Excavation machine, method for tracking the position of the leading edge of the excavation machine, method and assembly for operating an open-pit mine
The excavation machine's position tracking system, with turret and arm-mounted units and calculation modules, addresses the challenge of accurately tracking the leading edge, ensuring homogeneous ore loading and preventing sector contamination in open-pit mining.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- ORANO MINING
- Filing Date
- 2023-11-08
- Publication Date
- 2026-04-24
AI Technical Summary
In open-pit mining, accurately tracking the position of the excavation machine's leading edge relative to sector boundaries is crucial to ensure homogeneous loading of ore with similar uranium content, preventing encroachment into adjacent sectors with different uranium concentrations.
An excavation machine equipped with a position tracking system comprising a first and second positioning unit mounted on the turret and arm, respectively, along with a calculation module to determine the orientation and position of the leading edge relative to a site-linked reference frame, using inclinometers and sensors to measure angles and extensions of hydraulic cylinders.
Enables precise tracking of the leading edge position, allowing the machine to excavate only from targeted sectors, reducing the risk of contaminating adjacent sectors and optimizing ore processing by ensuring homogeneous batches are loaded into the processing plant.
Smart Images
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Abstract
Description
Title of the invention: Excavation machine, method for tracking the position of the leading edge of the excavation machine, method and assembly for operating an open-pit mine
[0001] The invention relates generally to the operation of mining sites, in particular open-pit mines.
[0002] In an open-pit uranium mine, after the removal of the overburden, the ground in the area to be excavated is first loosened using explosives, in successive sections. The sections may, for example, measure 50 meters by 50 meters and be 6 meters thick.
[0003] The panels are then partitioned into sectors, each sector measuring 5 meters by 5 meters and 0.5 meters thick. The uranium content of each sector is assessed using boreholes and also by using a measuring pole of the type described in application number FR1911271.
[0004] A characteristic relating to the uranium content of the ore in each sector is thus assigned to the sector, for example low content, intermediate content or high content.
[0005] The ore is then loaded into dump trucks by an excavation machine such as an excavator.
[0006] The ore is transported by dump truck to a processing plant, where the uranium is extracted from the ore. The processing method applied to the ore depends on the uranium content, so it is preferable to load the dump truck only with ore from areas having similar uranium contents.
[0007] This allows only homogeneous batches of ore to be conveyed to the processing plant.
[0008] To do this, it is imperative that the operator driving the excavation machine knows precisely the position of the leading edge of the excavation machine bucket in relation to the limits of each sector.
[0009] This allows it to excavate only the material from the targeted sector, and not to encroach on neighboring sectors which could have significantly higher or lower uranium contents.
[0010] In this context, the invention aims to provide an excavation machine for a site such as an open-pit mine, in which the position of the cutting edge of the bucket can be followed precisely.
[0011] To this end, the invention relates to a site excavation machine such as an open-pit mine, comprising a chassis, a turret pivotally mounted on the chassis, and an arm mounted on the turret, the arm comprising:
[0012] - an arrow, and a first pivot connection of the arrow on the turret;
[0013] - a balance beam, and a second pivot link of the balance beam on the arrow;
[0014] - a bucket having a leading edge, and a third pivot joint of the bucket to pendulum;
[0015] - the excavation machine further comprising a position tracking system of the leading edge relative to a site-linked reference point, the tracking system includes: - a first positioning unit mounted on the turret, providing a position of the first positioning unit relative to the reference point;
[0016] - a second positioning unit mounted on the arm, providing a position of the second positioning unit relative to the reference frame;
[0017] - a calculation module programmed to determine the orientation of the arm around of an elevation axis of the reference frame using the position of the first positioning unit relative to the reference frame and the position of the second positioning unit relative to the reference frame; - a device for determining the position of the leading edge relative to the second positioning unit using the orientation of the arm around the elevation axis of the reference frame; - a module for calculating the position of the leading edge relative to the reference frame, using the position of the second positioning unit relative to the reference frame and the position of the leading edge relative to the second positioning unit.
[0018] Because the first positioning unit is mounted on the turret, and the second positioning unit on the arm, there is a significant distance between the two positioning units.
[0019] This allows the orientation of the arm to be determined precisely around the elevation axis of the reference frame, which contributes to precise tracking of the position of the leading edge.
[0020] The excavation machine may also have one or more of the following characteristics, considered individually or in all technically possible combinations:
[0021] - the second positioning unit is mounted on the boom;
[0022] - the device for determining the position of the leading edge relative to the The second positioning unit includes:
[0023] * a first unit for determining a first angle formed by the arrow by relation to a plane perpendicular to the axis of elevation;
[0024] * a second unit for determining a second angle formed by the pendulum relative to the arrow;
[0025] * a module for calculating the position of the leading edge relative to the second positioning unit using at least the first angle, the second angle, the orientation of the arm around the elevation axis of the reference frame and geometric data relating to the arm;
[0026] - the first unit of determination comprises an inclinometer;
[0027] - the arm includes a boom cylinder moving the rocker arm in rotation relative to to the boom, the second unit of determination comprising a sensor measuring an extension of said boom cylinder;
[0028] - the second positioning unit is mounted on the balance wheel;
[0029] - the device for determining the position of the leading edge relative to the The second positioning unit includes:
[0030] * a third unit for determining a third angle formed by the pendulum relative to a plane perpendicular to the axis of elevation;
[0031] * a module for calculating the position of the leading edge relative to the second positioning unit using at least the third angle, the orientation of the arm around the elevation axis of the coordinate system and geometric data relating to the arm;
[0032] - the third unit of determination comprises an inclinometer;
[0033] - the device for determining the position of the leading edge relative to the second positioning unit includes a fourth unit for determining a fourth angle formed by the bucket with respect to the boom, the module for calculating the position of the leading edge with respect to the second positioning unit also using said fourth angle;
[0034] - the arm includes a rocker arm cylinder moving the bucket in rotation relative to to the balance wheel, the fourth unit of determination comprising a sensor measuring an extension of said balance wheel cylinder.
