Automated control of dipper swing for a shovel

• US 10,655,301 B2
• Filed: 08/28/2017
• Issued: 05/19/2020
• Est. Priority Date: 03/16/2012
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Komatsu Ltd.)
• Original Assignee: Joy Global Surface Mining Inc. (Komatsu Ltd.)
• Inventors: Linstroth, Michael, Colwell, Joseph, Emerson, Mark
• Primary Examiner(s): Boomer, Jeffrey C
• Application Number:
  US15/688,659
• Publication Number:
  US 20170356162A1
• Time in Patent Office: 995 Days
• CPC Class Codes: E02F 3/30 with a dipper-arm pivoted on a cantilever beam , i.e. boom
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence
• CPC Class Codes: E02F 9/2058 Electric or electro-mechanical or mechanical control devices of vehicle sub-units for vehicles in general B60W
• CPC Class Codes: E02F 9/2079 Control of mechanical transmission for hydrostatic transmission or hydraulic torque converter E02F9/2253
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

Systems and methods for compensating dipper swing control. One method includes, with at least one processor, determining a direction of compensation opposite a current swing direction of the dipper and applying the maximum available swing torque in the direction of compensation when an acceleration of the dipper is greater than a predetermined acceleration value. The method can also include determining a current state of the shovel and performing the above steps when the current state of the shovel is a swing-to-truck state or a return-to-tuck state. When the current state of the shovel is a dig-state, the method can include limiting the maximum available swing torque and allowing, with the at least one processor, swing torque to ramp up to the maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position.

Claims

1. A method of compensating swing control of a dipper of a shovel, the shovel including a swing motor, the method comprising:

determining, by at least one processor, a current swing direction of the dipper;

determining, by the at least one processor, a direction of compensation opposite the current swing direction of the dipper;

monitoring, by the at least one processor, an acceleration of the dipper;

detecting, by the at least one processor, an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values;

modifying, by the at least one processor, a swing torque value for the swing motor; and

applying, by the at least one processor, the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object.

2. The method of claim 1, wherein the swing torque value for the swing motor is modified independent of operator commands.

3. The method of claim 1, further comprising:

resetting the modified swing torque value for the swing motor in response to the current swing speed dropping below a predetermined speed value.

4. The method of claim 3, wherein the predetermined speed value is between approximately 0 rpm and approximately 300 rpm.

5. The method of claim 1, further comprising:

starting a timer when the monitored acceleration is within the determined range of acceleration values; and

resetting the modified swing torque value for the swing motor in response to the timer reaching a setpoint.

6. The method of claim 5, wherein the setpoint is approximately 500 milliseconds.

7. The method of claim 1, wherein the modified swing torque value for the swing motor represents a maximum available swing torque in the direction of compensation.

8. The method of claim 7, further comprising:

applying, by the at least one processor, the maximum available swing torque in the direction of compensation.

9. The method of claim 8, further comprising:

modifying the maximum available swing torque before applying the maximum available swing torque in the direction of compensation.

10. The method of claim 9, wherein modifying the maximum available swing torque includes increasing the maximum available swing torque up to approximately 200%.

11. The method of claim 1, wherein the modified swing torque value for the swing motor represents a percentage of a maximum available swing torque in the direction of compensation.

12. The method of claim 11, further comprising:

applying, by the at least one processor, the percentage of the maximum available swing torque in the direction of compensation.

13. A system for compensating swing control of a dipper of a shovel, the system comprising:

a swing motor; and

a controller including at least one processor, the at least one processor configured to determine a current swing direction of the dipper,

determine a direction of compensation opposite the current swing direction of the dipper,

monitor an acceleration of the dipper,

detect an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values;

modify a swing torque value for the swing motor; and

apply the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object.

14. The system of claim 13, wherein the at least one processor is further configured to

reset the modified swing torque value for the swing motor in response to the current swing speed dropping below a predetermined speed value.

15. The system of claim 14, wherein the predetermined speed value is between approximately 0 rpm and approximately 300 rpm.

16. The system of claim 13, wherein the at least one processor is further configured to

start a timer when the monitored acceleration is within the determined range of acceleration values;

and

reset the modified swing torque value for the swing motor in response to the timer reaching a setpoint.

17. The system of claim 16, wherein the setpoint is approximately 500 milliseconds.

18. The system of claim 13, wherein the modified swing torque value for the swing motor represents a maximum available swing torque in the direction of compensation.

19. The system of claim 18, wherein the at least one processor is further configured to

apply, by the at least one processor, the maximum available swing torque in the direction of compensation.

20. The system of claim 19, wherein the at least one processor is further configured to

modify the maximum available swing torque before applying the maximum available swing torque in the direction of compensation.

21. The system of claim 20, wherein modifying the maximum available swing torque includes increasing the maximum available swing torque up to approximately 200%.

22. The system of claim 13, wherein the modified swing torque value for the swing motor represents a percentage of a maximum available swing torque in the direction of compensation.

23. The system of claim 22, wherein the at least one processor is further configured to

apply the percentage of the maximum available swing torque in the direction of compensation.

24. A non-transitory computer-readable medium configured to execute, by a processor, a set of functions for compensating swing control of a dipper of a shovel, the shovel including a swing motor, the set of functions comprising:

determining a current swing direction of the dipper;

determining a direction of compensation opposite the current swing direction of the dipper;

monitoring an acceleration of the dipper;

detecting an impact of the dipper with an object when the monitored acceleration is within a determined range of acceleration values; and

modifying a swing torque value for the swing motor; and

applying the modified swing torque value for the swing motor to slow a current swing speed of the dipper in response to detecting the impact of the dipper with the object.