Method and system for automatically unloading trucks into crushers

Abstract

Disclosed is a method and system for automatically unloading trucks into crushers, preferably primary crushers, comprising automatically controlling the traffic lights allowing the truck to enter and unload into the crusher at the correct times in order to minimize the truck cycle, by integrating radar sensors that analyze the material in the crusher bowl in order to identify whether material retention has occurred, radar sensors to detect the presence of trucks parked on the unloading slab, and a radar scanner that scans the crusher rate, obtaining a dynamic level surface of the crusher. It also includes image sensors for vision and artificial intelligence measuring the flow of ore in the bowl and the identification and tracking of oversized and uncrushable material in the unloaded ore, enriching the decision-making process for unloading the truck and protecting the crusher.

Description

[0001] METHOD AND SYSTEM FOR SELF-DOWNLOADING OF

[0002] TRUCKS TO WORKERS

[0003] PREVIOUS ART

[0004] Trucks from open-pit or underground mines unload ore into the primary crusher to be reduced to the required size for further processing. Currently, the unloading of trucks into the crushers is left to the discretion of the operators and their ability to observe the process. This depends on the crusher's operating condition and its surroundings; that is, their ability to observe the entire crusher assembly, from the crusher bowl to the crushing chamber in some cases. They must also consider the speed at which the material entering the crusher is moving and, if the speed decreases, be able to determine the cause of this reduction, which could be due to oversized or uncrushable material.The operation of the environment involves different tasks such as, for example, maintenance and observation by the image capture cameras (CCTV), high pollution conditions present in the environment after each discharge, weather conditions and lighting of the area, speed of reaction to downstream process conditions, level of concentration and permanent attention, so the truck discharge time can be variable from shift to shift.

[0005] To generate the conditions for the self-unloading of trucks to the crusher, it is essential to analyze the operating conditions of the crusher in real time. Therefore, the speed of the material flow entering the crusher must be monitored at all times. It is necessary to detect uncrushable materials entering the crusher and, on the other hand, to detect oversized material, as both of these can block the flow of ore to the crusher and prevent the truck from being self-unloaded.

[0006] No method or system for automatically unloading the truck into the crusher using tools or methods for detecting blockages in the crushers and the resulting decrease in crushing flow and discharge rate is apparent in the prior art. Solutions focused exclusively on detecting uncrushable material in crushers can be observed in the prior art. For example, WO2018148832 describes a method for measuring the size distribution and / or hardness of freely falling rock pieces. The method comprises projecting at least one laser line onto the falling rock pieces using a laser device; capturing images of the falling rock pieces at an angle from at least one laser line using at least one camera; and obtaining size distribution data for the falling rock pieces based on data obtained from a topographic map generated from the captured images.Certain embodiments further comprise: obtaining at least one volume and area measurement of individual rock pieces from the topographic map; performing data analysis on at least one of the rock piece volume and area measurements to reduce at least one of the sampling and measurement errors; determining the size distribution of the falling rock pieces based on the data analysis; and optionally, evaluating a rock hardness index. A method is further provided comprising: producing two topographic maps of the pieces from captured images; and obtaining the volume of pieces from the topographic map by summing the average volumes from each of the topographic maps.

[0007] Document CL202300757 describes a method for detecting uncrushable elements used in the mining industry. This method is applied to a plate feeder or conveyor intended to feed primary crushing systems and allows for the detection of metallic elements embedded in the ore before it falls into the crushing system, thus preventing equipment blockage. The method for detecting uncrushable objects comprises two stages: a first stage of detection using ground-penetrating radar (GPR) and a second stage of electromagnetic wave capture using electromagnetic induction spectroscopy (EMIS), thus forming a hybrid detection method.

[0008] US2023082025 discloses a method for controlling a crusher that includes a crushing tool and a vibrating conveyor with a drive. The method involves capturing bulk material in a capture region using a sensor. To ensure that even large grains with a non-homogeneous particle size distribution can be crushed with a consistent crushing result without risk of damaging the crusher, an effective diameter, deff, is defined as a controlled variable in the capture region. This diameter is determined by the maximum diameter, dmax, and its direction, which is transverse to the grain transport direction of the bulk material. If the effective diameter, deff, exceeds a predefined power threshold, the power of the crushing tool is increased. If the effective diameter, deff, exceeds a predefined disconnection limit, the drive is disconnected.

[0009] The sensor comprises a depth sensor that generates a two-dimensional depth image of the bulk material transported beyond the depth sensor, and the two-dimensional depth image is fed to a pre-trained convolutional neural network having at least three successive convolutional layers and a top-down classifier, in which an output value from the neural network is issued as a parameter of the bulk material present in the capture region.

[0010] It can be observed that prior art systems and methods focus on specific radar or imaging techniques for detecting uncrushable or oversized material, but none of them address the problem of truck unloading, much less enable automatic or self-unloading of trucks to the crusher based on the crusher's real-time operating conditions. This would allow the system to issue the unloading command to the truck based on knowledge of the crusher's operating conditions. Furthermore, the method and system of the invention integrates the interlocks, alarms, and fault detection of existing equipment into the control system and displays the necessary information about the automatic self-unloading operation on the operator's control screen.The method and system of the invention decongests the tasks performed by the operator, transforming him from an active and vital entity of the unloading process into a supervisory entity of the process, giving him more time to perform other tasks of the crushing process.

[0011] BRIEF DESCRIPTION OF THE FIGURES

[0012] Figure 1: corresponds to a general scheme that illustrates the method and components of the truck self-unloading system to the crusher.

[0013] Figure 2: corresponds to a flow diagram of the stages associated with the self-unloading of the truck to the crusher.

[0014] Figure 3: corresponds to an image captured by an image sensor of the field of vision of the discharge of a truck to the crusher.

[0015] Figure 4: corresponds to an image showing how out-of-range elements are labeled, whether they are oversized or uncrushable by the image sensors

[0016] DESCRIPTION OF THE INVENTION

[0017] For the sake of clarity, the method for automatically unloading trucks into the crusher will be described first, followed by the system through which the method is implemented. The method involves automating truck unloading at the ore crushing facility, preferably primary crushing, and aims to automate the decision-making process for truck unloading based on dynamic measurements of the material level in the crusher bowl, real-time process conditions, and the operating status of the trucks on their respective parking platforms. Through automatic control of truck unloading commands, such as traffic lights, the material is kept flowing safely and at the correct times to minimize truck cycle times. This is achieved by measuring the material level in the crusher bowl and detecting loaded or unloaded trucks on the parking platforms.

[0018] The method comprises a first stage that consists of detecting and discriminating a truck with ore to enable the unloading slab, through radars and image sensors (with Artificial Vision (AV) and Artificial Intelligence (AI) techniques).

[0019] The system then involves detecting the ore discharge process from the truck into the crusher bowl using radar and image sensors with AI capabilities. As the ore is discharged, the level, flow rates, and ore flow within the crusher bowl are measured using radar and / or image sensors with AI capabilities. During this measurement process, oversized material in the truck discharge is detected, if present, using image sensors with AI capabilities. Similarly, uncrushable material in the truck discharge is also detected, if present, using image sensors with AI capabilities.

[0020] Oversized material corresponds to a visible obstruction caused by a rock overlying the crusher spider, distributed in such a way that it prevents new material from entering the primary crusher opening. Therefore, this type of obstruction is quickly detected due to its geometric distribution and the type of incoming material falling onto the rock. When this rock forms a bridge over the crusher spider, the material reduction rate will begin to decrease.

[0021] In a preferred execution mode, oversized and uncrushable items are detected in the crusher cup only through radars, only with image sensors with VA and AI, or a combination of both.

[0022] In addition, the method detects blockages, which may correspond to retention of ore or rock in the crusher cup through radars and / or image sensors with VA and AI.

[0023] Once it is confirmed that the flow of ore from the crusher bowl to the actual crushing process is correct, and the conditions that allow continued loading of the crusher are verified, the order to unload the ore is generated optimally or just in time onto the trucks, which can be autonomous or manned, since the method includes integration with the

[0024] 7. b. The crusher and truck dispatch operation control system is in place. This condition is constantly monitored on the plant control operator screen (HMI), which displays the automatic verification status.

[0025] Just as an example—since each operation has crushers with different traffic light configurations—if an operation is using self-unloading, a signal is generated for the access traffic lights, authorizing trucks to enter the parking areas. The green light is only given to one truck at a time by the unloading traffic lights. Additionally, extra traffic lights may indicate the trucks' reversing unloading position toward the crusher bowl. The green light indicates how far the truck remains from the unloading position. Once the truck is reversing to the unloading point in the crusher bowl, the red light is activated. Position detectors at each unloading point will give the green light to the next truck once the previous one has been emptied and removed.

[0026] Continuous monitoring of the crusher cup level is a central aspect of the method in the command logic of the self-unloading.

[0027] The truck cycle follows the following sequence:

[0028] 1. A new truck arrives at the truck queue and generates a signal indicating it is ready to unload. 2. If the truck's entry signal to the parking apron is given, the truck proceeds to park in the assigned apron; otherwise, it must wait for this condition to be met. The signal, for example, could come from a green traffic light or via a digital signal from an autonomous truck command system.

[0029] 3. The first truck in the queue leaves for the assigned unloading area.

[0030] 4. The truck is parked with its rear end facing the respective unloading slab.

[0031] 5. The truck parked at the unloading sign to unload material into the crusher bowl.

[0032] 6. The truck begins unloading material into the crusher bowl.

[0033] 7. After a certain time, the discharge signal is deactivated.

[0034] For example, if it's a traffic light, it changes from green to red. If it's an autonomous truck, a signal is generated with a command to end the unloading.

[0035] 8. The parked truck finishes unloading and moves away from the slab towards the mine.

[0036] The truck unloading cycle at the crusher follows a FIFO sequence, meaning the first truck to arrive in line is the first to park on the platform and unload material into the crusher. Afterward, this truck is the first to leave, making room on the unloading platform for the next truck in the queue.

[0037] The above explains why, when the method is in operation, the interaction with the unloading process is based on turning the unloading signals on and off. For example, if there are traffic lights, the green and red lights of each signal. When the truck unloads, the average level in the receiving crusher's hopper rises to its maximum. At this point, the signal to stop the unloading is generated so that the truck can move away from the crushing slab. If the signal is not activated under this condition, it will be activated when the truck is parked with its hopper down and empty.Furthermore, the discharge signal command is ready to be activated when the crusher bowl is ready for a new discharge, which corresponds to when the average level of the bowl crosses a certain threshold and its rate of decrease indicates that it is not being held back. Additionally, downstream process conditions must be considered, such as the crusher chamber level and its rate of increase or decrease, the speed of the downstream feeder, the operating belt, and the stockpile level.

[0038] The method involves selecting the truck to be unloaded based on the first one parked and stationary. In case of ambiguity, a default truck is selected as the priority. This way, the activation of the unloading signal—for example, the green light at traffic lights—is coordinated according to the truck's arrival order. No more than one unloading signal can be active simultaneously. Furthermore, if a truck that has been given an unloading signal does not unload within a set time, it will be given a completion signal at the unloading point. Subsequently, for operational safety, a brief waiting period will occur with both unloading signals deactivated in case the truck raises its hopper while receiving this signal (a condition that will trigger the system to re-activate the signal).

[0039] Since truck parking aprons may become unusable due to various operational factors, such as equipment cleaning, truck breakdowns, etc., preventing the self-unloading system from sending unloading commands to that apron, the unloading phosphatization changes (to the opposite apron if there is more than one) while this condition persists. The previous condition will always be determined by the crusher entry deactivation signal, which the self-unloading system will interpret as disabling unloading on that apron. Therefore, it will not be necessary to interrupt self-unloading and switch to manual mode, allowing the crusher to continue operating in self-unloading mode only on the enabled apron.The disabling of a slab will imply that the respective discharge signal is inactive to prevent a truck from accessing the area without conditions declared by the crusher operator.

[0040] If the mineral fluid level in the crusher exceeds a certain threshold and the material's decline rate approaches zero, a material retention alarm is triggered, interrupting the discharge signals. The operator can override this alarm on the display to resume automatic discharge. During the crusher discharge stage, the system uses two-dimensional (2D) radar sensors to analyze the material in the receiving hopper to identify any material retention. Additionally, one-dimensional or two-dimensional sensors detect the presence of trucks parked on the discharge platform.Additionally, by means of an array of radars, for example two and three dimensions, a sweep is generated (scanner) that travels the crusher bowl, obtaining a dynamic level surface of the crusher that complements the measurements of the two-dimensional (2D) sensors that also measure the bowl area.

[0041] In addition to or concurrently with the unloading stage, image sensors are illuminated and operate in the near-infrared (NIR) spectrum, which analyzes the interaction between light and matter to generate a spectrum. NIR spectroscopy operates in the near-infrared region of the electromagnetic spectrum, specifically in the wavelength range of 780 to 2500 nm. In other words, an NIR spectrometer measures the light absorption of the sample at different wavelengths in the NIR region. To this end, image sensors are strategically placed in both the unloading area and specific areas of the crusher to capture the necessary observations of the unloading process.Subsequently, the information captured by the image sensors is processed in a computer (with capabilities to process vision and artificial intelligence) which recognizes the target to be detected.

