Electronics module for earth moving machines

Abstract

Digging implements for an earth moving machine, comprising: at least one body; a plurality of sensors arranged on a body of the at least one body; and at least one electronics module communicatively coupled with each sensor or a subset of sensors of the plurality of sensors, the at least one electronics module being configured to process measurements of the plurality of sensors. Also, a wear element for an earth moving machine, a wear assembly, an earth moving machine, and a method.

Description

[0001] ELECTRONICS MODULE FOR EARTH MOVING MACHINES

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to the field of earth moving machines. More particularly, the present disclosure relates to electronics modules for earth moving machines, such as for wear elements, wear assemblies and digging implements thereof, and methods associated therewith.

[0004] BACKGROUND

[0005] The automation trends in the field of mining have increased the efficiency in the relevant processes thereof. To that end, data acquisition by sensors has become an essential part of the automatization of the processes. Further, the acquired data can then be processed, on some occasions in real time or almost real time, which has also enabled prompt adaptation to the changes in the processes, for example alterations in, e.g., the environment, the material, the machine(s), the personnel, etc.

[0006] The advances in automation are such that it is possible to provide earth moving machines with supervised operation (i.e. , the input of the user is digitally processed for checking and optionally improving the resulting operation), or with remote operation (i.e., the machine is remotely controlled from, e.g., a control center at a distance from the machine), or with autonomous control (i.e., the machine digitally controls itself in part or the entirety of the earth moving operations). These machines are convenient for more effective digging and earth moving processes and / or increased safety in the premises due to fewer hazardous events and situations, to name a few advantages.

[0007] To make the aforesaid machines possible, the data acquisition, the data communication, and the data processing must be capable of coping with the large volumes of data that are typically necessary to have the machines operating successfully and accurately. Therefore, how the physical magnitudes are sensed and processed is important. The sensors to be used, their location, and the associated electronics and / or processing units need to be carefully selected and tailored for correct operation. In this regard, some accurate measurements become useless if they cannot be passed on to the processing units in time and / or in the form needed for meaningful processing. The same holds true for resulting data or information that becomes useless if the processing that outputs it is ineffective, slow, or inaccurate.

[0008] In addition to the above, maintenance aspects of the relevant parts involved in data acquisition, communication and processing are also important. Halting of earth moving machines is inefficient, thus stoppage of the machines must be reduced to a minimum, both in frequency and duration of stoppages. And, moreover, the accessibility and the repairing or replacing times of the part undergoing maintenance are important characteristics, especially in a demanding and harsh activity like digging and earth moving.

[0009] Improvement in data acquisition, data communication, and / or the data processing, especially with regards to the potentially problematic situations explained above, would be beneficial for the provision and operation of digitally-enhanced earth moving machines.

[0010] DESCRIPTION

[0011] The following aspects are intended to improve one or more of the following: the arrangement of sensors, the arrangement of computing devices, cabling up and communications between sensors and computing devices, and processing of measurements provided by sensors arranged in an earth moving machine, such as sensors arranged in digging implements including, but not exclusive to, wear elements thereof.

[0012] A first aspect of the disclosure relates to digging implements for an earth moving machine. The digging implements may comprise: at least one body; a plurality of sensors arranged on a body of the at least one body; and at least one electronics module communicatively coupled with each sensor or a subset of sensors of the plurality of sensors.

[0013] The electronics module, or modules when a plurality thereof is arranged, is configured to process measurements of some (e.g., two or more sensors) or all sensors of the plurality of sensors. Also, the electronics module is, in some embodiments, remote from the respective sensors that the electronics module(s) is communicatively coupled with. The electronics module is, in some embodiments, arranged on a body different from the body or bodies that the sensors are arranged on. That is to say, the electronics module(s) is at a distance from the sensors whose measurements are to be processed, for example but without limitation, at 10 cm or more, and / or 20 cm or more, and / or 50 cm or more; the distance may be 10 m or less, and / or 5 m or less, and / or 2 m or less. In some other embodiments, the electronics module is adjacent to the respective sensor and / or shares a housing with the respective sensors.

[0014] The electronics module or each electronics module is shared between some or all sensors of the plurality of sensors, thereby centralizing the processing of data. The or each electronics module may include one or more computing devices and / or electronics configured to process the measurements and data signals of the sensors, for example, logical gates, amplifiers, transistors, analog-to-digital converters, microcontrollers, etc.

[0015] This centralization may reduce the costs of the machine since each sensor may have fewer or no electronics adjacent thereto, therefore such electronics are reduced in number as the sensors may not require having it and this lowering the overall cost. Also, fewer components per sensor at a particular location is also convenient, for example from the space standpoint. Usually, sensors have to be arranged in locations of the digging implements that have little protection and / or their attachment to the digging implements is complex because of space constraints, geometry of the parts, temperatures present during the process and / or during operation, etc. Having to arrange fewer components increases the robustness of the sensors as there are fewer exposed components, and it also reduces the complexity of the attachment process. The electronics module may also include means for the powering and / or communications of the sensors in some embodiments, which also eases the arrangement of sensors.

[0016] The use of a electronics module shared between a number of sensors, which furthermore is apart from the sensors so that they are at different locations on the at least one body, either on the same body or on different bodies, may improve the accessibility to the electronics module because it may be arranged more protected than the sensors, i.e. , at a location with more protection than locations where the sensors are arranged, or farther away from locations that generally come into contact with the material to be dug by or loaded on the digging implements. In the event of large hits or collisions with material, or that there is too much abrasion on the digging implements, the sensors may get damaged because they are more exposed to such phenomena as they must be closer to the dug material, but, on the other hand, the electronics module may remain safe and, thus, not require maintenance, just the affected sensors. Maintenance of the electronics module(s) may be conducted separately from that needed for the sensors and, in the event that replacement is needed, just the electronics module needs to be replaced if the sensors keep operating correctly. Better accessibility to the electronics module simplifies and eases maintenance tasks, such as repairment and / or replacement of components.

[0017] In some embodiments, the digging implements further comprise at least one cable extending on the at least one body such that the at least one cable is routed towards an end of the at least one body (or a body thereof) or a means for attachment of the digging implements for attachment to an arm of the earth moving machine. The at least one cable may be connected with a module of the at least one electronics module, or a wires connection box or a single access point (in embodiments as described below in which the digging implements comprises wires connection box and / or the single access point).

[0018] Each cable of the at least one cable includes one or more wires, for instance one or more wires for power supply, and / or one or more wires for data communications. Directing the at least one cable towards the means for attachment or an end of a body that is preferably the end closest (through the surface of the at least one body when computed with a segment or a concatenation of segments on the surface) to the means for attachment like, for example, the location of the at least one body where such means are to be arranged, the number of cables to be used may be reduced owing to the use of one or more cables for data transmission and / or powering for different sensors and / or electronic modules (i.e., several electronic modules may be connected one to another). Moreover, the at least one cable can be closer to the arm of the machine, thereby simplifying the communications of data generated by the electronics module when the latter is arranged proximate to the means for attachment like in some embodiments, that is to say, at a reduced distance. For example, but without limitation, the reduced distance is 10 cm or more, and / or 20 cm or more, and / or 50 cm or more; the reduced distance is 2 m or less, and / or 1 m or less, and / or 80 cm or less. The means for attachment may be, e.g., one or more ears for coupling with the arm, a base from which the one or more ears protrude, a combination thereof, etc.

[0019] In some embodiments, the at least one cable comprises one or more cables for data communications and one or more cables for power supply, thereby isolating the cables for increased reliability.

[0020] In some embodiments, the at least one cable comprises a single cable for data transmission configured as a data bus. The at least one cable may have a plurality of ends each connected with a sensor of the plurality of sensors, and another end connected with a module of the at least one electronics module.

[0021] The use of a data bus may reduce the number of cables needed to reach and communicate the different sensors of the plurality of sensors with the at least one electronics module. The data bus controls the communications between all devices connected thereto on its own so that there fewer or no interferences at all when each device is to communicate data. Fewer cables ease how the cables shall be arranged in the digging implements, therefore a single cable is also beneficial in this regard. Aside from the single cable for data transmission, one or more cables for delivering electric power are possible.

