Monitoring of digging implements and control of earth moving machine

Abstract

A method comprising: processing at least one value, the at least one value comprising force and / or pressure and / or torque exerted on digging implements of an earth moving machine; and obtaining, at least based on the processed at least one value, status data about the digging implements and / or material engaged by the digging implements and / or material loaded on the digging implements. The status data may comprise, for example, overstress and / or fatigue of the digging implements, resistance to penetration of the digging implements to engaged material, resistance against movement of the digging materials in engaged material, amount of material loaded by the digging implements and / or amount of time that the digging implements engage the engaged material.

Description

[0001] MONITORING OF DIGGING IMPLEMENTS AND CONTROL OF EARTH MOVING

[0002] MACHINE

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to the field of earth moving machines. More particularly, the present disclosure relates to, but is not limited to, determining efforts that digging implements of an earth moving machine is subjected to. The present disclosure also relates to controlling operation of the earth moving machine at least based on the efforts.

[0005] BACKGROUND

[0006] Earth moving machines such as excavators or loaders, for example, for working in construction sites, mining, dredging, etc., have recently seen improvements in the form of monitoring capabilities of wear elements (e.g., cast lip, plate lip, tooth bars, shrouds, etc.) that are coupled with digging implements (e.g. bucket, shovel, dredgehead, etc.) or with other wear elements (e.g., teeth, fixing elements, etc.) in turn coupled with digging implements. To this end, sensors have been arranged on the wear elements to detect potential falling of wear elements, wearing of the wear elements or straining that the wear elements are subjected to. Such sensed data is useful for supervising the operation of the wear elements.

[0007] In many occasions, the aforesaid data fails to provide details about the operation of the digging implements and the earth moving machine. Monitoring of the digging implements would be beneficial for an adequate operation because the different phenomena occurring on the digging implements has an impact on the ongoing and future status thereof.

[0008] Improved control of the earth moving machine would also be possible using data about the digging implements. When the earth moving machine is controlled by an operator, e.g., in a cabin of the earth moving machine or outside the earth moving machine with R / C, additional information would assist the operator in controlling the machine, and / or the controls commanded by the operator be at least partially overridden with controls derived from the data about the digging implements for a semi-autonomous operation. Or in autonomous earth moving machines, better decision-making would be possible during operation of the machine.

[0009] There is an interest in providing data about the efforts that digging implements are subjected to, deriving the status of the digging implements and controlling the earth moving machine that incorporates said digging implements. DESCRIPTION

[0010] A first aspect relates to a method. The method comprises processing at least one value, the at least one value comprising force (or pressure) and / or torque and / or strain exerted on digging implements of an earth moving machine. The method may also comprise obtaining, at least based on the processed at least one value, status data about the digging implements and / or material engaged by the digging implements and / or material loaded on the digging implements.

[0011] Additionally or alternatively, in some embodiments, the method comprises obtaining the at least one value. The at least one value may be obtained by receiving measurements of at least one sensor; and / or by processing the received measurements to compute the at least one value.

[0012] The at least one value, which may be at least one measurement of at least one sensor and / or a processed version thereof to compute the at least one value, is indicative of the force, pressure, torque, strain, or a combination thereof, occurring at a given time instant or during a period of time. In the context of this disclosure, the term force is used to refer to force or, alternatively, to pressure since it is also related to force, and the term force may also be used to refer to strain; when referring to force, the at least one value may be a force vector or a scalar value whereas, when referring to pressure, the at least one value is a scalar value. In the context of this disclosure, the term strain is used to refer to deformation and / or strain.

[0013] The processing of the at least one value is conducted according to the type of data that the at least one value contains, and it is configured to output the status data, which is representative of the status of the digging implements and / or the material (e.g., soil or ground, minerals, etc.). For example, one or more equations may be used to provide the status data at least using the at least one value, namely, the at least one value is part of the one or more equations.

[0014] The at least one value may include lateral force values. By lateral force values it is meant that the force values at least have a transversal component, i.e. , along the direction defined by a shortest distance between a first lateral wall of the digging implements to a second and opposite lateral wall of the digging implements, yet the force values may also include force in other directions too. Such lateral values are challenging (or even not possible) to be measured with sensors in wear elements yet their values are important for determining the behavior of the digging implements, for example for detecting and measuring lateral frictions that also preclude adequate ground engaging.

[0015] The at least one value may include force and / or torque and / or strain values exerted on a base of the digging implements, e.g., micro deformations. Base values are also challenging or not possible to be measured with sensors in wear elements. The base of the digging implements is typically subjected to large stresses and efforts owing to its proximity to the engaged material or even contact with the engaged material. In some cases, the at least one value comprises one or more values indicative of wear of the digging implements, for example but without limitation, in the form of a thickness that decreases over time as the digging implements are used.

[0016] The at least one sensor comprises one or more sensors for measuring strain or force that is / are arranged on the digging implements and / or on an arm of the earth moving machine that has the digging implements coupled therewith; the arm also includes a connecting rod that connects the arm with the digging implements. The one or more sensors are any suitable sensors known in the art, such as, for example, strain gauges, force sensors, etc. In some cases, a plurality of strain gauges is arranged on a same platform, and both the platform and the strain gauges are configured to measure force, torque and / or deformations, for example, bending and torsion loads.

[0017] Regardless of whether the wear elements include sensors or not, during maintenance tasks that involve the replacement of wear elements, sensors present in the digging implements and / or arm are not automatically replaced as neither one of these two components of the machine is a replaceable wear element. This, in turn, reduces the number of devices that must be taken care of during maintenance. If the sensors are damaged or the energy supply means thereof have run out of energy, the particular sensors may be repaired or replaced, but not all if unnecessary.

[0018] The method, or at least part of the method in some embodiments, is a computer- implemented method that runs in one or more processing devices, in an isolated manner and / or in a distributed manner. That is to say, one, some or all steps may be run by a same processing device, or one or some steps may be run by one processing device and some other step or steps may be run by one or more other processing devices or even be run in distributed manner, which means that several processing devices cooperate to run one or more steps. In this sense, the steps are digitally run. The processing device or devices may be included in the earth moving machine that has the digging implements, and / or be external (and, thus, remote) to the earth moving machine, for example a processing device such as, but without limitation, at least one electronic control unit, at least one server or personal computer, at least one field-programmable gate array, at least one application specific integrated circuit, etc.

[0019] In some embodiments, the status data comprises: overstress of the digging implements; and / or fatigue of the digging implements; and / or resistance to penetration of the digging implements to engaged material; and / or resistance against movement of the digging materials in engaged material; and / or amount of material loaded by the digging implements; and / or amount of time that the digging implements engage the engaged material.

[0020] The overstress of the digging implements may be computed considering how much force and / or torque are / is being applied to the digging implements and for how long. When any of these magnitudes exceeds respective predetermined values (which may be calculated and provided by the manufacturer of the digging implements or even of the wear elements, and be based on a breakout force of the earth moving machine) for a period of time, there is a risk of damaging the implements owing to the generated excessive stress. The overstress can be determined by means of the at least one value. A number of predetermined values may be necessary to properly determine different overstress conditions. Overstress may exist per axis, meaning that an axis going from a rear end to a front end of the digging implements may be undergoing stresses that qualify as overstress for that direction whereas stresses along an axis perpendicular thereto (e.g., a vertical axis going from a base of the digging implements upwards, a transverse axis going from a side wall to the opposite side wall, etc.) may not cause an overstress condition for that axis.

[0021] The fatigue can be computed by way of aggregation of the different forces and / or torques over time. As more and more efforts are applied to the digging implements, worsening of the mechanical properties of the digging implements becomes more significant. The at least one value, when considered over time, can be used for obtaining the fatigue.

[0022] Penetration and movement resistances are the resistances that need to be overcome by the digging implements to engage the material. The penetration resistance depends upon the resistance to penetration into the material by the various components, such as wear elements, coupled with the digging implements as their respective surfaces collide with the engaged material. The movement resistance, which also depends upon the characteristics of the various components and how easily they can move within the material, is the resistance of the material against movement once the digging implements have penetrated it.

[0023] Furthermore, penetration resistance provides valuable information regarding the type of material being moved during digging operations, such as compression and cutting resistance, compaction, cohesiveness, and viscosity.

[0024] The at least one value can be used to provide the total penetration resistance and / or the total movement resistance that the digging implements are / is facing overall. The resistances are directly linked to the energy consumption of any kind of energy used by the earth moving machine during material engagement; accordingly, greater resistance will result in greater energy consumption whereas lower resistance will result in lower energy consumption.

[0025] How much material is loaded is relevant to the force (and, therefore, energy consumption) required by the digging implements to load the material in the first place, i.e. , during scooping, and the force required to transport the load to a location where it is unloaded if not done in the same location where the material is first loaded. Further, quantification of the loaded material is also relevant to quantifying how much material is being unloaded on a given unloading area, e.g., a truck. Therefore, status data about the amount of material can be used to adjust the material engagement and the amount of material to be unloaded so as to tailor it to the available volume or weight that can be coped by the unloading area.

[0026] During the times at which the digging implements are free of loaded material, which can be detected also from inertial measurements units that are representative of the ground engaging operations, the measurements and / or obtained at least one value may be used for calibration for determining the amount of loaded material at a later time instant. In this sense, the mass of the digging implements may be calculated and subtracted from subsequent measurements and / or values that are indicative of the mass of the digging implements plus the loaded material. This later mass can be measured or calculated at times when there is little or, preferably, no vertical accelerations that would distort the actual value of mass of the load. Forces supported by the digging implements can have the weight of the load compensated for using the aforesaid data and having regard an inclination of the digging implements, which also influences the weight of the load and the digging implements.

[0027] It is also important to verify that the loaded material has been completely unloaded at the designated location. This can be achieved through various methods. One approach involves using a camera to record the unloading event, followed by processing the images with an algorithm to validate, for instance, the presence of a truck. Another method is the determination of the height at which unloading is performed. When unloading is done into a truck, the unloading height is usually significantly higher, due to the height of the truck, than when unloading is done without a truck. It is uncommon to perform unloading at a high elevation (when there is no truck) due to safety concerns or dust generation. The unloading height can be defined as the height at which the bucket is positioned at the moment the loaded bucket tilts at an angle sufficient to initiate the material's descent. A third possible method is monitoring the orientation of the truck. Generally, trucks are always oriented at the same angle (within the horizontal plane). After a few unloading cycles, the system can identify a pattern that allows it to deduce the angle at which the trucks are positioned relative to the front or the machine itself. For example, if the unloading is performed with a swing movement of 15°, it is unlikely to be a truck unloading, especially if the rest of the unloadings have been done at an angle of 80°. Another approach is to include sensors on trucks to monitor their presence, orientation, location, and / or identify a unique truck ID to adjust the parameters for that specific truck. All such methods fall within the scope of the present disclosure.

[0028] The engagement time, also referred to herein as ground contact time, is a quantification of the time that the digging implements and, therefore, wear elements thereof undergo stresses and abrasion that damage them both. The ground contact time thereby makes it possible to estimate abrasion of the engaged material, the useful life of the concerned components, and performance of the earth moving machine based on the ground contact time and the amount of material loaded and / or the energy consumption.

[0029] Ground contact time allows to compare the performance of wear elements between machines in isolation, eliminating parameters such as operation time, driver, or cycle time per scoop, among others. Ground contact time can be combined (weighted) with the force applied to the digging implements or wear elements to more accurately determine the level of wear, lifespan, and consumption of wear elements. If there is more force, the wear will be greater.

[0030] Another important parameter is the ratio between the amount of material loaded and the energy consumption for each digging cycle as it allows to determine the productivity of the machine. By monitoring such ratio, it can be determined whether the machine is having any failures or the wear elements have worn off too much and their penetration has reduced significantly, thereby allowing the scheduling of maintenance tasks due to the existing problem.

[0031] In some embodiments, the method further comprises determining at least one phase and / or at least one cycle of an earth moving machine operation at least based on the at least one value and the status data.