[0035] According to a second aspect, the invention relates to a method for tracking the position of the leading edge of the operating machine having the above characteristics, comprising the following steps:
[0036] - acquisition of the position of the first positioning unit relative to the reference point; - acquisition of the position of the second positioning unit relative to the reference frame; - calculation of the orientation of the arm around the elevation axis of the reference frame using the position of the first positioning unit relative to the reference frame and the position of the second positioning unit relative to the reference frame;
[0037] - determination of the position of the leading edge relative to the second unit of positioning using the orientation of the arm around the elevation axis of the reference frame; - Calculation of the leading edge position relative to the reference frame, using the position of the second positioning unit relative to the reference frame and the position of the leading edge relative to the second positioning unit.
[0038] According to a third aspect, the invention relates to a method for exploiting an open-pit mine of ore containing an element of interest, using an excavation machine having the above characteristics, the method comprising the following steps: - establishment of a map of an area of the mine to be excavated, said area being divided on the map into several sectors, the map showing the limits of said sectors and for at least some sectors an indication of the content of said element of interest in said sector;
[0039] - display of said card on a human-machine interface on board the machine excavation, the position of the leading edge of the excavation machine bucket being superimposed on the map;
[0040] - excavation of the area using the excavation machine.
[0041] The operating method may further have the following characteristics, considered individually or according to all technically possible combinations:
[0042] - at the excavation stage, the excavation machine transfers an excavated material in a skip, the excavation machine only loading the skip with excavated material from sectors having similar contents, the excavation machine being piloted for this purpose using the map with the position of the leading edge of the excavation machine's bucket superimposed on the map;
[0043] - the map-making stage is concurrent with the excavation stage, the map displayed on board the excavation machine including an indication of the content of said element of interest for a first group of sectors and not including an indication of the content of said element of interest for a second group of sectors, an operator during the excavation of the sectors of the first group taking measurements of the content of said element of interest in the sectors of the second group and adding the corresponding indications on the map displayed on board the excavation machine in real time;
[0044] - the operator is equipped with a portable electronic accessory such as a tablet, The map is displayed on a screen of the portable electronic accessory with an indication of the position of the excavation machine.
[0045] According to a fourth aspect, the invention relates to an assembly for the exploitation of an open-pit mine of ore containing an element of interest, the assembly comprising: - a calculating device containing a map of an area of the mine to be excavated, said area being divided on the map into several sectors, the map showing the limits of said sectors and for at least some sectors an indication of the content of said element of interest in said sector;
[0046] - an excavation machine equipped with a communicating human-machine interface with the computing unit, the human-machine interface being configured to display the map, the position of the leading edge of the excavator bucket being superimposed on the map.
[0047] The operating assembly may further include a portable measuring system, configured to measure the content of said element of interest in each sector and to record a corresponding indication on the map for said sector.
[0048] Other features and advantages of the invention will become apparent from the detailed description given below, by way of example and not limitation, with reference to the accompanying figures, among which: - [Fig.1] The [Fig.1] is a simplified schematic representation of an excavation machine according to a first embodiment of the invention; - [Fig.2] Fig.2 is a schematic top-view representation of the excavation machine of the [Fig.1], illustrating the angle formed by the arm around the elevation axis; - [Fig.3] The [Fig.3] is a schematic side view of the excavation machine in Figures 1 and 2, illustrating some of the quantities used to determine the position of the leading edge relative to the second positioning unit; - [Fig.4] The [Fig.4] is a flowchart representing the calculation steps of the method of the invention for the machine of figures 1 to 3; - [Fig.5] The [Fig.5] is a view similar to that of the [Fig.3], for an excavation machine according to a second embodiment of the invention; - [Fig.6] The [Fig.6] is a logic diagram similar to that of the [Fig.4], representing some calculation steps of the method of the invention for the machine of the [Fig.5]; - [Fig.7] [Fig.7] is a view similar to that of [Fig.3], for a excavation machine conforming to a variant of the second embodiment of the invention; and - [Fig.8] The [Fig.8] is a schematic perspective view illustrating the method of operating the open-pit mine according to the invention.
[0049] The excavation machine 1 shown in [Fig.1] is intended for the exploitation of a site such as an open-pit mine.
[0050] It is used for example for the operation of an open-pit uranium mine.
[0051] However, the mining machine can also be used for mining a coal mine, a phosphate mine, or any other type of mine.
[0052] The excavation machine is frequently referred to as a mechanical shovel or excavator.
[0053] It comprises a chassis 3, a turret 5 pivotally mounted on the chassis 3, and an articulated arm 7 mounted on the turret 5.
[0054] The chassis 3 is designed to rest on the ground typically by means of tracks or wheels. This allows the excavator 1 to move on the ground.
[0055] The turret 5 is supported by the chassis 3, and is capable of pivoting relative to the chassis 3 around an axis substantially perpendicular to the running plane of the machine.
[0056] The turret 5 includes a driver's cab 9, in which are located the controls enabling an operator to pilot the excavation machine 1.