[0022] It can be appreciated that for the arrangement of sensors in the digging implements, each sensor requires its own cabling for powering and / or data communications; the only way around such requirements is by using wireless data communications, which may sometimes be ineffective, and by using batteries, which take space, may quickly run out of energy, and are prone to failure. The use of batteries involves worse features and performance of the sensors and electronic modules (e.g., lower sampling frequency, lower data resolution, worse response time, etc.) to maintain an acceptable useful life, or have a shorter useful life due to power hungry electronics. The cabling usually goes from the sensor up to an end of the digging implements where it couples with the arm of the machine, and from there further cabling is extended in some embodiments, and / or a wireless communications module is arranged in some embodiments to avoid some or all of the cabling (it is noted that data communications may be performed in a wireless manner, and one or more power cables be arranged for powering, or the latter avoided if at least one power supply, such as one or more batteries, is arranged in or on the digging implements). As the number of sensors is made larger for taking various measurements, at least one such cable would extend from the sensor to the end of the digging implements, increasing the number of cables and the maintenance thereof.

[0023] In some embodiments, the plurality of sensors and the at least one electronics module are both configured such that digitization of measurements of the plurality of sensors is performed by the at least one electronics module.

[0024] The analog-to-digital conversion that digitizes data, when performed at the electronics module, reduces the complexity of the sensors as they do not have to include an analog-to-digital converter, but it further reduces the complexity of the whole digging implements by not requiring to synchronize digitized data from the sensors when reaching the electronics module.

[0025] For advanced or extensive information generation from the measurements taken by the sensors, especially in earth moving machines, correct clock and timestamping are important for adequately relating processed data one to another. Lack of synchronism between sensors (and the measurements thereof) typically leads to incorrect determination of what the digging implements and the earth moving machine are doing since the measurements may not need to be completely related to a same event. Analog-to-digital conversion at the sensors may cause lack of synchronism whereas providing the analog signals to the electronics module for digitization thereof can keep the synchronism between sensors.

[0026] In some embodiments, the digging implements further comprise at least one protecting device surrounding the at least one cable.

[0027] The protecting device(s), namely a cable protector, reduces the likelihood of the wired communications or the power supply getting interrupted or broken, especially if the cable collides with objects or engaged or loaded material, or fines or water reach the at least one cable, or in presence of vibrations and impacts. The protecting device may not only protect the at least one cable itself, but also cable connectors of the at least one cable, which are particularly weak parts thereof that are prone to break.

[0028] The protecting device may also serve the purpose of routing the at least one cable in one direction or another. That, in turn, may simplify the arrangement of the at least one cable and the replacement thereof as a new cable may be introduced through one end of the protecting device and pushed or guided with cable guiding means until it reaches the other end of the at least one protecting device. Likewise, the protecting device may be reliably attached to the digging implements, but the cable is not attached, just inserted in the protecting device.

[0029] In some embodiments, the plurality of sensors comprises at least one sensor for measuring mass or weight and / or volume of a load on the at least one body. In some embodiments, the digging implements further comprise at least one sensor for measuring mass or weight and / or volume of a load on the at least one body.

[0030] The at least one sensor configured to measure mass, weight and / or volume enables a superior control of the machine owing to the knowledge of how much material is loaded on the digging implements.

[0031] The aforesaid parameters are relevant to the way the machine is operated since the particularities of the material may determine how the material is to be dug or engaged (e.g., an angle of attack of the digging implements, the trajectory followed when contacting the material with the digging implements, etc.), how the machine is to be moved when carrying the material (e.g., speed of the machine, greater or lesser allowable rotations of the machine, etc.), etc.

[0032] When more than one of the aforesaid parameters is known, a density calculation of the material may also be possible, which, in some cases, may be used to determine which potential material or materials may be loaded on the digging implements.

[0033] The at least one sensor may be, for example, one or more inertial measurement units, one or more optical devices (e.g., a camera), one or more force sensors (e.g., strain gauges), etc.

[0034] In some embodiments, one or more sensors of the at least one sensor is / are arranged on a body or a portion of the at least one body adjacent to or where the means for attachment of the digging implements for attachment to an arm of the earth moving machine are arranged. For example, the one or more sensors may be arranged on or adjacent to an ear, or between ears of the digging implements.

[0035] In some embodiments, the at least one sensor is arranged on a body of the at least one body that is a wear element.

[0036] The sensor(s) are further arranged, in some embodiments, on an external surface or a cavity of the body or portion thereof for additional protection of the sensor(s).

[0037] In some embodiments, the at least one sensor is connected with a cable of the at least one cable.

[0038] Wired communications may be preferred, at least between the sensor to the electronics module, for greater data rates and reliability of the communications and / or for supplying power to the sensor.

[0039] In some embodiments, the at least one sensor comprises at least one inertial measuring unit arranged on the at least one body. Measurements of the at least one inertial measuring unit are processed to determine and / or monitor: motion of the at least one body (and, thus, of the digging implements) and / or one or more digging cycle parameters.

[0040] The inertial measuring units may provide measurements of magnitudes such as accelerations or speeds that may be used to establish the actuation of the digging implements (e.g., orientation, acceleration, etc.), including digging cycle parameters such as when and how load, unload, swing, etc., operations are conducted. To this end, by processing the different magnitudes provided by the inertial measuring unit(s), the elapsed time and, optionally, other parameters from the earth moving machine such as actuation of the hydraulics system, the motion and the digging cycle parameters can be obtained.

[0041] In some embodiments, at least one sensor of the plurality of sensors comprises a sensor configured to measure a thickness of a portion of a body of the at least one body, the portion being one or more side walls of the body. Said body of the at least one body comprises, in some embodiments, a bucket or a dredgehead or a shovel or a rope shovel.

[0042] The sensor(s) for measuring thickness of walls is one possible type of sensor that may benefit from the electronics module(s) since the processing of the measurements is conducted by the module. The measurement of the thickness of the side walls is of particular relevance for avoidance of potential breaking of the digging implements, in particular during ground engaging operations. The side walls are prone to abrasion and hits that progressively reduce their thickness, and monitoring the thickness enables the predictive maintenance of the digging implements, especially ahead of the potential breaking.

[0043] The sensor(s) may comprise, for example, an ultrasound thickness gauge arranged on a side wall for measuring the thickness thereof, a laser distance sensor arranged on a side wall for measuring the thickness of the opposite side wall, an optical device (e.g., a camera) arranged on a top wall for measuring the thickness of one or more side walls, etc.

[0044] In some embodiments, the digging implements comprise, on a body of the at least one body or a portion thereof, means for attachment to an arm of an earth moving machine. For example, the means may be adapted for the attachment of the body or the portion thereof to a stick of the machine.

[0045] In some embodiments, one or more modules of the at least one electronics module is arranged on or adjacent to either the means for attachment or a base of the digging implements.

[0046] Electronics module(s) may centralize the processed data resulting from measurements of a respective multiplicity of sensors or from other electronics module(s), and do so at a location proximate to the part of the digging implements intended to be coupled with the arm of the machine.

[0047] The position next to the means for attachment may be a starting point for subsequent data transmission to other parts or power reception from other parts owing to the presence of fewer obstacles, for example, for arranging wired communications or for effecting wireless communications. Such position is also convenient for protection reasons since there is less abrasion and hits than in other more exposed parts of the digging implements. The base of the digging implements may simplify the arrangement of the electronics module(s) and / or be the source location for the transmission of the processed data to other parts of the machine or to a control center, and / or be a first location for the reception of electric power for the sensors. In this sense, the base of the digging implements may be a convenient starting point for communications like at the position close to the means for attachment, but the base also usually has large free space available, accordingly the arrangement of the electronics module and cabling thereof may be simpler.

[0048] Also, depending on the protection members arranged in the digging implements, the base thereof may be substantially protected from material contact and, thus, lengthen the operating life of the electronics module.