[0032] Phases and cycles of the earth moving machine operation are different tasks conducted by the earth moving machine when performing earth movement, regardless of the material or terrain actuated upon. Each phase is a particular task of the earth moving machine, e.g., movement of the machine, loading of material, contacting the material, swinging the arm of the machine, unloading or dumping the material, halting operation, etc., whereas a cycle is formed by a concatenation of two or more phases.

[0033] The at least one value is informative of forces, torques, strains, accelerations, orientations, etc., that one or more components of the machine has or has undergone, whereas the status data is informative of alterations or results of what causes the at least one. By processing both according to, e.g., one or more predetermined models, one or more reference values, etc., phases and cycles may be determined.

[0034] In some embodiments, the determining comprises determining the at least one phase. The at least one phase comprises: a load operation, a swing operation with the digging implements having material loaded, a dumping operation for unloading material, a swing operation with the digging implements being empty, or a combination thereof.

[0035] In some embodiments, the determining comprises determining the at least one cycle. Each cycle of the at least one cycle comprising a plurality of phases.

[0036] In some embodiments, each determined cycle comprises data indicative of a start and end of each respective phase.

[0037] Each cycle has a sequence of phases which may overlap in time when the start and end times of each phase is determined independently of other phases. But preferably, cyclewise, the phases occur sequentially such that no two phases overlap in time. By delimiting each phase to not overlap with other phases, the total time of a cycle that, e.g., an operator may calculate as the elapsed time between start and end of the cycle, becomes the sum of the durations of the phases, thereby enabling assessing the contribution of each phase to the cycle and the productivity thereof.

[0038] The determination of start and end times for each phase is made depending on the most influential result that one of several overlapping phases (generally, there are just two overlapping phases at most, but sometimes there may also be three or four) has compared to the result of the other overlapping phases.

[0039] In some embodiments, the method further comprises assessing the at least one value at least based on productivity of each determined cycle.

[0040] Upon establishing the productivity of cycles, which is one or more values representative of, e.g., how much energy has been spent in the cycle, how much resistance has been faced in the cycle, how much material has been moved (e.g., loaded, transported, unloaded), etc., the productivity may be related to the at least one value to determine further data representative of the performance of the machine. For example, the productivity may be related to the amount of movement the machine and components thereof have required, thereby yielding, e.g., movement of material with movement of the machine, combined swinging of the arm and rotation of the digging implements to increase or reduce the productivity, etc. By way of another example, the productivity may be related to the amount of inactivity of the machine, thereby yielding, e.g., stoppage times involved in the earth moving operation, etc.

[0041] In some embodiments, the at least one value comprises force exerted on the digging implements in two perpendicular directions (e.g., horizontal and vertical directions defined by, e.g., an arm of the earth moving machine, a cabin of the earth moving machine, tracks of the earth moving machine, etc.) and the torque exerted on the digging implements.

[0042] Such pair of force values together with the torque provides high knowledge of the behavior of the digging implements effort-wise. More concretely, these data inform of how the digging implements is being contacted by objects or surfaces in the surroundings of the earth moving machine, in which direction and how strong or soft that contact is. This, in turn, makes it possible to obtain the status data with more level of detail and apply control techniques, if so desired, better suited to the behavior of the digging implements, including controlling the digging implements in an autonomous manner. For example, it enables making adjustments to make the digging implements work more uniformly at the materialengaging side thereof and reduce fatigue of the arm and wear elements.

[0043] In some embodiments, the at least one value comprises strain exerted on the digging implements in two perpendicular directions (e.g., horizontal and vertical directions defined by, e.g., the digging implements, an arm of the earth moving machine, etc.).

[0044] The two straining values provide data about, e.g., bending and torsion loads exerted on the digging implements. More concretely, these data inform of how the digging implements is being contacted by objects or surfaces in the surroundings of the earth moving machine, and also how the load is arranged within the digging implements.

[0045] In some embodiments, the at least one value comprises a thickness of a portion of a body of the at least one body. In some embodiments, the portion is 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.

[0046] The status data may be richer in data or more informative owing to the thickness data, which is representative of the wear that the portion of the body has undergone. In this sense, combination of the at least one value in the form of force and / or torque with the at least one value in the form of thickness may indicate how the digging implements are behaving.

[0047] 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. 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.

[0048] In some cases, the sensor(s) comprises, 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.

[0049] In some cases, the sensor(s) comprises, for example, a resistive, capacitive or inductive sensor arranged on a cavity of the body of the digging implements. When the body surrounding the cavity is subjected to wearing, the sensor(s) is also subjected to wearing. By measuring a resistance, capacitance or inductance, or a permeability of the physical medium, a trend of the measurements is indicative of how much the thickness of the digging implements, or the thickness of the portion of the body where the sensor is arranged, has reduced over time. In some embodiments, the method further comprises issuing, at least based on the status data, a control command.

[0050] Control of the earth moving machine and, especially, of the arm and / or digging implements is possible using the status data. The status data is representative, for example, of the limited engagement of material that frequently occurs when the digging implements are contacting a large solid object (e.g., a rock) or a set of solid objects that limit or preclude penetration of the wear elements and, thus, the digging implements into the dug material or movement thereof while in the dug material. The status data is also representative, for example, of how much the digging implements and the wear elements thereof have been contacting material in presence of friction, which produces abrasion and shearing.

[0051] Therefore, appropriate corrective action may be taken at least based on such data.

[0052] In some embodiments, the control command may comprise one or more of: an automatic modification on how the digging implements engage the engaged material; a user perceptible notification; and scheduling of maintenance operations for the digging implements or a wear element thereof.

[0053] The engagement modification may include a modification of an angle of attack of the digging implements and / or a trajectory followed by the digging implements. The angle of attack is determined by how the leading edge of the digging implements is brought into contact with the surface of the engaged material, particularly the angle formed between the edge and the plane containing the surface of the material. The trajectory includes the path followed by the digging implements during a sequence of operations of a digging cycle including engagement and loading (i.e. , scooping), and optionally unloading. Accordingly, the path includes the starting position on the surface of the material that the digging implements reaches for engagement of the material, the penetration and scooping of the material, and the ending position on the surface of the material at which the digging implements leaves said surface; in some cases, the path also includes the trajectory followed by the digging implements to unload the scooped material on a given area, for example, a truck, a pile of material, etc. The modification of the trajectory may involve modifying a portion of the complete path followed during a sequence of operations including engagement, loading, swinging and unloading (i.e., dumping), or the totality of the sequence of operations. The modification is intended to reduce energy consumption of the earth moving machine during operation thereof.

[0054] User perceptible signals may be any form of signals that a person may detect as part of a warning or notification signal, for example but without limitation, visual indications, audible indications, tactile indications, etc. For example, user perceptible signals may be provided to an operator or a controller of the earth moving machine when, for example but without limitation: modifications in angle of attack and / or trajectory are suggested to improve the operation of the earth moving machine; when there is an increasing overstress or fatigue in the digging implements; when the wear elements have been subjected to too much ground contact time (namely, when the ground contact time has exceeded a predetermined threshold), etc.

[0055] The scheduling of maintenance operations may involve registering in, e.g., a database, the need for maintenance tasks at a particular date or time for a particular earth moving machine or component thereof. An operator may review the registered requested maintenance and conduct the maintenance in any suitable form.

[0056] In some embodiments, the modification of the angle of attack and / or the trajectory is progressive and is conducted at least until a resistance to penetration and / or movement of the digging implements and / or an energy consumption of the earth moving machine decreases by more than at least one predetermined threshold.

[0057] Progressive changes in angle of attack and trajectory are convenient to attempt to reach a part of material, proximate to that part with resistance to penetration and / or movement of the digging implements, that features less resistance owing to the diverse arrangement of solid objects therein and particularities of the material (e.g., viscosity, fragmentation, etc.) between adjacent parts. In many occasions, a subtle change in angle (e.g., 3° or less) or trajectory (e.g., slope change of 5° or less to lengthen or shorten the scooping) results in a very different engagement of material.

[0058] By way of example, the controlling can involve a command for applying subtle vibrations in respect of the angle or the slope of the trajectory. The introduction of vibrations by way of small variations in the movement of the digging implements oftentimes makes the engaged material more fluid as the particles and objects thereof move and temporally form lower friction volumes.

[0059] As the resistance can be sequentially or continuously determined with the processing of more recent values of the at least one value, the most recent resistance during the engagement is compared to previously determined resistance, for example the resistance determined, e.g., half a second before, one second before, two seconds before, etc. When the difference between the two resistance values exceeds the predetermined threshold, it is considered that the modification of the engaging parameters has been successful. Notwithstanding, it is possible to modify the engaging parameters several times in an attempt to keep improving the engagement of material.

[0060] The predetermined threshold may be empirically set or, preferably, be dynamically set based on the ongoing earth moving operations by the earth moving machine and / or other machines in the same premises, preferably machines adjacent to that of the digging implements since similar particular engagement conditions are expected to be present in the nearby area. To this end, the several earth moving machines may communicate respectively determined resistances, including the lower resistances that could have been determined upon modifying the engaging parameters.

[0061] In some embodiments, modifications of the angle of attack and / or the trajectory are stored for guiding subsequent modifications of the angle of attack and / or the trajectory.

[0062] When lower resistance has been determined following a modification of an engaging parameter, data representative of the modification is stored so that, when in a subsequent engaging operation there is a high resistance, a similar modification is first attempted to improve the performance of the operation. As regions of the engaged material may feature similar particularities in terms of composition, existing solid objects, etc., alike modifications are first attempted to reproduce the same results.

[0063] In some embodiments, the modification of the angle of attack and / or the trajectory comprises modifying the trajectory such that a length of a path followed by the digging implements and for which the digging implements remain underground is made longer when a maximum depth reached by the digging implements underground is made shorter, and vice versa, the maximum depth reached is made shorter when the length of the path is made longer.

[0064] In some embodiments, the modification of the angle of attack and / or the trajectory comprises modifying the trajectory such that a length of a path followed by the digging implements and for which the digging implements remain underground is made shorter when a maximum depth reached by the digging implements underground is made longer, and vice versa, the maximum depth reached is made longer when the length of the path is made shorter.

[0065] To move and load an adequate amount of material, the digging implements should scoop the material following a trajectory that has a given maximum depth and a given length. The modification of the trajectory involves making the length longer due to, e.g., a great resistance, and making the maximum depth shorter or the other way around. The same may also occur in the opposite way when, e.g., there is a great resistance, thus the length may be made shorter with a longer maximum depth or the other way around.

[0066] Opting for any one of the alternatives may be based on the particularities of the engaged material and the modification that has made possible to reduce the resistance. In some examples, it is the longer length of the path for a shorter depth underground whereas, in some other examples, it is the shorter length of the path for a deeper underground scooping.

[0067] In some embodiments, the modification of the angle of attack and / or the trajectory comprises modifying the trajectory such that a first lateral half of the digging implements is made to advance more than a second and opposite lateral half of the digging implements when the status data is indicative that the second lateral half is engaging more material than the first lateral half.

[0068] Torques, in addition to or alternate to force, allow to establish that one side of the digging implements is being subject to more efforts than the other side, which means that one side is working more than the other. Unbalances in the work performed by the two sides of the digging implements lead to premature fatigue or overstress of part of the digging implements in addition to suboptimal engagement operations as not the entire surface and volume of the digging implements are being used.

[0069] There are several actions to consider for reducing torques, such as modifying the angle of attack, adjusting the height of the bucket (avoiding vertical imbalances), decreasing the breakout force of the machine, and introducing and / or increasing vibrations. These are just a few non-limiting examples.

[0070] In some embodiments, the at least one value corresponds to at least one value of force and / or torque and / or strain exerted on a surface of the digging implements not in contact with wear elements coupled with the digging implements.

[0071] The use of the at least one sensor for taking measurements enables measuring values on surfaces that are not directly in contact with wear elements, whereas known wear elements include sensors and have been capable of measuring values that could be related to physical phenomena, such as torques or forces or strains, occurring on surfaces of the digging implements that are in contact with the wear elements.

