Swing automation for rope shovel

• US 9,315,967 B2
• Filed: 07/01/2014
• Issued: 04/19/2016
• Est. Priority Date: 04/14/2011
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Mitsui & Company Limited)
• Original Assignee: Harnischfeger Technologies Inc. (Mitsui & Company Limited)
• Inventors: Taylor, Wesley P., Linstroth, Michael J.
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): Shudy, Angelina
• Application Number:
  US14/321,511
• Publication Number:
  US 20140365082A1
• Time in Patent Office: 658 Days
• Field of Search: 701/50, 414/694
• US Class Current: 1/1
• CPC Class Codes: E02F 3/308 working outwardly
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 3/439 Automatic repositioning of the implement, e.g. automatic dumping, auto-return E02F3/438 takes precedence
• 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 3/54 Cable scrapers E02F3/48, E02F3/52 take precedence
• CPC Class Codes: E02F 7/026 mounted on machines equipped with dipper- or bucket-arms
• CPC Class Codes: E02F 7/04 Loading devices mounted on a dredger or an excavator loading devices in general B65G hopper dredgers, also equipment for unloading the hopper
• CPC Class Codes: E02F 7/06 Delivery chutes or screening plants or mixing plants mounted on dredgers or excavators for back-filling E02F5/226 takes precedence; separating equipment in general B03; delivery chutes in general B65G
• 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 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Claims

1. A shovel including an automated swing system, the shovel comprising:

a dipper that is operable to dig and dump materials and that is positioned via operation of one or more motors; and

a controller configured to

receive operator controls related to controlling movement of the dipper using the one or more motors,

receive dump location information indicating a desired position of the dipper corresponding to a dump location at which the dipper is to dump the materials,

receive information indicating a performance limit of the one or more motors,

receive dipper data related to at least one of a dipper position, a dipper movement, and a dipper state, the dipper data including a parameter of the one or more motors,

calculate an ideal swing path of the dipper based on the dump location information and the at least one of the dipper position, the dipper movement, and the dipper state,

calculate, based on the calculated ideal swing path and the performance limit, an ideal hoist path and an ideal crowd path,

generate boundaries for the ideal hoist path and the ideal crowd path, and

compare the dipper data to the boundaries, and when the dipper data indicates that the dipper is at or outside of the boundaries, adjust the operator controls to maintain the dipper within the boundaries.

2. The shovel of claim 1, wherein the one or more motors include one or more of a swing motor, a hoist motor, and a crowd motor.

3. The shovel of claim 1, wherein the controller is further configured to receive a swing aggressiveness level from an operator, wherein the ideal swing path is calculated based on the swing aggressiveness level.

4. The shovel of claim 1, wherein the dipper data further includes a current position of the one or more motors.

5. The shovel of claim 1, wherein the dump location information is received from one of global positioning satellite (“

GPS”

) data and a memory storing a location of an previous operator-controlled dump.

6. The shovel of claim 1, wherein the controller is further configured to

provide an operator with at least one of audio, visual, and tactile feedback of the dipper data relative to the dump location information.

7. The shovel of claim 1, wherein the boundaries are one of a ramp function, a constant window, and a polynomial curve.

8. The shovel of claim 1, wherein the controller is further configured to

receive an operator mode selection that indicates one of at least three modes of swing automation, and

control the shovel to operate in the selected swing automation mode.

9. The shovel of claim 8, wherein the at least three modes of operation include at least three of the following:

no swing automation mode, trajectory feedback mode, teach mode, motion restriction mode, and full automation mode.

10. The shovel of claim 8, wherein the controller is further configured to

receive system information indicating at least one equipment fault, and

control the shovel to operate in a different swing automation mode based on the received system information.

11. The shovel of claim 1, wherein the controller is further configured to

generate controls signals to control the one or more motors according to the ideal swing path, the ideal hoist path, and the ideal crowd path.

12. The shovel of claim 11, further comprising a hopper alignment system including at least one of a camera and a laser scanner, the hopper alignment system configured to

determine when the dipper is within a predetermined range of the dump location, and

control the dipper to align the dipper with the dump location.

13. A method of generating an ideal path for a shovel, the shovel including one or more motors and a dipper, the dipper operable to dig and dump materials, the dipper being positioned via operation of the one or more motors, the method comprising:

receiving operator controls related to controlling movement of the dipper using the one or more motors;

receiving dump location information indicating a desired position of the dipper corresponding to a dump location at which the dipper is to dump the materials;

receiving information indicating a performance limit of the one or more motors;

receiving dipper data related to at least one of a dipper position, a dipper movement, and a dipper state, the dipper data including a parameter of the one or more motors;

calculating an ideal swing path of the dipper based on the dump location information and the at least one of the dipper position, the dipper movement, and the dipper state;

calculating, based on the calculated ideal swing path and the performance limit, an ideal hoist path and an ideal crowd path;

generating boundaries for the ideal hoist path and the ideal crowd path; and

comparing the dipper data to the boundaries, and when the dipper data indicates that the dipper is at or outside of the boundaries, adjust the operator controls to maintain the dipper within the boundaries.

14. The method of claim 13, further comprising receiving a swing aggressiveness level from an operator, wherein the ideal swing path is calculated based on the swing aggressiveness level.

15. The method of claim 13, wherein the dump location information is received from one of global positioning satellite (“

GPS”

) data and a memory storing a location of an previous operator-controlled dump.

16. The method of claim 13, further comprising

providing an operator with at least one of audio, visual, and tactile feedback of the dipper data relative to the dump location information.

17. The shovel of claim 16, further comprising illustrating the dump location information and dipper data.

18. The method of claim 13, wherein the boundaries are one of a ramp function, a constant window, and a polynomial curve.

19. The method of claim 13, further comprising

receiving an operator mode selection that indicates one of at least three modes of swing automation, and

controlling the shovel to operate in the selected swing automation mode.

20. The method of claim 19, wherein the at least three modes of operation include at least three of the following:

no swing automation mode, trajectory feedback mode, teach mode, motion restriction mode, and full automation mode.

21. The method of claim 20, further comprising

receiving system information indicating at least one equipment fault, and

controlling the shovel to operate in a different swing automation mode based on the received system information.

22. The method of claim 13, further comprising

generating controls signals to control the one or more motors based on the ideal swing path, the ideal hoist path, and the ideal crowd path.