Patent Publication Number: US-11649679-B2

Title: System and method to automatically position a machine in a shipping configuration

Description:
TECHNICAL FIELD 
     The present disclosure relates to a drilling machine. More particularly, the present disclosure relates to automating process of positioning the drilling machine in a shipping configuration. 
     BACKGROUND 
     In drilling and other work sites, various drilling vehicles, i.e. mobile drilling machines, are used. The drilling vehicle is provided with a boom and a drilling work machine on the boom. The boom is moved during use between different working positions. Controlling the boom is typically a demanding and time-consuming task, because the boom structure is complex. The boom usually comprises multiple boom actuators and joints the setting of which to a desired position using manual controls is not always intuitive. Furthermore, visibility of the operator to a working site may be poor and available free space is limited. 
     Typically, at a drilling site using such drilling vehicles, shipping containers are used to transport the drilling vehicles from one location to another. For the drilling vehicle to adequately fit inside the shipping container, the drilling vehicle needs to be within a maximum permissible shipping width, length &amp; height. Exceeding the permitted dimensions may attract financial penalties, therefore it is vital for the drilling machine to be within a shipping envelope. For moving the drilling vehicle from any operating configuration to the shipping configuration, an operator may need to follow various sequential steps so that various front-end implements of the drilling vehicle are within the shipping envelope. Further, the operator needs to avoid any surrounding obstacles, or operator cabin etc. while following such steps making the process highly critical and tedious. 
     U.S. Pat. No. 9,476,256 (hereinafter called as the &#39;256 reference) discloses a mining vehicle and a method of moving a boom of a mining vehicle. The boom is provided with several boom joints and there is a mining work device at a distal end of the boom. One or more boom joint positions are determined and stored in a memory medium. A control unit of the mining vehicle may automatically move the boom to a predetermined tramming position. Tramming position is defined as a configuration of the mining vehicle to efficiently travel between two mining locations. However, the &#39;256 reference does not disclose about a shipping configuration and problems associated with the same. 
     Thus, there is a need to provide a drilling vehicle which may be stowed to a shipping configuration efficiently. 
     SUMMARY 
     In an aspect of the present disclosure, a machine is provided. The machine includes a movable carrier and a boom coupled to the movable carrier. The machine includes at least one boom actuator adapted to actuate the boom. The machine includes at least one boom sensor configured to generate signals indicative of a spatial orientation of the boom. The machine includes a drilling work device coupled at a distal portion of the boom. The machine includes a first actuator and a second actuator adapted to actuate the drilling work device. The machine includes at least one drilling work device sensor configured to generate signals indicative of a spatial orientation of the drilling work device. The machine further includes a controller communicably coupled to the boom actuator, the boom sensor, the first actuator, the second actuator and the drilling work device sensor. The controller receives signals indicative of the spatial orientation of the boom. The controller receives signals indicative of the spatial orientation of the drilling work device. Further, the controller actuates at least one of the boom actuator, the first actuator and the second actuator based on the received spatial orientation of the boom and the drilling work device through predetermined sequential steps to automatically position the machine in a shipping configuration. 
     In another aspect of the present disclosure, a method to operate a machine is provided. The machine has a boom and a drilling work device coupled to the boom. The method includes receiving signals indicative of a spatial orientation of the boom by a controller. The boom has at least one boom actuator. The method includes receiving signals indicative of a spatial orientation of the drilling work device by the controller. The drilling work device has a first actuator and a second actuator. The method further includes actuating at least one of the boom actuator, the first actuator and the second actuator by the controller based on the received spatial orientation of the boom and the drilling work device through predetermined sequential steps to automatically position the machine in a shipping configuration. 
     In yet another aspect of the present disclosure, a computer program is provided. The computer program includes program code means configured to control a machine having a boom and a drilling work device coupled to the boom to execute method steps. The method steps include receiving signals indicative of a spatial orientation of the boom by a controller, wherein the boom has at least one boom actuator. The method steps include receiving signals indicative of a spatial orientation of the drilling work device by the controller, wherein the drilling work device has a first actuator and a second actuator. The method steps further include actuating at least one of the boom actuator, the first actuator and the second actuator by the controller based on the received spatial orientation of the boom and the drilling work device through predetermined sequential steps to automatically position the machine in a shipping configuration. 
     Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    shows an exemplary machine in an operational configuration, according to an aspect of the present disclosure; 
         FIGS.  2 - 6    show the machine in various intermediate configuration, according to an aspect of the present disclosure; 
         FIG.  7    shows the machine in a shipping configuration, according to an aspect of the present disclosure; and 
         FIG.  8    illustrates method flow chart for controlling the machine, according to an aspect of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Wherever possible, the same reference numbers will be used throughout the drawings to refer to same or like parts.  FIG.  1    illustrates an exemplary machine  100  with which various aspects of the present disclosure may be applied. Although, the machine  100  is illustrated as a down the hole drill machine, the present disclosure may very well be applied with any other suitable machine type as well. 
     As illustrated in  FIG.  1   , the machine  100  includes a movable carrier  102 . The movable carrier  102  is illustrated as tracks. However, the movable carrier  102  may also be provided as any other suitable alternative such as wheels as per application requirements. The machine  100  includes an operator cabin  104  coupled on the movable carrier  102 . A frame  106  of the machine  100  coupled to the movable carrier  102  supports various components on the frame  106 . However, such components are not being discussed in detail in the context of present disclosure. The machine  100  further includes a user input interface (not visible) provided within the operator cabin  104 . The user input interface may also be provided at a location outside the operator cabin  104  which is easily accessible to an operator. 
     The user input interface may be a button, a joystick, a touchscreen, or any other type of an interface which may be suitable for receiving a user input from an operator. The user input may be various operational inputs required for functioning of the machine  100 . In an embodiment, the user input may be an indication that the machine  100  needs to be positioned in a shipping configuration. The shipping configuration may be referred to as a relative positional configuration of various components of the machine  100  such that the machine  100  lies within a shipping envelope and may be placed within a shipping container. (An exemplary such configuration is illustrated in  FIG.  7   ). 
     The machine  100  includes a boom  108  coupled to the frame  106 . The boom  108  has a proximal portion  110  and a distal portion  112 . The boom  108  is coupled to the frame  106  at the proximal portion  110  such that the boom  108  is pivoted with the frame  106  at the proximal portion  110 . The boom  108  may be moved in a suitable angular range as per application requirements. The machine  100  includes at least one boom actuator  114  which actuates the boom  108 . The boom actuator  114  includes a boom lift. The boom lift is illustrated as an extendable piston-cylinder arrangement. The boom actuator  114  may be actuated by hydraulic means, or pneumatic means or any other such suitable means of actuation. 
     For various operational purposes in context of the present disclosure, it is vital to understand spatial position of the boom  108 . The machine  100  includes at least one boom sensor  116  configured to generate signals indicative of a spatial orientation of the boom  108 . The boom sensor  116  may be selected from one or more of an inertial measurement unit (IMU), or a proximity sensor. The boom sensor  116  may be any suitable type of sensor which may be applicable with various aspects of the present disclosure. The present disclosure is not limited by type of the boom sensor  116  in any manner. The boom sensor  116  may be attached to the boom  108  at any suitable location between the proximal portion  110  and the distal portion  112 . 
     The machine  100  further includes a drilling work device  118  coupled at the distal portion  112  of the boom  108 . The drilling work device  118  includes various components collectively being referred here as the drilling work device  118 . In the illustrated embodiment, the drilling work device  118  is used to carry out vertical drilling operation through the various components of the drilling work device  118 . 
     The drilling work device  118  includes a feed table  120  coupled to the distal portion of the boom  108 . The machine  100  includes a first actuator  122  which may actuate the drilling device  118  such that the drilling device  118  may be tilted along a first rotational direction R. More specifically, the first actuator  122  actuates the feed table  120  to be tilted along the first rotational direction R. The machine further includes a feed swing actuator  124  as well. The feed swing actuator  124  actuates the drilling work device  118  to control swing of the drilling work device  118 . 
     The feed table  120  supports a drill pipe rack  126  such that the drill pipe rack  126  may slide relative to the feed table  120  as per application requirements. The drill pipe rack  126  supports one or more drill pipes  128  and may be suitably used for supplying, changing or withdrawing the drill pipes  128 . The machine  100  further includes a second actuator  125  for supporting sliding motion of the drill pipe rack  126  relative to the feed table  120 . 