[0072] In some embodiments, the computation of the at least one value comprises aggregating the received measurements of multiple sensors of the at least one sensor at least based on a position of each respective sensor on the digging implements and / or the arm.

[0073] Multiple sensors of same or different types, i.e., measuring the same magnitudes or different ones, can have their measurements processed in a combined manner to obtain the at least one value. In this sense, the measurements of each sensor together with the arrangement of the respective sensor (e.g., position thereof, orientation thereof) are processed having regards the measurements of other sensors along with the arrangement particularities of the other sensors to establish what the force and / or torque is.

[0074] By way of example, if strains are being measured, a compressive strain measured on a first surface and a tractive train measurement on a second and opposite surface may be processed together to compute a force going from one surface to the other with a given magnitude and direction. As more strains are measured on same or different surfaces, a more accurate computation of the at least one value becomes possible.

[0075] In some embodiments, the computation of the at least one value comprises comparing the received measurements with historical data that provides correspondence between historical measurements and computed force and / or torque.

[0076] Comparison of new measurements with historical data is a simple but effective way of computing the at least one value. Interpolation and extrapolation of the result of the at least one value can be applied to the value obtained from the comparison to yield a more accurate result, especially when the new measurement does not coincide with values of the historical data.

[0077] In some embodiments, the computation of the at least one value comprises inputting the received measurements in a trained algorithm, the trained algorithm being configured to output the at least one value.

[0078] The trained algorithm may be an artificial intelligence or machine learning routine that is configured to take the measurements of the at least one sensor, process them and output the at least one value. To this end, the training of the algorithm may be performed with training data that includes measurements of same or similar sensor(s), similarly or identically arranged on the digging implements and / or arm, and / or synthetically created measurements. The training data also includes historical data of derived (e.g., by way of simulations) or measured (with one or more sensors) force and / or torque on the digging implements.

[0079] Examples of suitable algorithms are, for example but without limitation, neural networks, regression, etc.

[0080] In some embodiments, the at least one value further comprises: inclination and / or orientation of the digging implements; and / or acceleration of the digging implements; and / or position of an arm of the earth moving machine; and / or hydraulic pressure of cylinders of a hydraulic system operating the arm and the digging implements; and / or actuation commands of an operator of the earth moving machine. Aside from force and / or torque and / or strain data, the at least one value may include further physical magnitudes that increase the accuracy or level of detail of the status data.

[0081] Inclination and orientation of the digging implements, which may be obtained from, e.g., an inertial measuring unit, represent the directions along which the digging implements are facing. The inclination and orientation are defined, for example, as angles between an axis or plane of the digging implements and a reference axis or plane, for example, an axis or plane of the arm or the cabin.

[0082] Acceleration of the digging implements, which may be obtained from, e.g., an inertial measuring unit, enables deriving forces that the digging implements are subjected to and / or changes in speed in the maneuvers of the digging implements, for example during the engagement operation.

[0083] Position of the arm is representative of where the digging implements are positioned and oriented, and is indicative of the trajectory followed by the digging implements during the ground engaging operations. The position of the arm is preferably in each axis. The position may be obtained from sensors such as, e.g., inertial measuring units, and / or from the control logic of the earth moving machine. As the arm is controlled during operation, the actuation commands can be converted into the position of the arm, which is generally verified with encoders or alike sensors. The actuation commands may additionally or alternatively indicate what maneuvers are being conducted by the digging implements.

[0084] Hydraulic pressure of the cylinders is indicative of the force applied by the earth moving machine and the resistance of the environment against the operation of the machine.

[0085] A second aspect relates to a method. The method comprises arranging one or more sensors, each sensor being arranged on digging implements or an arm that comprises the digging implements. The method may also comprise measuring, with the one or more sensors, strain, force and / or torque exerted on the digging implements. The method may also comprise calculating, with at least one computing device, force and / or torque exerted on the digging implements at least based on the measurements.

[0086] The method enables the provision of sensors with which the forces (or pressures) and / or torques applied to the digging implements may be calculated for characterization of the status of the digging implements.

[0087] In some embodiments, the calculating comprises a computer-implemented method as described in the first aspect.

[0088] In some embodiments, the one or more sensors each comprises a platform arranged to a housing of the respective sensor. The platform is adapted for fixed attachment to a surface of the digging implements or the arm by welding the platform. Typically, arrangement of sensors in earth moving machines is not simple for several reasons. The sensors should be arranged having regard the harsh environments that the earth moving machines are exposed to; frequently, the dug material reaches surfaces on which the sensors may be arranged, thereby constantly damaging them. Attachment of the sensors to the surfaces can be challenging, especially if it involves using attaching techniques or components that may impact the correct operation of the sensors, for example, viscous materials that reflow and get into the electronics, high temperatures reached during the attachment, etc.

[0089] The provision of a platform (e.g., a base) on the housing eases the attachment of the sensor to the earth moving machine. Particularly, the sensor may be manufactured with such platform or be attached thereto previously to being attached to the earth moving machine. Then, when the sensor is to be attached to the machine, the platform has to be attached to a surface (interior, i.e., not exposed to dug material, or exterior, i.e., exposed to dug material). This, in turn, provides some space between the attachment and the sensor and electronics thereof, if any, and it also requires the attachment characteristics to be present in the platform and not the sensors as it is the former the one attaching to the surface.

[0090] Depending on the sensors used, the platform may also be useful for the taking of measurements. For example, strain sensors may measure the straining on the platform, which is applied thereto from the straining of the surface that the platform is attached to.

[0091] In some embodiments, one or more computing devices of the at least one computing device are part of or are adjacent to a respective sensor of the at least one sensor.

[0092] The computing device(s) are located within a same housing or in different housings but adjacent to the sensor so that communication distances and cabling, if any, between the computing device and the sensor are as reduced as possible.

[0093] In some embodiments, one or more computing devices of the at least one computing device are remote from one or more sensors of the at least one sensor. In some embodiments, the one or more computing devices are arranged in the digging implements and / or the arm and / or another part of the earth moving machine (e.g., a cabin, an electronic control unit, etc.).

[0094] Remote computing device(s) may be particularly convenient when multiple sensors are to have measurements thereof processed in a centralized manner, and / or commands are to be imparted to the multiple sensors for control thereof. In this sense, the computing device(s) include electronics configured to process sequentially or in parallel data provided by multiple sensors, thereby reducing the number of computing devices needed for processing all data provided. The at least one computing device receiving and processing data of the at least one sensor may then transmit the processed data to another part of the earth moving machine, for example, to an electronic control unit that adjusts operation or operates the digging implements and / or an arm of the earth moving machine.

[0095] In some embodiments, the at least one sensor is connected with the at least one computing device with one or more cables.

[0096] Each cable delivers data or electric power or both (i.e. , data and electric power). When delivering data, the cable is preferably configured to allow transmission and reception of data, thereby enabling bidirectional transmission of data between sensor(s) and computing device(s).

[0097] In some embodiments, one or more computing devices of the at least one computing device are connected with a wires connection box.

[0098] The wires connection box may be a device that provides an endpoint for data communications and / or electric power of the digging implements so that cabling from other parts of the earth moving machine and / or a control center may be connected to such endpoint for data and / or powering.

[0099] 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 sensors, computing devices, electronics modules, or combinations thereof. 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.

[0100] In some embodiments, the wires connection box comprises a single access point, or a single access point is located on or adjacent to a wires connection box. In some embodiments, the single access point is located adjacent to or where means for attachment of the digging implements for attachment to an arm of the earth moving machine are arranged.

[0101] 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 computing devices and / or sensors of the plurality of sensors. Such a centralized location for all the available data is also convenient to ease reading and processing of all data streams (e.g., one data stream per sensor, one or multiple data streams per computing device, etc.) in parallel or with synchronicity, and / or for controlling from a centralized location that all devices or a subset of all devices (e.g., sensors, computing devices, analog-to-digital converters, combinations thereof, etc.) operate in parallel or with synchronicity to have simultaneous (or almost simultaneous) measurement-taking and accurate timestamping. This way, meaningful combinations of the data are made possible since all the measurements will reflect the stress state of the digging implements in each time instant at which the measurements are taken, otherwise sources of error are introduced that reduce the accuracy of the at least one value.

[0102] 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.

[0103] In some embodiments, the at least one sensor is configured to be connected with the at least one computing device with a wireless connection.

[0104] Similar advantages as those described with reference to the first aspect are also applicable to this and to the third to seventh aspects below.

[0105] A third aspect relates to a system for an earth moving machine. The system comprises digging implements for the earth moving machine and / or an arm comprising the digging implements. The system may also comprise at least one sensor assembly arranged on the digging implements and / or the arm. The at least one sensor assembly may be configured to compute force and / or torque and / or strain exerted on the digging implements.

[0106] In some embodiments, the digging implements comprise at least one wear element coupled therewith.

[0107] In some embodiments, the at least one wear element does not comprise sensors. In some other embodiments, the at least one wear element comprises sensors, for example, sensor for measuring strain or force.

[0108] Based on the computed force and / or torque, status data may be provided by the system by processing said computed values. The status data may include status data about the wear element(s), for example, the wearing thereof. Accordingly, the system may result in the no provision of sensors in the wear elements yet still being capable of characterizing the behavior or performance of the wear elements.

[0109] When sensors are provided in the wear element(s), measurements thereof may be provided to at least one computing device. The at least one computing device processes said measurements in addition to the force and / or torque values to, e.g., provide status data, issue control commands for the earth moving machine, etc.

[0110] In some embodiments, the at least one sensor assembly comprises one or more sensors adapted to measure strain, force or torque.

[0111] In some embodiments, the at least sensor assembly comprises one or more sensors adapted to measure a thickness of a portion of a body of the at least one body.

[0112] In some embodiments, the system further comprises a wires connection box and / or a single access point as described before.

[0113] In some embodiments, each sensor of the at least one sensor is arranged on: shoulders of the digging implements; or a support of the digging implements; or a base of the arm; or one or more chambers formed in the digging implements; or a combination thereof.

[0114] In some embodiments, the system further comprises means adapted to carry out steps of a method as described in the first aspect. In some embodiments, the means comprise one or more computing devices. In some embodiments, each computing device of the one or more computing devices comprises at least one memory and at least one processor.

[0115] In some embodiments, the system further comprises an electronic control unit and one or more cables arranged between the wires connection box or single access point and the electronic control unit.

[0116] In some embodiments, the electronic control unit is on a part of the earth moving machine different from the digging implements and the arm, for example, a cabin of the earth moving machine.

[0117] A fourth aspect relates to an earth moving machine comprising a system as described in the third aspect.

[0118] A fifth aspect relates to a computer program comprising instructions that, when executed by at least one computing device, cause the at least one computing device to carry out steps of a method as described in the first aspect.

[0119] A sixth aspect relates to a computer-readable non-transitory storage medium comprising instructions which, when executed by at least one computing device, cause the at least one computing device to carry out a method as described in the first aspect.

[0120] A seventh aspect relates to a data carrier signal carrying a computer program as described in the fifth aspect.

[0121] An eight aspect relates to a data processing system comprising means for carrying out a method as described in the first aspect. In some embodiments, the means comprise one or more computing devices comprising at least one memory and at least one processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] 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:

[0123] Figure 1 shows digging implements and examples of locations of sensors in accordance with some embodiments.

[0124] Figure 2 shows digging implements and examples of locations of sensors in accordance with some embodiments.

[0125] Figure 3 shows digging implements and examples of locations of sensors in accordance with some embodiments.

[0126] Figure 4 shows digging implements and examples of locations of sensors in accordance with some embodiments.

[0127] Figures 5A-5B show an arm with digging implements, and examples of locations of sensors on the arm in accordance with some embodiments.

[0128] Figure 6 shows an arm with digging implements, and examples of locations of sensors on the arm in accordance with some embodiments.