[0057] The motors and hydraulic systems for operating the various elements of the excavation machine are also mounted on the turret 5.
[0058] The arm 7, in a known manner, comprises a boom 11, and a first pivot link 13 of the boom to the turret 5.
[0059] The boom 11 is thus capable of pivoting relative to the turret 5 around a first pivot axis PI, substantially parallel to the rolling surface.
[0060] The arm 7 further comprises a turret cylinder 15 arranged to move the boom 11 relative to the turret 5 around the first pivot axis PL
[0061] The arm 7 also includes a balance wheel 17 and a second pivot link 19 of the balance wheel 17 to the arrow 11.
[0062] The rocker arm 17 is thus mounted to pivot on the arm 11 about a second pivot axis P2, substantially parallel to the first pivot axis PL
[0063] Furthermore, the arm 7 includes a boom cylinder 21, which moves the boom 17 in rotation relative to the boom 11 around the second pivot axis P2. The body 22 of the cylinder 21 is mounted on the boom 11.
[0064] The arm 7 further includes a bucket 23, having a leading edge 25. It also includes a third pivot link 27 from the bucket 23 to the rocker arm 17.
[0065] The bucket 23 is pivotally mounted on the rocker 17 around a third pivot axis P3, substantially parallel to the first and second pivot axes PI and P2.
[0066] The bucket 23 has an opening, the leading edge 25 being an edge delimiting the opening. The leading edge 25 is designed to be moved along the ground for loading the bucket 23.
[0067] The arm 7 further includes a rocker arm cylinder 29 arranged to pivot the bucket 23 relative to the rocker arm 17 around the third pivot axis P3. The body 30 of the rocker arm cylinder 17 is mounted on the rocker arm 17.
[0068] The excavation machine 1 further includes a set 31 for tracking a position of the leading edge 25 relative to a reference point R linked to the site.
[0069] The frame R is typically an orthonormal frame with an origin O and three X, Y, and Z axes. Z is referred to here as the elevation axis. Typically, the Z elevation axis is vertical.
[0070] Y and X are two fixed directions, perpendicular to Z and perpendicular to each other.
[0071] The frame R is fixed, the excavation machine 1 and its various components being mobile relative to the frame R.
[0072] The tracking assembly 31 comprises: - A first positioning unit 33 mounted on turret 5, providing a position of the first positioning unit 33 relative to reference point R; - A second positioning unit 35 mounted on the arm 7, providing a position of the second positioning unit 35 relative to the reference frame R; - A calculation module 37 programmed to determine the orientation of the arm 7 around the Z elevation axis using the position of the first positioning unit 33 relative to the frame R and the position of the second positioning unit 35 relative to the frame R; - A device 39 for determining the position of the leading edge relative to the second positioning unit 35 using the orientation of the arm 7 around the elevation axis Z of the reference frame R; - A calculation module 40 of the position of the leading edge 25 relative to the reference frame R, using the position of the second positioning unit 33 relative to the reference frame R and the position of the leading edge 25 relative to the second positioning unit 35.
[0073] The positioning unit 33 is fixed to the turret 5 by any suitable means.
[0074] The positioning unit 33 is, for example, a positioning unit by satellite (or GNSS, for Global Navigation Satellite System), preferably by differential positioning.
[0075] In this operating mode, the positioning unit 33 uses at least one fixed reference station which transmits the difference between the positions indicated by the satellites and their known real positions. Positioning unit 33 receives the difference between the "pseudo-distances" measured by the satellites and the true distances and thus corrects its position measurements.
[0076] Such a positioning unit is particularly precise.
[0077] The first positioning unit 33 thus provides the coordinates XI, Y1, and ZI defining the position of the first positioning unit 33 with respect to the origin O along the axes X, Y and Z.
[0078] The second positioning unit 35 is for example of the same type as the first positioning unit.
[0079] It provides the position coordinates X2, Y2 and Z2 of the second positioning unit 35 with respect to the origin O, along the X, Y and Z axes.
[0080] A first embodiment of the invention will now be described, with reference to figures 1 to 4.
[0081] In the first embodiment, the second positioning unit 35 is mounted on the boom 11.
[0082] For example, it is mounted on the cylinder 21, and more specifically on the body 22 of the cylinder 21.
[0083] The calculation module 37 uses the position of the first positioning unit 33 relative to the frame R and the position of the second positioning unit 35 relative to the frame R to determine the orientation of the arm 7 around the Z elevation axis.
[0084] As seen in [Fig.2], this orientation is defined by an angle 0 formed by the arm 7 with a reference direction perpendicular to the elevation axis Z.
[0085] In the example shown, this direction is along the X axis.
[0086] The arm 7 is a relatively thin structure, extending substantially in a plane containing the Z elevation direction. The first positioning unit 33 and the second positioning unit 35 are placed in this plane.
[0087] In projection in the X, Y plane, the arm 7 forms a line, the angle 0 being the angle formed by said line with the reference direction.
[0088] For example, angle 0 is calculated using the following equation: [°° S9 1 0= tan 1 ^
[0090] In the first embodiment, the device 39 for determining the position of the leading edge 25 relative to the second positioning unit 35 comprises: - A first unit 41 of determination of a first angle al formed by the arrow 11 with respect to a plane P perpendicular to the elevation axis Z; - A second unit 43 for determining a second angle a2 formed by the pendulum 17 with respect to the arrow 11; - A module 45 for calculating the position of the leading edge 25 relative to the second positioning unit 35, using at least the first angle al, the second angle a2, the orientation of the arm 7 around the elevation axis Z of the frame R and geometric data relating to the arm 7.
[0091] The angle al is illustrated in [Fig.3]. It corresponds, for example, to the angle formed by the boom cylinder 21 with respect to the plane P.
[0092] The first determination unit 41 includes, for example, an inclinometer directly measuring the angle al. This inclinometer is typically integrated into the second positioning unit 35.
[0093] The second determining unit 43 preferably includes a sensor 47 measuring an extension el of the boom cylinder 21. It also includes a calculation module 49 calculating the angle a2 using the extension el provided by the sensor 47.
[0094] The boom cylinder 21 has a rod 51 extending from the body 22 and movable in an extension direction relative to the body 22. The rod 51 is mounted on the boom arm 17 by means of a pivot point 52. The body 22 is mounted on the boom 11 by means of another pivot point, not shown in [Fig. 1]. This cylinder 21 is represented in [Fig. 3] by a line L1 connecting the pivot point of the body to the pivot point of the rod.
[0095] The sensor 47 is, for example, a tension wire sensor or a laser. For example, it measures the length between the sensor 47 and the articulation point 52. When it is a tension wire sensor, in addition to its primary function, it allows the life of the cylinders to be determined by the usage cycles, thus enabling predictive maintenance of the cylinders where necessary.
[0096] The tension wire sensor is, for example, a sensor marketed under the reference WPSK100 by the company Micro-Epsilon Messtechnik.
[0097] Advantageously, the sensor 47 measuring the extension of the boom cylinder and the second positioning unit 35 are mounted on the same bracket. This bracket is flanged to the body of the cylinder 21. Typically, the battery storing electricity that powers the sensor 47 and the second positioning unit 35 is also supported by the bracket.
[0098] Angle a2 is for example the angle formed by the line L1 previously defined and the line L2 connecting the articulation point 52 to the leading edge 25.
[0099] The calculation module 49 calculates the angle a2 by any appropriate means, for example by using predetermined tables or equations.
[0100] To evaluate the angle a2, it is assumed that the bucket 23 is in its normal working position relative to the boom 17, that is, that the bucket 23 occupies a predetermined angular position around the third pivot axis P3 relative to the boom 17. This position is, for example, that shown in [Fig. 1], allowing to a flat face 55 of the bucket to be substantially parallel to the running plane of the machine. The flat face 55 terminates at the leading edge 25, the position therefore being a suitable position for loading the bucket.
[0101] The angle a2 then depends only on the extension of the cylinder 21.
[0102] Calculation module 45 uses, for example, the following equations:
[0103] = cos0 [l cosal+L cosa3]
[0104] y_ sjn^ ÿ cosal + L cosa3]
[0105] Z2s / 35 — l sinal- L sma3
[0106] X25 / 35, Y25 / 35, and Z25 / 35 are the positions of the leading edge 25 along the X, Y and Z axes compared to the second positioning unit 35.
[0107] 1 here corresponds to the distance, taken along line Ll, between the second unit positioning unit 35 and the articulation point 52 of cylinder 21. Module 45 is programmed to determine 1 using the extension measured by sensor 47. If sensor 47 is mounted at the same point as the second positioning unit 35, this sensor 47 directly reads the length 1. If not, module 45 determines 1 as being the sum of el and the spacing between sensor 47 and the second positioning unit 35 along line Ll, this spacing being a predetermined geometric datum.
[0108] L corresponds to the distance between the articulation point 52 and the leading edge 25. This distance is taken along a straight line corresponding to the line L2, as illustrated in [Fig.3].
[0109] This distance L is a predetermined geometric data used by the module 45. To evaluate this distance L, it is assumed that the bucket 23 is in its normal working position relative to the boom 17.
[0110] Angle a3 corresponds to the angle of line L2 with plane P. a3 can be calculated as follows: [YES] a3 = 180° - al - a2
[0112] Module 40 for calculating the position of the leading edge 25 relative to the frame R uses, for example, the following equations:
[0113] X25 = X2 + X25 / 35
[0114] Y25 = Y2 + Y25 / 35
[0115] Z25 = Z 2 + Z25 / 35
[0116] A second embodiment of the invention will now be described, with reference to Figures 5 and 6.
[0117] Only the points by which this second embodiment differs from the first will be detailed below.
[0118] Identical elements or elements performing the same functions shall be designated by the same references.
[0119] In the second embodiment, the second positioning unit 35 is mounted on the rocker arm 17.
[0120] Advantageously, the second positioning unit 35 is mounted on the cylinder body 30.
[0121] It is mounted using the same support as in the first embodiment.
[0122] In the second embodiment, the position determination device 39 of the leading edge 25 with respect to the second positioning unit 35 includes: - A third unit 57 for determining a third angle
[31] formed by the pendulum 17 with respect to the plane P perpendicular to the elevation axis Z; - A module 59 for calculating the position of the leading edge 25 relative to the second positioning unit 35, using at least the third angle [31, the orientation of the arm 7 around the elevation axis Z of the frame and geometric data relating to the arm 7.
[0123] According to a variant shown in [Fig.5], the device for determining the position of the leading edge 25 relative to the second positioning unit 35 further includes a fourth unit for determining a fourth angle
[32] formed by the bucket 23 relative to the rocker 17.
[0124] In this case, the module 59 for calculating the position of the leading edge 25 relative to the second positioning unit 35 also uses the fourth angle [32.
[0125] The third determination unit 57 comprises an inclinometer.
[0126] This inclinometer is of the same type as the inclinometer 41 of the first embodiment. It is typically integrated into the second positioning unit 35.
[0127] The angle [31 corresponds for example to the angle between the rocker arm cylinder 29 and the plane P.
[0128] The fourth determining unit 61 includes a sensor 63 measuring an extension e2 of the rocker arm cylinder 29. It also includes a calculation module 65 calculating the angle [32 using the extension e2 provided by the sensor 63.
[0129] The rocker arm cylinder 29 has a rod 67 extending from the body 30 and movable in an extension direction relative to the body 30 ([Fig. 1]). The rod 67 is mounted on the bucket 23 by means of a pivot point 69. The body 30 is mounted on the rocker arm 17 by means of another pivot point, not shown in [Fig. 1]. The rocker arm cylinder 29 is represented in [Fig. 5] by a line L3 connecting the pivot point of the body to the pivot point 69 of the rod.
[0130] The sensor 63 is a tension wire sensor or a laser sensor. It is, for example, of the same type as the sensor 47 used in the first embodiment.
[0131] The sensor 63 measures, for example, the length between the sensor 63 and the articulation point 69.
[0132] The angle [32 is for example the angle formed by the line L3 previously defined and the line L4 connecting the articulation point 69 to the leading edge 25.
[0133] The angle [32 depends only on the extension of the cylinder 29.
[0134] The calculation module 65 calculates the angle
[32] by any appropriate means, for example by using tables or equations.
[0135] Calculation module 59 uses, for example, the following equations: [0i36] x2y35 = cos0 [l' cos / H+L'sin / B] [°137] r_.y = sin0 COS^1+L' sin / B]
[0138] Z25 / 35 = - V sin / H- L' cos^3
[0139] 1' corresponds to the distance separating the second positioning unit 35 from the point articulation 69, taken along line L3. Module 59 is programmed to determine 1' using the extension e2 measured by sensor 63. If sensor 63 is mounted at the same point as the second positioning unit 35, this sensor 63 directly reads the length F. Otherwise, module 59 determines 1' as the sum of e2 and the distance between sensor 63 and the second positioning unit 35 along line L3, this distance being a predetermined geometric datum.
[0140] L' is the distance separating the articulation point 69 from the leading edge 25, taken along the direction L4. This distance is predetermined and constant. It is obtained by calculation, using the dimensions of the bucket 23.
[0141] [33 corresponds to the angle formed by line L4 with the Z axis. Thus:
[0142] [33 = [32 -[31 -90°.
[0143] The calculation module 40, in the second embodiment of the invention, is similar to that of the first embodiment.
[0144] It uses the same equations.
[0145] According to a variant illustrated in [Fig.7], the device 39 for determining the position of the leading edge 25 relative to the second positioning unit 35 does not include the fourth determination unit 61.
[0146] In this case, the calculation module 59 uses equations designed assuming that the bucket 23 occupies its normal working position relative to the boom 17.
[0147] Calculation module 59 uses, for example, the following equations: [0!48] X25 / î5 = cos$ [cos^l]
[0149] y _ - sin$ cos / 5 1 ]
[0150] Z25A, = -£"sin / H'
[0151] L" is the distance between the second positioning unit 35 and the leading edge 25, taken along the straight line L5 shown in [Fig.7].
[0152] L' ' is a predetermined geometric datum, obtained by calculation.
[0153] [31' is the angle formed by the line L5 with the plane P. It is deduced by calculating the angle [31 measured by the third unit of determination 57.
[0154] The gap between [31 and [31' is constant and predetermined, when it is assumed that the bucket 23 is in its normal working position.
[0155] According to another variant not shown, in the first embodiment, the device for determining the position of the leading edge 25 relative to the second positioning unit 35 comprises the fourth determination unit 61.
[0156] The position of the leading edge 25 relative to the second positioning unit 35 is then determined using both the value of the angle a2 provided by the second determination unit 43, and the value of the angle [32 provided by the fourth determination unit 61.
[0157] The equations are adapted accordingly.
[0158] The various calculation modules are advantageously combined in a single computer 71, which is mounted on board the excavation machine 1. This computer 71 is mounted in the turret 5.
[0159] The invention also relates to a method of exploiting an open-pit mine of ore containing an element of interest, using the excavation machine 1 described above. The element of interest is, for example, uranium.
[0160] The method comprises the following steps: - Establishment of a map C of an area of the mine to be excavated, said area being divided on map C into several sectors 73, map C showing limits B of said sectors 73 and for at least some sectors 73 an indication of a content of said element of interest in said sector 73; - Display of said card C on a human-machine interface (HMI) 75 on board the excavation machine 1, the position of the leading edge 25 of the bucket 23 of the excavation machine being superimposed on the card C; - Excavation of the area using excavation machine 1.
[0161] As illustrated in [Fig. 8], sectors 73 are, for example, squares, forming a checkerboard pattern on the area. The boundaries B of sectors 73 are formed by lines.
[0162] The indication on the map represents the average concentration of the element of interest in that area. The indication, for example, shows that the average concentration in that area is within a predetermined range. For example, the indication is a color, with each concentration range corresponding to a color. different. On the map, the sectors are coloured according to the content of the element of interest in said sector.
[0163] The map C is established by an operator using a portable measuring system 76. The portable measuring system 76 is configured to measure the content of said element of interest in each sector 73, and to record the corresponding indication on the map C for said sector 73.
[0164] For example, when the element of interest is a radionuclide, the portable measuring system 76 may be of the type described in patent application filed under number FR1911271. This measuring system 76 comprises a pole 77 equipped with at least one nuclear measuring unit, and a positioning unit 79.