     The drilling work device  118  may include various other components as well. However, any such components are not limiting to the context of the present disclosure and are not being discussed in detail here. The machine  100  further includes at least one drilling work device sensor  130 . The drilling work device sensor  130  is configured to generate signals indicative of a spatial orientation of the drilling work device  118 . The drilling work device sensor  130  may include one or more of an inertial measurement unit, a feed table extend sensor, a proximity sensor etc. 
     The machine further includes a controller  132 . The controller  132  may include a processor (not shown) and a memory (not shown). The memory may include computer executable instructions that are executable by the processor to perform a logic associated with the controller  132 . In an example, the controller  132  may include analog-to-digital converters to process the signals from the various components of the machine  100 . 
     The processor and the memory may be in communication with each other. The processor may be in communication with additional components. The processor may be in communication with the user input interface. In some embodiments, the processor may also receive inputs from the operator via the user input interface. The controller  132  may control various parameters of the machine  100  based on the inputs received from the operator. 
     The processor may be any device that performs logic operations. The processor may include a general processor, a central processing unit, an application specific integrated circuit (ASIC), a digital signal processor, a field programmable gate array (FPGA), a digital circuit, an analog circuit, a controller, a microcontroller, any other type of processor, or any combination thereof. The processor may include one or more components operable to execute computer executable instructions or computer code embodied in the memory. 
     Some of the features of the controller  132  may be stored in a computer readable storage medium (for example, as logic implemented as computer executable instructions or as data structures in memory). All or part of the controller  132  and its logic and data structures may be stored on, distributed across, or read from one or more types of computer readable storage media. Examples of the computer readable storage medium may include a hard disk, a floppy disk, a CD-ROM, a flash drive, a cache, volatile memory, non-volatile memory, RAM, flash memory, or any other type of computer readable storage medium or storage media. The computer readable storage medium may include any type of non-transitory computer readable medium, such as a CD-ROM, a volatile memory, a non-volatile memory, ROM, RAM, or any other suitable storage device. 
     A network interface (not shown) may facilitate communication of the controller  132  with a packet-based network, such as a local area network. Additionally, peripheral interfaces (not shown) may be provided. For example, the peripheral interfaces may include RS232 serial interfaces to connect the controller  132  to the other parts of the machine  100  to allow control thereof. The peripheral interfaces may further include Universal Serial Bus (USB) interfaces to facilitate connection of human interface devices to the controller, along with a Video Graphics Array (VGA) interface to allow connection of a display (e.g., the user interface) to the controller  132 . 
     The controller  132  is communicably coupled to the boom actuator  114 , the boom sensor  116 , the first actuator  122 , the second actuator  125  and the drilling work device sensor  130 . The controller  132  is configured to receive signals indicative of the spatial orientation of the boom  108 . The controller  132  receives signals indicative of the spatial orientation of the boom  108  from the boom sensor  116 . The controller  132  is configured to receive signals indicative of the spatial orientation of the drilling work device  118 . The controller  132  receives signals indicative of the spatial orientation of the drilling work device  118  from the drilling work device sensor  130 . 
     The controller  132  may further receive user input through the user input interface. In an embodiment, the user input is indicative of positioning the machine  100  in the shipping configuration. The controller  132  is further configured to actuate one or more of the boom actuator  114 , the first actuator  122  and the second actuator  125  based on the received spatial orientation of the boom  108  and the drilling work device  118  and the user input. The controller  132  actuates the boom actuator  114 , the first actuator  122 , and the second actuator  125  through predetermined sequential steps. 
     The pre-determined sequential steps may be stored within the memory of the controller  132  or may be accessible to the controller  132  from an off-board location. The pre-determined steps may be defined by taking into account various structural and operational aspects of the machine  100 , as well as compliance regulations of shipping logistics.  FIGS.  1  to  6    illustrate various intermediate configurations of the machine  100  achieved through movement of various components to finally arrive at the shipping configuration. It should be contemplated that the illustrated predetermined sequential steps are merely exemplary in nature and the present disclosure is not limited to the illustrated exemplary steps only. Various such sequences may be defined based on several parameters related to the machine  100  and the shipping logistics and may very well be implemented with several aspects of the present disclosure. 