[0129] Figure 7 diagrammatically shows a system in accordance with some embodiments.

[0130] Figure 8 diagrammatically shows a sensor assembly for systems and methods in accordance with some embodiments.

[0131] Figure 9 shows part of a sensor assembly for systems and methods in accordance with some embodiments.

[0132] Figure 10 shows part of a sensor assembly for systems and methods in accordance with some embodiments.

[0133] Figures 11 A, 11 B and 11C show the engagement of material with digging implements.

[0134] Figure 12 shows engagement of material with digging implements in accordance with some embodiments.

[0135] Figure 13 shows engagement of material with digging implements in accordance with some embodiments.

[0136] Figure 14 shows some example trajectories followed by digging implements.

[0137] Figure 15 shows digging implements or an arm and an example of a location of sensors in accordance with some embodiments.

[0138] Figure 16 shows digging implements or an arm and an example of a location of sensors in accordance with some embodiments. Figure 17 shows digging implements or an arm and an example of a location of sensors in accordance with some embodiments.

[0139] Figure 18 shows digging implements or an arm and an example of a location of sensors in accordance with some embodiments.

[0140] Figure 19 shows digging implements or an arm and an example of a location of sensors in accordance with some embodiments.

[0141] Figure 20 shows a sensor device or assembly in accordance with some embodiments.

[0142] Figure 21 shows an example location of a sensor device or assembly in accordance with some embodiments.

[0143] Figure 22 shows an example location of a sensor device or assembly in accordance with some embodiments.

[0144] Figure 23 shows an example location of a sensor device or assembly in accordance with some embodiments.

[0145] Figure 24 shows a sensor device or assembly in an example location in accordance with some embodiments.

[0146] Figure 25 diagrammatically shows types of cycles and phases of an earth moving machine operation in accordance with some embodiments.

[0147] Figure 26 diagrammatically shows non-productive phases of an earth moving machine operation in accordance with some embodiments.

[0148] Figure 27 diagrammatically shows productive and non-productive cycles of an earth moving machine operation in accordance with some embodiments.

[0149] Figure 28 diagrammatically shows a computing scheme for determining and classifying phases and / or cycles of earth moving machine operations in accordance with some embodiments.

[0150] Figure 29 diagrammatically shows determination of a cycle of an earth moving machine operation in accordance with some embodiments.

[0151] Figure 30 diagrammatically shows determination of a cycle of an earth moving machine operation in accordance with some embodiments.

[0152] Figure 31 shows an example of load phases being determined in accordance with some embodiments.

[0153] Figure 32 shows an example of swing phases being determined in accordance with some embodiments.

[0154] Figure 33 shows an example of dump phases being determined in accordance with some embodiments.

[0155] Figure 34 shows a process for determining a cycle of an earth moving machine operation in accordance with some embodiments.

[0156] DETAILED DESCRIPTION

[0157] Figure 1 shows digging implements 10 in accordance with some embodiments.

[0158] The digging implements 10 illustrated may be those of, e.g., an excavator, whereas, in some other embodiments, alike digging implements are provided of, e.g., a front shovel, a backhoe loader, etc.

[0159] The digging implements 10 include a body with opposite side walls 11 , a base 12, a rear plate 13, and a coupling portion with an upper member 14 and protrusions or flaps 15.

[0160] The digging implements 10 may include one or more wear elements coupled therewith. In the example of Figure 1 , the digging implements 10 receive a plate lip 30. Some other examples of wear elements are: a cast lip, shrouds, an adapter, an intermediate adapter, teeth, tooth bars, side guards, etc.

[0161] Illustrated with circles for the sake of clarity only are example locations 20a-20g where one or more sensors are arranged in some embodiments. It will be noted that, although several locations 20a-20g (and locations 20h-20p as illustrated with reference to Figures 2, 3 and 4) are illustrated, the digging implements 10 include sensors in one, some or all such locations 20a-20p. By way of example, in some embodiments, one or more sensors are arranged on an underside location 20g (shown with dashed lines for the sake of the illustration only since the location 20g is not actually seen) of the base 12, and two or more sensors are arranged on locations 20a, 20e of the opposite side walls 11 , on the inside locations 20a of the side walls 11 and / or on the outside locations 20e of the side walls 11 .

[0162] An inside base location 20f, i.e., on top of the base 12, and an outside base location 20g, i.e., on the bottom of the base 12, may be used together with some protecting device for protecting the sensor(s) arranged thereon as dug material comes into contact with such locations 20f-20g, for example covers that may be welded to the housing of the sensor(s) or the base 12. The inside side wall locations 20a and the outside side wall locations 20e are preferably also used together with some protecting device for the sensor(s) for the same reasons.

[0163] Sensors may also be arranged on shoulders of the digging implements 10. On the upper member 14, which may be an axis or a beam, sensor(s) may also be arranged on top locations 20b thereof, corresponding to shoulders of the digging implements 10. On the protrusions 15, the inner side and the outer side of the protrusions 15 are other convenient locations 20c-20d for arrangement of sensors. The locations 20b-20d on the upper member 14 and the protrusions 15 are more protected than the locations 20a, 20e-20g on the base 12 or the side walls 12 of the body of the digging implements 10. In any case, in some embodiments, sensors arranged in the locations 20b-20d on the upper member 14 and the protrusions 15 are also provided with protecting devices.

[0164] Figure 2 shows digging implements 10 in accordance with some embodiments.

[0165] In addition to, or alternatively to arranging sensors on a front and / or top parts of the body of the digging implements 10, the body of the digging implements 10 may have sensors arranged at the rear end.

[0166] Sensor(s) may be arranged on locations 20h on the rear part of the upper member 14 that are shoulders of the digging implements 10, on locations 20I, 20n on the rear part of the rear plate 13, on a location 20m inside a chamber enclosed at least by the rear part of the rear plate 13 or in a front part of the rear plate 13, on locations 20o on the front part of the rear plate 13, on a location 20i between the protrusions 15, and / or on locations 20j- 20k on either side of the protrusions 15.

[0167] The rear end is usually more protected than the front end, and the locations 20h- 20k, 20I, 20n come into contact with dug material less often.

[0168] Figure 3 shows digging implements 10 and examples of locations of sensors in accordance with some embodiments.

[0169] Sensor(s) may be arranged on a location 20m that may be in the front part of the rear plate 13 or, alternatively, within a chamber 82a that digging implements 10 may have in some embodiments. The chamber 82a, or chambers 82a since respective ones may be provided at the external side beyond each respective protrusion 15, may be formed by one or more walls, including one or more of, for example, the rear plate 13, a top cover 80a, a side wall 11 and / or a protrusion 15.

[0170] Also partially illustrated is another possible location 20p for sensors that is better illustrated in Figure 4. The location 20p is within a chamber that has one or more walls that may include one or more of, for example, the rear plate 13, a top wall 81 , a side wall 11 and / or a protrusion 15.

[0171] Any one of the locations 20m, 20p within chambers may be used independently or in combination with other locations, locations 20a-20o as disclosed, for example, with reference to Figures 1 and 2.

[0172] The digging implements 10 also include, in this embodiment, another possible chamber 82b between the protrusions 15 that, for example, may host one or more sensors and / or at least one computing device 60 communicatively coupled with sensors arranged on the digging implements 10; in some other embodiments, the at least one computing device 60 is located elsewhere. The chamber 82b may include a top cover 80b. The coupling of the at least one computing device 60 with the sensors is, in some embodiments, with cables 90 (illustrated with solid and dotted lines for the sake of clarity only) and / or wireless. One or more through holes 89 can be arranged to let cables 90 through. One or more cables 90 may be used for powering sensors. In some cases, a same cable is used for data communication and electric power. Although not illustrated, one or more cables may be routed from the at least one computing device 60 to other parts of the earth moving machine, for example an arm, an electronic control unit on the arm or elsewhere, a cabin of the earth moving machine, etc.

[0173] The at least one computing device 60 is, in some embodiments, configured to process measurements of sensors and / or obtain of, e.g., status data, control commands, etc., for the operation of the digging implements 10 and / or the earth moving machine. For example, the at least one computing device 60 may obtain data about, e.g., the orientation of an arm of the earth moving machine, the motion of the arm, the orientation of the digging implements 10, the motion of the digging implements 10, etc.

[0174] In some cases, the at least one computing device 60 may operate as a wires connection box or be part of a wires connection box to control the flow of data between the digging implements 10 (or arm of the earth moving machine when arranged on the arm) and other parts of the earth moving machine, and / or the flow of electric power between those ends. Sometimes, centralization of all data in a wires connection box or single access point is conducted such that data to be transmitted and / or received is communicated in data bus form, thereby allowing transmission and / or reception of data from and / or for different endpoints such as sensors and / or computing devices.

[0175] Figure 4 shows a cross-section of digging implements 10 and examples of locations of sensors in accordance with some embodiments.

[0176] The digging implements 10 have a chamber 83 that receives one or more sensors 51 , 53. The sensor(s) 51 , 53, which may be part of a first plurality of sensors and / or of a second plurality of sensors as described with reference to Figure 8, may be attached to surfaces delimiting the chamber 83, such as part of the rear plate 13, the top wall 81 , etc., and preferably on internal surfaces of the chamber 83.

[0177] Although not illustrated, sensors may also be attached to side walls delimiting the chamber 83, e.g., a side wall that is a protrusion 15 or a wall adjacent thereto, and / or a side wall of the digging implements 10.

[0178] One or multiple through holes 89 may be formed in surfaces of the chamber 83 to let cables 90 through. When such surfaces have through holes for other purposes, such as for routing of grease cables, the through holes can be reused for the routing of the cables 90.

[0179] The use of chambers for arrangement of sensor(s) and / or computing device(s), such as chambers 82a, 82b, 83, is convenient for the protection of such devices, thereby lengthening their operating life.

[0180] Figures 5A and 5B show an arm 40 with first and second members 40a, 40b in accordance with some embodiments; Figure 5A shows just a portion of the arm 40. The arm 40 corresponds to that of an earth moving machine 100 in the form of an excavator.

[0181] The second member 40b has digging implements 10 coupled therewith at an end portion 42 of the second member 40b. The first member 40a is coupled with the rest of the earth moving machine at a base portion 41 of the first member 40b.

[0182] Several locations 21a-21g, 22 for one or several sensors have been illustrated with circles for the sake of the illustration only. Like with Figures 1 , 2 and 3, dashed circles represent locations not actually seen due to a component being in front.

[0183] The second member 40b has a location 21a adjacent to the end portion 42 adapted to be coupled with the digging implements 10, and a location 21e adjacent thereto as well; one of the locations 21a is on the front part of the second member 40b whereas the other one of the locations 21 e is on a side part of the second member 40b. A more protected location 21 b or pair of locations 21 b is / are provided adjacent to the end portion 42 but at a greater distance from the digging implements 10, which reduces the likelihood of material reaching the locations 21 b and, thus, sensors arranged thereon. Further locations 21 f, 21g are next to or within a bolt (e.g., rock bolt, connecting rod, etc.) connecting, as a joint, the second member 40b with the digging implements 10; sensors may be arranged within the bolt as illustrated, for example, in Figure 23.

[0184] The first member 40a has a pair of locations 21c closer to a joint 43 coupling the first and second members 40a, 40b than to an end portion 42 adapted to be coupled with the digging implements 10. Also, the first member 40a has another pair of locations 21 d adjacent to the base portion 41 . Locations of the first member 40a are farther away from the engaged material than the second member 40b. By contrast, measurements provided by sensors arranged in the first member 40a should be processed such that efforts that the first member 40a is subject to are converted into efforts applied to the digging implements 10, thereby having to consider the effects of the first member 40a, the joint 43, the second member 40b and a joint with the digging implements 10. In the case of measurements provided by sensors arranged in the second member 40b, the processing is simpler as it is closer to the digging implements 10, thus only the effects associated with the affected parts or portions is relevant to calculate forces and / or torques applied to the digging implements 10, i.e., the second member 40b and the joint with the digging implements 10. To this end, for the calculation of forces and torques, data indicative of the location of the joints is necessary when the measurements are taken on the arm 40.

