Method for an autonomous loading shovel
First Claim
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 a preferred electric mining shovel digging procedure;
executing 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; and
automatically executing the preferred electric mining shovel digging procedure via 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.
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Accused Products
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.
89 Citations
22 Claims
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1. A method for controlling an electric mining shovel, the method comprising a plurality of activities comprising:
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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 a preferred electric mining shovel digging procedure; executing 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; and automatically executing the preferred electric mining shovel digging procedure via 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 22)
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20. A method for controlling an electric mining shovel, the method comprising a plurality of activities comprising:
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determining a profile of a digging surface responsive to a scan of the digging surface; via a Bayesian network, 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 a preferred electric mining shovel digging procedure; executing 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; and transferring the preferred electric mining shovel digging procedure via 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.
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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:
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determine a profile of a digging surface responsive to a scan of the digging surface; via a Gaussian process, 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 a preferred electric mining shovel digging procedure; 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; and automatically execute the preferred electric mining shovel digging procedure via 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.
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Specification