Method for position-calibration of a digging assembly for electric mining shovels
AssigneeCMTE Developement Limited
InventorsPeter Ross McAree, Anthony Walton Reid, Kevin John Austin, Paul Martin Siegrist
Life of this patent
Estimating the term…
Abstract
The present invention relates generally to the field of positioning mechanical equipment, and particularly to the likes of mechanical excavation and electric mining shovels. In one embodiment, there is disclosed a system for calibrating the sensors that measure hoist and crowd motions for an electric mining shovel, enabling the position of a bucket to be known with greater accuracy than can be achieved using previously known approaches.
Claims11
A method of calibrating a work implement location, the work implement being attached to a machine house, the method comprising the steps of:
- (a) defining a h-frame comprising a set of Cartesian coordinate axes fixed to the machine house with the (X, Z) plane being in the sagittal plane of the machine house and the Y-axis being orthogonal;
- (b) utilising a range measurement sensor at a point ph=(xh, zh) in the h-frame to create a directed line of measurement in the (Xh, Zh)-plane of the h-frame originating at ph along which a range measurement is made, designated by angle θh;
- (c) defining a d-frame comprising a set of Cartesian coordinate axes fixed to the work implement;
- (d) providing a range measurement sensor target at a point pd=(xd, zd) in the d-frame on the work implement;
- (e) measuring a Cartesian distance d between ph and pd;
- and
- (f) measuring corresponding positions of motors used to drive the work implement.
4-10. (canceled)
A method as claimed in claim, comprising the step of utilising an independent range measurement sensor directed along a line to resolve the crowd and hoist offsets oc and oh.
A system for allowing the calibration of a work implement location, the work implement being attached to a machine house, the system comprising:
- (a) a component for defining an h-frame comprising a set of Cartesian coordinate axes fixed to the machine house with the (X, Z) plane being in the sagittal plane of the machine house and the Y-axis being orthogonal;
- (b) a component for utilising a range measurement sensor at a point ph=(xh, zh) in the h-frame to create a directed line of measurement in the (Xh, Zh)-plane of the h-frame originating at ph along which a range measurement is made, designated by angle θh;
- (c) a component for defining a d-frame comprising a set of Cartesian coordinate axes fixed to the work implement;
- (d) a component for providing a range measurement sensor target at a point pd=(xd, zd) in the d-frame on the work implement;
- (e) a component for measuring a Cartesian distance d between ph and pd;
- and
- (f) a component for measuring corresponding positions of motors used to drive the work implement.
Dependencies are inferred from the claim text.