[0049] In some embodiments, the digging implements further comprise a wires connection box arranged on or adjacent to the means for attachment or the base of the digging implements. The wires connection box is communicatively coupled with one or more modules of the at least one electronics module.

[0050] The wires connection box may be the device completing the data communications path and / or electric power path between the digging implements and the rest of the machine or a control center. The wires connection box allows the connection of one or more cables and, in some embodiments, it also allows wireless communications. Concerning the latter, the wires connection box can be used as a centralization device for cables of electronics module; in such configuration, the processed data reaches the wires connection box, from which the data can be relied, either via wired communications (e.g., one or more cables going through the arm of the machine) or wireless communications since fewer blocking objects may get in the way of electromagnetic waves to be radiated for data transmissions.

[0051] In some embodiments, the digging implements further comprise a single access point.

[0052] The access point provides a port or connector for receiving connection of a connection member (e.g., a cable, a tube with one or more cables, a harness, etc.) that carries data and / or electric power. The access point centralizes the connection of cables coming from parts of the earth moving machine beyond the digging implements (for example, a cabin of the machine, an electronic control unit, etc.) with electronics on the digging implements. From the access point, the cabling may be distributed among the different electronics modules and / or sensors of the plurality of sensors.

[0053] When cabling is to be used for both data and electric power, the access point preferably allows receiving thereon a single cable or multiple cables for delivery of both. When the access point at least supports connection of data cables, the access point allows bidirectional data communications. The single access point is preferably arranged on a protected location of the digging implements to reduce or avoid impacts the port or connector could receive. By way of example, the location of the access point is on or adjacent to means for attaching the digging implements to an arm of the earth moving machine, for example between ears of the digging implements, adjacent to a system for lubrication of bolts, etc.

[0054] The port or connector preferably comprises sealing means, such as a sealing encasing, adapted to provide watertight mating with one or more cables. The port or connector preferably also or alternatively comprises a connection mechanism adapted to prevent accidental disconnections with the one or more cables, such as, for example, a locking mechanism, a screwed connection, etc.

[0055] In some embodiments, the single access point is located on or adjacent to a wires connection box or an electronics module of the at least one electronics module.

[0056] In some embodiments, one or more sensors of the plurality of sensors do not comprise any electronics adjacent thereto.

[0057] The sensors may have all the electronics required for their operation moved to the electronics module. In such cases, the arrangement and maintenance of the sensors would be completely separated from those of the electronics module, hence simplifying both tasks.

[0058] In some embodiments, the at least one electronics module comprises a plurality of electronics modules. Each electronics module is configured to be shared between a multiplicity of sensors in such a way that a set of sensors use one electronics module, another set of sensors use another electronics module, and so on.

[0059] The centralization achieved by the electronics module does not necessarily require that all sensors use the same electronics module. Accordingly, separate electronics modules may be arranged for covering different set of sensors. The use of one of the electronics modules or others may be dependent upon, e.g., the location of the sensors and the electronics module, the type of sensors and the electronics arranged in the electronics module, the capacity of the electronics modules to cope with the demands of the sensors, etc.

[0060] In some embodiments, the at least one body or a body thereof comprises one or more of the following: a bucket, a dredgehead, a cast lip, a plate lip, a shovel, a cast lip front shovel, a rope shovel, and a wear element.

[0061] In some embodiments, the wear element comprises one of the following: a tooth, a point, an adapter, an intermediate adapter, a corner adapter, a wear cap, a shroud, a wing, a structural plate, a wear runner, a bucket heel shroud, or a fixing pin.

[0062] In some embodiments, when the body or bodies where sensors of the plurality of sensors are arranged are different from the body or bodies where the modules of the at least one electronics module are arranged, at least one cable extends over a plurality of bodies of the at least one body.

[0063] In some embodiments, the at least one cable extends over the plurality of bodies such that respective connectors or inductors are arranged on at least one pair of adjacent bodies such that coupling between the bodies of the respective pair is performed through the connectors or inductors.

[0064] The use of connectors or inductors simplifies connectivity of different cables or portions thereof of the at least one cable. Each body may have its respective cable or portion thereof arranged in or on the body, and be ready for coupling, i.e. , connection, to an alike cable or portion in or on the adjacent body by mating the connectors or putting the inductors apart by a distance not greater than a predetermined distance so that data and / or power can be transmitted therethrough.

[0065] Connectors and inductors are particularly convenient for bodies of the at least one body that tend to be replaced frequently. For example, detachable adapters or teeth are replaced more frequently than other parts of the digging implements, and extending new cable(s) every time there is a replacement is cumbersome and requires long stoppage times. By contrast, cables with connectors or inductors can be arranged on the body before installing it when replacing a damaged body, and the connectors and inductors perform the complete connection naturally as the bodies are installed.

[0066] A second aspect relates to a wear element. The wear element may comprise: at least one body; a plurality of sensors arranged on one or more surfaces of the at least one body; and at least one electronics module communicatively coupled with each sensor or a subset of sensors of the plurality of sensors.

[0067] The electronics module(s) is configured to process measurements of the plurality of sensors. Also, the electronics module(s) is, in some embodiments, remote from the respective sensors (e.g., some sensors or all sensors) of the plurality of sensors that the electronics module is communicatively coupled with.

[0068] The wear element may have computing device(s) and / or electronics arranged therein, but remote from the sensors, for centralization of the computations to be performed to process the measurement data acquired and transmitted by the sensors and, therefore, include one or more of: logical gates, amplifiers, transistors, analog-to-digital converters, microcontrollers, etc. Thus, wear elements may be subject to easier maintenance tasks by way of the centralizing electronics module.

[0069] In some embodiments, the wear element further comprises at least one cable extending on the at least one body such that the at least one cable is routed towards an end adapted for coupling with another wear element or digging implements for the earth moving machine. The at least one cable may be connected with a module of the at least one electronics module.

[0070] In some embodiments, the at least one cable comprises one or more cables for data communications and one or more cables for power supply.

[0071] In some embodiments, the at least one cable comprises a single cable configured as a data bus. The at least one cable may have a plurality of ends each connected with a sensor of the plurality of sensors, and another end connected with a module of the at least one electronics module.

[0072] In some embodiments, the wear element further comprises at least one protecting device surrounding the at least one cable.

[0073] In some embodiments, the at least one sensor is connected with a cable of the at least one cable.

[0074] In some embodiments, the at least one sensor comprises at least one inertial measuring unit arranged on the at least one body. Measurements of the at least one inertial measuring units are processed to determine and / or monitor: motion of the at least one body and / or one or more digging cycle parameters.

[0075] In some embodiments, one or more sensors of the plurality of sensors do not comprise any electronics adjacent thereto.

[0076] In some embodiments, the at least one electronics module comprises a plurality of electronics modules.

[0077] In some embodiments, the wear element comprises one of the following: a tooth, a point, an adapter, an intermediate adapter, a corner adapter, a wear cap, a shroud, a wing, a structural plate, a wear runner, a bucket heel shroud, or a fixing pin.

[0078] A third aspect of the disclosure relates to a wear assembly. The wear assembly may comprise: at least one wear element; digging implements for an earth moving machine; a plurality of sensors each arranged on a wear element of the at least one wear element; and at least one electronics module communicatively coupled with each sensor or a subset of sensors of the plurality of sensors.

[0079] The electronics module(s) is arranged on the digging implements or on a wear element of the at least one wear element different from that where the respective sensors communicatively coupled therewith of the plurality of sensors are arranged. The electronics module(s) is configured to process measurements of the plurality of sensors.

[0080] The arrangement of the electronics module(s) does not necessarily have to be in the same part where the measurements are taken at. Particularly, the electronics module(s) is remote from the sensors such that it is beyond at least the part thereof on a different part of the earth moving machine, for example the wear element or the digging implements. The sensors may thus be partly or completely arranged in one of the wear elements and the digging implements, and have the communicatively coupled with a remote electronics module but which is beyond the part where the sensors are.

