WO2024258325A1 - Câble et système de détection de tuyau - Google Patents

Câble et système de détection de tuyau Download PDF

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Publication number
WO2024258325A1
WO2024258325A1 PCT/SE2023/050601 SE2023050601W WO2024258325A1 WO 2024258325 A1 WO2024258325 A1 WO 2024258325A1 SE 2023050601 W SE2023050601 W SE 2023050601W WO 2024258325 A1 WO2024258325 A1 WO 2024258325A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
machine
hose
sensor
sensor data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2023/050601
Other languages
English (en)
Inventor
Robert Dahl
Patrik Malm
Lars M ERIKSSON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Priority to CN202380099439.1A priority Critical patent/CN121368663A/zh
Priority to PCT/SE2023/050601 priority patent/WO2024258325A1/fr
Priority to EP23734771.1A priority patent/EP4728146A1/fr
Priority to AU2023456943A priority patent/AU2023456943A1/en
Publication of WO2024258325A1 publication Critical patent/WO2024258325A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/10—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables

Definitions

  • the present invention relates generally to detection and positioning of cables or hoses. Specifically, it relates to detection and positioning of cables or hoses attached to mining or construction machines.
  • One solution for facilitating the transition to electrical driven machines is connecting an electric cable to the machine, for example for transport, operation and for charging of on-board batteries.
  • a cable may for example be needed when battery power is not sufficient for the heavy and energy intensive operations performed by mining or construction machines.
  • the cable provides the machine with electricity during operation and therefore trails behind the machine in the mining environment.
  • the cable may be mounted on a cable reel, often located at the back of the machine. It may therefore be a problem for an on-board operator and/or for a remote operator to see the cable behind the machine. The need for an on-board operator to turn around in the seat, or even stand up in the machine cabin, to look for the cable presents an additional risk.
  • prior art solutions sensor systems are provided which measure a distance between the machine and the cable, to detect its position.
  • Other prior art solutions comprise preventing certain movement patterns for mining or construction machines which are related to an increased risk of cable overrun, such as turning around its own shoulder to many times in sequence.
  • a cable guide is provided on the ground comprising holders for elevating the cable above ground.
  • the method comprises predicting a position of a part of the cable which is outside a detection range of the sensor system.
  • the method comprises transmitting a warning when there is a risk of damaging the cable/hose.
  • the method comprises, when there is a risk of damaging the cable/hose, providing a suggested action to be executed by the machine to avoid damaging the cable/hose.
  • the cable feeding system has several advantages.
  • One advantage is naturally that the cable can be wound and unwound when the machine travels in the mining environment and more or less cable is needed between the machine and the power source at the other end of the cable.
  • Another advantage is to, by means of the guiding arm, keep the cable at a distance from the machine.
  • Another advantage is to prevent the cable 210 from being tangled on the cable reel.
  • the suggested action comprises controlling the cable/hose feeding system to prevent damaging the cable/hose.
  • the sensor system comprises a vision system and the at least one sensor is an optical sensor and the sensor data comprises optical data, such as images or video, and wherein processing the collected sensor data comprises image analysis, optionally by mesh processing.
  • processing the collected sensor data comprises utilizing a polygonal chain to track an outline of the cable/hose.
  • a tracking system for tracking a cable or hose operatively connected at one end to a machine for mining or construction and at another end remote from the machine, the machine being communicatively connected to a control system arranged to provide a machine coordinate system.
  • the tracking system comprises a sensor system comprising at least one sensor arranged on the machine and arranged to collect sensor data representing a space surrounding the machine, a processing means, arranged to process the sensor data to detect the cable/hose in the data, and to assign a plurality of coordinates to the detected cable/hose in the machine coordinate system to track the cable/hose relative to the machine.
  • the sensor system comprises a vision system
  • the at least one sensor is an optical sensor arranged to collect optical data, such as images or video.
  • the machine comprises a cable/hose feeding system arranged on the machine being capable of controlling feeding of the cable/hose, and wherein the processing means is furthermore arranged to process operating data of the cable feeding system to detect the cable/hose in the collected sensor data.
  • operating data relates to the feeding of the cable/hose and/or the position of the cable/hose in the cable feeding system.
  • the cable/hose feeding system comprises a cable/hose reel and/or a cable/hose guide arm.
  • the processing means comprises artificial intelligence, optionally a machine learning component.
  • the artificial intelligence adds to the processing means the ability to “learn” i.e. , progressively improve the performance from new data, without being explicitly programmed.
