining the general steps of the method of handling the dump plate device 16 having the dump plate 18 for supporting the hauler 24 adjacent to the edge 14 at the worksite 12 when dumping a load over the edge 14 by the hauler 24 according to the invention. The method comprises a step S1 of wirelessly transmitting S1 one or more plate position signals 42 containing information indicative of an actual plate position of the dump plate 18 by means of at least one positioning device 40, 62 fixed to the dump plate 18. The method further comprises a step S2 of determining whether the actual plate position of the dump plate 18 has changed. The method further comprises a step S3 of issuing a warning upon determining that the actual plate position of the dump plate 18 has changed.

[0072] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.