Method for an autonomous loading shovel

• US 20060090378A1
• Filed: 09/01/2005
• Published: 05/04/2006
• Est. Priority Date: 09/01/2004
• Status: Active Grant

• Current Assignee: Siemens Large Drives LLC (Siemens AG)
• Original Assignee: Siemens Industry Incorporated (Siemens AG)
• Inventors: Furem, Ken
• Granted Patent: US 7,578,079 B2
• Time in Patent Office: Days
• US Class Current: 37/443
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/267 Diagnosing or detecting failure of vehicles

Abstract

Certain exemplary embodiments can comprise a method for controlling a machine. The method can comprise a plurality of activities that can comprise determining a profile of a surface responsive to a scan of the surface. The method can comprise identifying a predetermined profile from a plurality of predetermined profiles, the identified predetermined profile a closest match of the plurality of predetermined profiles to the profile of the surface. The method can comprise determining a machine procedure based upon the identified predetermined profile. The method can comprise automatically executing the preferred machine procedure via a machine.

Claims

1. A method for controlling an electric mining shovel, the method comprising a plurality of activities comprising:

determining a profile of a digging surface responsive to a scan of the digging surface;

identifying a predetermined bank profile from a plurality of predetermined bank profiles, the identified predetermined bank profile a closest match of the plurality of predetermined bank profiles to the profile of the digging surface;

automatically determining a first electric mining shovel digging procedure based upon the identified predetermined bank profile;

automatically executing an optimization routine to determine a second electric mining shovel digging procedure;

automatically comparing the first electric mining shovel digging procedure to the second electric mining shovel digging procedure to determine an preferred electric mining shovel digging procedure; and

automatically executing the preferred electric mining shovel digging procedure via an electric mining shovel.

2. The method of claim 1, further comprising:

receiving a location of the mining haulage vehicle relative to the electric mining shovel.

3. The method of claim 1, further comprising:

receiving a Global Position System (GPS) signal from a mining haulage vehicle, the GPS signal indicative of the location of the mining haulage vehicle relative to the electric mining shovel.

4. The method of claim 1, further comprising:

determining a procedure for loading a mining haulage vehicle with the electric mining shovel.

5. The method of claim 1, further comprising:

executing a procedure for loading a mining haulage vehicle, the loading procedure based upon the preferred digging procedure.

6. The method of claim 1, further comprising:

optimizing a procedure for loading a mining haulage vehicle responsive to a result of a power optimization routine, the mining haulage vehicle to be loaded by the electric mining shovel.

7. The method of claim 1, further comprising:

responsive to a signal from a mining haulage vehicle, automatically transmitting instructions adapted to relocate the mining haulage vehicle.

8. The method of claim 1, further comprising:

signaling an operator to manually control the electric mining shovel responsive to a determination that a parameter related to control of the electric mining shovel is invalid.

9. The method of claim 1, further comprising:

automatically detecting an interference of the electric mining shovel with an object.

10. The method of claim 1, further comprising:

automatically relocating the electric mining shovel responsive to detection of an interference of the electric mining shovel with an object.

11. The method of claim 1, further comprising:

relocating the electric mining shovel responsive to instructions to relocate the electric mining shovel.

12. The method of claim 1, further comprising:

automatically managing an electrical cable coupled to the electric mining shovel while relocating the electric mining shovel.

13. The method of claim 1, further comprising:

automatically detecting a fault in the electric mining shovel.

14. The method of claim 1, further comprising:

automatically repairing a fault detected in the electric mining shovel.

15. The method of claim 1, further comprising:

automatically signaling a help entity responsive to a detected fault in the electric mining shovel.

16. The method of claim 1, further comprising:

receiving instructions regarding the digging surface.

17. The method of claim 1, further comprising:

receiving instructions regarding a boundary of a pocket of material to be removed by the electric mining shovel.

18. The method of claim 1, further comprising:

modifying the first digging procedure responsive to a machine positional limit of the electric mining shovel.

19. The method of claim 1, further comprising:

scheduling a maintenance activity for the electric mining shovel responsive to a detected event.

20. A method for controlling an electric mining shovel, the method comprising a plurality of activities comprising:

determining a profile of a digging surface responsive to a scan of the digging surface;

identifying a predetermined bank profile from a plurality of predetermined bank profiles, the identified predetermined bank profile a closest match of the plurality of predetermined bank profiles to the profile of the digging surface;

automatically determining a first electric mining shovel digging procedure based upon the identified predetermined bank profile;

automatically executing an optimization routine to determine a second electric mining shovel digging procedure;

automatically comparing the first electric mining shovel digging procedure to the second electric mining shovel digging procedure to determine an preferred electric mining shovel digging procedure; and

transferring the preferred electric mining shovel digging procedure to an electric mining shovel.

21. A machine-readable medium having stored thereon a plurality of executable instructions adapted to control an electric mining shovel, the plurality of instructions comprising instructions to:

determine a profile of a digging surface responsive to a scan of the digging surface;

identify a predetermined bank profile from a plurality of predetermined bank profiles, the identified predetermined bank profile a closest match of the plurality of predetermined bank profiles to the profile of the digging surface;

automatically determine a first electric mining shovel digging procedure based upon the identified predetermined bank profile;

automatically execute an optimization routine to determine a second electric mining shovel digging procedure;

automatically compare the first electric mining shovel digging procedure to the second electric mining shovel digging procedure to determine an preferred electric mining shovel digging procedure; and

automatically execute the preferred electric mining shovel digging procedure via an electric mining shovel.