Collision avoidance for electric mining shovels

• US 8,346,512 B2
• Filed: 08/06/2007
• Issued: 01/01/2013
• Est. Priority Date: 08/04/2006
• Status: Active Grant

• Current Assignee: Ezymine Pty., Limited
• Original Assignee: CMTE Development Limited
• Inventors: McAree, Ross
• Primary Examiner(s): Gami, Tejal
• Application Number:
  US12/373,910
• Publication Number:
  US 20100036645A1
• Time in Patent Office: 1,975 Days
• Field of Search: 703/1, 703/6, 700/56, 370/338, 701/1, 701/117, 701/470
• US Class Current: 703/1
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123

Abstract

Systems and methods for reducing the probability of a collision between a first object, whose trajectory is substantially controlled by an operator input command, and a second object. In one embodiment such a method includes receiving an operator input command indicative of first control data; generating model data indicative of a virtual construct of the physical environment proximal to the first object; processing the first control data to predict future dynamics of the first object in the environment; determining whether, on the basis of the predicted dynamics and the model data, the first object is predicted to collide with a second object in the environment; defining second control data for which the first object is not predicted to collide with the second object in the environment; and providing the second control data to a controller coupled to the first object such that the first object is controlled in accordance with the second control data for substantially avoiding the collision of the first object with the second object.

Claims

1. A method of reducing the probability of a collision between a shovel component of a shovel machine, whose trajectory is substantially controlled by an operator input command, and a second object, the method comprising:

receiving an input command indicative of first control data from a human operator;

generating model data indicative of a virtual construct of the physical environment proximal the shovel component;

processing the first control data to predict future dynamics of the shovel component in the environment;

determining whether, on the basis of the predicted dynamics and the model data, the shovel component is predicted to collide with a second object in the environment;

in the case that the shovel component is predicted to collide with a second object in the environment, modifying the first control data to define second control data for which the shovel component is not predicted to collide with the second object in the environment; and

providing the second control data to a controller coupled to the shovel component such that the shovel component is controlled in accordance with the second control data for substantially avoiding the collision of the shovel component with the second object, the controller substantially bringing the shovel component to a stop by regenerating kinetic energy through an electric drive associated with the shovel component when a collision would otherwise occur.

2. A method according to claim 1 wherein processing the first control data to predict future dynamics of the shovel component in the environment comprises processing first control data indicative of a first trajectory direction for the shovel component and defining second control data for which the shovel component is not predicted to collide with the second object in the environment comprises defining second control data indicative of an adjusted trajectory direction for the shovel component.

3. A method according to claim 1 wherein processing the first control data to predict future dynamics of the shovel component in the environment comprises processing first control data that is indicative of a first rate of movement for the shovel component and defining second control data for which the shovel component is not predicted to collide with the second object in the environment comprises defining second control data indicative of a second rate of movement for the shovel component.

4. A method according to claim 3 wherein processing first control data indicative of a first rate of movement for the shovel component and defining second control data indicative of a second rate of movement for the shovel component together comprise processing first control data indicative of a first faster rate of movement for the shovel component and defining second control data indicative of a second slower rate of movement for the shovel component.

5. A method according to claim 1 wherein determining whether, on the basis of the predicted dynamics and the model data, the shovel component is predicted to collide with a second object in the environment comprises producing a plurality of responses for determining whether, on the basis of the predicted dynamics and the model data, the shovel component is predicted to collide with a second object in the environment, the method further comprising processing the plurality of responses to determine control dynamics of the shovel component for which the shovel component reducing the probability of colliding with the second object in the environment, wherein the second control data is indicative of the control dynamics.

6. A method according to claim 5 wherein the processing of the plurality of responses comprises processing of the plurality of responses using a Model Predictive Control.

7. A method according to claim 5 wherein producing a plurality of responses comprises generating the plurality of responses using a collision control layer and a collision avoidance layer.

8. A method according to claim 1 of reducing the probability of a collision between a shovel component and a second object substantially in real time.

9. A method according to claim 1 of reducing the probability of a collision between a movable component of an item of machinery and a second object.

10. A method according to claim 1 of reducing the probability of a collision between a movable component of an item of heavy machinery and a second object.

11. A method according to claim 1 of reducing the probability of a collision between a shovel component of an electric shovel machine and a second object.

12. A non-transitory computer-readable carrier medium carrying a set of instructions that when executed by one or more processors cause the one or more processors to carry out a method according claim 1.

13. A system for reducing the probability of a collision between a shovel component of a shovel machine, whose trajectory is substantially controlled by control data, and a second object, the system adapted to receive an input command indicative of first control data from a human operator;

to generate model data indicative of a virtual construct of the physical environment proximal the shovel component;

to process the first control data to predict future dynamics of the shovel component in the environment;

to determine whether, on the basis of the predicted dynamics and the model data, the shovel component is predicted to collide with a second object in the environment;

in the case that the shovel component is predicted to collide with a second object in the environment, to modify the first control data to define second control data for which the shovel component is not predicted to collide with the second object in the environment; and

to provide the second control data to a controller coupled to the shovel component such that the shovel component is controlled in accordance with the second control data for substantially avoiding the collision of the shovel component with the second object, the controller substantially bringing the shovel component to a stop by regenerating kinetic energy through an electric drive associated with the shovel component when a collision would otherwise occur.

14. A method for operating a shovel machine having a human controllable shovel component, the method including:

receiving first control data indicative of a control command originating from a human operator;

analyzing the first control data to predict a collision between the shovel component and a second object;

in the case that a collision is predicted, defining second control data for which a collision is not predicted;

providing the second control data to a controller coupled to the shovel component and controlling the shovel component in accordance with the second control data the controller substantially bringing the shovel component to a stop by regenerating kinetic energy through an electric drive associated with the shovel component when a collision would otherwise occur.

15. A method according to claim 14 wherein analyzing the first control data to predict a collision between the shovel component and a second object comprises analyzing the first control data to predict a collision between the shovel component and a part of the shovel machine.

16. A method of reducing the probability of a collision between shovel component of a shovel machine, the trajectory of the shovel component being substantially controlled by a human operator input command, and a second object, the method comprising:

receiving a human operator input command indicative of first control data;

generating model data indicative of a virtual construct of the physical environment proximal to the shovel component;

processing the first control data to predict future dynamics of the shovel component in the environment;

determining whether, on the basis of the predicted dynamics and the model data, the shovel component is predicted to collide with a second object in the environment;

in the case that the shovel component is predicted to collide with a second object in the environment, modifying the first control data to define second control data for which the shovel component is not predicted to collide with the second object in the environment; and

providing the second control data to a controller coupled to the shovel component such that the shovel component is controlled in accordance with the second control data for substantially avoiding the collision of the shovel component with the second object, the controller substantially bringing the shovel component to a stop by regenerating kinetic energy through an electric drive associated with the shovel component when a collision would otherwise occur.