Collision detection and mitigation systems and methods for a shovel

• US 8,768,583 B2
• Filed: 03/14/2013
• Issued: 07/01/2014
• Est. Priority Date: 03/29/2012
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Mitsui & Company Limited)
• Original Assignee: Harnischfeger Technologies Inc. (Mitsui & Company Limited)
• Inventors: Hargrave, Brian K. Jr., Flees, Mark M., Gupta, Kamal Kishore, Reiland, Matthew J., Koxlien, Steven, Taylor, Wesley P., Munoz, Ryan A.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US13/804,951
• Publication Number:
  US 20130261903A1
• Time in Patent Office: 474 Days
• Field of Search: 701/50, 701/300, 701/301, 701/302, 340/903, 340/436, 340/435
• US Class Current: 701/50
• 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
• 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 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

Systems and methods for detecting collisions. One system includes a processor configured to receive data from at least one sensor installed on a shovel, identify a plurality of planes based on the data, determine if the plurality of planes are positioned in a predetermined configuration associated with a haul truck to identify whether the plurality of planes represent a haul truck. The processor is further configured to receive a current position and a current direction of movement of a dipper of the shovel, and determine if a collision is possible between the dipper and the identified haul truck based on the plurality of planes, the current position, and the current direction of movement and without receiving any information from the haul truck. If a collision is possible, the processor is configured to alert an operator of the shovel and, optionally, augment movement of the dipper.

Claims

1. A system for detecting collisions between a shovel and a haul truck located around the shovel, the system comprising:

at least one processor configured to

receive data from at least one sensor installed on the shovel, the data relating to an area around the shovel,

identify a plurality of planes based on the data,

determine if the plurality of planes are positioned in a predetermined configuration associated with a haul truck,

if the plurality of planes are positioned in the predetermined configuration, identify the plurality of planes as representing a haul truck,

receive a current position and a current direction of movement of a dipper of the shovel,

determine if a collision is possible between the dipper and the identified haul truck based on the plurality of planes, the current position, and the current direction of movement and without receiving any information from the haul truck, and

if a collision is possible, alert an operator of the shovel.

2. The system of claim 1, wherein the at least one processor is further configured to augment the current direction of movement of the dipper to mitigate the possible collision.

3. The system of claim 2, wherein the at least one processor is further configured to provide at least one alert to an operator of the shovel regarding the augmented control of the dipper.

4. The system of claim 1, wherein the at least one processor receives the current position of the dipper from at least one of a crowd sensor, a swing sensor, a hoist sensor, and dipper door sensor.

5. The system of claim 1, wherein the at least one processor receives the current direction of movement of the dipper from at least one operator-controlled input device for moving the dipper.

6. The system of claim 1, wherein the at least sensor includes at least one laser scanner.

7. The system of claim 1, wherein the at least one sensor includes at least one stereo camera.

8. The system of claim 1, wherein the at least one sensor includes at least one laser scanner and at least one stereo camera.

9. The system of claim 1, wherein the at least one processor is configured to identify the plurality of planes by identifying a plurality of lines based on the data and identifying the plurality of lines based on intersections between the plurality of lines.

10. The system of claim 1, wherein the at least one processor is configured to determine if the plurality of planes are positioned in the predetermined configuration includes determining if the plurality of planes includes a horizontal header plane, a horizontal truck bed plane, a vertical front plane, two vertical side planes, and a vertical rear plane.

11. The system of claim 1, wherein the at least one processor is further configured to identify at least one volume of exclusion based on one of the plurality of planes, the volume of exclusion extending from the one of the plurality of planes and defining a volume the dipper should not enter.

12. The system of claim 11, wherein the at least one processor is configured to identify a possible collision between the dipper and the haul truck when the dipper is positioned within the at least one volume of exclusion.

13. The system of claim 1, wherein the at least one processor is configured to identify a possible collision between the dipper and the haul truck when a velocity vector of the dipper based on the second data and the third data extended infinitely intersects with at least one of the plurality of planes.

14. The system of claim 13, wherein the at least one processor is further configured to generate a repulsive field for mitigating the possible collision, the repulsive field positioned at a point of intersection between the velocity vector and the at least one of the plurality of planes and having a maximum radius and apply the repulsive field to the third data to apply an increasing negative factor to the third data as the dipper moves closer to the point of intersection within the maximum radius.

15. The system of claim 14, wherein the repulsive force includes a minimum radius and wherein the at least one processor is configured to apply the repulsive field to the third data to stop the dipper when the dipper moves within the minimum radius.

16. A method of detecting collisions between an industrial machine and at least one physical object located around the industrial machine, the method comprising:

receiving, at at least one processor, data from at least one sensor installed on the industrial machine, the sensor collecting data regarding at least a portion of the surroundings of the industrial machine,

identifying, at the at least one processor, a plurality of planes based on the data;

determining, at the at least one processor, if the plurality of planes are positioned in a predetermined configuration associated with a predetermined physical object;

if the plurality of planes are positioned in the predetermined configuration, identifying, at the at least one processor, the plurality of planes as representing the predetermined physical object;

receiving, at the at least one processor, a current position and a current direction of movement of at least one moveable component of the industrial machine;

determining, at the at least one processor, if a collision is possible between the at least one movable component and the identified predetermined physical object based on the plurality of planes, the current position, and the current direction of movement; and

if a collision is possible, alerting an operator of the industrial machine.

17. The method of claim 16, further comprising, if a collision is possible, augmenting the current movement of the at least one movable component.

18. The method of claim 17, wherein augmenting the current movement of the at least one moveable component includes applying a repulsive field to the current movement of the at least one movable component, the repulsive field defining an increasing negative force to be applied to the current movement the closer the at least one moveable component moves to one of the plurality of planes.

19. The method of claim 17, wherein augmenting the current movement of the at least one movable component includes stopping movement of the at least one movable component toward one of the plurality of planes when the at least one movable component is within a predetermined distance of the one of the plurality of planes while allowing movement of the at least one movable component away from the one of the plurality of planes.

20. The method of claim 16, wherein receiving the data from the at least one sensor includes receiving the data from at least one laser scanner.

21. The method of claim 16, wherein receiving the data from the at least one sensor includes receiving the data from at least one stereo camera.

22. The method of claim 16, wherein receiving the data from the at least one sensor includes receiving the data from at least one laser scanner and at least one stereo camera.

23. The method of claim 16, wherein identifying the plurality of planes includes detecting a plurality of lines based on the data, wherein the plurality of lines includes a front bounding line, a first side bounding line, a second side bounding line, a rear bounding line, and a header line and defining the plurality of planes based on the intersections of the plurality of lines.

24. The method of claim 23, wherein determining if the plurality of planes are positioned in the predetermined configuration includes determining if the front bounding line, the first side bounding line, the second side bounding line, and the rear bounding lines approximately form a rectangle.

25. The method of claim 16, where determining if the plurality of planes are positioned in the predetermined configuration includes determining if the plurality of planes includes a horizontal header plane, a horizontal truck bed plane, a vertical front plane, two vertical side planes, and vertical rear plane.

26. The method of claim 16, wherein determining if a collision is possible includes determining a velocity vector of the at least one movable component based on the current position and the current direction of movement and determining if the velocity vector intersects with at least one of the plurality of planes.