       FIG.  1    illustrates the machine  100  such that the machine  100  may be in an operational configuration for a drilling operation. The drilling work device  118  is shown in a vertical configuration. When the controller  132  receives the user input that the machine  100  is to be positioned in the shipping configuration, the controller  132  starts executing the predetermined sequential steps. The predetermined sequential steps include the controller  132  actuating the boom actuator  114  to raise the boom  108 . In an embodiment, the boom  108  is raised by a first pre-determined angle A 1 . The first pre-determined angle A 1  may be provided in a range based on various structural aspects of the machine  100 , as well as several other relevant parameters. The boom  108  is illustrated as raised by the first pre-determined angle A 1  in  FIG.  2   . 
     Referring to  FIG.  3   , the predetermined sequential steps further include the controller  132  actuating the first actuator  122  to tilt the drilling work device  118 . The drilling work device  118  is tilted in the first rotational direction R. In an embodiment, the drilling work device  118  is tilted by a fourth pre-determined angle A 4 . The fourth pre-determined angle A 4  may be provided in a range based on various structural aspects of the machine  100 , as well as several other relevant parameters. The drilling work device  118  is illustrated as tilted by the fourth pre-determined angle A 4  in  FIG.  3   . 
     Referring to  FIG.  3   , the predetermined sequential steps further include the controller  132  actuating the second actuator  125  to translate a portion of the drilling work device  118  in a first translational direction T. In the illustrated embodiment, the portion of the drilling work device  118  is the drill pipe rack  126  which is translated in the first translational direction T over the feed table  120 . The drilling work device  118  is illustrated with the drill pipe rack  126  translated in  FIG.  4   . 
     Referring to  FIG.  5   , the predetermined sequential steps further include the controller  132  actuating the boom actuator  114  to lower the boom  108 . In an embodiment, the boom  108  is lowered by a second pre-determined angle A 2 . The second pre-determined angle A 2  may be provided in a range based on various structural aspects of the machine  100 , as well as several other relevant parameters. The boom  108  is illustrated as lowered by the second pre-determined angle A 2  in  FIG.  5   . 
     Referring to  FIG.  6   , the predetermined sequential steps further include the controller  132  actuating the first actuator  122  to further tilt the drilling work device  118 . The drilling work device  118  is further tilted in the first rotational direction R. In an embodiment, the drilling work device  118  is further tilted by a fifth pre-determined angle A 5 . The fifth pre-determined angle A 5  may be provided in a range based on various structural aspects of the machine  100 , as well as several other relevant parameters. The drilling work device  118  is illustrated as further tilted by the fifth pre-determined angle A 5  in  FIG.  6   . 
     The predetermined sequential steps further include the controller  132  actuating the boom actuator  114  to further lower the boom  108 . In an embodiment, the boom  108  is further lowered by a third pre-determined angle A 3 . The third pre-determined angle A 3  may be provided in a range based on various structural aspects of the machine  100 , as well as several other relevant parameters. 
     The boom  108  is illustrated as further lowered by the third pre-determined angle A 3  in  FIG.  7    which is also referred to as the shipping configuration in context of the present disclosure. The shipping configuration may be envisioned as a compact relative positioning of various components of the machine  100  which may be suitable for transportation purposes and takes up minimum possible space requirements as well as remains compliant with regulations of the shipping containers and logistics. 
     The user input interface may receive the user input indicative of positioning the machine  100  in the shipping configuration. The operator may merely press a button and the controller  132  automatically positions the machine  100  in the shipping configuration by following the pre-defined sequence of steps. This saves a lot of time and manual adjustment effort and prevents operator fatigue which leads to increased productivity. Further, as the process is automated, improved repeatability and standardization is observed in stowing the machine  100  in the shipping configuration. 
       FIG.  8    illustrates a flowchart depicting steps of a method  800  to operate the machine  100 . The machine  100  includes the boom  108  and the drilling work device  118  coupled to the boom  108 . At step  802 , the method  800  includes receiving the signals indicative of the spatial orientation of the boom  108  by the controller  132 . The boom  108  has the boom actuator  114  for actuating the boom  108 . At step  804 , the method  800  includes receiving the signals indicative of the spatial orientation of the drilling work device  118  by the controller  132 . The drilling work device  118  has the first actuator  122  and the second actuator  125 . At step  806 , the method  800  includes actuating one or more of the boom actuator  114 , the first actuator  122  and the second actuator  125  by the controller  132  based on the received spatial orientation of the boom  108  and the drilling work device  118  through predetermined sequential steps to automatically position the machine  100  in the shipping configuration. 