[0185] Additionally or alternatively, another location 22 for arranging sensors on the arm 40 is on a connecting rod that connects the arm 40 with the digging implements 10.

[0186] For the sake of clarity only, locations for sensors in the digging implements 10 have not been illustrated. It will be noted that one, some or all locations 21a-21d illustrated with reference to the arm 40 can be combined with one, some or all locations 20a-20o illustrated with reference to the digging implements 10 of any one of Figures 1 , 2 and 3. Accordingly, such combinations of locations 20a-20o, 21a-21d fall within the scope of the present disclosure.

[0187] Figure 6 shows an arm 45 with first and second members 45a, 45b coupled with the joint 43 in accordance with some embodiments. The arm 45 corresponds to that of an earth moving machine 100 in the form of a front shovel.

[0188] Similar locations 21a-21d as those described with reference to the arm 40 of Figure 5 are also found on the arm 45 of the front shovel. Accordingly, locations 21a-21 b may be found on the second member 45b proximate to the end portion 42, whereas locations 21c- 21 d may be found on the first member 45a, with locations 21c close to the joint 43 with the second member 45b and locations 21 d close to the base portion 41.

[0189] The locations described with reference to Figures 1 to 6 that have opposite locations, e.g., on opposite sides of the arm 40, 45, on opposite side walls 11 of the digging implements 10, it is preferable to arrange at least one sensor on each of the two opposite locations to calculate lateral forces and to ease calculation of torques exerted on the digging implements.

[0190] Figure 7 diagrammatically shows a system in accordance with some embodiments.

[0191] The system includes at least one sensor assembly 50 with one or more sensors 51a-51n. The at least one sensor assembly 50, which is at least partially arranged on digging implements (not illustrated) or an arm (not illustrated) coupled with the digging implements, measures or compute force and / or torque exerted on the digging implements.

[0192] At least the one or more sensors 51a-51n are arranged in the digging implements and / or the arm, whereas other components of the at least one sensor assembly 50 may be arranged in the digging implements, the arm and / or another part of the earth moving machine. For example, at least one computing device of the sensor assembly 50 or part of the system for computing force and / or torque, and / or at least one computing device 60 (which may be the same as that used for computing force and / or torque or different computing device(s)) for providing status data and / or control commands may be arranged in a cabin of the earth moving machine.

[0193] The at least one sensor assembly 50 provides measurement data, already processed or not, to the at least one computing device 60 for processing and obtention of, e.g., status data, control commands, etc. Figure 8 diagrammatically shows a sensor assembly 50 for systems and methods in accordance with some embodiments.

[0194] The sensor assembly 50 includes a first plurality of sensors 51a-51 n, e.g., strain measuring sensors such as, e.g., strain gauges, force measuring sensors, inertial measurement units, accelerometers, inclinometers, wear measuring sensors. The first plurality of sensors 51 a-51 n may be arranged on a platform 52 adapted for fixed attachment to a surface of the digging implements or the arm. The sensor assembly 50 may also include one or more of the following: a second plurality of sensors 53 (which may measure magnitudes different from those measured by the first plurality of sensors 51 a-51 n, e.g., accelerometers, inclinometers, wear measuring sensors, combinations thereof, etc.); electronics 54 and / or at least one computing device for processing the measurements of the first plurality of sensors 51 a-51 n and, optionally, of the second plurality of sensors 53 (if any); and energy supplying means 55 (e.g., at least one battery) although it may also be electrically powered by an energy supply of the earth moving machine. The sensor assembly 50 also includes a data communications module 56, which is capable of transmitting and / or receiving data through wired (i.e. , one or more cables) and / or wireless communications links.

[0195] The platform 52 or the sensor assembly may be attached to a surface with attaching means 59 such as, e.g., screws, rivets, weld seams, etc.

[0196] In some embodiments, two or more sensor assemblies may share the at least one computing device or processing electronics 54, thereby reusing these components among different sets of sensors.

[0197] Figure 9 shows part of a sensor assembly for systems and methods in accordance with some embodiments.

[0198] The sensor assembly includes a platform 52 on which at least one sensor 51 a-51 b is arranged for taking measurements of ferees and / or torques applied to digging implements or an arm. The platform 52 of this example is a sheet with a flat surface.

[0199] The platform 52 may be, for example, welded to a surface of the digging implements or the arm. The platform 52 may be subject to forces and / or torques like the surface on which it is arranged and, thus, be directly measurable by the at least one sensor 51 a-51 b.

[0200] In this example, each sensor of the at least one sensor 51 a-51 b is a strain gauge. In other examples, different sensors are arranged, including, but not limited to, strain gauges.

[0201] Figure 10 shows part of a sensor assembly for systems and methods in accordance with some embodiments.

[0202] The sensor assembly includes a platform 52 on which at least one sensor 51 a-51 d is arranged for taking measurements of forces and / or torques applied to digging implements or an arm. The platform 52 of this example is a prismatic block with a plurality of surfaces, on some of which one or more sensors 51a-51d are arranged. For instance, the major surfaces (i.e. , surfaces with the largest area) each includes a respective sensor 51a-51d.

[0203] The platform 52 may be, for example, welded to a surface of the digging implements or the arm. Forces or strains exerted on the different surfaces of the platform 52 are measurable by the respective sensor, thereby enabling calculation of ferees and / or torques.

[0204] Figures 11 A, 11 B and 11 C show engagement of material 2 with digging implements 10.

[0205] Figure 11A shows a penetration operation whereby the digging implements 10 contact a surface 1 of material 2 to be engaged with an angle of attack 71 formed between an axis 70 of a penetrating edge of the digging implements 10 and a plane of the surface 1 at the region where the digging implements 10 contact the surface 1.

[0206] The penetration operation requires opening the surface 1 of the material 2 and allow introduction of the digging implements 10 for a separation operation, which also involves loading of the digging implements 10, whereby the digging implements 10 go into the material 2 so that other parts of the implements 10 contact the material 2, as illustrated in Figure 11 B.

[0207] The digging implements 10 push and load the material 2 while traveling underground and, eventually, moving upwards to leave the surface 1 of the material 2 for the escape operation, as illustrated in Figure 11C. When reaching the interface (i.e., the surface 1 line) between the medium and the material 2, the digging implements should be inclined such that the loaded material 2 remains therewithin so as to be transported, if necessary, and unloaded in an unloading area.

[0208] All along these penetration, separation and escape operations, variable resistances are found along the way of the digging implements 10 that, if optimized, improve the production levels of the earth moving machine as the operating cost is reduced due to a lower energy consumption.

[0209] Figure 12 shows engagement of material 2 with digging implements 10 in accordance with some embodiments.

[0210] The digging implements 10 are illustrated in contact with a surface 1 of material 2 to be dug. This Figure illustrates that movement of the digging implements 10 is affected by the terrain. Particularly, as the digging implements 10 advance, different surfaces of the digging implements 10 other than the ones intended for digging and loading the material 2 may be in contact with the surface 1 of material 2.

[0211] Each such contact generates non-productive friction and, thus, resistance that the digging implements 10 must overcome. But not only the operation of the earth moving machine is affected by said resistance, but also the mechanical condition of the contacting surfaces is negatively affected by said resistance. The resistance produces abrasion and shearing loads that damage the digging implements 10.

[0212] Accordingly, the status data provided by systems and methods according to the present disclosure may be representative of overstresses, fatigue and abrasion that the digging implements and wear elements thereof are subjected to. Further, such status data enables controlling the operation of the digging implements to, for example, modify the angle of attack of the digging implements 10 and thereby reduce the frictions. In this example, a lower angle of attack that would cause the digging implements to be facing more downwardly may optimize the operation.

[0213] Figure 13 shows engagement of material 2 with digging implements 10 in accordance with some embodiments.

[0214] An initially intended trajectory 74a for the digging implements 10 is illustrated with a dotted line. The trajectory 74a represents how the digging implements 10 are to travel. The direction of advancement of the digging implements 10 generally coincides with the direction of a leading edge of the digging implements 10 and which defines the angle of attack; this is so because advancing with the leading edge in the same direction opens the material and reduces the resistance. Notwithstanding, in some cases, the direction of advancement of the digging implements 10 does not coincide with the direction of the leading edge, for example when some reaction forces are calculated that can be reduced by moving the digging implements 10 in a particular manner that does not involve aligning the leading edge with the motion direction.

[0215] The digging implements 10 get inserted into the material 2 through the surface 1 thereof with an angle of attack 71 , which may be controlled by systems and methods according to the present disclosure. The angle of attack 71 may be automatically configured, or be modified with respect to an angle of attack imparted by, e.g., an operator of the earth moving machine, thereby assisting the operator in the penetration maneuver.

[0216] An inertial measurement unit may provide measurement data about a position and orientation of the digging implements 10 at the start of the engagement and during the engagement operations. Upon calculating forces and / or torques supported by the digging implements 10, it can be determined when the penetration is occurring and how the digging implements 10 move through the material 2 up until the escape, operation which owing to the lower forces and torque thereof will also be determinable. When the digging implements 10 are free of loaded material and outside of the surface 1 of the material 2, the measurements during these times can be used for calibration; for example, the mass of the digging implements 10 with no load can be calculated for later subtraction when there is material 2 loaded in the digging implements 10.

[0217] An inclination of the digging implements 10 is increased at least during a portion of the trajectory 74a to conduct separation and loading of material 2.

[0218] Along the way of the trajectory 74a, there are several positions 75a-75e (illustrated with triangles for the sake of clarity only) at which there are modifications of angle of attack and / or trajectory to reduce the resistance to movement, thereby yielding a final trajectory 74b illustrated with a dashed line. The modifications performed, when performed automatically, take into account an expected length 72 to be traveled by the digging implements 10 along the surface 1 , and an expected maximum depth 73 to be reached by the digging implements 10 under the surface 1 of material 2. As the final trajectory 74b deviates from the intended trajectory 74a, the length 72 and the maximum depth 73 are modified with respect to the intended values thereof. In this example, the modifications have increased the maximum depth 73 of the final trajectory 74b in comparison with that (not illustrated) of the initially intended trajectory 74a. And, consequently, the length 72 of the final trajectory 74b has been progressively adjusted at the different positions 75a-75e for balancing it with the maximum depth 73 attained. This means that, in some occasions, the modifications of angle of attack and / or trajectory do not necessarily have to be conducted to reduce resistance but to reduce the necessary energy consumption. In this example, not shortening the length 72 of the final trajectory 74b would result in additional pushing of material 2 that does not produce any work as the material 2 that can be loaded by the digging implements 10 is limited and adjusted by way of the maximum depth 73 and length 72 of the final trajectory 74b.

[0219] The maximum depth 73 in the trajectory should be made dependent upon the characteristics of the digging implements 10, especially size and volume thereof. Shallow maximum depths 73 will not make it possible to fully load the digging implements 10 whereas very deep maximum depths 73 will increase the amount of material 2 pushed for no additional loading thereof. Knowing the characteristics of the digging implements 10, an effective trajectory may be determined and modified along the way as status data is being provided. As the material 2 to be dug becomes more distinct between different portions thereof, meaning that the material 2 becomes farther away from being homogeneous, more reaction forces appear, and they even appear along unpredictable directions, thereby requiring the modification in the angle of attack and / or trajectory.

[0220] Figure 14 shows example trajectories followed by digging implements.

[0221] Surface 1 of a given material, e.g., soil, is illustrated, the bottom part of the surface 1 line being the material. On such underground part are illustrated two example trajectories: a first trajectory 74a (illustrated with a dotted line) that is, for example, that followed by an operator controlling an earth moving machine when engaging the surface 1 and loading the digging implements with the material; and a second trajectory 74b (illustrated with a dashed line) that is, for example, that applied by systems or methods in accordance with embodiments.

