# US 8,788,245 B2 · Systems and methods for actively biasing a loadpin > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,788,245 B2 - Document ID: US8788245B2 - Status: Granted - Kind: B2 - Application number: 13/184,074 - Filed: 2011-07-15 - Published: 2013-01-17 - Granted: 2014-07-22 - Earliest claimed: 2011-07-15 - Assignees: Harnischfeger Technologies, Inc. - Applicants: Wesley P. Taylor - Inventors: Wesley P. Taylor - Web page: https://patentgrep.com/patent/US8788245B2 ## CPC - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract Systems and methods for actively biasing a loadpin. The systems include, for example, a power shovel positioning module, a loadpin bias module, and an active bias determination module. The power shovel positioning module is configured to determine the position of one or more components of an industrial machine. The loadpin bias module is configured to generate a signal associated with a vector quantity (e.g., having a magnitude and a direction) which can be used to describe the force applied to the loadpin in both an x-direction and a y-direction. The active bias determination module is configured to determine whether the industrial machine is in a proper state or condition to actively bias the loadpin, and determine loadpin bias values during the operation of the industrial machine when the industrial machine is in the proper condition for loadpin biasing. ## Claims ### Claim 1 A method of actively biasing a loadpin associated with an industrial machine, the method comprising: receiving a first plurality of signals from the loadpin related to a force applied to the loadpin, the loadpin having a loadpin bias that corresponds to a deviation in the first plurality of signals that produces an error in the measurement of the force applied to the loadpin, the loadpin bias having a first loadpin bias value; generating, by a processor, a first characteristic of the industrial machine based on a first kinematic model of the industrial machine, the first kinematic model based on the first plurality of signals from the loadpin; receiving a second plurality of signals from one or more sensors related to at least one of a hoist parameter, a crowd parameter, and a swing parameter of the industrial machine; generating, by the processor, a second characteristic of the industrial machine based on a second kinematic model of the industrial machine, the second kinematic model based on the second plurality of signals; determining, by the processor, an operational condition of the industrial machine; determining, by the processor, whether the loadpin is able to be actively biased based on the operational condition of the industrial machine; populating, by the processor, one or more angle arrays based on the first kinematic model of the industrial machine and the second kinematic model of the industrial machine when the loadpin is able to be actively biased; calculating, by the processor, a second loadpin bias value based on the one or more angle arrays that compensates for the error in the measurement of the force applied to the loadpin; and setting, by the processor, the loadpin bias to the second loadpin bias value. ### Claim 2 (depends on 1) The method of claim 1, wherein the industrial machine is an electric mining shovel. ### Claim 3 (depends on 1) The method of claim 1, further comprising linearizing the one or more angle arrays. ### Claim 4 (depends on 1) The method of claim 1, wherein determining the operational condition of the industrial machine includes determining whether the industrial machine is digging. ### Claim 5 (depends on 1) The method of claim 1, further comprising associating the first characteristic of the industrial machine with the second characteristic of the industrial machine. ### Claim 6 A system for actively biasing a loadpin associated with an industrial machine, the system comprising: a memory configured to store one or more parameters associated with the industrial machine; a processing device connected to the memory, the processing device configured to receive a first plurality of signals from the loadpin related to a force applied to the loadpin, the loadpin having a loadpin bias that corresponds to a deviation in the first plurality of signals that produces an error in the measurement of the force applied to the loadpin, the loadpin bias having a first loadpin bias value; generate a first characteristic of the industrial machine based on a first kinematic model of the industrial machine, the first kinematic model based on the first plurality of signals from the loadpin; receive a second plurality of signals from one or more sensors related to at least one of a hoist parameter, a crowd parameter, and a swing parameter of the industrial machine; generate a second characteristic of the industrial machine based on a second kinematic model of the industrial machine and the one or more parameters, the second kinematic model based on the second plurality of signals; determine an operational condition of the industrial machine; determine whether the loadpin is able to be actively biased based on the operational condition of the industrial machine; populate one or more angle arrays based on the first characteristic of the industrial machine and the second characteristic of the industrial machine when the loadpin is able to be actively biased; calculate a second loadpin bias value based on the one or more angle arrays that compensates for the error in the measurement of the force applied to the loadpin; and set the loadpin bias to the second loadpin bias value. ### Claim 7 (depends on 6) The system of claim 6, wherein the industrial machine is an electric mining shovel. ### Claim 8 (depends on 6) The system of claim 6, wherein the processing device is further configured to linearize the one or more angle arrays. ### Claim 9 (depends on 6) The system of claim 6, wherein the operational condition of the industrial machine is a digging condition. ### Claim 10 (depends on 6) The system of claim 6, wherein the processing unit is further configured to associate the first characteristic of the industrial machine with the second characteristic of the industrial machine. ### Claim 11 A method of actively biasing a loadpin associated with an industrial machine, the method comprising: generating, by a processor, a first characteristic based on a first kinematic model of the industrial machine, the first kinematic model based on a first plurality of signals from the loadpin, the loadpin having a loadpin bias that corresponds to a deviation in the first plurality of signals that produces an error in the measurement of a force applied to the loadpin, the loadpin bias having a first loadpin bias value; generating, by the processor, a second characteristic based on a second kinematic model of the industrial machine, the second kinematic model based on a second plurality of signals from one or more sensors related to at least one of a hoist parameter, a crowd parameter, and a swing parameter of the industrial machine; determining, by the processor, whether the loadpin is able to be actively biased based on an operational condition of the industrial machine; populating, by the processor, two or more angle arrays based on a first kinematic model of the industrial machine and the second kinematic model of the industrial machine when the loadpin is able to be actively biased; calculating, by the processor, a second loadpin bias value based on the two or more angle arrays that compensates for the error in the measurement of the force applied to the loadpin; and setting the loadpin bias to the second loadpin bias value. ### Claim 12 (depends on 11) The method of claim 11, wherein the industrial machine is an electric mining shovel. ### Claim 13 (depends on 11) The method of claim 11, further comprising linearizing the two or more angle arrays. ### Claim 14 (depends on 11) The method of claim 11, wherein determining the operational condition of the industrial machine includes determining whether the industrial machine is digging. ### Claim 15 (depends on 11) The method of claim 11, further comprising associating the first characteristic with the second characteristic. ### Claim 16 (depends on 11) The method of claim 11, further comprising determining a linearity value for the two or more angle arrays. ### Claim 17 (depends on 16) The method of claim 16, further comprising comparing the linearity value to one or more threshold linearity values. ### Claim 18 (depends on 17) The method of claim 17, further comprising determining whether the loadpin has become unreliable based on the comparison of the linearity value to the one or more linearity values.