[0165] The positioning unit 79 provides a position of the portable measuring system 76 relative to the reference frame R.
[0166] The portable measuring system 76 is configured for example to automatically record the indication corresponding to the measured content for each sector 73 on the card C, once the measurement has been carried out.
[0167] Alternatively, the portable measuring system 76 includes a portable electronic accessory 81, such as a tablet, carried by the operator. The operator uses the portable electronic accessory 81 to enter the reading corresponding to the measured content onto card C.
[0168] Card C is stored in a computing unit.
[0169] In the example shown, the calculating unit corresponds to the portable electronic accessory 81. Alternatively, these are separate elements.
[0170] The computing unit includes an application configured for:
[0171] - store a graphical representation of the area, sectors 73 and limits B of the sectors 73;
[0172] - store information concerning the content of the element of interest in each sector 73;
[0173] - receive the leading edge position 25 provided by the tracking assembly of a position of the leading edge 31 and store this position;
[0174] - generate map C from the stored information;
[0175] - transmit the C card to the HMI 75.
[0176] The leading edge position tracking assembly 31 is configured to continuously send the position of the leading edge 25 to the computing unit 81.
[0177] The HMI 75 is installed in the cab 9 of the excavation machine 1. This HMI 75 is a tablet, or a mobile phone, or any other interface comprising a screen 83.
[0178] The map C is displayed on the screen 83, so as to be visible to the operator driving the excavation machine 1. The position of the leading edge 25 of the bucket 23 is permanently superimposed on the map C.
[0179] This is possible because the map C is established using the same reference frame R as that used to track the position of the leading edge 25.
[0180] When the excavation machine 1 moves, the position of the leading edge 25 also moves on the map C.
[0181] At the excavation stage, the excavation machine 1 transfers the excavated ore into a skip 85, visible in [Fig.8].
[0182] In order to facilitate the processing of the ore in the processing plant allowing the separation of the element of interest, the excavation machine 1 loads the skip 85 only with excavated ore from sectors having similar grades.
[0183] The excavation machine 1 is controlled by the operator for this purpose using the card C with the position of the leading edge 25 of the bucket 23 superimposed on the card C.
[0184] This allows the operator, when excavating a given sector 73, to never encroach on an adjacent sector 73, since the operator always knows the position of the leading edge 25 of the bucket in relation to the limits B of the sector being excavated.
[0185] Furthermore, the operator of the excavation machine 1 can independently select the sectors 73 to be excavated to fill a given skip 85, all of these sectors having similar concentrations. It is not necessary for him to interact with the operator carrying the portable measuring system 76 for this purpose.
[0186] The operator of the excavation machine 1 relies for this on the card C which is displayed on the HMI 75.
[0187] Advantageously, the step of establishing map C is concomitant with the excavation step.
[0188] As can be seen in [Fig.8], the map displayed on board the excavation machine 1 includes an indication of the content of said element of interest for a first group of sectors 73 (colored sectors), and does not include an indication of the content of said element of interest for a second group of sectors 73 (uncolored area on map C).
[0189] The operator wearing the portable measuring system 76 performs during the excavation of sectors 73 of the first group measurements of the content of element of interest in sectors 73 of the second group, and adds the corresponding indications on the map C displayed on board the excavation machine 1 in real time.
[0190] In other words, the operator of the portable measuring system 76 shares in real time with the operator of the excavation machine 1 the loading plan, i.e. the map C with the indications of the contents in each sector 73.
[0191] Advantageously, the card C is displayed on the screen of the portable electronic accessory 81 of the portable measuring system 76, with an indication of the position of the excavation machine 1. This indication is, for example, the position of the leading edge 25.
[0192] This helps to reduce the risk of accidents, as the operator of the measuring system 76 is constantly aware of the position of the excavation machine 1, i.e. the perimeter where the risks are greatest.
[0193] Preferably, the position of the skip 85 is also displayed on the screen of the portable electronic accessory 81, on the card C, so as to further reduce the risk of accidents.
[0194] According to an advantageous aspect of the invention, the positioning unit 79 equipping the measuring system 75 is of the same type as the positioning units 33 and 35 equipping the excavation machine 1.
[0195] In particular, these positioning units use the same position reference frame. In addition, they use the same communication protocol.
[0196] This facilitates communication between the different positioning units, and facilitates the sharing of information on the map.
[0197] It should be noted that the positioning unit 33 mounted on the turret 5 of the excavation machine can be used as a relay, amplifying the signal quality in the area to be excavated. This area is generally heavily excavated and has the shape of a deep pit, so that the GNSS signal is sometimes of poor quality.
[0198] It should also be noted that mounting the second positioning unit 35 on the boom cylinder or the dipper arm cylinder makes it easy to adapt this unit to different types of machines, of different makes and models.
[0199] The invention further relates to an assembly for the exploitation of an open-pit mine of an ore containing an element of interest.
[0200] This assembly is specifically adapted to implement the operating method described above. Conversely, the operating method is designed to be implemented by the operating assembly.
[0201] The operating unit comprises:
[0202] - a computing unit 81 containing a map C of an area of the mine to be excavated, said zone being divided on map C into several sectors 73, map C showing limits B of said sectors 73 and for at least some sectors 73 an indication of a content of said element of interest in said sector;
[0203] - an excavation machine 1 as described above, equipped with an interface human-machine interface (HMI) 75 communicating with the computing unit 81, the HMI being configured to display map C, the position of the leading edge 25 of the bucket 23 of the excavator machine 1 being superimposed on map C.