[0081] In some embodiments, the wear assembly further comprises at least one cable extending on at least one body thereof such that the at least one cable is routed towards an end of the wear element or digging implements or a means for attachment of the digging implements for attachment to an arm of the earth moving machine. The at least one cable may be connected with one or more modules of the at least one electronics module. When the at least one cable is routed towards the end of the wear element, the end is optionally an end where the wear element is to be coupled with another wear element or the digging implements.

[0082] In some embodiments, the at least one cable comprises one or more cables for data communications and one or more cables for power supply.

[0083] In some embodiments, the at least one cable comprises a single cable for data transmission configured as a data bus. The at least one cable may have a plurality of ends each connected with a sensor of the plurality of sensors, and another end connected with a module of the at least one electronics module.

[0084] In some embodiments, the at least one cable extends over the plurality of bodies such that respective connectors or inductors are arranged on at least one pair of adjacent bodies such that coupling between the bodies of the respective pair is performed through the connectors or inductors.

[0085] In some embodiments, the wear assembly further comprises at least one protecting device surrounding the at least one cable.

[0086] In some embodiments, the digging implements further comprise a sensor for measuring mass or weight and / or volume of a load on the digging implements.

[0087] In some embodiments, the at least one sensor is connected with a cable of the at least one cable.

[0088] In some embodiments, the at least one sensor comprises at least one inertial measuring unit arranged on the wear element or the digging implements. Measurements of the at least one inertial measuring units are processed to determine and / or monitor: motion of the at least one body and / or one or more digging cycle parameters.

[0089] In some embodiments, at least one sensor of the plurality of sensors comprises a sensor configured to measure a thickness of a portion of the digging implements, the portion being one or more side walls of the digging implements. Said portion comprises, in some embodiments, a bucket or a dredgehead or a shovel or a rope shovel.

[0090] In some embodiments, the digging implements comprise means for attachment to an arm of the earth moving machine. In some embodiments, one or more modules of the at least one electronics module is arranged on or adjacent to either the means for attachment or a base of the digging implements.

[0091] In some embodiments, the digging implements further comprise a wires connection box arranged on or adjacent to the means for attachment or the base of the digging implements. The wires connection box is communicatively coupled with one or more modules of the at least one electronics module.

[0092] In some embodiments, the digging implements further comprise a single access point.

[0093] In some embodiments, the single access point is located on or adjacent to a wires connection box or an electronics module of the at least one electronics module.

[0094] In some embodiments, one or more sensors of the plurality of sensors do not comprise any electronics adjacent thereto.

[0095] In some embodiments, the wear assembly comprises a plurality of electronics modules.

[0096] In some embodiments, the wear element comprises one of the following: a tooth, a point, an adapter, an intermediate adapter, a corner adapter, a wear cap, a shroud, a wing, a structural plate, a wear runner, a bucket heel shroud, or a fixing pin.

[0097] In some embodiments, the at least one body or a body thereof comprises any one of the following: a bucket, a dredgehead, a cast lip, a plate lip, a shovel, a cast lip front shovel, and a rope shovel.

[0098] A fourth aspect of the disclosure relates to an earth moving machine. The earth moving machine may comprise: a digging implements according to the first aspect or a wear assembly according to the third aspect, and / or at least one wear element according to the second aspect.

[0099] In some embodiments, the earth moving machine comprises an electronic control unit for operating and / or controlling operation of at least one module of the earth moving machine.

[0100] The electronic control unit operates and / or controls operation of, e.g., the digging implements, the arm of the earth moving machine, an orientation of a rotary platform of the earth moving machine for directing the digging implements towards a given orientation, etc.

[0101] In some embodiments, at least one cable of the digging implements or the wear element assembly is connected with the electronic control unit and a / the wires connection box.

[0102] A fifth aspect of the disclosure relates to a method. The method may comprise: arranging a plurality of sensors, each sensor being arranged on a body of at least one body of at least one wear element or digging implements for an earth moving machine; arranging at least one electronics module on a body of at least one body of the digging implements or a wear element of the at least one wear element; and electrically connecting each sensor of the plurality of sensors with a module of the at least one electronics module.

[0103] The electronics module(s) for centralization of processing and, optionally, powering and / or communications of the sensors and the measurements thereof is, in some embodiments, arranged remote from the sensors; that is to say, in some embodiments, the arrangement of the at least one electronics module is such that the at least one electronics module is remote from the plurality of sensors. The location of the electronics module(s) may be on the same part that the sensors are arranged in (e.g., the same wear element, the digging implements), or be arranged in a different part (e.g., another wear element, the digging implements).

[0104] By arranging the electronics module(s) in a different wear element or in the digging implements, sensors that are further towards the front of the earth moving machine (i.e. , closer to the material to be dug or engaged) may be coupled with the same electronics module(s) that is closer to the arm of the earth moving machine.

[0105] In some embodiments, the method further comprises: taking measurements with each sensor of the plurality of sensors; transmitting the taken measurements through a wired connection to the electronics module that each sensor is respectively connected to; and processing the taken measurements of each sensor of the plurality of sensors with the electronics module connected thereto, thereby providing processed data.

[0106] In some embodiments, processing the taken measurements comprises digitizing the taken measurements.

[0107] In some embodiments, taking measurements with each sensor of the plurality of sensors at least comprises measuring a thickness of a portion of a body of the at least one body, the portion being one or more side walls of the body. Said body of the at least one body comprises, in some embodiments, a bucket or a dredgehead or a shovel or a rope shovel.

[0108] In some embodiments, the method further comprises: transmitting the processed data to a data communications module or a wires connection box, or a single access point, arranged proximate to a means for attachment of the digging implements to an arm of the earth moving machine; and transmitting the processed data from the data communications module or the wires connection box to a computing device (e.g., an electronic control unit) at a cabin of the earth moving machine or at a control center remote from the earth moving machine.

[0109] In some embodiments, the single access point is located on or adjacent to the wires connection box or an electronics module of the at least one electronics module. In some embodiments, the method further comprises: digitally deriving one or more operating instructions for the earth moving machine based on the processed data; and automatically operating the earth moving machine according to the derived one or more operating instructions. Further, the one or more operating instructions are derived at the control center or the cabin.

[0110] In some embodiments, the method further comprises receiving, at each sensor of the plurality of sensors, electric power through a respective wired connection.

[0111] In some embodiments, the digging implements is a digging implements according to the first aspect.

[0112] In some embodiments, the wear element is a wear element according to the second aspect.

[0113] In some embodiments, the digging implements and the wear element are part of a wear assembly according to the third aspect.

[0114] In some embodiments of any one of the aforesaid aspects, each, some or all sensors of the plurality of sensors comprises the following: a fall detection sensor, a presence detection sensor, a force sensor, a strain sensor, an inertial measuring unit, an inclinometer such as, e.g., a three-axes inclinometer, a temperature sensor, a sensor for measuring mass or weight of a load, a sensor for measuring volume of a load, a sensor for measuring thickness of a wall (such as, e.g., a metallic wall) of the digging implements, a soil composition sensor, a soil characterization sensor, a soil fragmentation sensor, and a combination thereof.

[0115] A sixth aspect of the disclosure relates to digging implements for an earth moving machine. The digging implements may comprise: at least one body; and at least one sensor for measuring mass or weight and / or volume of a load on the at least one body, the at least one sensor being arranged on a body or a portion of the at least one body adjacent to or where the means for attachment of the digging implements for attachment to an arm of the earth moving machine are arranged. For example, the at least one sensor may be arranged on or adjacent to and ear, or between ears of the digging implements.

[0116] As aforesaid, the at least one sensor configured to measure mass, weight and / or volume enables a superior control of the machine owing to the knowledge of how much material is loaded on the digging implements. Such knowledge may be useful for one or more of: loading dug material and / or selecting trucks onto which the dug material is unloaded, changing the ground-engaging operation of the earth moving machine according to the measurements, etc.