  • a machine for mining or construction being operatively connected to a cable or hose, the cable/hose being connected remote from the machine at another end thereof, the machine being communicatively connected to a control system arranged to provide a machine coordinate system, wherein the machine comprises a sensor system comprising at least one sensor arranged on the machine and arranged to collect sensor data representing a space surrounding the machine, wherein the sensor system is comprised in a tracking system according to the disclosure.
  • the cable/hose is a power cable attached at another end thereof to a power source.
  • the cable/hose is attached at another end thereof to an outlet for a liquid.
  • the machine comprises a cable/hose feeding system arranged on the machine being capable of controlling feeding of the cable/hose.
  • Figs. 1 a and 1 b display a mining machine exemplified as a drill rig.
  • Figs. 2a displays a mining machine exemplified as a loader.
  • Fig. 2b displays a mining machine exemplified as a mining truck.
  • Fig. 3 displays a cable/hose feeding system and a sensor system.
  • Fig. 4 displays a cable/hose feeding system and a sensor system.
  • Fig. 5 displays a method for tracking a cable/hose.
  • Fig. 6 displays a visualization of a method for detecting a cable/hose.
  • Fig. 7 displays a visualization of a method for detecting a cable/hose.
  • Fig. 8 displays a visualization of a method for detecting a cable/hose.
  • Fig. 9 displays a visualization of a method for detecting a cable/hose.
  • a machine 100 is exemplified as a mining machine.
  • a mining machine When reference is made to a mining machine, this will be understood as a machine arranged to travel and operate in a mining environment.
  • the machine may for example perform operations specifically related to mining, such as drilling, or other operations necessary for the operations in a mining environment, such as related to construction.
  • the mining environment may be, but is not limited to, an underground mine, a surface mine, an open-pit mine.
  • the mining environment may be an area adjacent to or in connection to a mine.
  • the mining environment could be seen as any area where the machine 100 may normally travel during operation.
  • the machine 100 is exemplified as a drill rig 110.
  • the drill rig 110 in Fig. 1 a and Fig. 1 b is mobile, meaning that it can travel in a mining environment for example for the purpose of drilling holes at various locations.
  • the drill rig 110 in Fig. 1 a and Fig. 1 b travels by means of continuous tracks 102.
  • the machine 100 is a construction machine.
  • a construction machine this will be understood as a machine arranged to travel and operate on a construction site, for example for construction of roads or powerplants.
  • a cable is operatively connected to a back section of the machine 100.
  • the cable 210 provides electrical energy to the machine 100.
  • the energy supplied from the cable 210 is utilized by the machine 100 for example to travel in the mining environment, or for operating tools such as a drill 101 on the machine 100.
  • issues disclosed herein relating to electric cables such as the cable 210 seen in Fig. 1 a and Fig. 1 b, are also related to hoses (not seen in figures) operatively connected to, and trailing behind, the machine 100 to a liquid source.
  • hoses not seen in figures
  • a cable feeding system 200 of the drill rig 110 is visible.
  • the cable feeding system 200 is arranged on the drill rig 110.
  • the cable feeding system 200 may be arranged in another position on the machine 100, corresponding to the position where the cable 210 is operatively connected to the machine 100.
  • the cable feeding system 200 is integrated in the machine 100, meaning it is not visible from the outside.
  • the cable feeding system 200 generally comprises a cable guide 220 to steer the cable during winding and unwinding, a guiding arm 230 and optionally additional guiding means 231 arranged on the guiding arm 230.
  • the cable feeding system 200 further comprises a cable reel 240 onto which the cable 210 may be wound or unwound.
  • the cable guide 220 is arranged to position the cable 210 on the cable reel 240 during winding of the cable 210 thereon.
  • the cable reel 240 may be arranged in a housing 241.
  • the housing is integrated with the chassis of the machine 100.
  • the cable guide 220 is arranged attached to the housing.
  • the cable guide 220 is arranged attached to the machine 100.
  • the guiding arm 230 extends out from the housing.
  • one end of the guiding arm 230 is arranged attached to the housing.
  • one end of the guiding arm 230 is arranged attached to the machine 100.
  • the cable guide 220 may be provided with rollers 221 between which the cable 210 passes.
  • An embodiment of the rollers 221 is seen in more detail in Fig. 3 and Fig. 4.
  • the rollers 221 may be cylindrical and arranged such that a lengthwise extension of each roller is essentially perpendicular to a feeding direction of the cable 210.
  • the rollers 221 may be in the shape of discs, or wheels.
  • the mantle surface of the rollers 221 may be curved, for example such that they have a waist, to better guide the cable 210 between the rollers 221 .
  • the cable 210 is wound onto the cable reel 240 by rotation of the cable reel 240.
  • the cable 210 is unwound form the cable reel 240 by rotation of the cable reel 240.
  • the cable reel 240 may be provided with a motor to control the rotation of the cable reel 240.
  • the cable reel 240 may be provided with a resistance, or a brake, such that the cable 210 may be under tension between the cable guide 220 and the cable reel 240 during unwinding. Having tension between the cable guide 220 and the cable 210 on the cable reel 240, during winding and unwinding respectively, prevents tangling of the cable 210 on the cable reel 240.
  • the machine 100 is communicatively connected to a control system.
