Swing automation for rope shovel
First Claim
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 toreceive 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, andcompare 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.
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0 Petitions
Accused Products
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.
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Citations
22 Claims
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1. A shovel including an automated swing system, the shovel comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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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:
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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. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification