Autonomous loading shovel system

• US 7,574,821 B2
• Filed: 09/01/2005
• Issued: 08/18/2009
• Est. Priority Date: 09/01/2004
• Status: Active Grant

• Current Assignee: Siemens Large Drives LLC (Siemens AG)
• Original Assignee: Siemens Energy & Automation Incorporated (Siemens AG)
• Inventors: Furem, Ken
• Primary Examiner(s): Beach; Thomas A
• Assistant Examiner(s): Buck; Matthew R
• Application Number:
  US11/217,177
• Publication Number:
  US 20060090379A1
• Time in Patent Office: 1,447 Days
• Field of Search: 373/48, 373/82, 37413-416, 379/07, 701/50, 172 2- 45
• US Class Current: 37/348
• 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 provide a system comprising a processor adapted to determine a profile of a surface responsive to a scan of the surface. The processor can be adapted to identify 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 processor can be adapted to determine a procedure based upon the identified predetermined profile. The processor can be adapted to provide the procedure to a machine.

Claims

1. A system for controlling an electric mining shovel, comprising:

a processor adapted 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;

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

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

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;

provide the preferred electric mining shovel digging procedure to the electric mining shovel, the preferred electric mining shovel digging procedure adapted to, responsive to an automatic relocation of the electric mining shovel, automatically control a cable reel to change an extended length of an electrical cable utilized to provide power to the electric mining shovel; and

execute a confusion routine responsive to a determination that a bank of said digging surface is unstable, said confusion routine adapted to request at least partial operator control of said electric mining shovel.

2. The system of claim 1, further comprising:

a sonar scanner adapted to obtain the scan of the digging surface.

3. The system of claim 1, further comprising:

an optical scanner adapted to obtain the scan of the digging surface.

4. The system of claim 1, further comprising:

a receiver adapted to receive Global Position System (GPS) information regarding the electric mining shovel, said receiver communicatively coupled to said processor, said processor adapted to use the received GPS information to determine the first electric mining shovel digging procedure.

5. The system of claim 1, further comprising:

a receiver adapted to receive Global Position System (GPS) information regarding a mining haulage vehicle associated with the electric mining shovel, said receiver communicatively coupled to said processor, said processor adapted to use the received GPS information to determine the first electric mining shovel digging procedure.

6. The system of claim 1, further comprising:

a receiver adapted to receive Global Position System (GPS) information regarding a mining vehicle associated with the electric mining shovel, said receiver communicatively coupled to said processor, said processor adapted to use the received GPS information to determine the first electric mining shovel digging procedure.

7. The system of claim 1, further comprising:

a memory device adapted to store the plurality of predetermined bank profiles, said memory device adapted to be communicatively coupled to said processor.

8. The system of claim 1, further comprising:

said electric mining shovel, wherein said electric mining shovel is adapted to be communicatively coupled with said processor.

9. The system of claim 1, further comprising:

a mining haulage vehicle associated with the electric mining shovel, said mining haulage vehicle adapted to be communicatively coupled to said processor, said processor adapted to signal said mining haulage vehicle to move to a determined position.

10. The system of claim 1, further comprising:

a power measurement sub-system adapted to measure a power associated with the electric mining shovel, said power measurement sub-system adapted to communicate the measured power to said processor, said processor adapted to utilize the measured power to determine the first electric mining shovel digging procedure.

11. The system of claim 1, further comprising:

a transceiver adapted to wirelessly communicate with a mining haulage vehicle associated with the electric mining shovel, said transceiver adapted to be communicatively coupled to said processor.

12. The system of claim 1, further comprising:

a proximity sensor adapted to detect an interference of the electric mining shovel with an object, said proximity sensor adapted to be communicatively coupled to said processor.

13. The system of claim 1, further comprising:

the cable reel.

14. The system of claim 1, further comprising:

a fault correction system adapted to automatically bypass a failed component of the electric mining shovel responsive to a signal from said processor.

15. The system of claim 1, further comprising:

a wireless transceiver adapted to signal a help entity responsive to a detected fault in the electric mining shovel, said processor adapted to provide notification of the detected fault, said processor adapted to schedule maintenance on said electric mining shovel.

16. The system of claim 1, further comprising:

a wireless transceiver adapted to receive instructions regarding the digging surface, said wireless transceiver communicatively coupled to said processor, said processor adapted to use the instructions to determine the first electric mining shovel digging procedure.

17. The system of claim 1, further comprising:

a wireless transceiver adapted to receive instructions regarding a pocket of material to be removed by the electric mining shovel, said wireless transceiver communicatively coupled to said processor, said processor adapted to use the instructions to determine the first electric mining shovel digging procedure.

18. The system of claim 1, further comprising:

a sensor adapted to determine a machine positional limit of the electric mining shovel, said sensor communicatively coupled to said processor, said processor adapted to use the machine positional limit to determine the first electric mining shovel digging procedure.

21. The system of claim 1, wherein:

said confusion routine is adapted to request at least partial operator remote control of said electric mining shovel.

19. A system for controlling an electric mining shovel, comprising:

a processor adapted 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;

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

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

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;

execute the preferred electric mining shovel digging procedure at the electric mining shovel, the preferred electric mining shovel digging procedure adapted to, responsive to an automatic relocation of the electric mining shovel, automatically control a cable reel to change an extended length of an electrical cable utilized to provide power to the electric mining shovel; and

execute a confusion routine responsive to a determination that a bank of said digging surface is unstable, said confusion routine adapted to request at least partial operator control of said electric mining shovel.

20. A system for controlling an electric mining shovel, comprising:

a processor adapted 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;

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

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

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;

wirelessly transmit the preferred electric mining shovel digging procedure to the electric mining shovel, the preferred electric mining shovel digging procedure adapted to, responsive to an automatic relocation of the electric mining shovel, automatically control a cable reel to change an extended length of an electrical cable utilized to provide power to the electric mining; and

execute a confusion routine responsive to a determination that a bank of said digging surface is unstable, said confusion routine adapted to request at least partial operator control of said electric mining shovel.