     The method  800  may further include receiving the user input indicating to position the machine  100  in the shipping configuration by the controller  132  and executing the predetermined sequential steps based on the user input to position the machine  100  in the shipping configuration. The predetermined sequential steps include actuating the boom actuator  114  to raise the boom  108 . In an embodiment, the boom  108  may be raised by the first pre-determined angle A 1 . The predetermined sequential steps include actuating the first actuator  122  to tilt the drilling work device  118  in the first rotational direction R. In an embodiment, the drilling work device  118  may be tilted by the fourth pre-determined angle A 4 . 
     The predetermined sequential steps include actuating the second actuator  125  to translate the portion of the drilling work device  118  in the first translational direction T. The predetermined sequential steps include actuating the boom actuator  114  to lower the boom  108 . In an embodiment, the boom  108  is lowered by the second pre-determined angle A 2 . The predetermined sequential steps include actuating the first actuator  122  to further tilt the drilling work device  118  in the first rotational direction R. In an embodiment, the drilling work device  118  is further tilted by the fifth pre-determined angle A 5 . The predetermined sequential steps further include actuating the boom actuator  114  to further lower the boom  108 . In an embodiment, the boom  108  is lowered by the third pre-determined angle A 3 . 
     Another aspect of the present disclosure is provided as a computer program. The computer program includes program means configured to control the machine  100 . The machine  100  has the boom  108  and the drilling work device  118  coupled to the boom  108 . The program means is configured to control the machine  100  to execute method steps including receiving the signals indicative of the spatial orientation of the boom  108  by the controller  132 . In an embodiment, the signals indicative of the spatial orientation of the boom  108  are received by the boom sensor  116 . The boom  108  has the boom actuator  114  for actuating the boom  108 . The method steps include receiving the signals indicative of the spatial orientation of the drilling work device  118  by the controller  132 . In an embodiment, the signals indicative of the spatial orientation of the drilling work device  118  are received by the drilling work device sensor  130 . The drilling work device  118  has the first actuator  122  and the second actuator  125 . The method steps include actuating one or more of the boom actuator  114 , the first actuator  122  and the second actuator  125  by the controller  132  based on the received spatial orientation of the boom  108  and the drilling work device  118  through predetermined sequential steps to automatically position the machine  100  in the shipping configuration. 
     The method steps may further include receiving the user input indicating to position the machine  100  in the shipping configuration by the controller  132  and executing the predetermined sequential steps based on the user input to position the machine  100  in the shipping configuration. The predetermined sequential steps include actuating the boom actuator  114  to raise the boom  108 . In an embodiment, the boom  108  may be raised by the first pre-determined angle A 1 . The predetermined sequential steps include actuating the first actuator  122  to tilt the drilling work device  118  in the first rotational direction R. In an embodiment, the drilling work device  118  may be tilted by the fourth pre-determined angle A 4 . 
     The predetermined sequential steps include actuating the second actuator  125  to translate the portion of the drilling work device  118  in the first translational direction T. The predetermined sequential steps include actuating the boom actuator  114  to lower the boom  108 . In an embodiment, the boom  108  is lowered by the second pre-determined angle A 2 . The predetermined sequential steps include actuating the first actuator  122  to further tilt the drilling work device  118  in the first rotational direction R. In an embodiment, the drilling work device  118  is further tilted by the fifth pre-determined angle A 5 . The predetermined sequential steps further include actuating the boom actuator  114  to further lower the boom  108 . In an embodiment, the boom  108  is lowered by the third pre-determined angle A 3 . 
     The program code means is further configured to cause the machine  100  to perform the method step of receiving the user input by the controller  132  indicating to position the machine  100  in the shipping configuration and executing the predetermined sequential steps by the controller  132  based on the user input to position the machine  100  in the shipping configuration. 
     INDUSTRIAL APPLICABILITY 
     The present disclosure provides a user with an option to automate sequential motion steps which need to be completed manually otherwise. After a user has decided that the machine  100  has to be shipped, the user may load the machine  100  on a loading vehicle such as a truck (not shown). After loading the machine  100  on the loading vehicle, the user may actuate the auto shipping sequence by merely pressing a button, or through any other suitable user interface option. The operator need not adjust various components manually, thus considerably saving effort, time and operator fatigue. Automating the shipping mode setup for the machine  100  also improves repeatability of the shipping process, improves accuracy and enhances overall productivity. 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.