  • the control system is an on-board control system arranged in the machine 100.
  • the control system in is a remote-control system arranged remote from the machine 100, such as at a control center or control room of the mining environment.
  • the control system is arranged to control navigation of the machine 100.
  • the control system is arranged to control navigation of a plurality of mining machines in the underground environment. Controlling navigation may for example comprise determining a position of the machine 100 and setting a travel route for the machine 100.
  • the control system is arranged to control operations of the machine 100 such as traction and operation of the tools of the machine 100.
  • the control system may be operated by an operator, or autonomously operated, or a combination thereof.
  • the control system is arranged to provide a machine coordinate system.
  • the machine coordinate system is specific to the machine 100 and provides coordinates for physical features of the machine 100, such that these features may be put in relation to each other. Physical features may be any physical part of the machine 100, such as, but not limited to, wheels/continuous tracks, tools or parts of the chassis.
  • the input data to the control system for providing the machine coordinate system is provided by use of Real-Time Kinematic (RTK) receivers.
  • RTK receivers are used to enhance the accuracy of the Global Navigation Satellite Systems (GNSS).
  • GNSS Global Navigation Satellite Systems
  • the RTK technology may be referred to as RTK GNSS.
  • Fig. 3 there is displayed two sensors of the at least one sensor 310, wherein one is arranged on the housing 241 and one is arranged on the guiding arm 230 of the cable feeding system 200.
  • Fig. 4 there is displayed two sensors of the at least one sensor 310, wherein both are arranged on the guiding arm 230 of the cable feeding system 200.
  • the processing means further comprises artificial intelligence. In one embodiment, the processing means further comprises a machine learning component.
  • step 501 sensor data representing the space surrounding the machine 100 is collected.
  • the sensor data is collected by means of the sensor system 300.
  • collecting sensor data comprises recording images and or/video of the space surrounding the machine 100.
  • the images/video is shot and transmitted to the processing means in real time.
  • collecting sensor data comprises scanning the space surrounding the machine 100, such as by means of laser scanning.
  • step 502 the collected sensor data is processed.
  • the sensor data is input to and processed by the processing means.
  • the sensor data is processed in order to detect the cable 210 in the collected sensor data.
  • a detected cable it should be understood as a virtual representation of the cable 210, as detected by the processing means.
  • Figs. 6-9 there is displayed exemplary embodiments of methods for data processing for detecting the cable 210 in the collected sensor data. Specifically, methods for classifying the sensor data to detect the cable 210.
  • the at least one sensor 310 is a camera
  • the collected sensor data is an image, or video, for example a realtime video stream.
  • the Figs. 6-9 display what should be understood as the collected sensor data, or a part thereof.
  • Figs. 6-9 display an image collected by the at least one sensor 310 arranged on the guiding arm 230, wherein the at least one sensor is arranged directed away from the back of the machine 100.
  • a video comprises a series of images and as such, when reference is made to an image, this may refer to a still picture or a video.
  • classifying is performed by means of Bezier curves.
  • a Bezier curve is a parametric curve wherein a set of discrete control points, distributed between two endpoints, define a smooth, continuous curve.
  • the detected cable may be divided, by the processing means, into several Bezier curves, or subcurves, each having two endpoints.
  • endpoints of subcurves can be seen as points at ends of tangent lines to the detected cable.
  • the center line following the shape of the detected cable in Fig. 6 is the output from the classifying and thus defines the detected cable.
  • classifying is performed by means of polygons for segmentation.
  • the polygons are interpreted, in a subsequent step, into segmentation masks.
  • the polygons are interpreted, in a subsequent step, into Bezier curves.
  • the polygons are interpreted, in a subsequent step, into segmentation masks and, in a further subsequent step, into Bezier curves.
  • the patterned surface in Fig. 7 is the output from the classifying and thus defines the detected cable.
  • Fig. 9 classifying is performed by placing points after which semantic segmentation masks are generated.
  • the lines connected by dots in Fig. 9 is the output from the classifying and thus defines the detected cable.
  • the classifying utilizes a You Only Look Once (YOLO) approach, or a YOLO algorithm.
  • the YOLO algorithm requires only a single forward propagation through a neural network to detect objects, or in other words, detecting the cable 210 in image is done in a single algorithm run.
  • the classifying utilizes a YOLinO approach, or a YOLinO algorithm.
  • YOLinO is a development of YOLO, being specifically refined for the purpose of polyline detection.
  • classification is performed by using Catmull-Rom splines.
  • detecting the cable 210 comprises determining a cable direction, that is, which end of the cable 210 is operatively connected to the machine 100.
  • the cable direction is determined by utilizing a set of rules.
  • a rule of the set of rules relates to a thickness of the detected cable being larger at a certain position in the image.