[0222] In the first trajectory 74a, the operator attempts to make minor adjustments on the trajectory of the digging implements according to the operator’s experience. The minor adjustments are intended to overcome increased resistance to penetration and / or movement that the operator feels while controlling the trajectory, yet the operator does not have any indication of whether the imparted modifications result in an improvement or not. Oftentimes the modifications imparted by the operator are sudden and coarse, which reduces inertia of the digging implements and increases energy consumption (e.g., fuel and / or electricity used for powering the earth moving machine).

[0223] By contrast, in the second trajectory 74b, the angle of attack and the trajectory of the digging implements are modified in a subtle manner with repeated obtention of status data indicative of the resistance found by the digging implements. Modifications in the angle of attack and / or trajectory may yield different calculable resistances and, thus, base the changes on the resulting resistances. The modifications intend to keep reductions of inertia to a minimum and make smaller adjustments to overcome obstacles found along the way or unbalances in the work done by the digging implements.

[0224] As a result of the modifications in the second trajectory 74b, a first length 72a of the first trajectory 74a has been made a shorter length 72b in the second trajectory 74b, and a maximum depth 73a of the first trajectory has been made a longer maximum depth 73b. Consequently, the same amount of material may be loaded by the digging implements with a lower energy consumption.

[0225] In some cases, energy consumption is reduced even when the total distance traveled by the digging implements is greater. This is so because the resistance against the penetration and / or movement of the digging implements is lower than for a shorter traveling distance.

[0226] Although not illustrated in Figures 13 and 14 because they are two-dimensional representations that only show trajectories as the traveling of the digging implements from a start position to an end position along in the two dimensions illustrated, in some of these embodiments and in some other embodiments, modifications in the trajectory of the digging implements 10 include modifications in the trajectory along the third dimension not illustrated (i.e., the axis going inside or out of the sheet). For instance, when there are lateral forces or frictions, changes in the trajectory along the third axis may reduce the energy consumption of the earth moving machine.

[0227] Figure 15 shows digging implements 10 or an arm 40, and an example of a location of one or more sensors 51a-51n in accordance with some embodiments.

[0228] In each of Figures 15-19, a top side of the digging implements 10 or arm 40 represents an external surface thereof (i.e., a surface that may directly come into contact with dug material during digging operations), and a bottom side of the digging implements 10 or arm 40 represents an internal surface thereof (i.e., a surface that is protected and is thus not expected to come into contact with dug material because it is a cavity, sometimes a closed cavity such as a chamber). To not obscure the disclosure, the following description of the embodiments of Figures 15-19 will be made with reference to the digging implements 10, but it will be noted that the description is also applicable to the arm 40.

[0229] In Figure 15, there is an opening 19 formed on the surface of the digging implements 10, either because it has been formed that way (e.g., casted with an opening) or because an opening has been manually formed (e.g., drilled hole). A platform 52 is arranged such that it blocks the opening 19, in this case from the external part of the digging implements 10. One or more sensors 51a-51n are attached to the platform 52, preferably through the internal part so as not to be exposed to dug material. One or more cables 90 are arranged connecting the sensor(s) 51a-51n with electronics or computing devices, for example, and taking advantage of the existing opening 19 to be routed towards the sensor(s) 51a-51n.

[0230] To protect the sensor(s) 51a-51n and the platform 52, which in some cases provide a sensor assembly, a protecting device 85 is preferably (as shown with dashed lines for the sake of the illustration only) arranged to partially or completely cover the platform 52 and, hence, the sensor(s) 51a-51 n and the opening 19.

[0231] Figure 16 shows digging implements 10 and an example of a location of one or more sensors 51a-51n in accordance with some embodiments.

[0232] The sensor(s) 51a-51n is arranged in the digging implements 10. In particular, the sensor(s) 51a-51n is attached to a platform 52 attached to an internal surface of the digging implements 10, in this case by way of weld seams 88.

[0233] The one or more cables 90 are directly connected to the sensor(s) 51a-51n, both of which remain protected as they are arranged inside the digging implements 10.

[0234] Figure 17 shows digging implements 10 and an example of a location of one or more sensors 51a-51n in accordance with some embodiments.

[0235] The sensor(s) 51a-51 n is arranged similarly to the embodiments of Figure 16, but in this case no platform 52 is arranged. Accordingly, the sensor(s) 51a-51 n is directly attached to the internal surface of the digging implements 10.

[0236] Figure 18 shows digging implements 10 and an example of a location of one or more sensors 51a-51n in accordance with some embodiments.

[0237] The digging implements 10 features an opening 19 through which one or more cables 90 pass from one side of the digging implements 10 to the opposite one. The sensor(s) 51a-51 n is arranged on the external surface of the digging implements 10, and preferably a protecting device 85 is arranged to at least protect the sensor(s) 51a-51n. Preferably, the protecting device 85 also covers the opening 19.

[0238] Figure 19 shows digging implements 10 and an example of a location of one or more sensors 51a-51n in accordance with some embodiments.

[0239] The sensor(s) 51a-51n is arranged on the external surface of the digging implements 10 and the one or more cables 90 extend therefrom to a different part of the digging implements 10 at least partially on the external surface thereof, for example from the digging implements 10 to the arm 40, from the arm 40 to a cabin, etc.

[0240] A protecting device 85 is preferably attached covering the sensor(s) 51a-51n and has an opening for letting the cable(s) 90 pass through.

[0241] Figure 20 shows a sensor device or assembly 50 in accordance with some embodiments.

[0242] The sensor device or assembly 50 comprises a platform 52 on which a first plurality of sensors in the form of strain gauges 51a-51 n (shown with solid and dashed blocks to illustrate visible and non-visible gauges, for the sake of clarity only) are arranged. In this example, the sensor device or assembly 50 comprises eight strain gauges 51a-51n arranged such that four strain gauges lie on a first plane (for example, a plane defined by axes Y-Z), and four other strain gauges lie on a second plane (for example, a plane defined by axes X-Z) that is preferably perpendicular to the first plane.

[0243] The platform 52 has two portions where the strain gauges 51a-51n are arranged that have a majority of the volume of the platform 52 defining the first plane and the second plane, respectively, or so to say. This platform 52 and arrangement of strain gauges 51a-

[0244] 51 n enables measurement of strains or forces in respect of two planes that are preferably perpendicular to one another. Consequently, the sensor device or assembly 50 is capable of measuring bending and torsion loads that the platform 52 is subjected to. As the platform

[0245] 52 is arranged on a component such as, e.g., the digging implements, the arm of the earth moving machine, a wear element, etc., the bending and torsion measured correspond to the bending and torsion applied to the component, etc. That, in turn, for example, eases provision of a force vector, which may have components on all three axes.

[0246] Particular surfaces 57 may be adapted for allowing attachment of the sensor device or assembly 50 to a portion of digging implements, an arm of the earth moving machine, wear elements, etc. The surfaces 57 may, for example, ease welding of the sensor device or assembly 50 to a surface on any of the aforesaid components.

[0247] In some embodiments, the sensor device or assembly 50 also comprises one or more of: a second plurality of sensors 53 (which may measure magnitudes different from those measured by the first plurality of sensors 51a-51 n, e.g., accelerometers, inclinometers, wear measuring sensors, combinations thereof, etc.); electronics 54 and / or at least one computing device for processing the measurements of the first plurality of sensors 51a-51n and, optionally, of the second plurality of sensors 53 (if any); energy supplying means 55, and / or data communications module 56.

[0248] Figure 21 shows an example location of a sensor device or assembly 50 in accordance with some embodiments. The sensor device or assembly 50 is, for example, that of Figure 20.

[0249] Digging implements 10 are illustrated, in particular a portion with the upper member 14 and the protrusions or flaps 15.

[0250] The sensor device or assembly 50 is arranged on the upper member 14, particularly on a shoulder of the digging implements 10. Although only one shoulder and one sensor device or assembly 50 is shown, preferably both shoulders have at least one respective sensor device or assembly 50 arranged thereon.

[0251] Each sensor device or assembly 50 is capable of measuring forces F and torques T due to bending and torsion applied to the digging implements 10, in particular for a side of the digging implements corresponding to the respective shoulder. Namely, the sensor device or assembly 50 of the left shoulder is capable of measuring bending and torsion of the left part of the digging implements 10, and the sensor device or assembly 50 on the right shoulder is capable of measuring bending and torsion of the right part of the digging implements 10. The shoulders tend to concentrate loads, therefore these locations are advantageous for measuring loads with great accuracy.

[0252] Further, the bending and torsion loads on the shoulders are also representative of the material loaded in the digging implements 10, which may be measured owing to the sensor devices or assemblies 50. In this sense, when the loaded material is arranged closer to the front than to the rear part of the digging implements, there is larger torsion and smaller bending, whereas when the loaded material is arranged closer to the rear part than to the front, the bending is greater and the torsion is smaller.

[0253] Unbalanced loading, or contacting with the terrain, of the digging implements 10 horizontally, i.e., in a transverse direction, may be also measured with the at least two sensor devices or assemblies 50 as each will measure bending and torsion loads on the respective side. By processing the measurements of the at least two sensor device or assemblies 50, for example comparing the measurements thereof, the loading and contacting may be determined to establish which side is loading or contacting more than the other.

[0254] Figure 22 shows an example location of a sensor device or assembly 50 in accordance with some embodiments. The sensor device or assembly 50 is, for example, that of Figure 20.

[0255] In this example, the sensor device or assembly 50 is arranged on the top wall 81 of the digging implements 10, on a shoulder portion thereof. Like in the case of Figure 21 , preferably at least two sensor devices or assemblies 50 are arranged on the top wall 81 in the two shoulders.

[0256] Figure 23 shows an example location of a sensor device or assembly 50 in accordance with some embodiments. The sensor device or assembly 50 is, for example, that of Figure 20.

[0257] The sensor device or assembly 50 is arranged inside a bolt or connecting rod 23 connecting the arm of the earth moving machine with the digging implements, for example in locations 21 f and 21g shown in Figures 5A and 5B.

[0258] A cavity may be formed inside the bolt or connecting rod 23, allowing introduction of the sensor device or assembly 50. The cavity may be a blind hole or a through hole. Preferably, once the sensor device or assembly 50 has been arranged in the cavity, a protective cover 24 is arranged for protecting the sensor device or assembly 50, for example filling the cavity with a protective material that hardens over time.

[0259] Bending loads of the bolt(s) or connecting rod(s) 23 of the arm are informative of the behavior of the digging implements. The bending loads may be measured along up to perpendicular directions. The directions depend on how the strain gauges are arranged on the platform and how the platform is arranged inside the bolt(s) or connecting rod(s) 23.

[0260] Figure 24 shows a sensor device or assembly in an example location in accordance with some embodiments.

[0261] The sensor device or assembly comprises a sensor 51 in the form of, e.g., a resistive, capacitive or inductive sensor, that changes the impedance thereof as the sensor wears out between different wear levels 58, 58’.

[0262] The sensor 51 is arranged inside a cavity 17 of a body 16 of the digging implements, and is preferably coupled with electronics 54 for processing measurements of the sensor 51 , and which may transmit the processed measurements to other parts of the earth moving machine (e.g., in the digging implements, the arm, the cabin, etc.) in wired form, e.g., through a cable 90, or wirelessly. A protecting device 85 is preferably arranged at the opening of the cavity 16 to protect the sensor device or assembly.

[0263] As the walls of the body 16 has the thickness thereof reduced due to wear, the loss of material is not only caused on the body 16 but also on the surface of the sensor 51. The surface of the sensor 51 is flush with the wall of the body 16, therefore the thickness reduction is similar or the same for both the wall and the sensor 51. This, in turn, causes the change in resistance, inductance or capacitance, which referred to, e.g., a predetermined model, a predetermined reference value, etc., may be associated with a given thickness value or thickness reduction value.

[0264] Figure 25 diagrammatically shows types of phases 210 and cycles 220, 230 of an earth moving machine operation 200 in accordance with some embodiments.

