Controlling a digging operation of an industrial machine

• US 8,935,061 B2
• Filed: 12/31/2013
• Issued: 01/13/2015
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Mitsui & Company Limited)
• Original Assignee: Harnischfeger Technologies Inc. (Mitsui & Company Limited)
• Inventors: Colwell, Joseph, Hren, William, Wendt, David, Linstroth, Michael
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US14/144,812
• Publication Number:
  US 20140188351A1
• Time in Patent Office: 378 Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/46 with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor E02F3/205, E02F3/905 take precedence
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: E02F 9/207 of the type electric propulsion units, e.g. electric motors or generators
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.

Claims

1. An industrial machine comprising:

a dipper;

a crowd drive configured to generate one or more control signals for a crowd hydraulic actuator, the crowd hydraulic actuator being operable to provide a force to the dipper to produce a crowd motion; and

a controller connected to the crowd drive, the controller configured to

monitor a characteristic of the industrial machine,

identify an impact event associated with the dipper based on a value of the monitored characteristic of the industrial machine, and

set a crowd force value for the crowd hydraulic actuator based on the value of the monitored characteristic of the industrial machine when the impact event is identified.

2. The industrial machine of claim 1, wherein the characteristic of the industrial machine is an acceleration associated with the dipper.

3. The industrial machine of claim 2, wherein the acceleration associated with the dipper is a negative acceleration.

4. The industrial machine of claim 1, wherein the characteristic of the industrial machine is an inclination of the industrial machine.

5. The industrial machine of claim 1, wherein the characteristic of the industrial machine is a crowd force associated with the industrial machine.

6. The industrial machine of claim 1, wherein the characteristic of the industrial machine is a load force associated with the industrial machine.

7. The industrial machine of claim 1, wherein the impact event creates a tipping moment on the industrial machine.

8. The industrial machine of claim 7, wherein the monitored characteristic of the industrial machine is the tipping moment of the industrial machine.

9. The industrial machine of claim 8, wherein the crowd force in response to the impact event is a crowd force for limiting the tipping moment of the industrial machine.

10. The industrial machine of claim 1, wherein the hydraulic actuation device is a hydraulic cylinder.

11. A method of controlling a digging operation of an industrial machine, the industrial machine including a dipper and a crowd drive, the method comprising:

monitoring, using a processor, a characteristic of the industrial machine;

identifying, using the processor, an impact event associated with the dipper based on the monitored characteristic of the industrial machine, the impact event creating a tipping moment on the industrial machine; and

setting, using the processor, a crowd force value for the crowd drive when the impact event is identified.

12. The method of claim 11, wherein the characteristic of the industrial machine is an acceleration associated with the dipper.

13. The method of claim 12, wherein the acceleration associated with the dipper is a negative acceleration.

14. The method of claim 12, further comprising comparing the acceleration to an acceleration threshold value, and identifying the impact event when the acceleration is greater than or equal to the acceleration threshold value.

15. The method of claim 11, further comprising setting a counter and comparing a value for the counter to a time period.

16. The method of claim 11, wherein the monitored characteristic of the industrial machine is the tipping moment of the industrial machine.

17. The method of claim 16, wherein the crowd force is a crowd force for limiting the tipping moment of the industrial machine.

18. The method of claim 11, wherein the characteristic of the industrial machine is one of an inclination associated with the industrial machine, a load force associated with the industrial machine, and a crowd force associated with the industrial machine.

19. The method of claim 11, further comprising a crowd hydraulic actuator configured to provide a force to the dipper to produce a crowd motion.

20. The method of claim 19, wherein the crowd hydraulic actuator is a hydraulic motor.

21. The method of claim 19, wherein the crowd hydraulic actuator is a hydraulic cylinder.