Virtual field-based track protection for a mining machine
AssigneeJoy Global Surface Mining Inc
InventorWesley P. Taylor
Life of this patent
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Abstract
Embodiments described herein provide systems and methods for preventing and mitigating collisions between components of an industrial machine. The industrial machine includes an electronic controller, having an electronic processor and a memory, that is configured to receive dipper position data indicative of a position of the dipper and determine a distance between the dipper and tracks of the industrial machine based on the dipper position data. The electronic controller is further configured to set a motion command limit for a dipper motion based on the distance, the dipper motion being selected from a group of a swing motion, a crowd motion, and a hoist motion and control the dipper motion according to a dipper motion command limited by the motion command limit.
Claims32
A method for preventing and mitigating collisions between a dipper and tracks of a mining machine, the method comprising:
- receiving dipper position data indicative of a position of the dipper;
- setting, based on the dipper position data, a motion command limit for a dipper motion, the dipper motion being selected from a group of a swing motion, a crowd motion, and a hoist motion;
- comparing a dipper motion command input to the motion command limit;
- controlling the dipper motion according to a first dipper motion command when the dipper motion command input is less than the motion command limit;
- and
- generating a second dipper motion command and controlling the dipper motion according to the second dipper motion command when the dipper motion command input exceeds the motion command limit.
A mining machine with a collision prevention and mitigation system, the mining machine comprising:
- a frame;
- tracks supporting the frame and configured to be driven to move the frame over a ground surface;
- a dipper supported by the frame;
- a dipper drive coupled to the dipper and configured to move the dipper in a dipper motion selected from a group of a swing motion, a crowd motion, and a hoist motion;
- a dipper position sensor configured to determine a position of the dipper;
- an electronic controller including an electronic processor and a memory, the electronic controller coupled to the dipper drive and the dipper position sensor, the electronic controller configured to:
- receive dipper position data from the dipper position sensor indicative of a position of the dipper,
- set a motion command limit for the dipper motion based on the dipper position data,
- compare a dipper motion command input to the motion command limit,
- control, via the dipper drive, the dipper motion according to a first dipper motion command when the dipper motion command input is less than the motion command limit;
- and
- generate a second dipper motion command and control the dipper motion according to the second dipper motion command when the dipper motion command input exceeds the motion command limit.
A collision prevention and mitigation control system for a mining machine having a frame, tracks supporting the frame and configured to be driven to move the frame over a ground surface, a dipper supported by the frame, a dipper drive coupled to the dipper and configured to move the dipper in a dipper motion selected from a group of a swing motion, a crowd motion, and a hoist motion, a dipper position sensor configured to determine a position of the dipper, the control system comprising:
- an electronic controller including an electronic processor and a memory, the electronic controller coupled to the dipper drive and the dipper position sensor, the electronic controller configured to:
- receive dipper position data from the dipper position sensor indicative of a position of the dipper,
- set a motion command limit for the dipper motion based on the dipper position data,
- compare a dipper motion command input to the motion command limit,
- control, via the dipper drive, the dipper motion according to a first dipper motion command when the dipper motion command input is less than the motion command limit, and
- generating a second dipper motion command and controlling the dipper motion according to the second dipper motion command when the dipper motion command input exceeds the motion command limit.
Dependencies are inferred from the claim text.