[0265] The operation 200 of the earth moving machine comprises tasks that form phases 210, in turn forming cycles 220, 230. Among these, non-productive phases 210, nonproductive cycles 220 and productive cycles 230 are determinable. Non-productive cycles 220 comprise a plurality of non-productive phases 210, although some of the latter may also be determined as individual non-productive phases. Productive cycles 230 comprise a plurality of productive phases.

[0266] Figure 26 diagrammatically shows non-productive phases 210 of an earth moving machine operation in accordance with some embodiments.

[0267] The non-productive phases 210, which in some cases form non-productive cycles, are regarded as tasks that do not produce effective movement of earth for a particular target, for example, when the material moved is blocking the way of a desired material to be moved.

[0268] The non-productive phases 210 comprise: load 250, i.e., contacting material and filling the digging implements with the material; swing 260 the arm with the digging implements loaded; dump 270 the loaded material, for example, on a truck, on a pit, etc.; swing 280 the arm with the digging implements unloaded, i.e., empty; and stop 290, which involves no movement of the arm or digging implements. A non-productive cycle may include two or more of such non-productive phases 210. By contrast, a productive cycle may include two or more of the phases of load 250, swing 260 loaded, dump 270 and swing 280 unloaded, thus no stop 290.

[0269] Figure 27 diagrammatically shows productive and non-productive cycles 220, 230 of an earth moving machine operation in accordance with some embodiments.

[0270] The cycles 220, 230 are classified into productive and non-productive depending on the material contacted and loaded, if any, especially whether the material is of interest for a particular target (e.g., gathering a particular material).

[0271] The cycles 220, 230 comprise tasks such as load 250, swing 260 loaded, dump 270 and swing 280 empty. In some embodiments, one or more of these tasks may comprise pause 212 times and / or wait 214 times during which the digging implements and / or the arm are not effecting the respective task, or based on one or more criteria not fulfilled for the respective phase may result in the determination of pause 212 and / or wait 214. Pauses 212 and waiting 214 times may take place when the digging implements and / or the arm are not moving for whatever reason, because the operator (if any) or the controlling unit (if any) controlling the operation of the earth moving machine decide to halt the task midway, resulting in a pause 212 or after conclusion of the task but before another task is conducted, resulting in waiting 214.

[0272] Figure 28 diagrammatically shows a computing scheme for determining and classifying phases and / or cycles of earth moving machine operations in accordance with some embodiments.

[0273] The computing scheme comprises a first processing module or first processing method in which at least one computing device determines one or more sets of data 150, 152, 154, 156. The sets of data may be, for example, factors 150 that are computed such as, e.g., ground contact time, and / or phases of an earth moving machine operation, such as, e.g., detection of load phase 152, detection of swing phase or phases 154 (e.g., swing loaded, swing empty), and / or detection of dump phase 156. The sets of data are preferably determined in real time or almost in real time as respective input data 140, 142, 144, 146 are provided to the at least one computing device. Input data may be, for example, at least one value according to embodiments of the disclosure and / or status data according to embodiments of the disclosure.

[0274] In some embodiments, input data 140 for a factor 150 computation such as the ground contact time comprises: inclination data, acceleration data, force data of wear elements, and / or motion data.

[0275] In some embodiments, input data 142 forthe detection of load phase 152 comprises: the ground contact time, which may be received from the factor 150 computation, inclination data, and / or acceleration data.

[0276] In some embodiments, input data 144 for the detection of swing phase(s) 154 comprises: acceleration data, roll data, and / or digging implements’ mass or weight data.

[0277] In some embodiments, input data 146 for the detection of dump phase 156 comprises: inclination data, and / or digging implements’ mass or weight data.

[0278] The first processing module or method may output sets of data such as the factors and / or data about the respective phases (e.g., start and end times, angles at different times during the phases, loads at different times during the phases, etc.).

[0279] The computing scheme comprises a second processing module or a second processing method in which at least one computing device determines a digging status 160 with a plurality of phases that may form part of, or one or more, cycles. The plurality of phases may be as determined by the first processing module or method. The digging status 160 determines the phases that may result in one or more cycles of the operation, for example as illustrated in Figure 29, thereby deciding which phase is active when there are two or more phases overlapping in time. The output of the second module or method is data representative of sequences of phases.

[0280] The computing scheme comprises a third processing module or a third processing method in which at least one computing device determines cycles 170. The sequence of phases from the second module or method 160 is processed to determine when cycles start and end among the stream of phases, for example as illustrated in Figure 30, which in contrast to the determination of Figure 29 identifies start and end times of the cycle and, thus, a duration thereof. The determination of cycles 170 is conducted, for example, according to the scheme of Figure 34. The output of the third module or method is data representative of one or more cycles of earth moving machine operations.

[0281] The computing scheme comprises a fourth processing module or a fourth processing method in which at least one computing device determines a classification of cycles 180. The module or method may associate, for each cycle, any data available from sensors, values or status data. Among this data there may be, for example, key performance indicators (KPI) for the cycles, payloads, etc. The output of the fourth module or method is data representative of the one or more cycles together with data associated therewith, which enables full assessment of the cycles and the behavior of the earth moving machine. This is particularly convenient for establishing which behaviors causes better or worse productivity. The output may be sent to, for example, one or more computing devices providing cloud services for analysis of the outputted data.

[0282] Although a computing scheme with four different modules or methods has been illustrated as being provided in some embodiments, in some other embodiments, one or several of these modules or methods are implemented or conducted by one or more processing devices. In these latter cases, respective outputs may be provided for further processing by other computing devices, which may be part of the earth moving machine or remote therefrom.

[0283] Figure 29 diagrammatically shows determination of phases of a cycle 230 of an earth moving machine operation in accordance with some embodiments.

[0284] The cycle 230 (shown with a dashed line for the sake of clarity only) is provided upon determining start and end times for each phase, in particular: load 250, swing 260 loaded, dump 270 and swing 280 unloaded. In addition to the cycle 230 and phases represented over time, motion 240 data (illustrated with dotted lines and gray background for the sake of clarity only) of the earth moving machine has also been represented at the bottom portion of the graph. In addition to some phase overlaps, it may be seen that, for example, multiple load 250 phases are potentially determined during the swing 260, 280 and dump 270 phases. This may occur, for example, upon detecting material contacting parts of the digging implements, including wear elements thereof, as the material moves within or out of the digging implements. As the material is unloaded from the digging implements, typically a portion of the material slides on surfaces of the digging implements or falls on surfaces of the digging implements depending on the trajectory and the speed at which the digging implements are moved. As a result, measurements of sensors detecting the mass or hits of the material may yield potential determinations of load 250 phases.

[0285] By processing and classifying the different phases, the phase overlaps including the burst of load 250 phases may be ignored in favor of the determination of the swing 260, 280 and dump 270 phases, and / or the determination of the load 250 phases when there is also swing 260, 280 phases potentially determined. To this end, the motion 240 data may also be considered for determining start and end times of the phases for the determined cycle 239.

[0286] Figure 30 diagrammatically shows determination of a cycle 230 of an earth moving machine operation in accordance with some embodiments.

[0287] The cycle 230 at least comprises a load 250 phase, a swing 260 phase while the digging implements are loaded, a dump 270 phase, and a swing 280 phase while the digging implements are empty (e.g., when moving the arm for a subsequent cycle, when arranging the arm for safe movement of the earth moving machine in a quarry, etc.). Such a cycle 230 results in the particular target of gathering material from, e.g., a quarry, for transportation thereof. These phases are determined at least based on at least one value and status data.

[0288] At the beginning of the represented cycle 230, a swing 280 phase of a preceding cycle may exist. This swing 280 phase may not be considered as part of the determined cycle 239 (shown with a dashed line for the sake of clarity only), like a posterior load 250 phase at the end that is not part of the determined cycle 239.

[0289] In this case, the cycle 230 starts with a load 250 phase at a start load time 252 and ends at an end load time 253, which in this case occurs after there being a pause 212 that causes determination of at least two load 250 phases that are part of the same cycle. The start and end load times 252, 253 and the load 250 itself may be determined considering, for example, ground contact time, and / or inclination data, and / or acceleration data.

[0290] A swing 260 loaded phase may start at a start swing loaded time 262 and end at an end swing loaded time 263.

[0291] A dump 270 phase may start at a start dump time 272 and end at an end dump time 273. The start and end dump times 272, 273 and the dump 270 itself may be determined considering, for example, inclination data, and / or digging implements’ mass or weight data.

[0292] A swing 280 empty phase may start at a start swing empty time 282 and end at an end swing empty time 283.

[0293] The start and end swing load times 262, 263, the start and end swing empty times 282, 283, and the swing 260, 280 loaded and empty phases, respectively, may be determined considering, for example, acceleration data, and / or roll data provided by an electronics control unit of the earth moving machine, and / or digging implements’ mass or weight data.

[0294] The determined cycle 239 is considered to start at a first time instant 231 , which is a load time instant 251 at which the data considered for the load 250 meets a predetermined criterion or set of criteria like, for example, that an angle of the digging implements exceeds a predetermined threshold, and / or the resistance detected exceeds a predetermined threshold, etc.

[0295] In the determined cycle 239, the load 250 lasts from the first time instant 231 to a swing loaded time instant 261 , at which time the swing 260 loaded phase is considered to start. The swing loaded time instant 261 is the time instant at which the data considered for the swing 260 loaded meets a predetermined criterion or set of criteria like, for example, that an angle of the digging implements exceeds a predetermined threshold, and / or the inclination exceeds a predetermined threshold, and / or the mass or weight of the digging implements exceeds a predetermined threshold, etc.

[0296] The swing 260 loaded lasts in the determined cycle 239 up until a dump time instant 271 when the dump 270 starts. The dump time instant 271 is the time instant at which the data considered for the dump 270 meets a predetermined criterion or set of criteria like, for example, that an angle of the digging implements exceeds a predetermined threshold, and / or the roll of the arm exceeds a predetermined threshold, and / or the mass or weight of the digging implements exceeds a predetermined threshold, and / or the resistance detected does not exceed a predetermined threshold, etc.

[0297] The dump 270 lasts in the determined cycle 239 up until a swing empty time instant 281 when the swing 280 empty starts. The swing empty time instant 281 is the time instant at which the data considered for the swing 280 empty meets a predetermined criterion or set of criteria like, for example, that an angle of the digging implements exceeds a predetermined threshold, and / or the inclination exceeds a predetermined threshold, etc.

[0298] The swing 280 empty ends when the determined cycle 239 ends, which is at a second time instant 232, the determined cycle 239 thus lasting duration 233. In the second time instant 232, which may be determined based on data considered for the swing 280 empty phase or the load 250 phase meets a predetermined criterion or set of criteria. The load 250 phase may be considered since it may be the start of a subsequent cycle, as illustrated in the Figure.

[0299] As it may be seen, multiple phases of the cycle 230 overlap in time, yet the determined cycle 239 truncates the time of each of these phases to associate respective durations to one phase or another based on the criterion or criteria. As part of the duration of the phases in the determined cycle 239, in some embodiments there may also be wait 214 times that may be determined, especially when phases overlap in time and one is to be considered over the other depending on criteria, even if both corresponding tasks may be being carried out simultaneously; in some other embodiments, no wait 214 times are determined. Accordingly, the duration 233 of the determined cycle 239 is less than a sum of the durations of each phase of the cycle 230.

[0300] Figure 31 shows an example of load phases being determined in accordance with some embodiments.

[0301] At least one value and / or status data 259 considered for the load phases is represented. As the amplitude (in the units considered) varies over time (in the units considered, e.g., seconds), when one or more criteria are met, for example, when there is a peak of amplitude after some time with no peaks of amplitude, a potential load determination 241 is made.

[0302] Each potential load determination 241 may be screened for actual load determinations 242. To this end, predetermined models, reference values, criterion or criteria may be adjusted manually or automatically (e.g., based on machine learning schemes whereby at least one computing device makes modifications to the parameters based on previous determinations or additional data available).

