Swing automation for rope shovel
First Claim
1. A mining shovel comprising:
- a hoist motor;
a crowd motor;
a swing motor;
motor position sensors including a hoist motor position sensor, a crowd motor position sensor, and a swing motor position sensor;
a dipper that is operable to dig and dump materials and that is positioned via operation of the hoist motor, the crowd motor, and the swing motor;
a display; and
a processor coupled to the display and the motor position sensors, and configured todetermine, based on signals from the motor position sensors during operation of the mining shovel, a current hoist position of the dipper, a current crowd position of the dipper, and a current swing position of the dipper,determine an ideal hoist position of the dipper, an ideal crowd position of the dipper, and an ideal swing position of the dipper, andprovide operator feedback, on the display, the operator feedback indicating the current hoist position, the current crowd position, and the current swing position determined based on the signals from the motor position sensors, and indicating the ideal hoist position, the ideal crowd position, and the ideal swing position,wherein the operator feedback on the display further indicates previous hoist positions of the dipper, previous crowd positions of the dipper, and previous swing positions of the dipper along with indicating the current hoist position, the current crowd position, the current swing position, the ideal hoist position, the ideal crowd position, and the ideal swing position, andwherein the previous hoist positions, the previous crowd positions, and the previous swing positions are displayed on a time scale.
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0 Petitions
Accused Products
Abstract
A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.
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Citations
16 Claims
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1. A mining shovel comprising:
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a hoist motor; a crowd motor; a swing motor; motor position sensors including a hoist motor position sensor, a crowd motor position sensor, and a swing motor position sensor; a dipper that is operable to dig and dump materials and that is positioned via operation of the hoist motor, the crowd motor, and the swing motor; a display; and a processor coupled to the display and the motor position sensors, and configured to determine, based on signals from the motor position sensors during operation of the mining shovel, a current hoist position of the dipper, a current crowd position of the dipper, and a current swing position of the dipper, determine an ideal hoist position of the dipper, an ideal crowd position of the dipper, and an ideal swing position of the dipper, and provide operator feedback, on the display, the operator feedback indicating the current hoist position, the current crowd position, and the current swing position determined based on the signals from the motor position sensors, and indicating the ideal hoist position, the ideal crowd position, and the ideal swing position, wherein the operator feedback on the display further indicates previous hoist positions of the dipper, previous crowd positions of the dipper, and previous swing positions of the dipper along with indicating the current hoist position, the current crowd position, the current swing position, the ideal hoist position, the ideal crowd position, and the ideal swing position, and wherein the previous hoist positions, the previous crowd positions, and the previous swing positions are displayed on a time scale. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of generating an operator feedback display for a dipper of a shovel, the method comprising:
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controlling movement of the dipper via operation of a hoist motor, a crowd motor, and a swing motor; determining, by a processor, an ideal hoist position of the dipper, an ideal crowd position of the dipper, and an ideal swing position of the dipper; determining, by the processor, a current hoist position of the dipper, a current crowd position of the dipper, and a current swing position of the dipper based on signals from motor position sensors during operation of the mining shovel, wherein the motor position sensors include a hoist motor position sensor, a crowd motor position sensor, and a swing motor position sensor; and providing operator feedback, by the processor on the display, that indicates the current hoist position, the current crowd position, the current swing position determined based on the signals from the motor position sensors, and indicates the ideal hoist position, the ideal crowd position, and the ideal swing position, wherein the operator feedback on the display further indicates previous hoist positions of the dipper, previous crowd positions of the dipper, and previous swing positions of the dipper along with indicating the current hoist position, the current crowd position, the current swing position, the ideal hoist position, the ideal crowd position, and the ideal swing position, and wherein the previous hoist positions, the previous crowd positions, and the previous swing positions are displayed on a time scale. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification