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US 8,571,762 B2Granted
Real time method for determining the spatial pose of electronic mining shovels
AssigneeEzymine Pty Limited
InventorsPeter Ross McAree, Anthony Walton Reid
Life of this patent
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Abstract
Knowing the global pose of mining excavators provides a range of benefits for managing and automating mining operations. A method for globally locating the pose of an electric mining shovel is described. The system takes measurements from an arbitrary number of RTK-GPS antennas mounted on the machine house and a resolver fitted to the machines' swing axis. A Kalman filter is used to produce estimates of the global locations pose.
Claims12
A method of determining the global pose of a mining shovel, the mining shovel including:
- a machine shovel carbody substantially static between digging operations;
- a machine house that is mounted on the carbody and rotatable about a vertical axis relative to the carbody;
- a shovel assembly including a shovel handle and a bucket assembly, the shovel assembly being mounted to the machine house, and movable relative to the machine house;
- the method including:
- (a) as a first stage computing the location of the mining shovel carbody (c-frame) relative to a local geodetic frame (g-frame) using a global positioning system, an inclinometer, and a swing axis resolver;
- (b) as a second stage computing a house pose (h-frame) relative to the c-frame using a global positioning system, an axis inertial sensor and a swing axis resolver;
- (c) as a third stage computing a bucket pose (b-frame) relative to the h-frame using crowd and hoist axis resolvers.
4 more elements
Dependencies are inferred from the claim text.