[0117] In some embodiments, the digging implements further comprise at least one electronics module communicatively coupled with each sensor or a subset of sensors of the plurality of sensors. The at least one electronics module may be configured to collect measurements of the at least one sensor and transmit them to other parts of the earth moving machine or remote therefrom. Additionally or alternatively, the at least one electronics module may be configured to process measurements of the at least one measurement and transmit them elsewhere within the machine or remote from the machine, and / or provide electric power to the at least one sensor.

[0118] In some embodiments, the digging implements further comprise a wires connection box arranged on or adjacent to the means for attachment or the base of the digging implements. The wires connection box is communicatively coupled with one or more sensors of the plurality of sensors, or with one or more modules of the at least one electronics module (in embodiments in which the digging implements comprise the at least one electronics module). In some embodiments, the digging implements further comprise a single access point.

[0119] In some embodiments, the at least one access point is located on or adjacent to a wires connection box or an electronics module of the at least one electronics module.

[0120] A seventh aspect of the disclosure relates to a method. The method may comprise: arranging at least one sensor for measuring mass or weight and / or volume of a load on the at least one body of digging implements of an earth moving machine; and taking measurements of the mass or weight and / or the volume of the load with the at least one sensor.

[0121] The at least one sensor may be arranged on or adjacent to and ear, or between ears of the digging implements.

[0122] In the sixth and / or the seventh aspects of the disclosure, the at least one sensor may be, for example, one or more inertial measurement units, one or more optical devices, one or more force sensors, etc.

[0123] In some embodiments, the method further comprises electrically connecting each sensor of the at least one sensor with a module of at least one electronics module. The at least one electronics module may be arranged on or adjacent to and ear, or between ears of the digging implements.

[0124] In some embodiments, the at least one electronics module processes the measured weight or mass and / or volume.

[0125] In some embodiments, the method further comprises: transmitting the taken measurements through a wired connection to an electronics module that each sensor of the at least one sensor is respectively connected to; and processing the taken measurements of each sensor of the at least one sensor with the electronics module connected thereto, thereby providing processed data. In some embodiments, processing the taken measurements comprises digitizing the taken measurements.

[0126] In some embodiments, the method further comprises: transmitting the processed data to a data communications module or a wires connection box, or a single access point, arranged proximate to a means for attachment of the digging implements to an arm of the earth moving machine; and transmitting the processed data from the data communications module or the wires connection box to a computing device (e.g., an electronic control unit) at a cabin of the earth moving machine or at a control center remote from the earth moving machine.

[0127] In some embodiments, the method further comprises: digitally deriving one or more operating instructions for the earth moving machine based on the processed data; and automatically operating the earth moving machine according to the derived one or more operating instructions. Further, the one or more operating instructions are derived at the control center or the cabin.

[0128] In some embodiments, the method further comprises receiving, at each sensor of the plurality of sensors, electric power through a respective wired connection.

[0129] In some embodiments, the digging implements is a digging implements according to the first aspect.

[0130] An eighth aspect of the disclosure relates to an earth moving machine. The earth moving machine may comprise a digging implements according to the sixth aspect.

[0131] BRIEF DESCRIPTION OF THE DRAWINGS

[0132] To complete the description and in order to provide for a better understanding of the disclosure, a set of drawings is provided. Said drawings form an integral part of the description and illustrate embodiments of the disclosure, which should not be interpreted as restricting the scope of the disclosure, but just as examples of how the disclosure can be carried out. The drawings comprise the following figures:

[0133] Figures 1A-1C show an electronics module for wear elements, wear assemblies, digging implements and methods according to some embodiments.

[0134] Figure 2 shows a diagram of interconnection between sensors and an electronics module according to some embodiments.

[0135] Figure 3 shows a diagram of electronics in sensors and an electronics module according to some embodiments.

[0136] Figure 4 shows a diagram of connections of electronics modules for wear elements, wear assemblies, digging implements and methods according to some embodiments.

[0137] Figures 5A-5D, 6A-6B and 7A-7B show digging implements and wear assemblies according to some embodiments. Figures 8A-8F show holes in digging implements according to some embodiments.

[0138] Figures 9A-9B show digging implements and wear assemblies with protectors according to some embodiments.

[0139] Figure 10 shows protectors with cables for digging implements and wear assemblies according to some embodiments.

[0140] Figures 11 shows a wear element and digging implements with cabling according to some embodiments.

[0141] Figures 12, 13 14, 15 and 16 show digging implements and wear assemblies with cabling according to some embodiments.

[0142] Figure 17 shows digging implements and wear assemblies with means for measuring mass or weight and / or volume of a load according to some embodiments.

[0143] DETAILED DESCRIPTION

[0144] Figures 1A-1C show an electronics module 10 for wear elements, wear assemblies, digging implements and methods according to some embodiments. Figure 1A shows the module 10 in a perspective view, Figure 1 B shows an exploded view, and Figure 1C shows the module 10 from a top view while part of a housing 11a of the module 10 is not shown or is removed.

[0145] The electronics module 10 is capable of processing measurements of multiple sensors that may be remote therefrom in some embodiments, but communicatively coupled therewith, in wired and / or in wireless form. By communicatively coupled it is meant that the sensors and / or electronics thereof are coupled with the electronics module 10. In addition, the sensors may also be electrically coupled with the electronics module 10, for example when the electronics module 10 is capable of powering, i.e., supplying electric power, the sensors and / or electronics thereof for operation.

[0146] The electronics module 10 includes a housing 11a, 11b, 11c that at least houses electronics 16, such as, but not limited to, one or more computing devices and / or electronics configured to process measurements and data signals of the sensors coupled therewith. The electronics 16 may be arranged on one or more printed circuit boards 15. Part of the housing 11c may be adapted for attachment to, e.g., a surface of digging implements or a wear element.

[0147] Data provided by the electronics 16 can be passed on to other devices, within or remote from, e.g., an earth moving machine including the electronics module 10, via a data bus that may be connected to a first port 12a, 12b, or in wireless form, in which case the module 10 may not include the first ports 12a, 12b.

[0148] Measurements and / or data signals may be provided to the electronics 16 for processing through a second port 13a, 13b intended to receive a wired connection with one or more sensors or electronics thereof, especially when a wired arrangement is to be used. More than two second ports 13a, 13b are also possible in other embodiments, thereby enabling additional wired connections. In some other embodiments in which wireless is used, the electronics module 10 may not include second ports 13a, 13b, or include one such port, for example.

[0149] The electronics 16 may include, for example, one or more of: analog to digital converters, electric power modules for powering devices, one or more filters, one or more multiplexers, microcontrollers for data processing, microcontrollers for controlling operation of a data bus associated with the electronics module 10, electric protection circuitry, among others.

[0150] The arrangement of the electronics module 10 may be, for instance, as illustrated in Figure 2, which diagrammatically shows interconnection between sensors 25 and an electronics module 10 according to some embodiments.

[0151] In the example of Figure 2, two sensor housings 20 are arranged in a sensed member 50, for example, digging implements or a wear element. As shown, for instance, in Figure 3, sensor housings 20 may include one or more than one sensor 25. Further, the sensor housings 20 may include electronics 30 for the sensor(s) 25, such as, for example, electronics 30 for signal conditioning, and / or for analog-to-digital conversion, and / or a wireless data communications module when data is to be coupled with an electronics module 10 wirelessly. The sensor(s) 25 are communicatively coupled with the electronics 30 via one or more cables 19a’, 19b’.

[0152] In wired configurations, one or more cables 19a, 19b extending from the sensor housing 20 or the electronics 30 thereof to the electronics module 10 allow the transmission of data between the two parts. At the electronics module 10, data may be processed.

[0153] A data bus 18 can be provided by way of cables 18a, 18b. The data bus can reach other electronics modules 10, and / or other devices 40 as shown in Figure 3.

[0154] Figure 4 shows a diagram of connections of electronics modules 10 for wear elements, wear assemblies, digging implements and methods according to some embodiments.

