Collision detection and mitigation systems and methods for a shovel

• US 9,115,482 B2
• Filed: 07/01/2014
• Issued: 08/25/2015
• 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 Q
• Application Number:
  US14/321,530
• Publication Number:
  US 20140316665A1
• Time in Patent Office: 420 Days
• Field of Search: 701/50, 701/300, 701/301, 340/346, 340/438, 603/27
• US Class Current: 1/1
• 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 potential collisions between an industrial machine and an object located in proximity to the industrial machine, the system comprising:

a processor configured to

receive data from at least one sensor associated with the industrial machine, the data related to an area proximate the industrial machine,

identify a plurality of planes based on the data,

identify the plurality of planes as representing the object when the plurality of planes are positioned in a predetermined configuration with respect to the object,

receive a current position and a current direction of movement of a dipper of the industrial machine,

detect a potential collision between the dipper and the object based on the plurality of planes, the current position of the dipper, and the current direction of movement of the dipper, and

generate an alert signal when the potential collision is detected.

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

3. The system of claim 2, wherein the processor is further configured to generate a second alert signal related to the augmented control of the dipper.

4. The system of claim 1, wherein the processor is configured to receive 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 processor is configured to receive 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 processor is configured to identify the plurality of planes by identifying a plurality of lines based on the data.

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

11. The system of claim 10, wherein the processor is configured to identify the potential collision between the dipper and the object when the dipper is positioned within the at least one volume of exclusion.

12. The system of claim 1, wherein the processor is configured to identify the potential collision between the dipper and the object when a velocity vector of the dipper intersects with at least one of the plurality of planes.

13. The system of claim 12, wherein the processor is further configured to generate a repulsive field for mitigating the potential 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.

14. The system of claim 13, wherein the repulsive force includes a minimum radius and wherein the processor is configured to apply the repulsive field to stop the dipper when the dipper moves within the minimum radius.

15. A method of detecting a potential collision between an industrial machine and a physical object located in proximity to the industrial machine, the method comprising:

receiving, at a processor, data from a sensor installed on the industrial machine, the data related to an area proximate the industrial machine,

identifying, using the processor, a plurality of planes based on the data;

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

identifying, using the processor, the plurality of planes as representing the physical object when the plurality of planes are positioned in the predetermined configuration;

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

detecting, using the processor, a potential collision between the movable component and the physical object based on the plurality of planes, the current position of the movable component, and the current direction of movement of the movable component; and

generating an alert signal when the potential collision is detected.

16. The method of claim 15, further comprising augmenting, using the processor, the movement of the movable component when the potential collision is detected.

17. The method of claim 16, wherein augmenting the movement of the moveable component includes applying a repulsive field to the movement of the movable component, the repulsive field defining an increasing negative force to be applied to the movement of the component as the movable component approaches one of the plurality of planes.

18. The method of claim 16, wherein augmenting the movement of the movable component includes stopping movement of the movable component toward one of the plurality of planes when the movable component is within a predetermined distance of the one of the plurality of planes.

19. The method of claim 15, wherein receiving the data from the sensor includes receiving the data from at least one laser scanner.

20. The method of claim 15, wherein receiving the data from the sensor includes receiving the data from at least one stereo camera.

21. The method of claim 15, wherein receiving the data from the sensor includes receiving the data from at least one laser scanner and at least one stereo camera.

22. The method of claim 15, wherein detecting the potential collision includes determining a velocity vector of the movable component based on the current position and the current direction of movement of the movable component, and determining if the velocity vector intersects with at least one of the plurality of planes.