[0204] Card C is as described above.
[0205] The operating assembly further includes a portable measuring system 76, configured to measure the content of said element of interest in each sector 73 and to record a corresponding indication on the map C for said sector 73.
[0206] The portable measuring system 76 is as described above.
[0207] The calculating unit 81 is as described above.
[0208] The portable measuring system 76 is designed to share in real time with the HMI 75 the loading plan, i.e. the map C with the indications of the contents in each sector 73.
[0209] The leading edge position tracking assembly 31 is configured to continuously send the leading edge position 25 to the computing unit 81.
[0210] The operating assembly includes a communication network, adapted to allow data exchange between the portable measuring system 76, the computing unit 81 and the leading edge position tracking assembly 31.
[0211] The operating assembly also includes at least one skip 85 equipped with a positioning unit 87 providing a position of the skip 85 relative to the reference frame R.
[0212] The operating assembly includes a communication network, adapted to allow data exchange between the positioning unit 87 and the computing unit 81.
[0213] The application stored on the computing unit 81 is configured to:
[0214] - receive the position of the skip 85 provided by the positioning unit 87 and store this position;
[0215] - add the position of skip 85 to map C.
[0216] The communication network is the same as that enabling data exchange between the portable measurement system 76, the computing unit 81 and the leading edge position tracking assembly 31, or on the contrary is a different communication network.
[0217] The calculator 71 is an electronic circuit designed to manipulate and / or transform data represented by electronic or physical quantities in registers of the calculator and / or memories into other similar data corresponding to physical data in register memories or other types of display devices, transmission devices or storage devices.
[0218] As specific examples, calculator 71 is implemented as a programmable logic component, such as an FPGA (Field Programmable Gamut). Gate Array), or even an integrated circuit, such as an ASIC (from the English Application Specifies Integrated Circuit).
[0219] Alternatively, the computer 71 comprises one or more software programs, i.e., computer programs, also called computer program products, stored on a computer-readable medium (not shown). The computer-readable medium is, for example, a medium capable of storing electronic instructions and being connected to a bus of a computer system. For example, the readable medium is an optical disc, a magneto-optical disc, ROM, RAM, any type of non-volatile memory (e.g., FLASH or NVRAM), or a magnetic card. A computer program comprising software instructions is then stored on the readable medium.
[0220] Calculating element 81 is of the same type.
[0221] The invention further relates to a method of tracking the position of the leading edge 25 of the excavation machine described above with respect to the reference frame R linked to the site.
[0222] The method for tracking the leading edge position is specifically adapted for implementation on the excavation machine described above. Conversely, the excavation machine is designed to implement the method for tracking the leading edge position.
[0223] The monitoring method comprises the following steps:
[0224] - acquisition of the position of the first positioning unit 33 relative to the reference point R;
[0225] - acquisition of the position of the second positioning unit 35 relative to the reference point R;
[0226] - calculation of the orientation of arm 7 around the elevation axis Z of frame R in using the position of the first positioning unit 33 relative to the reference frame and the position of the second positioning unit 35 relative to the reference frame;
[0227] - determination of the position of the leading edge 25 relative to the second unit of positioning 35 using the orientation of arm 7 around the Z elevation axis of the coordinate system;
[0228] - calculation of the position of the leading edge 25 relative to the reference frame R, using position of the second positioning unit 35 relative to the reference frame R and the position of the leading edge 25 relative to the second positioning unit 35.
[0229] The excavation machine is that described with reference to Figures 1 to 3, 5 or 7.
[0230] The different steps are carried out as described above.
[0231] They are illustrated in particular by figures 4 and 6.
Claims
1. Demands The entire operation of an open-pit mine of ore containing an element of interest, the entire operation comprising: - a calculating unit (81) containing a map (C) of an area of the mine to be excavated, said area being divided on the map into several sectors (73), the map (C) showing limits (B) of said sectors (73) and for at least some sectors (73) an indication of a content of said element of interest in said sector (73); - an excavation machine (1) comprising a chassis (3), a turret (5) pivotally mounted on the chassis (3), and an arm (7) mounted on the turret (5), the arm (7) comprising: - a boom (11), and a first pivot connection (13) of the boom (11) on the turret (5); - a balance (17), and a second pivot link (19) of the balance (17) on the arrow (11); - a bucket (23) having a leading edge (25), and a third pivot connection (27) from the bucket (23) to the boom (17); the excavation machine (1) further comprising an assembly (31) for tracking the position of the leading edge (25) relative to a reference point (R) linked to the site, the tracking assembly (31) comprising: - a first positioning unit (33) mounted on the turret (5), providing a position of the first positioning unit (33) relative to the reference frame (R); - a second positioning unit (35) mounted on the arm (7), providing a position of the second positioning unit (35) relative to the reference frame (R); - a calculation module (37) programmed to determine the orientation of the arm (7) around an elevation axis (Z) of the frame (R) using the position of the first positioning unit (33) relative to the frame and the position of the second positioning unit (35) relative to the frame; - a device (39) for determining the position of the leading edge (25) relative to the second positioning unit (35) using the orientation of the arm (7) around the elevation axis (Z) of the reference frame; - a module (40) for calculating the position of the leading edge (25) relative to the reference frame (R), using the position of the second unit of positioning (35) relative to the reference frame (R) and the position of the leading edge (25) relative to the second positioning unit (35); the excavation machine (1) being equipped with a human-machine interface (75) communicating with the computing unit (81), the human-machine interface (75) being configured to display the map (C), the position of the leading edge (25) of the bucket of the excavation machine (1) being superimposed on the map (C).