[0155] As aforementioned, a plurality of sensors 25 may be connected to a same electronics module 10 through a communications channel, either in wired or in wireless form. Different electronics modules 10 may be communicatively coupled, for example by way of a data bus 18, which may reduce the number of cables needed, but other ways of coupling the electronics modules 10 are possible as well and also fall within the scope of the present disclosure.

[0156] Data of the electronics modules 10 can be communicated to other parts 90 (to reach, e.g., an end of a body of digging implements or a means for attachment of digging implements for attachment to an arm of the earth moving machine) of a same earth moving machine via one or more cables 17, which in some embodiments not only transport data but also electric power for the powering of the electronics modules 10 and, possibly, part of the sensors 25 or the electronics associated therewith. To this end, in some embodiments more than one cable is used so that one or more cables for data transmission are provided and one or more cables for electric power are provided.

[0157] In some cases, the electronics modules 10 provide a digitized version of data of the plurality of sensors 25 with little or no processing at all, and the processing of the data is made at the other parts 90. For example, an electronic control unit or one or more electronics modules may be arranged in such other parts 90 for processing of the data.

[0158] Figures 5A-5D show digging implements 60, also wear assemblies, according to some embodiments. Figure 5A shows the digging implements 60 with protectors 114, 118, 120a, 120b arranged thereon, and Figures 5B-5D show the digging implements 60 without the protectors 114, 118, 120a, 120b, and Figure 5B also without adapters 65.

[0159] The digging implements 60 include bodies 62, 63, 64 providing the implements 60 with a bucket-like shape. The digging implements 60 include a further body in the form of a lip 61 , for example a plate lip, coupled or couplable with the bodies 62, 63, in a front-most part of the digging implements 60. The lip 61 includes a plurality of wear elements in the form of adapters 65.

[0160] The digging implements 60 include a plurality of cables 18, 19, some of which extend from sensors 25 (or electronics thereof) to electronics modules 10, and some others extend from the electronics modules 10 to other parts of the digging implements 60, particularly to other parts allowing extraction of the data provided by the electronics modules 10.

[0161] As seen in Figure 5B, at least part of the cables 18, 19 may be arranged inside a cavity 68 formed on the surface of the lip 61 or the surface of body 62. The cavity 68 eases routing of the cables 18, 19, and protects the cables 18, 19. Similarly, a cavity 67 may be provided for receiving electronics modules 10.

[0162] The sensors 25 are arranged, in this example, in the adapters 65. In other examples, the sensors 25 are arranged in one or more other devices such as teeth, points, wear caps, shroud, wings, structural plates, wear runners, bucket heel shrouds, fixing pins or the bodies of the digging implements such as a wall or a base of, e.g., a bucket or a dredgehead or a shovel or a rope shovel; hence, sensors may be arranged in wear elements and / or the structure that the wear elements protect. Likewise, electronics modules 10 may be arranged in wear elements and / or the structure that the wear elements protect. It will be noted, in any case, that, like in this example, the cabling may have to adapt to the particularities of the part where the sensors 25 and / or the electronics modules 10 are. In this example, whereas cables 18 going to sensors 25 of adapters 65 in the middle (i.e., not arranged next to wall- like bodies 63) can go in a straight or relatively straight manner, cables 18 going to sensors 25 of adapters 65 arranged next to wall-like (i.e., lateral) bodies 63 may have to bend at times to reach the sensors 25, in this case due to the presence of the wall-like bodies 63.

[0163] Optional cable protectors 114, 118 reduce the likelihood of the cables receiving abrasion or getting hit by particles, and optional electronics module protectors 120a, 120b do the same for the electronics modules 10. The cable protectors 114, 118 may be attached with means known in the art, for example, by welding.

[0164] Data received by the corner-most electronics module 10 from other electronics modules, together with data provided by said corner-most electronics module 10, is transmitted to another part of the earth moving machine by way of one or more cables (not seen due to cable protector 114). In some embodiments, the wiring can be doubled by providing alike one or more cables at the other side of the digging implements 60 as well, in which case the opposite corner-most electronics module 10 may be responsible for the data transmissions. Alternatively, in wireless configurations, at least one of the electronics modules 10 may wirelessly transmit the data to other devices, within the earth moving machine (in the digging implements 60 or in other parts of the machine) or to some device not part of the machine.

[0165] In some embodiments, like in the ones of Figures 5A-5B, the cable or cables transmitting the data of the electronics modules 10 to other parts of the machine may be arranged on the edge formed between some of the bodies 62, 63 of the digging implements; in this case, the cable(s) is arranged in the edge formed by a base-like body 62 and one of the wall-like bodies 63.

[0166] Figures 6A and 6B show digging implements 60, also wear assemblies, according to some embodiments.

[0167] In this example, the electronics modules 10 are arranged inside or covered by the part where the sensors 25 are, thus inside or covered by the adapters 65.

[0168] The cables 19 extending between the sensors 25 and the electronics modules 10 are shorter than those of the embodiments of Figures 5A-5D. The cables 18 connecting the different electronics modules 10 go through tee connectors 95a, 95b that have three ports and allow interconnection of a plurality of cables. In this example, the electronics modules 10 may include a single port for modules 10 interconnection.

[0169] Cavities 67 may be provided for protection of the tee connectors 95a, 95b.

[0170] One or more cables 17 for data and / or for electric power are provided between a corner tee connector 95b and, e.g., an end of at least one body of the digging implements 60 or a means for attachment of the digging implements 60 to an arm.

[0171] Figures 7A and 7B show digging implements 60, also wear assemblies, according to some embodiments. Teeth 91 and shrouds 92 are shown attached to the digging implements 60. Figure 7A shows the digging implements 60 from a bottom view to better show an underside 66a, 66b.

[0172] The digging implements 60 include, on the underside 66a, 66b of the body 62 and / or the lip 61 , a region for arranging cables and electronics modules 10 or tee connectors. The region may be protected by a protector (not illustrated), which, like the previously-described protectors, may be attached with means known in the art, extending part or an entirety of the length of the region. The protector may be a cover that forms a cavity together with one or more bodies 61 , 62 of the digging implements 60 to receive components in a protected manner.

[0173] The region may be a cavity formed in the body 62 and / or the lip 61 , or be the part where the lip 61 is coupled with the body 62, in which case no cavity needs to be formed. That is to say, in the latter case, the step between the lip 61 and the body 62 can be used as said region as seen in Figure 8B. The step can be formed naturally when the thickness of the lip 61 is larger than the thickness of the body 62.

[0174] Figure 7B shows the digging implements 60 from a top view. In Figure 7B it can be seen that the digging implements 60 may also include protector 113 for protecting a portion of cables and / or an electronics module or tee connector; in this case, the protector 113 also covers part of the weld seam 69 between the body 62 and the lip 61 for joining both. In this sense, it is noted that cables 19 may go from sensors to an electronics module on the top part of the lip 61 and also protected by the adapter 65, then part of the cables and / or some other cables be passed to the bottom part of the lip 61 or the digging implements through one or more holes as shown and described next with reference to Figures 8A-8C, and then resurfaced to the top part for one or more cables to reach other parts of the digging implements.

[0175] Figures 8A-8F show holes in digging implements 60 according to some embodiments. Figures 8D and 8E show the digging implements 60 from a top view and a bottom view, respectively.

[0176] The digging implements 60 has, in a body 62 thereof and / or in the lip 61 , a plurality of holes 201 , 202 for letting cables pass from the top side to the bottom side and / or vice versa. Accordingly, the connection of the cables to, e.g., sensors, may be performed on the top side, and the routing of cables corresponding to, e.g., a data bus, may be performed on the bottom side to use the region described with reference to Figures 7A-7C.