[0042] The detection stage using image sensors comprises:

[0043] 1. Detection and segmentation of uncrushable, oversized and characteristic crusher objects: concaves, spider cap and rock pick.

[0044] 2. Feature extraction for tracking detected objects.

[0045] 3. Determination of material dynamics in the cup by detecting apparent movement patterns.

[0046] 4. Resolution of availability to perform downloads in the cup using the image information obtained.

[0047] However, when automatic unloading is running, additional interlocks are considered beyond those implemented in the manual logic: material retention alert, oversize comminution element alert, truck parking alert, crusher bowl level, downstream feeder speed, conveyor operating status, stockpile level, and crusher chamber level. These are included to ensure the unloading process starts at the correct moment, which in manual operation would depend on the operator's judgment. Additionally, the method includes verifying truck interactions when parking on the slabs, for example: truck with a load, hopper rising, etc. Therefore, truck animations are displayed on the existing Human-Machine Interface (HMI) of the general crushing control system, which includes the automatic unloading system.

[0048] The automated truck unloading system for the crusher consists of two-dimensional radar devices installed on the truck parking slabs. Two- and three-dimensional radars are located in the crusher bowl area. The number of both two- and three-dimensional radars will depend on the size and operation of the crusher. For example, the number of unloading bays, potentially more than one crusher, or the dusty conditions at the site where the system is installed will determine the number of radars needed.

[0049] The system comprises image sensors that operate in the NIR bands, that is, in the near-infrared region of the electromagnetic spectrum, specifically in the wavelength range of 780 to 2500 nm. These image sensors are installed on the truck parking slabs and in the crusher bowl area. The system also includes thermal cameras. In both cases, the system includes spotlights that illuminate in the same band as the image sensors or thermal cameras.

[0050] The radar devices and image sensors are connected to separate control modules, which in turn are connected to the system's control center—a cabinet where all connections are centralized. The control center includes independent programs and, in some cases, different control techniques depending on whether the measurement medium is radar or image.

[0051] The system also includes an analysis and coordination unit connected to each control module. This analysis unit retrieves the results from each control module, synchronizing them with the production process to safely initiate the self-unloading method or alert the operator to blockages caused by oversized or uncrushable material, or problems with a truck or the unloading platform (such as a truck malfunction). Furthermore, the system includes a sensor fusion module to improve data reliability by characterizing the phenomena detected in the temporal and spatial domains.

[0052] The system includes interlocks that are also permissive. It is important to note that if an interlock occurs during self-discharge operation, an alarm will be generated on the operator's screen (HMI) and self-discharge will be disabled. In this situation, the operator must proceed with the operation.

[0053] The control center comprises a communication and monitoring module connected to a dedicated server for the self-unloading system. This dedicated server can be either physical or virtual, and is connected to the cloud via a wired or remote connection. The dedicated server is connected to a screen dedicated to monitoring the self-unloading system's operation and observing the variables while the truck is being unloaded.

[0054] A discharge signal control integration module is connected to the system's communication module to transfer control of discharge signal commands, such as traffic lights, to the system's control center during self-discharge operation. This discharge signal command control module is connected in parallel to the general crushing control system, which is itself connected to the existing human-machine interface (HMI).

[0055] The system's communication module is bidirectionally connected to the discharge signal command control module and through it to the general crushing control system, so the operator can replicate the dedicated screen of the self-discharge system on the general crushing control screen and observe the operation at all times, including any alarms and interlocks that may be generated.

[0056] The self-unloading system's control center also includes at least one vision and artificial intelligence module, which allows for increasing autonomy in response to detected events that trigger interlocks, thus providing greater autonomy to the self-unloading operation over time. It is important to note that the unloading signal command control module acts as a slave to the plant's general crushing control system. Consequently, measurements obtained from radar sensors or other involved process variables are processed locally to obtain the states detailed above. The controller then sends these states to the general crushing control system via a memory map using an industrial communication protocol, where integration with the self-unloading system takes place.

