# US 11,906,952 B2 · System and method for operating a mining machine with respect to a geofence using a dynamic operation zone > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,952 B2 - Document ID: US11906952B2 - Status: Granted - Kind: B2 - Application number: 17/179,765 - Filed: 2021-02-19 - Published: 2022-08-25 - Granted: 2024-02-20 - Earliest claimed: 2021-02-19 - Assignees: Joy Global Surface Mining Inc - Applicants: Joy Global Surface Mining Inc - Inventors: Keshad Darayas Malegam - Web page: https://patentgrep.com/patent/US11906952B2 ## CPC - G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)} - G05B 19/4183: {characterised by data acquisition, e.g. workpiece identification} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G05D 1/65: Following a desired speed profile - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Systems and methods for operating a mining machine with respect to a geofence. One system includes an electronic processor configured to determine a first virtual operation zone positioned around the mobile industrial machine, where the first virtual operation zone is a dynamic area around the mobile industrial machine. The electronic processor is also configured to modify a parameter of the first virtual operation zone. ## Claims ### Claim 1 A system for operating a mobile industrial machine with respect to a geofence, the system comprising: an electronic processor configured to: receive a command for controlling the mobile industrial machine, determine a first operation zone positioned around the mobile industrial machine, wherein the first operation zone is a dynamic area around the mobile industrial machine, determine whether a perimeter point of a first operation zone positioned around the mobile industrial machine is within a restricted region, and in response to determining that the perimeter point of the first operation zone is within the restricted region: determine whether performance of the command increases penetration of the first operation zone into the restricted region, and control the mobile industrial machine to perform the command or a stop command based on whether the performance of the command increases penetration of the first operation zone into the restricted region. ### Claim 2 (depends on 1) The system of claim 1, wherein the electronic processor is configured to dynamically determine the first operation zone based on an uncertainty in a current position of the mobile industrial machine. ### Claim 3 (depends on 2) The system of claim 2, wherein the first operation zone is proportional to the uncertainty in the current position of the mobile industrial machine. ### Claim 4 (depends on 1) The system of claim 1, wherein the electronic processor is configured to dynamically determine the first operation zone based on a position associated with a component of the mobile industrial machine. ### Claim 5 (depends on 4) The system of claim 4, wherein the component of the mobile industrial machine is a mast. ### Claim 6 (depends on 1) The system of claim 1, wherein the electronic processor is further configured to: in response to determining that the perimeter point of the first virtual operation zone is not within the restricted region: determine whether a perimeter point of a second virtual operation zone is within the restricted region, wherein the second virtual operation zone is positioned around the mobile industrial machine and nested within the first virtual operation zone, and control the mobile industrial machine to perform the command or a modified command based on whether the perimeter point of the second virtual operation zone is within the restricted region. ### Claim 7 (depends on 6) The system of claim 6, wherein the electronic processor is configured to: control the mobile industrial machine to perform the command when the perimeter point of the second virtual operation zone is not within the restricted region, and control the mobile industrial machine to perform the modified command when the perimeter point of the second virtual operation zone is within the restricted region. ### Claim 8 (depends on 6) The system of claim 6, wherein the electronic processor is configured to: determine the modified command based on an amount of penetration of the second virtual operation zone into the restricted region. ### Claim 9 A system for operating a mobile industrial machine with respect to a geofence, the system comprising: an electronic processor configured to: determine a first virtual operation zone positioned around the mobile industrial machine, wherein the first virtual operation zone is a dynamic area around the mobile industrial machine, modify a parameter of the first virtual operation zone, dynamically modify the first virtual operation zone based on a change in a configuration of a component of the mobile industrial machine, the change in the configuration including a change in a position or an angle of the component relative to a base of the mobile industrial machine, and control the mobile industrial machine based on the first virtual operation zone. ### Claim 10 (depends on 9) The system of claim 9, wherein the electronic processor is configured to dynamically modify the first virtual operation zone based on an uncertainty in a current position of the mobile industrial machine. ### Claim 11 (depends on 10) The system of claim 10, wherein the first virtual operation zone is proportional to the uncertainty in the current position of the mobile industrial machine. ### Claim 12 (depends on 9) The system of claim 9, wherein the component of the mobile industrial machine is a mast. ### Claim 13 (depends on 9) The system of claim 9, wherein the electronic processor is further configured to receive a command for controlling the mobile industrial machine, determine whether a perimeter point of the first virtual operation zone is within a restricted region, and control the mobile industrial machine based on whether the perimeter point of the first virtual operation zone is within the restricted region. ### Claim 14 (depends on 13) The system of claim 13, wherein the electronic processor is further configured to in response to determining that the perimeter point of the first virtual operation zone is within the restricted region, determine whether performance of the command increases penetration of the first virtual operation zone into the restricted region, and control the mobile industrial machine to perform the command or a stop command based on whether the performance of the command increases penetration of the first virtual operation zone into the restricted region. ### Claim 15 (depends on 14) The system of claim 14, wherein the electronic processor is configured to control the mobile industrial machine to perform the command when the performance of the command decreases penetration of the first virtual operation zone into the restricted region, and control the mobile industrial machine to perform the stop command when the performance of the command increases penetration of the first virtual operation zone into the restricted region. ### Claim 16 (depends on 13) The system of claim 13, wherein the electronic processor is further configured to in response to determining that the perimeter point of the first virtual operation zone is not within the restricted region, determine whether a perimeter point of a second virtual operation zone is within the restricted region, wherein the second virtual operation zone is positioned around the mobile industrial machine and nested within the first virtual operation zone, and control the mobile industrial machine to perform the command or a modified command based on whether the perimeter point of the second virtual operation zone is within the restricted region. ### Claim 17 (depends on 16) The system of claim 16, wherein the modified command is a reduced speed command. ### Claim 18 (depends on 16) The system of claim 16, wherein the electronic processor is configured to control the mobile industrial machine to perform the command when the perimeter point of the second virtual operation zone is not within the restricted region, and control the mobile industrial machine to perform the modified command when the perimeter point of the second virtual operation zone is within the restricted region. ### Claim 19 (depends on 16) The system of claim 16, wherein the electronic processor is configured to determine the modified command based on an amount of penetration of the second virtual operation zone into the restricted region. ### Claim 20 (depends on 9) The system of claim 9, wherein the electronic processor is further configured to generate and transmit a graphical user interface for display to an operator of the mobile industrial machine, wherein the graphical user interface indicates a location status of the mobile industrial machine with respect to a restricted region.