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21. 发明申请

US20150019087A1 SYSTEM AND METHOD OF VECTOR DRIVE CONTROL FOR A MINING MACHINE 有权
标题翻译：采矿机驱动控制系统及方法
公开(公告)号：US20150019087A1
公开(公告)日：2015-01-15
申请号：US14327324
申请日：2014-07-09
申请人： Harnischfeger Technologies, Inc.
发明人： Jason Knuth , Wesley P. Taylor , Mooyoung Lee
IPC分类号： E02F9/20 , E21C35/24
CPC分类号： E02F9/2025 , E02F3/304 , E02F3/435 , E02F3/437 , E02F9/2029 , E02F9/265 , E21C35/24
摘要： Controlling a digging operation of an industrial machine. The industrial machine includes a dipper, a crowd motor, and a hoist motor. The control includes determining a torque associated with the crowd motor and a torque associated with the hoist motor and determining a dig force vector for the dipper based on the torque associated with the crowd motor and the torque associated with the hoist motor. The dig force vector includes a dig force angle and a dig force magnitude. The method also includes determining a value for the dig force angle of the dig force vector, and controlling, using a processor, the dig force magnitude based on the determined value for the dig force angle. The dig force magnitude is controlled by controlling at least one of the torque associated with the crowd motor and the torque associated with the hoist motor.
摘要翻译：控制工业机械的挖掘作业。工业机器包括杓子，人群马达和起重马达。该控制包括确定与人群马达相关联的扭矩和与起重马达相关联的扭矩，并且基于与人群马达相关联的扭矩和与起重马达相关联的扭矩来确定铲斗的挖掘力矢量。挖掘力矢量包括挖掘力角度和挖掘力量纲。该方法还包括确定挖掘力矢量的挖掘力角的值，以及使用处理器根据所确定的挖掘力角值来控制挖掘力大小。通过控制与人群马达相关联的扭矩和与起重马达相关联的扭矩中的至少一个来控制挖掘力大小。

22. 发明申请

US20130197711A1 SYSTEM AND METHOD FOR DETERMINING SADDLE BLOCK SHIMMING GAP OF AN INDUSTRIAL MACHINE 有权
标题翻译：用于确定工业机械的四面体块状划痕的系统和方法
公开(公告)号：US20130197711A1
公开(公告)日：2013-08-01
申请号：US13754331
申请日：2013-01-30
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor , Charles D. Payne
IPC分类号： E02F9/20
CPC分类号： E02F9/2025 , E02F3/304 , E02F3/46 , E02F9/264 , E02F9/267
摘要： A method of controlling the operation of an industrial machine. The industrial machine includes a boom, a dipper handle attached to the boom, a saddle block pivotally mounted to the boom at a pivot point, and a computer having a controller. The method comprises processing, with the controller, data received from a saddle angle sensor, determining, with the controller, a saddle angle and a saddle angle gap using the data from the saddle angle sensor, determining, with the controller, a height of the dipper handle. The method further comprises determining, with the controller, a height of the saddle block, determining, with the controller, a saddle gap radius, and determining, with the controller, a saddle block shimming gap by comparing the saddle gap radius with the height of the handle.
摘要翻译：一种控制工业机器运行的方法。工业机器包括悬臂，连接到起重臂的铲斗把手，在枢轴点可枢转地安装到起重臂的鞍座，以及具有控制器的计算机。该方法包括使用控制器处理从鞍角传感器接收的数据，使用来自鞍座传感器的数据使用控制器确定鞍角和鞍角间隙，使用控制器确定高度杓柄。该方法还包括使用控制器确定鞍座块的高度，使用控制器确定鞍座间隙半径，并且通过将鞍座间隙半径与鞍座间隙半径进行比较来确定鞍座垫片间隔半径手柄。

23. 发明授权

US10227754B2 Swing automation for rope shovel 有权
公开(公告)号：US10227754B2
公开(公告)日：2019-03-12
申请号：US15401620
申请日：2017-01-09
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor , Michael J. Linstroth
IPC分类号： E02F9/26 , E02F3/43 , E02F3/54 , E02F7/02 , E02F7/04 , E02F7/06 , E02F9/20 , E02F3/46 , E02F3/30
摘要： 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.

24. 发明授权

US10120369B2 Controlling a digging attachment along a path or trajectory 有权
公开(公告)号：US10120369B2
公开(公告)日：2018-11-06
申请号：US14590730
申请日：2015-01-06
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor , Brian J. Slaboch
IPC分类号： G05B19/4103 , G05B19/402
摘要： A industrial machine including a component, one or more actuators configured to control the component, an input device configured to generate a first signal corresponding to a first desired motion and a second signal corresponding to a second desired motion, and a controller. The controller is configured to receive the first signal, determine a first target vector, determine a first set of control signals, the first set of control signals related to the first desired motion, and provide the first set of control signals to the one or more actuators. The controller is also configured to receive the second signal, determine a second target vector, determine a second set of control signals based on the first target vector and the second target vector, the second set of control signals related to the second desired motion, and provide the second set of control signals to the one or more actuators.