[0177] Additionally or alternatively, the digging implements 60 has one or more holes 261 , 262 formed in a body 260 of the implements 60 that is, like ears 250 that protrude from the body 260, to be the means for attachment of the digging implements 60 to an arm or to include the means for attachment. A first hole 261 may be used to let one or more cables pass from an inside part of the digging implements 60 (i.e. , the inner part with the bucket- like shape) to an outer part of the digging implements 60 and vice versa, thereby enabling the cable(s) to go from the body 260 to the inside part and vice versa. A second hole 262 formed on one or both ears 250 may be used to let one or more cables pass from one end of the body 260 of the implements 60 to a middle part thereof, where the digging implements 60 attach to an arm of the earth moving machine. From that middle part between the ears 250, which is a substantially protected location, the same cable(s) or further cables can be used to reach the arm or parts of the earth moving machine beyond the arm when wired configurations are used. A wires connection box can be arranged on the body 260 for connection of the cables. Alternatively, a wireless communications module may be arranged at the outer part (i.e., the part illustrated in Figure 8C) of the body 260.

[0178] Figures 9A-9B show digging implements 60, also wear assemblies, with protectors 113, 114, 125 according to some embodiments. Figure 10 provides another view of said protectors 113, 114, 125, together with protector 110.

[0179] As aforementioned, protectors 113, 114 can be arranged in the implements 60 for protecting electronics modules or tee connectors, and cables, respectively. Particularly, protector 114 lets one or more cables go protected from a lower part of the body 62 where the lip 61 is arranged to a higher part of the body 62. At such higher part, when a hole like the first hole 261 of Figures 8A-8F is formed, the one or more cables pass through from one side to the other, thereby reaching the body 260. The protector 114 may also protect the first hole from the inside part of the digging implements by covering a totality of the hole.

[0180] On the body 260, at least one protector 125 may be arranged to protect one or more cables extending between an end of the body 260 and the middle part thereof. When a hole like the second hole 261 of Figures 8A-8F is formed, the one or more cables pass through from the side to the middle part. Separate protectors 125 may be arranged to protect the cable(s) completely, at least one on the side part, and another one on the middle part of the body 260.

[0181] Figure 11 shows an adapter 65 with cabling 18, 19 (most of it is illustrated for the sake of clarity only although not really seen because it is inside the adapter 65) according to some embodiments.

[0182] The adapter 65 includes sensor housings 20 with sensors on opposite sides of an external part thereof. A respective cable 18, 19 is connected with a sensor housing 20 (one not seen illustrated with a dashed line for the sake of clarity only) and an electronics module (not seen because it is beyond the adapter 65). The cables 18, 19 can go through a through hole of the adapter 65, the through hole extending part of the length of the adapter 65 until it reaches, e.g., a rear end or an inner side of the adapter 65 that is adapted to be coupled with a lip. In the latter case, the cables 18, 19 may go through the space between the adapter 65 and the lip so as to reach a rear part where it is coupled with an electronics module.

[0183] The sensor(s) of the sensor housings 20 may be, for example but without limitation, one or more of: a fall detection sensor, a presence detection sensor, a force sensor, a strain sensor, and an inertial measuring unit.

[0184] Figure 12 shows a perspective view of digging implements 70, also wear assemblies, with cabling according to some embodiments.

[0185] Compared to the digging implements 60, which included a plate lip 61 that may be welded to the body 62, the digging implements 70 include a cast lip 71 , which is part of the bodies of the digging implements 70. The cast lip 71 includes a plurality of noses 75.

[0186] The digging implements 70 include at least one body 71 , 72, 73, 74 providing the implements 70 with a bucket-like shape. A rear-most body 74 may be adapted to move so as to selectively open / close the digging implements 70 to unload / load material from / in the implements 70. The digging implements further include wing shrouds 76 and heel shrouds 77.

[0187] As shown with solid and dashed lines 17, each line corresponding to an alternative possible cable arrangement, one or more cables extending between an end of the digging implements 70 and a tee connector or an electronics module (not illustrated) can be arranged on an outside part of a wall-like body 73 of the implements 70, or in a through hole formed therein. A route for the one or more cables 17 may include the part of the body 73 that serves as an articulation for the movement of the rear-most body 74.

[0188] The one or more cables 17 may thus be routed towards an end of the implements 70 where a means for attachment to an arm is, either directly or through, e.g., a wires connection box.

[0189] Figure 13 shows a cross-section of digging implements 70, also wear assemblies, with cabling according to some embodiments.

[0190] The digging implements 70 and wear assemblies of Figure 13 are similar to those of Figure 12. The one or more cables 17 are arranged on a wall-like body 73 in an arrangement like that of solid line 17 of Figure 12.

[0191] Figure 14 shows a side view of digging implements 70, also wear assemblies, with cabling according to some embodiments.

[0192] The one or more cables 17 are arranged on the inside part of a wall-like body, and although not seen from a side view, they have been illustrated for the sake of clarity only. The one or more cables 17 are arranged following a path similar to that of dashed line 17 of Figure 12, yet in this example the path for the cable(s) 17 at the end of the digging implements 70 is also illustrated. It can be appreciated that the cable(s) 17 end up reaching the end where an arm may be coupled with the digging implements 70, as also illustrated in Figure 15.

[0193] Figure 15 shows part of digging implements 70, also wear assemblies, with cabling according to some embodiments.

[0194] As shown in Figure 14, the one or more cables 17, once they reach a location proximate to an articulation of the digging implements 70 irrespective of the path they follow on the wall-like body 73 from the body 72 closest to the electronics modules 10 and / or tee connectors (for example, but without limitation, the cable 17 arrangements of embodiments according to any one of Figures 12-14), the cable(s) 17 get introduced between bodies where the articulation is formed and routed towards the back end of the digging implements 70. For the sake of the illustration only, part of the one or more cables 70 has been illustrated with dashed line to represent that the one or more cables 70 are not actually seen in this represented view.

[0195] Figure 16 shows digging implements 70, also wear assemblies, with cabling according to some embodiments.

[0196] A set of electronic modules 10, tee connectors 95a, 95b, sensors 25 and cables 17, 18, 19 are illustrated representing the configuration thereof in some embodiments. In this example, the electronic modules 10 are arranged in or on the noses 75, and in some cases they may be covered by the part coupled thereto, for example a wear cap or a tooth. The arrangement of this set of elements in these embodiments is similar to that in Figures 6A, 6B.

[0197] Further, a hole 203 may be arranged on the body 72 to let one or more cables 17 go through it and be routed towards the end of the digging implements 70, for example as illustrated in Figures 12 or 13 or 14.

[0198] In some other embodiments not illustrated, the electronic modules 10 are arranged closer to the body 72 in the place of the tee connectors 95a, 95b, and no tee connectors or fewer tee connectors are arranged.

[0199] Figure 17 shows digging implements 60, also wear assemblies, with sensors 160 for measuring mass or weight and / or volume of a load according to some embodiments.

[0200] The digging implements 60 are similar to the implements 60 described with reference to Figures 5A-5D.

[0201] In this example, the digging implements 60 include (or also include in embodiments like those of Figures 5A-5D) sensors 160 for measuring mass or weight and / or volume of a load. The sensors 160 are, in this example, arranged on a top body 64 of the digging implements 60; notwithstanding, locations 165a, 165b, corresponding to lateral walls 63 and an underside of the top body 64 are also suitable locations for arranging sensors 160 since they also receive the loads exerted on the digging implements 60 and, accordingly, can be measured in an accurate manner. Although the top body 64 is subject to being hit by dug material, it is more protected than other parts of the digging implements 60, thereby lengthening the useful life of the sensors 160 and making the maintenance tasks easier.

[0202] The sensors 160, which may include, for example, one or more force sensors, measure the loads exerted on the digging implements 60. By processing such measurements, mass or weight and / or volume of the load in the digging implements 60 can be determined as these magnitudes influence the load exerted on the arm.

[0203] In some cases, one or more electronics modules are arranged on the top body 64 for: easing the routing of cables to other parts of the machine such as the arm and the cabin, and / or centralizing cables from diverse sensors to then process and / or transmit (in wired or in wireless form) measurements of the sensors, and / or centralizing reception of electric power for powering electronics and / or sensors.