2. Operating assembly according to claim 1, wherein the second positioning unit (35) is mounted on the boom (11).
3. An operating assembly according to claim 2, wherein the device (39) for determining the position of the leading edge (25) relative to the second positioning unit (35) comprises: - a first unit (41) for determining a first angle formed by the boom (11) with respect to a plane perpendicular to the elevation axis (Z); - a second unit (43) for determining a second angle formed by the rocker arm (17) with respect to the boom (11); - a module (59) for calculating the position of the leading edge (25) relative to the second positioning unit (35) using at least the first angle, the second angle, the orientation of the arm (7) around the elevation axis (Z) of the frame and geometric data relating to the arm (7).
4. Operating assembly according to claim 3, wherein the first determining unit (41) comprises an inclinometer.
5. Operating assembly according to claim 3 or 4, wherein the arm (7) includes a boom cylinder (21) moving the dipper arm (17) in rotation relative to the boom (11), the second determining unit (43) including a sensor (47) measuring an extension of said boom cylinder (21).
6. Operating assembly according to claim 1, wherein the second positioning unit (35) is mounted on the rocker arm (17).
7. An operating assembly according to claim 6, wherein the device (39) for determining the position of the leading edge (25) relative to the second positioning unit (35) comprises: - a third unit (57) for determining a third angle formed by the pendulum (17) with respect to a plane perpendicular to the elevation axis (Z); - a module (59) for calculating the position of the leading edge (25) with respect to the second positioning unit (35) using at least the third angle, the orientation of the arm (7) around the elevation axis (Z) of the frame and the geometric data relating to the arm (7).
8. Operating assembly according to claim 7, wherein the third determining unit (57) comprises an inclinometer.
9. An operating assembly according to any one of claims 3 to 5, 7 or 8, wherein the device (39) for determining the position of the leading edge (25) relative to the second positioning unit (35) comprises a fourth unit (61) for determining a fourth angle formed by the bucket (23) relative to the boom (17), the module (59) for calculating the position of the leading edge (25) relative to the second positioning unit (35) also using said fourth angle.
10. Operating assembly according to claim 9, wherein the arm (7) includes a rocker arm cylinder (29) moving the bucket (23) in rotation relative to the rocker arm (17), the fourth determining unit (61) including a sensor (63) measuring an extension of said rocker arm cylinder (29).
11. An operating assembly according to any one of the preceding claims, further comprising a portable measuring system (76), configured to measure the content of said element of interest in each sector (73) and to record a corresponding indication on the map (C) for said sector (73).
12. Method of exploiting an open-pit mine of an ore containing an element of interest, using an excavation machine (1) comprising a chassis (3), a turret (5) pivotally mounted on the chassis (3), and an arm (7) mounted on the turret (5), the arm (7) comprising: - a boom (11), and a first pivot joint (13) of the boom (11) on the turret (5); - a stick (17), and a second pivot joint (19) of the stick (17) on the boom (11);
13. - a bucket (23) having a leading edge (25), and a third pivot connection (27) from the bucket (23) to the boom (17); the excavation machine (1) further comprising an assembly (31) for tracking the position of the leading edge (25) relative to a reference point (R) linked to the site, the tracking assembly (31) comprising: - a first positioning unit (33) mounted on the turret (5), providing a position of the first positioning unit (33) relative to the reference frame (R); - a second positioning unit (35) mounted on the arm (7), providing a position of the second positioning unit (35) relative to the reference frame (R); - a calculation module (37) programmed to determine the orientation of the arm (7) around an elevation axis (Z) of the frame (R) using the position of the first positioning unit (33) relative to the frame and the position of the second positioning unit (35) relative to the frame; - a device (39) for determining the position of the leading edge (25) relative to the second positioning unit (35) using the orientation of the arm (7) around the elevation axis (Z) of the reference frame; - a module (40) for calculating the position of the leading edge (25) relative to the reference frame (R), using the position of the second positioning unit (35) relative to the reference frame (R) and the position of the leading edge (25) relative to the second positioning unit (35); The method includes the following steps: - establishment of a map (C) of an area of the mine to be excavated, said area being divided on the map into several sectors (73), the map showing limits (B) of said sectors (73) and for at least some sectors (73) an indication of a content of said element of interest in said sector (73); - display of said map (C) on a man-machine interface (75) on board the excavation machine (1), the position of the leading edge (25) of the bucket of the excavation machine being superimposed on the map (C); - excavation of the area using the excavation machine (1). Method of operation according to claim 12, wherein at the excavation stage, the excavation machine (1) transfers a material excavated in a skip (85), the excavation machine (1) loading the skip (85) only with material excavated from sectors (73) having similar contents, the excavation machine (1) being piloted for this purpose using the map (C) with the position of the leading edge (25) of the bucket of the excavation machine (1) superimposed on the map.
14. Method of operation according to claim 12 or 13, wherein the map (C) establishment step is concomitant with the excavation step, the map (C) displayed on board the excavation machine (1) having an indication of the content of said element of interest for a first group of sectors (73) and not having an indication of the content of said element of interest for a second group of sectors (73), an operator during the excavation of sectors (73) of the first group taking measurements of the content of said element of interest in sectors (73) of the second group and adding the corresponding indications on the map (C) displayed on board the excavation machine (1) in real time.
15. Method of operation according to claim 14, wherein the operator is equipped with a portable electronic accessory (81) such as a tablet, the map (C) being displayed on a screen of the portable electronic accessory (81) with an indication of the position of the excavation machine (1).