Swing automation for rope shovel

Abstract

A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

1 . A mining machine comprising:
 a bucket that is operable to dig and dump materials and that is positioned via operation of one or more motors;   a motor position sensor associated with the one or more motors;   a display; and   a processor coupled to the display and the motor position sensor, the processor configured to
 determine, based on a signal from the motor position sensor during operation of the mining machine, a current position of the bucket, 
 determine an ideal position of the bucket, and 
 provide operator feedback, on the display, including the current position determined based on the signal from the motor position sensor and the ideal position. 
   
     
     
         2 . The mining machine of  claim 1 , wherein the one or more motors include one or more of a swing motor, a hoist motor, and a crowd motor. 
     
     
         3 . The mining machine of  claim 1 , wherein the display further depicts previous positions along with the current position and the ideal position. 
     
     
         4 . The mining machine of  claim 3 , wherein the previous positions are displayed on a time scale. 
     
     
         5 . The mining machine of  claim 1 , the display further including a window, the window depicting the ideal position and a point indicative of the current position of the bucket. 
     
     
         6 . The mining machine of  claim 1 , the display further including an ideal path of the bucket, wherein the operator feedback indicates whether movement of the bucket follows the ideal path. 
     
     
         7 . The mining machine of  claim 5 , the display further including a position arc, the position arc including an area signifying the ideal position and the point representing the current position. 
     
     
         8 . The mining machine of  claim 1 , wherein the display includes an indication that indicates an assessment of a relation between the current position and the ideal position. 
     
     
         9 . The mining machine of  claim 1 , wherein the display is at least one selected from the group comprising a light emitting diode position panel, a heads up display, and a display screen on a device. 
     
     
         10 . The mining machine of  claim 1 , wherein the display includes at least one gauge, the at least one gauge including the current position and the ideal position. 
     
     
         11 . The mining machine of  claim 1 , wherein the ideal position includes at least one selected from a group consisting of an ideal swing position of the bucket, an ideal hoist position of the bucket, and an ideal crowd position of the bucket and wherein the current position of the bucket includes at least one selected from a group consisting of a current swing position of the bucket, a current hoist position of the bucket, and a current crowd position of the bucket. 
     
     
         12 . A method of generating an operator feedback display for a bucket of a mining machine, the method comprising:
 controlling movement of the bucket via operation of one or more motors;   determining, by a processor, an ideal position of the bucket;   determining, by the processor, a current position of the bucket based on a signal from a motor position sensor associated with the one or more motors; and   providing operator feedback, by the processor on a display, that includes the current position, the ideal position, and a previous position of the bucket.   
     
     
         13 . The method of  claim 12 , wherein providing the operator feedback includes providing at least one selected from a group consisting of additional position data and fault data. 
     
     
         14 . The method of  claim 12 , wherein the previous position are displayed on a time scale. 
     
     
         15 . The method of  claim 12 , wherein providing the operator feedback includes displaying a window, the window depicting the ideal position and a point indicative of the current position. 
     
     
         16 . The method of  claim 12 , wherein determining the ideal position of the bucket includes determining at least one selected from a group consisting of an ideal swing position of the bucket, an ideal hoist position of the bucket, and an ideal crowd position of the bucket and determining the current position of the bucket includes determining at least one selected from a group consisting of a current swing position of the bucket, a current hoist position of the bucket, and a current crowd position of the bucket. 
     
     
         17 . The method of  claim 16 , wherein providing the operator feedback includes displaying a position arc, the position arc including an area signifying the ideal position and the point representing the current position. 
     
     
         18 . The method of  claim 12 , further including generating, on the display, an indication that indicates an assessment of a relation between the current position and the ideal position. 
     
     
         19 . The method of  claim 12 , wherein the display is at least one selected from the group comprising a light emitting diode position panel, a heads up display, and a display screen on a device. 
     
     
         20 . The method of  claim 12 , wherein providing the operator feedback includes generating at least one gauge, the at least one gauge including the current position and the ideal position.