[0303] When adjusting the potential load determinations 241 to actual load determinations 242, which may comprise discarding potential load determinations 241 or changing start and / or end times of potential load determinations 241 , any additional data that is available may be used for improving the potential load determinations 241. By way of example, one or more force values of wear elements, and / or one or more videos recording the digging implements, and / or one or more operator inputs commands, etc., may be considered for determining when the loading is actually occurring,

[0304] Figure 32 shows an example of swing phases being determined in accordance with some embodiments.

[0305] A processing similar to that described in respect of Figure 31 may be carried out in the determination of swing phases. Hence, potential swing determinations 243, both of swing loaded and swing empty (the two generally occurring closely apart in time as dumping generally occurs between them and in a quick manner), are made based on at least one value and / or status data 269 that may be considered for swing phase determinations.

[0306] Actual swing determinations 244 are made having regard the potential swing determinations 243. Again, improvement of the potential swing determinations 243 by making manual or automatic modifications is possible to make the potential swing determinations 243 become completely or partially (preferably, a majority of the potential swing determinations 243) actual swing determinations 244.

[0307] Figure 33 shows an example of dump phases being determined in accordance with some embodiments.

[0308] A processing similar to that described in respect of Figures 31 , 32 may be carried out in the determination of load phases. Potential load determinations 245 are made based on at least one value and / or status data 279 that may be considered for load phase determinations.

[0309] Actual load determinations 246 are made having regard the potential load determinations 245, which may be improved by making modifications manually or automatically.

[0310] Figure 34 shows a process for determining a cycle of an earth moving machine operation in accordance with some embodiments.

[0311] The process is based on a finite state machine in this example whereby at least one computing device navigates different states depending on criteria met during the process. Some of the states may correspond to phases of cycles of earth moving machine operations.

[0312] The process may start with digging status determination as described in digging status determination 160 of Figure 28. The digging status gathers various sets of data to establish phases of cycles. As new data comes in, the digging status may determine existence of phases and particularities thereof.

[0313] A load state may be detected when one or more predetermined criteria associated with values and / or data of the earth moving machine.

[0314] A swing loaded state may be detected after the load state when one or more predetermined criteria associated with values and / or data of the earth moving machine.

[0315] A dump state may be detected after the swing loaded state when one or more predetermined criteria associated with values and / or data of the earth moving machine.

[0316] A swing empty state may be detected after the dump state when one or more predetermined criteria associated with values and / or data of the earth moving machine.

[0317] After the swing empty state, the digging status determination may be conducted again or the load state may be provided anew. The load state, and states corresponding to other tasks, such as, swing loaded, dump and swing empty may be repeated for some time when the criteria are fulfilled, or while criteria of other phases is not fulfilled. During idle times, the load state, and states corresponding to other tasks, such as, swing loaded, dump and swing empty, may be kept idling. Data from the load state, and data from other states corresponding to other tasks, such as, swing loaded, dump and swing empty, may be provided to the digging status determination for processing, preferably in real time or almost in real time.

[0318] If at any point in time the data from the states and / or respective criteria thereof are not fulfilled, it may be considered that the cycle is not being carried out properly and started again, or the phases and / or the cycle be considered as being non-productive.

[0319] Although some examples and embodiments may include a particular sequence of operations, the sequence may in some cases be altered without departing from the scope of the present disclosure. For example, some of the operations depicted may be performed in parallel or in a different sequence that does not materially affect the functions as described in the examples. In other examples, different components of an example device or system that implements an example method may perform functions at substantially the same time or in a specific sequence.

[0320] As used herein, the terms “computing device”, “data processing system”, and / or “processing device” may refer to any one or more circuits or virtual circuits (e.g., a physical circuit emulated by logic executing on an actual processor) that manipulates data values according to control signals (e.g., commands, opcodes, machine code, control words, macroinstructions, etc.) and which produces corresponding output signals that are applied to operate a machine. A processor may, for example, include at least one of a Central Processing Unit (CPU), a Reduced Instruction Set Computing (RISC) Processor, a Complex Instruction Set Computing (CISC) Processor, a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), a Tensor Processing Unit (TPU), a Neural Processing Unit (NPU), a Vision Processing Unit (VPU), a Machine Learning Accelerator, an Artificial Intelligence Accelerator, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Radio-Frequency Integrated Circuit (RFIC), a Neuromorphic Processor, a Quantum Processor, or any combination thereof. A processor may be a multi-core processor having two or more independent processors (sometimes referred to as “cores”) that may execute instructions contemporaneously. Multi-core processors may contain multiple computational cores on a single integrated circuit die, each of which can independently execute program instructions in parallel. Parallel processing on multi-core processors may be implemented via architectures like superscalar, VLIW, vector processing, or SIM D that allow each core to run separate instruction streams concurrently. A processor may be emulated in software, running on a physical processor, as a virtual processor or virtual circuit. The virtual processor may behave like an independent processor but is implemented in software rather than hardware.

[0321] The various operations of example methods described herein may be performed, at least partially, by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform the relevant operations. Whether temporarily or permanently configured, such processors may constitute processor-implemented modules / components that operate to perform one or more operations or functions. The modules / components referred to herein may, in some examples, include processor- implemented modules / components.

[0322] Similarly, the methods described herein may be at least partially processor- implemented. For example, at least some of the operations of a method may be performed by one or more processors or processor-implemented modules / components. The performance of certain of the operations may be distributed among the one or more processors, not only residing within a single machine, but deployed across a number of machines. In some examples, the processor or processors may be located in a single location, while in other examples the processors may be distributed across a number of locations.

[0323] Examples may be implemented in digital electronic circuitry, or in computer hardware, firmware, or software, or in combinations of them. Examples may be implemented using a computer program product, e.g., a computer program tangibly embodied in an information carrier, e.g., in a machine-readable medium for execution by, or to control the operation of, e.g., a programmable processor, a computer, or multiple computers.

[0324] 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.

[0325] 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. A computer-implemented method comprising: processing at least one value, the at least one value comprising force and / or pressure and / or torque exerted on digging implements (10) of an earth moving machine (100); and obtaining, at least based on the processed at least one value, status data about the digging implements and / or material (2) engaged by the digging implements and / or material loaded on the digging implements.

2. The method of claim 1 , wherein the status data comprises: overstress of the digging implements (10); and / or fatigue of the digging implements; and / or resistance to penetration of the digging implements to engaged material (2); and / or resistance against movement of the digging materials in engaged material; and / or amount of material loaded by the digging implements; and / or amount of time that the digging implements engage the engaged material.

3. The method of any one of the preceding claims, further comprising determining at least one cycle and / or at least one phase of an earth moving machine operation at least based on the at least one value and the status data.

4. The method of claim 3, wherein the determining comprises determining the at least one phase, wherein the at least one phase comprises: a load operation, a swing operation with the digging implements having material loaded, a dumping operation for unloading material, a swing operation with the digging implements being empty, or a combination thereof.

5. The method of any one of claims 3-4, wherein the determining comprises determining the at least one cycle, each cycle of the at least one cycle comprising a plurality of phases.

6. The method of claim 5, wherein each determined cycle comprises data indicative of a start and end of each respective phase.

7. The method of any one of claims 5-6, further comprising assessing the at least one value at least based on productivity of each determined cycle.

8. The method of any one of the preceding claims, further comprising issuing, at least based on the status data, a control command comprising at least one of: an automatic modification on how the digging implements (10) engage the engaged material (2); and / or a user perceptible notification; and / or scheduling of maintenance operations for the digging implements or a wear element thereof.

9. The method of claim 8, wherein the automatic modification comprises modifying an angle of attack (71) of the digging implements (10) and / or a trajectory (74a, 74b) followed by the digging implements.

10. The method of claim 9, wherein the modification of the angle of attack (71) and / or the trajectory (74a, 74b) is progressive and is conducted at least until a resistance to penetration and / or movement of the digging implements (10) and / or an energy consumption of the earth moving machine (100) decreases by more than at least one predetermined threshold.

11. The method of any one of claims 9 and 10, wherein the modification of the angle of attack (71) and / or the trajectory (74a, 74b) comprises modifying the trajectory such that: a length (72, 72a, 72b) of a path followed by the digging implements (10) and for which the digging implements remain underground is made longer when a maximum depth (73) reached by the digging implements underground is made shorter, or vice versa; or a length of a path followed by the digging implements and for which the digging implements remain underground is made shorter when a maximum depth reached by the digging implements underground is made longer, or vice versa.

12. The method of any one of the preceding claims, wherein the at least one value corresponds to at least one value of force and / or pressure and / or torque exerted on a surface of the digging implements (10) not in contact with wear elements coupled with the digging implements.

13. The method of claim 12, further comprising obtaining the at least one value, the at least one value being obtained by receiving measurements of at least one sensor (51 ,51a- 51n,53) and / or by processing the received measurements to compute the at least one value, wherein the computation of the at least one value comprises: aggregating the received measurements of multiple sensors of the at least onesensor at least based on a position (20a-20p) of each respective sensor on the digging implements (10) and / or the arm (40); or comparing the received measurements with historical data that provides correspondence between historical measurements and computed force, pressure and / or torque; or inputting the received measurements in a trained algorithm, the trained algorithm the trained algorithm being configured to output the at least one value.

14. The method of any one of the preceding claims, wherein the at least one value further comprises: inclination and / or orientation of the digging implements (10); and / or acceleration of the digging implements; and / or position of an arm (40) of the earth moving machine (100); and / or hydraulic pressure of cylinders of a hydraulic system operating the arm and the digging implements; and / or actuation commands of an operator of the earth moving machine.

15. The method of any one of the preceding claims, wherein the at least one value comprises strain exerted on the digging implements (10) in two perpendicular directions.

16. The method of claim 15, further comprising receiving measurements from at least one sensor assembly (50) comprising a platform (52) and a plurality of strain gauges (51 ,51a- 51 n), the platform and the plurality of strain gauges being configured to measure bending and torsion loads.

17. The method of any one of the preceding claims, wherein the at least one value comprises one or more values indicative of wear of the digging implements (10).

18. A method comprising: arranging one or more sensors (51 ,51a-51n,53), each sensor being arranged on digging implements (10) or an arm (40) that comprises the digging implements; measuring, with the one or more sensors, strain, force or torque exerted on the digging implements; and calculating, with at least one computing device (60), force and / or torque and / or strain exerted on the digging implements at least based on the measurements.

19. The method of claim 18, wherein the calculating comprises a computer-implemented method according to any one of claims 1-17.

20. The method of any one of claims 18-19, wherein each sensor of the one or more sensors (51 ,51a-51n,53) is arranged on: shoulders of the digging implements (10); or a support of the digging implements; or on a base (12) of or within the digging implements; or one or more chambers (82a, 82b, 83) formed in the digging implements; or a base (41 ) of the arm (40) or a bolt connecting the arm with the digging implements.

21. The method of any one of claims 18-20, wherein at least one sensor of the one or more sensors (51 ,51a-51 n,53) is a sensor assembly (50) comprising a platform (52) and a plurality of strain gauges (51 ,51a-51 n), the platform and the strain gauges being configured to measure bending and torsion loads.

22. The method of any one of claims 18-21 , wherein the at least one value comprises one or more values indicative of wear of the digging implements (10).

23. A system for an earth moving machine (100), the system comprising: digging implements (10) for the earth moving machine; an arm (40) comprising the digging implements; and at least one sensor assembly (50) arranged on the digging implements and / or the arm, the at least one sensor assembly being configured to compute force and / or torque and / or strain exerted on the digging implements.

24. The system of claim 23, wherein each sensor of at least one sensor assembly (50) is arranged on: shoulders of the digging implements (10); or a support of the digging implements; or on a base (12) of or within the digging implements; or one or more chambers (82a, 82b, 83) formed in the digging implements; or a base (41 ) of the arm (40) or a bolt connecting the arm with the digging implements.

25. The system of any one of claims 23-24, further comprising means adapted to carry out steps of a method according to any one of claims 1-17.

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