  • a determined cable direction is exemplified in Fig. 8, displayed as a set of consecutive arrows following the shape of the detected cable.
  • step 503 a plurality of coordinates is assigned to the detected cable.
  • the coordinates are in the machine coordinate system, which provides that the position of the cable 210 in relation to the machine 100, or parts of the machine 100, can be determined.
  • Step 503 may be performed by the processing means, optionally with data retrieved from or provided by the control system.
  • the method comprises transmitting a warning to an operator of the machine 100, or a system for autonomous operation of the machine 100, when a risk of damaging the cable is associated with the position of the cable.
  • a risk of damaging the cable 210 can be seen in Fig. 4, where the cable is positioned close to the continuous track 102 and as such there is a risk of traveling over the cable 210.
  • the method comprises determining if the cable 210 is operatively connected to the machine 100, or if it connected to another machine 100. As more than one machine 100 are operating at the same time in the mining environment, there is a risk of driving over, or in other ways damaging, a cable of another machine 100.
  • the determination of which machine 100 the cable 210 is operatively connected to may for example be based on the position of the detected cable, or a size of the detected cable. The determination may also be based on current positions of the mining machines in the mining environment.
  • the detected cable, and its position in relation to the machine 100, or parts of the machine 100 is displayed to an operator of the machine 100.
  • the detected cable is displayed together with a real time video from the sensor system 300, such that the detected cable is clearly visible in the real time video.
  • the virtual representation is displayed on a display arranged in the machine 100.
  • the virtual representation is displayed on a portable display, such as a smartphone or a tablet.
  • the virtual representation is displayed on a computer screen, such as a computer screen remote from the machine 100.
  • the detected cable, and its position in relation to the machine 100, or parts of the machine 100 is utilized by a system for autonomous operation of the machine 100.
  • the method further comprises predicting a position of a part of the cable 210 which is not visible to the sensor system 300, or in other words, outside a detection range of the sensor system 300.
  • the method comprises assigning coordinates to the part of the cable 210 which is not visible to the sensor system 300 such that the position of the cable 210 in relation to the machine 100, or parts of the machine 100, can be determined.
  • the prediction is made by extrapolating the plurality of coordinates between collected sensor data from a first sensor and a second sensor, such that the extrapolated coordinated are in a space surrounding the machine 100 which is not part of the collated sensor data.
  • the prediction is made based on input data from operating parameters from the cable feeding system 200, odometry data, input from an operator, or other input data known to the skilled person.
  • the method further comprises predicting a future position of the cable 210. The future position of the cable 210 is based on the processed sensor data, optionally in combination with data relating to for example a planned operation of the machine 100, odometry data, input from an operator, or other input data known to the skilled person.
  • the method comprises determining that there is risk of damaging the cable 210 when it is in the future position.
  • the method comprises predicting a plurality of potential future positions of the cable 210, and determining for which of said future positions there is a risk of damaging the cable 210. In one embodiment, the method comprises suggesting at least one action for the machine 100, such that a risk of damaging the cable 210 is prevented. In one embodiment, the method comprises preventing at least one action of the machine 100, such that a risk of damaging the cable 210 is prevented. In one embodiment, the method comprises transmitting a warning to an operator of the machine 100, or a system for autonomous operation of the machine 100, when a risk of damaging the cable 210 is associated with the position of the cable 210.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un procédé de suivi d'un câble ou d'un tuyau relié de manière fonctionnelle à une extrémité à une machine (100) et à une autre extrémité distante de la machine (100). Ladite machine (100) est reliée en communication à un système de commande conçu pour fournir un système de coordonnées de machine. Ledit procédé comprend la collecte, par un système de capteur (300) comprenant au moins un capteur (310) disposé sur la machine (100), de données de capteur représentant un espace entourant la machine (100) ; le traitement des données de capteur collectées pour détecter le câble/tuyau (210) dans les données de capteur collectées ; et l'attribution d'une pluralité de coordonnées au câble/tuyau détecté dans le système de coordonnées de machine pour suivre le câble/tuyau détecté par rapport à la machine (100).
PCT/SE2023/050601 2023-06-15 2023-06-15 Câble et système de détection de tuyau Ceased WO2024258325A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202380099439.1A CN121368663A (zh) 2023-06-15 2023-06-15 线缆和软管检测系统
PCT/SE2023/050601 WO2024258325A1 (fr) 2023-06-15 2023-06-15 Câble et système de détection de tuyau
EP23734771.1A EP4728146A1 (fr) 2023-06-15 2023-06-15 Câble et système de détection de tuyau
AU2023456943A AU2023456943A1 (en) 2023-06-15 2023-06-15 Cable and hose detection system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2023/050601 WO2024258325A1 (fr) 2023-06-15 2023-06-15 Câble et système de détection de tuyau