25. 发明授权

US09811144B2 Industrial machine having a power control system 有权
公开(公告)号：US09811144B2
公开(公告)日：2017-11-07
申请号：US14630756
申请日：2015-02-25
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor
IPC分类号： G05B15/02 , G06F1/32 , G05B19/042
CPC分类号： G06F1/325 , G05B19/0426 , G05B2219/2616 , Y02B70/3241 , Y02P80/114 , Y04S20/227
摘要： A system includes a first industrial machine and a second industrial machine. The system also includes a power distribution system configured to provide power to the first industrial machine and the second industrial machine. The first industrial machine includes a first power control system configured to monitor power usage of the first industrial machine, and transmit power usage information of the first industrial machine to the second industrial machine. The second industrial machine includes a second power control system configured to monitor power usage of the second industrial machine, receive the power usage information from the first industrial machine, and control power usage of the second industrial machine based on the power usage information received from the first industrial machine.

26. 发明申请

US20160340866A1 INDUSTRIAL MACHINE COMPONENT DETECTION AND PERFORMANCE CONTROL 有权
标题翻译：工业机器组件检测和性能控制
公开(公告)号：US20160340866A1
公开(公告)日：2016-11-24
申请号：US14719624
申请日：2015-05-22
申请人： Harnischfeger Technologies, Inc.
发明人： John Koetz , Matt Reiland , Wesley P. Taylor
IPC分类号： E02F9/20 , E02F9/26 , E02F9/24
CPC分类号： E02F9/26 , B60L5/38 , B60M7/00 , B60R13/105 , E02F3/308 , E02F3/47 , E02F9/268 , G01B15/02 , G01C21/00 , G01S5/14 , G01S11/02 , G05B15/02 , G05B19/00 , G05B19/0426 , G05B2219/2616 , G05D1/00 , G05D1/02 , G06F17/00 , G08G1/017 , H04B5/0062 , H04W4/80 , H04W12/06 , H04W52/04 , H04W64/00 , Y02P90/86
摘要： An industrial machine that includes a plurality of components, an identification tag reader, an actuator, and a controller. The plurality of components is installed in the industrial machine and each of the plurality of components includes an identification tag. The identification tag reader is receives a signal from each of the plurality of identification tags, and each signal received from the plurality of identification tags is specific to a respective one of the plurality of components. The controller identifies the plurality of components that is installed in the industrial machine based on the signals from each of the plurality of identification tags, compares the identified plurality of components to a predetermined list of components that are expected to be installed in the industrial machine, and modifies an operational setting of an operating parameter when the identified plurality of components does not match the predetermined list of components.
摘要翻译：一种包括多个部件的工业机器，识别标签读取器，致动器和控制器。多个部件安装在工业机器中，并且多个部件中的每个部件包括识别标签。识别标签读取器从多个识别标签中的每一个接收信号，并且从多个识别标签接收到的每个信号对多个分量中的相应一个分量是特定的。控制器基于来自多个识别标签中的每一个的信号来识别安装在工业机器中的多个部件，将所识别的多个部件与期望安装在工业机器中的预定部件列表进行比较，并且当所识别的多个组件与预定的组件列表不匹配时，修改操作参数的操作设置。

27. 发明申请

US20160195871A1 CONTROLLING A DIGGING ATTACHMENT ALONG A PATH OR TRAJECTORY 审中-公开
标题翻译：控制在路径或轨道上的吊装附件
公开(公告)号：US20160195871A1
公开(公告)日：2016-07-07
申请号：US14590730
申请日：2015-01-06
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor , Brian J. Slaboch
IPC分类号： G05B19/4103 , G05B19/402
CPC分类号： G05B19/4103 , E02F3/308 , E02F3/54 , E02F3/58 , E02F9/2037 , G05B19/402 , G05B2219/36342 , G05B2219/39573
摘要： A industrial machine including a component, one or more actuators configured to control the component, an input device configured to generate a first signal corresponding to a first desired motion and a second signal corresponding to a second desired motion, and a controller. The controller is configured to receive the first signal, determine a first target vector, determine a first set of control signals, the first set of control signals related to the first desired motion, and provide the first set of control signals to the one or more actuators. The controller is also configured to receive the second signal, determine a second target vector, determine a second set of control signals based on the first target vector and the second target vector, the second set of control signals related to the second desired motion, and provide the second set of control signals to the one or more actuators.
摘要翻译：一种包括部件，一个或多个致动器的工业机器，其被配置为控制部件，配置成产生对应于第一期望运动的第一信号和对应于第二期望运动的第二信号的输入装置以及控制器。控制器被配置为接收第一信号，确定第一目标矢量，确定第一组控制信号，与第一期望运动相关的第一组控制信号，并将第一组控制信号提供给一个或多个执行器。控制器还被配置为接收第二信号，确定第二目标矢量，基于第一目标矢量和第二目标矢量确定第二组控制信号，与第二期望运动相关的第二组控制信号，以及向所述一个或多个致动器提供第二组控制信号。