[0204] In this text, the term “includes”, “comprises” and derivations thereof (such as “including”, “comprising”, etc.) should not be understood in an excluding sense, that is, these terms should not be interpreted as excluding the possibility that what is described and defined may include further elements, steps, etc.

[0205] On the other hand, the disclosure is obviously not limited to the specific embodiment(s) described herein, but also encompasses any variations that may be considered by any person skilled in the art (for example, as regards the choice of materials, dimensions, components, configuration, etc.), within the general scope of the invention as defined in the claims.

Claims

CLAIMS1. Digging implements (60,70) for an earth moving machine, comprising: at least one body (61-65,71-77); a plurality of sensors (25,160) arranged on a body of the at least one body; and at least one electronics module (10) communicatively coupled with each sensor or a subset of sensors of the plurality of sensors, the at least one electronics module being configured to process measurements of the plurality of sensors.

2. The digging implements (60,70) of claim 1 , wherein each module of the at least one electronics module is remote from the respective sensors of the plurality of sensors that the electronics module is communicatively coupled with.

3. The digging implements (60,70) of any one of the preceding claims, further comprising at least one cable (17-19) extending on the at least one body (61-65,71-77) such that the at least one cable is routed towards an end (64) of the at least one body or a means for attachment (250) of the digging implements for attachment to an arm of the earth moving machine, and the at least one cable being connected with the at least one electronics module (10).

4. The digging implements (60,70) of claim 3, wherein the at least one cable (17-19) comprises a single cable for data transmission configured as a data bus and having a plurality of ends each connected with a sensor of the plurality of sensors (25,160), and another end connected with a module of the at least one electronics module (10).

5. The digging implements (60,70) of any one of claims 4-5, further comprising at least one protecting device (110,113,114,118, 120a, 120b) surrounding the at least one cable (17-19).

6. The digging implements (60,70) of any one of the preceding claims, wherein the plurality of sensors (25,160) comprises or the digging implements further comprise at least one sensor for measuring mass or weight and / or volume of a load on the at least one body (61- 65,71-77).

7. The digging implements (60,70) of claim 6, wherein the at least one sensor comprises at least one force sensor arranged on a body of the at least one body.

8. The digging implements (60,70) of any one of the preceding claims, wherein at least one sensor of the plurality of sensors (25,160) is arranged on a body or a portion of the at least one body (61-65,71-77) adjacent to or where means for attachment (250) of the digging implements for attachment to an arm of the earth moving machine are arranged, or is arranged on a body of the at least one body that is a wear element (65,76-77,91 ,92).

9. The digging implements (60,70) of any one of the preceding claims, wherein a body of the at least one body (61-65,71-77) comprises a bucket or a dredgehead or a shovel or a rope shovel; and wherein at least one sensor of the plurality of sensors comprises a sensor configured to measure a thickness of a portion of said body, the portion being one or more side walls of the body.

10. The digging implements (60,70) of any one of the preceding claims, wherein at least one sensor of the plurality of sensors (25,160) comprises at least one inertial measuring unit arranged on the at least one body (61-65,71-77); wherein measurements of the at least one inertial measuring unit are processed to determine and / or monitor: motion of the at least one body, and / or one or more digging cycle parameters.11 . The digging implements (60,70) of any one of the preceding claims, wherein the at least one electronics module (10) is arranged on a body different from the body of the at least one body that the plurality of sensors (25,160) is arranged on.

12. The digging implements (60,70) of any one of the preceding claims, further comprising, on a body of the at least one body (61-65,71-77) or a portion thereof, means for attachment to an arm of the earth moving machine; wherein one or more modules of the at least one electronics module (10) is arranged on or adjacent to either the means for attachment or a base of the digging implements, or the digging implements further comprise a wires connection box arranged on or adjacent to the means for attachment or the base of the digging implements, the wires connection box being communicatively coupled with the one or more modules.

13. The digging implements (60,70) of any one of the preceding claims, further comprising a single access point that comprises a port or connector for receiving connection of a connection member configured to carry data and / or electric power.

14. The digging implements (60,70) of claim 13 when depending upon claim 12, wherein the single access point is located on or adjacent to the wires connection box.

15. The digging implements (60,70) of any one of claims 12-14, wherein the one or more modules of the at least one electronics module (10) is arranged on or adjacent to the base of the digging implements.

16. The digging implements (60,70) of any one of the preceding claims, wherein the at least one electronics module (10) comprises means for powering the plurality of sensors (25, 160) and / or means for communications with the plurality of sensors.

17. The digging implements (60,70) of any one of the preceding claims, wherein the plurality of sensors (25,160) and the at least one electronics module (10) are both configured such that digitization of measurements of the plurality of sensors is performed by the at least one electronics module.

18. The digging implements (60,70) of any one of the preceding claims, wherein the at least one electronics module (10) comprises a plurality of electronics modules.

19. A wear element (65,76-77,91 ,92) for an earth moving machine, comprising: at least one body (61-65,71-77); a plurality of sensors (25,160) arranged on one or more surfaces of the at least one body; and at least one electronics module (10) communicatively coupled with each sensor or a subset of sensors of the plurality of sensors, the at least one electronics module being configured to process measurements of the plurality of sensors.

20. The wear element (65,76-77,91 ,92) of claim 19, wherein each electronics module of the at least one electronics module (10) is remote from the respective sensors of the plurality of sensors (25,160) that the electronics module is communicatively coupled with.21 . A wear assembly, comprising: at least one wear element (65,76-77,91 ,92) for an earth moving machine; digging implements (60,70) for the earth moving machine; a plurality of sensors (25,160), each sensor thereof being arranged on a wear element of the at least one wear element; and at least one electronics module (10) communicatively coupled with each sensor or a subset of sensors of the plurality of sensors, each module of the at least one electronics module being arranged on the digging implements or on a wear element of the at least onewear element different from that where the respective sensors communicatively coupled therewith of the plurality of sensors are arranged, the at least one electronics module being configured to process measurements of the plurality of sensors.

22. An earth moving machine, comprising: digging implements (60,70) according to any one of claims 1-18 or a wear assembly according to claim 21 ; and / or at least one wear element (65,76-77,91 ,92) according to any one of claims 19-20.

23. The earth moving machine of claim 22, further comprising an electronic control unit for operating and / or controlling operation of at least one module of the earth moving machine.

24. The earth moving machine of claim 23, wherein the at least one module operated or whose operation is controlled by the electronic control unit comprises one or more of: the digging implements, an arm of the earth moving machine, and a rotary platform of the earth moving machine.

25. The earth moving machine of any one of claims 22-24, wherein at least one cable of the digging implements (60,70) or the wear element assembly is connected with the electronic control unit and a wires connection box.

26. A method, comprising: arranging a plurality of sensors (25,160), each sensor being arranged on a body of at least one body (61-65,71-77) of a wear element (65,76-77,91 ,92) or digging implements (60,70) for an earth moving machine; arranging at least one electronics module (10) on a body of at least one body of the wear element or the digging implements; and electrically connecting each sensor of the plurality of sensors with an electronics module of the at least one electronics module.

27. The method of claim 26, wherein the at least one electronics module (10) is arranged on the body of at least one body remote from the plurality of sensors (25,160).

28. The method of any one of claims 26-27, further comprising: taking measurements with each sensor of the plurality of sensors (25,160);transmitting the taken measurements through a wired connection to the electronics module of the at least one electronics module (10) that each sensor is respectively connected to; and processing the taken measurements of each sensor of the plurality of sensors with the electronics module connected thereto, thereby providing processed data.

29. The method of claim 28, further comprising: transmitting the processed data to a data communications module or a wires connection box arranged proximate to a means for attachment of the digging implements (60,70) to an arm of the earth moving machine; and transmitting the processed data from the data communications module or the wires connection box to a computing device at a cabin of the earth moving machine or at a control center remote from the earth moving machine.

30. The method of claim 29, further comprising: digitally deriving one or more operating instructions for the earth moving machine based on the processed data; and automatically operating the earth moving machine according to the derived one or more operating instructions; wherein the one or more operating instructions are derived at the control center or the cabin.

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