Publications (1)

Publication Number Publication Date
WO2024258325A1 true WO2024258325A1 (fr) 2024-12-19

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Application Number Title Priority Date Filing Date
PCT/SE2023/050601 Ceased WO2024258325A1 (fr) 2023-06-15 2023-06-15 Câble et système de détection de tuyau

Country Status (4)

Country Link
EP (1) EP4728146A1 (fr)
CN (1) CN121368663A (fr)
AU (1) AU2023456943A1 (fr)
WO (1) WO2024258325A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090265962A1 (en) * 2008-04-29 2009-10-29 Caterpillar Inc. Avoidance system for locating electric cables
US20150211931A1 (en) * 2015-04-08 2015-07-30 Caterpillar Inc. System for tracking cable tethered from machine
US20150213605A1 (en) * 2015-04-06 2015-07-30 Caterpillar Inc. System for tracking cable tethered from machine
EP3875697A1 (fr) * 2018-10-31 2021-09-08 Sumitomo Construction Machinery Co., Ltd. Excavatrice et système d'assistance d'excavatrice

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090265962A1 (en) * 2008-04-29 2009-10-29 Caterpillar Inc. Avoidance system for locating electric cables
US20150213605A1 (en) * 2015-04-06 2015-07-30 Caterpillar Inc. System for tracking cable tethered from machine
US20150211931A1 (en) * 2015-04-08 2015-07-30 Caterpillar Inc. System for tracking cable tethered from machine
EP3875697A1 (fr) * 2018-10-31 2021-09-08 Sumitomo Construction Machinery Co., Ltd. Excavatrice et système d'assistance d'excavatrice

Also Published As

Publication number Publication date
CN121368663A (zh) 2026-01-20
AU2023456943A1 (en) 2025-11-20
EP4728146A1 (fr) 2026-04-22

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