[0057] DESCRIPTION OF THE PREFERRED MODE

[0058] The automatic truck unloading system (1) for the crusher (2) consists of a radar array. In this example, three two-dimensional (2D) radar sensors analyze the material in the crusher bowl (3) to identify any oversize or uncrushable material retention. Additionally, two one- or two-dimensional radar sensors detect the presence of trucks parked on the unloading platform (4). Furthermore, a 3D radar array (scanner) scans the crusher bowl (3) to obtain a dynamic level surface that complements the measurements from the 2D sensors.

[0059] To implement the self-unloading method, the material flow in the crusher is measured using radar sensors. These measurements are performed by 2D radar sensors to maintain detailed monitoring of the crusher bowl (3). To complement these measurements, 3D radar sensors are used to scan the entire surface of the crusher (2). Additionally, 2D radar sensors are integrated, each monitoring its respective truck parking area (4) for trucks (1) unloading into the crusher (2). This is done to detect the presence of any parked trucks (1) and the status of their unloading process (hopper full or empty). Furthermore, the self-unloading system includes 2D radar sensors in the crusher chamber (13).

[0060] The (2D) and (3D) radar sensors are high-precision industrial radar sensors with a 360° measuring area that can be used for inventory control, surface profiling, and anti-collision applications. Optionally, the sensor's field of view can be converted into a measuring surface by scanning. This allows the sensor to monitor and measure large areas of material storage or anti-collision zones from a single installation position.

[0061] The one- and two-dimensional radar sensor offers a reliable solution for detecting objects or obstacles at a specific point, or for integration into an anti-collision system. Designed for heavy-duty use in industrial environments, the sensor provides reliable measurements of the distance to an object or surface, including information on reflectivity. Image sensors (5) operating in the N IR bands are positioned in the parking slab area (4) and around the crusher bowl (3). These image sensors (5) include spotlights that illuminate the detection area. Figure 3 shows the scan (14) performed by the image sensor on the material being discharged into the crusher bowl (2). Figure 4 illustrates the tags (15) that the system places on oversized or uncrushable objects that could obstruct the discharge flow.

[0062] The one-dimensional (2D) and (3D) radar devices and the image sensors (5) are connected by means of control modules to the control center of the self-discharge system (6), which is in a cabinet where all connections are centralized.

[0063] The self-unloading system control center (6) is connected to a communication and monitoring module (7) and this to a dedicated server (8) of the self-unloading system, the dedicated server (8) being connected to a dedicated screen (9) to observe the variables when the self-unloading of the truck (1) is in operation.

[0064] An integration module (10) for controlling discharge signal commands, for example, traffic lights (11), is connected to the communication and monitoring module (7) to transfer control of the discharge signal commands to the self-discharge system control center (6) when operating in self-discharge mode. In a preferred embodiment, the communication and monitoring module (7) is integrated into the self-discharge system control center (6). The integration module (10) for controlling discharge signal commands, for example, traffic lights (11), is connected in parallel to the general crushing control system (12), which is properly connected to the existing control panel (HMI).

[0065] The communication and monitoring module (7) is bidirectionally connected to the integration module (10) and through it to the general crushing control system (12), so the operator can replicate on the general crushing control screen (HMI) the dedicated screen (9) of the self-unloading system and observe the operation at all times, including any alarms and interlocks that may be generated.

[0066] The communication and monitoring module (7) is a high-power processing unit housed in the cabinet. It provides a simple, web-based service and management interface that displays current and historical measured data. The unit is designed to process data from various sensors.

[0067]

Claims

R E I V I N D I CA C I O N E S 1. A method for the automatic unloading of trucks to ore crushers, which allows for the automation of the decision-making process for unloading trucks based on dynamic measurements of the material on the crusher bowl, instantaneous process conditions, and the operating status of the trucks on the respective parking slabs, CHARACTERIZED in that it comprises: a. detecting and discriminating a truck with ore to enable an unloading slab, through radars and image sensors; and unloading the truck; b. detecting the process of ore being poured from the truck into the crusher bowl, through radars and image sensors, and measuring, as the ore is being poured into the crusher bowl, the level, fluidity, and tracking of the ore in the crusher bowl, in which, during the aforementioned measurement, said radars and image sensors detect oversized and uncrushable elements; c.verify the level and fluid conditions in the crusher bowl that allow the crusher to continue loading and generate a discharge order to a truck; d. verify that the next truck entering the slab is ready to discharge and generate a discharge signal, authorizing the discharge to the crusher; e. detect the end of a truck unloading and generate an exit signal from the crusher area; f. select the next truck to unload based on the first one parked and not moving; and g. generate a material retention alarm if the level of mineral fluids in the crusher is higher than allowed and its decrease rate of said material is close to 0.

2. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that said image sensors comprise artificial vision and artificial intelligence.

3. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it comprises detecting oversize and uncrushable elements in the crusher bowl only through radar.

4. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it comprises detecting oversize and uncrushable elements in the crusher bowl using only image sensors.

5. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that said trucks are autonomous or manned.

6. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that the cycle of each truck follows the following sequence: a. A new truck arrives at the truck queue and generates a signal indicating it is ready to unload; b. If the truck's entry signal to the parking apron is given, the truck proceeds to park at the assigned apron; otherwise, it must wait for this condition; c. The first truck in the queue moves to the assigned unloading area; d. The truck parks in reverse at the respective unloading apron; e. The parked truck triggers the unloading signal to begin unloading material into the crusher bowl; f. The truck begins unloading material into the crusher bowl; g. After a predetermined time, the unloading signal is deactivated; and h. The parked truck finishes unloading and leaves the apron back to the mine.

7. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it further comprises that if a truck that has been given an unloading signal does not perform the unloading during a set time, it is given an exit signal from the unloading point.

8. Method for self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it comprises, during the unloading stage at the crusher, analyzing through Two-dimensional radar sensors detect the material in the crusher bowl and identify if material retention occurred.

9. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it further comprises detecting the presence of trucks parked on the unloading slab by means of two-dimensional radar sensors.

10. Method of self-unloading trucks to ore crushers according to claim 8, CHARACTERIZED in that it further comprises traversing the crusher bowl by means of a three-dimensional 3D radar array and obtaining a dynamic level surface of the crusher complementing the measurements of the two-dimensional sensors. 1 1 . Method of self-unloading trucks to ore crushers according to claim 1 , CHARACTERIZED in that said image sensors operate close to the NIR spectrum.

12. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that said NIR spectrum operates in the near infrared region of the electromagnetic spectrum, i.e., in the wavelength range of 780 to 2500 nm.

13. Method of self-unloading trucks to ore crushers according to claim 1, CHARACTERIZED in that it further comprises verifying the interaction of the truck when it parks on the slabs.

4. Automatic truck unloading system for ore crushers, which allows for the automation of truck unloading decisions based on dynamic measurements of the material on the crusher bowl, instantaneous process conditions, and the operating status of the trucks on the respective parking slabs, CHARACTERIZED in that it comprises two-dimensional radar devices arranged on the truck parking slabs; two- and three-dimensional radars arranged in the crusher bowl area; image sensors arranged on said truck parking slabs and in said crusher bowl area; wherein said radar devices and image sensors are connected to respective control modules connected to a control center of the unloading system;an analysis and coordination unit connected to each control module, where said analysis and coordination unit allows obtaining the results delivered by each control module, so that in sync with the production process it can safely initiate the self-unloading method or alert the operator to a blockage due to oversize or uncrushable material; where said control center comprises a communication and monitoring module connected to a dedicated server of the self-unloading system, said dedicated server being connected to a dedicated screen; where an integration module for the control of unloading signal commands is connected to a communication module of the system in such a way as to; transfer control of discharge signal commands to the self-discharge system control center when in operation.

15. Self-loading system for trucks to ore crushers according to claim 14, CHARACTERIZED in that it also comprises thermal cameras.

16. Self-loading system for trucks to ore crushers according to claim 15, CHARACTERIZED in that it comprises spotlights that illuminate in the same band in which the image sensors or thermal cameras work.

17. Automatic truck unloading system to ore crushers according to claim 14, CHARACTERIZED in that said exclusive server is physical.

18. Automatic truck unloading system to ore crushers according to claim 14, CHARACTERIZED in that said exclusive server is virtual and is connected to the cloud in a wired or remote manner.

19. Automatic truck unloading system to ore crushers according to claim 14, CHARACTERIZED in that the unloading signal command control module is connected in parallel to the general crushing control system duly connected to the control screen of said general plant crushing control system.

20. Self-unloading system for trucks to ore crushers according to claim 14, CHARACTERIZED in that said module The communication system is bidirectionally connected to the discharge signal command control module and through it to the general crushing control system.

21. Self-unloading system for trucks to ore crushers according to claim 14, CHARACTERIZED in that the control center of the self-unloading system further comprises at least one vision and artificial intelligence module.

22. Self-loading system for trucks to ore crushers according to claim 14, CHARACTERIZED in that it further comprises radar sensors in the crusher chamber.

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