28. 发明授权

US08768583B2 Collision detection and mitigation systems and methods for a shovel 有权
标题翻译：碰撞检测和缓解系统和铲子的方法
公开(公告)号：US08768583B2
公开(公告)日：2014-07-01
申请号：US13804951
申请日：2013-03-14
申请人： Harnischfeger Technologies, Inc.
发明人： Brian K. Hargrave, Jr. , Mark M. Flees , Kamal Kishore Gupta , Matthew J. Reiland , Steven Koxlien , Wesley P. Taylor , Ryan A. Munoz
IPC分类号： B60T7/22 , E02F9/20 , B60W30/16
CPC分类号： E02F9/2033 , E02F9/261 , E02F9/262 , E02F9/265
摘要： Systems and methods for detecting collisions. One system includes a processor configured to receive data from at least one sensor installed on a shovel, identify a plurality of planes based on the data, determine if the plurality of planes are positioned in a predetermined configuration associated with a haul truck to identify whether the plurality of planes represent a haul truck. The processor is further configured to receive a current position and a current direction of movement of a dipper of the shovel, and determine if a collision is possible between the dipper and the identified haul truck based on the plurality of planes, the current position, and the current direction of movement and without receiving any information from the haul truck. If a collision is possible, the processor is configured to alert an operator of the shovel and, optionally, augment movement of the dipper.
摘要翻译：用于检测碰撞的系统和方法。一个系统包括处理器，其被配置为从安装在铲上的至少一个传感器接收数据，基于数据识别多个平面，确定多个平面是否位于与拖车相关联的预定配置中，以识别是否多架飞机代表运输卡车。处理器还被配置为接收铲斗的铲斗的当前位置和当前的移动方向，并且基于多个平面，当前位置以及在多个平面中确定是否可能在铲斗和所识别的拖车之间发生碰撞目前的运动方向，没有收到运输卡车的任何信息。如果碰撞是可能的，则处理器被配置为提醒铲斗的操作者，并且可选地增加铲斗的运动。

29. 发明申请

US20140025265A1 SYSTEMS, METHODS, AND DEVICES FOR CONTROLLING A MOVEMENT OF A DIPPER 有权
标题翻译：用于控制DIPPER运动的系统，方法和装置
公开(公告)号：US20140025265A1
公开(公告)日：2014-01-23
申请号：US14033646
申请日：2013-09-23
申请人： Harnischfeger Technologies, Inc.
发明人： Wesley P. Taylor
IPC分类号： E02F3/43
CPC分类号： E02F3/435 , E02F3/437 , E02F3/46
摘要： Systems, methods, and devices for controlling an industrial machine. The industrial machine includes, for example, a dipper, a boom, a hoist motor, a crowd motor, one or more operator control devices, and a controller. The control devices are configured to be manually controllable by an operator of the industrial machine. The controller receives an output signal associated with a desired movement of the dipper, receives a signal associated with a hoist motor characteristic, and receives a signal associated with a crowd motor characteristic. The controller determines a present position of the dipper with respect to a boom profile, determines a first future position of the dipper with respect to the boom profile and based on the output signal from the operator control devices, and automatically controls a movement of the dipper with respect to the boom profile when the first future position of the dipper approximately corresponds to a boom profile limit.
摘要翻译：用于控制工业机器的系统，方法和装置。工业机械包括例如杓子，吊杆，起重马达，人群马达，一个或多个操作者控制装置和控制器。控制装置被配置为由工业机器的操作者手动控制。控制器接收与铲斗的期望运动相关联的输出信号，接收与起重马达特性相关联的信号，并接收与人群马达特征相关联的信号。控制器确定铲斗相对于起重臂轮廓的当前位置，基于来自操纵器控制装置的输出信号确定铲斗相对于起重臂轮廓的第一未来位置，并且自动控制铲斗的运动当铲斗的第一未来位置大致对应于起重臂轮廓极限时，相对于起重臂轮廓。

30. 发明申请

US20130261885A1 OVERHEAD VIEW SYSTEM FOR A SHOVEL 有权
标题翻译： OVERHEAD视图系统为一个SHOVEL
公开(公告)号：US20130261885A1
公开(公告)日：2013-10-03
申请号：US13826547
申请日：2013-03-14
申请人： HARNISCHFEGER TECHNOLOGIES, INC.
发明人： Brian K. Hargrave, JR. , Mark M. Flees , Kamal Kishore Gupta , Matthew J. Reiland , Steven Koxlien , Wesley P. Taylor , Ryan A. Munoz
IPC分类号： E02F9/26
CPC分类号： E02F9/2033 , E02F9/261 , E02F9/262 , E02F9/265
摘要： Systems and methods for providing an overview-head view of an industrial machine, such as a shovel. One system includes at least one processor configured to receive data from at least one sensor installed on the shovel relating to the area around the shovel, identify a plurality of planes based on the data, determine if the plurality of planes are positioned in a predetermined configuration associated with a haul truck, and if the plurality of planes are positioned in the predetermined configuration, superimpose the plurality of planes on an overhead-view image of the shovel and the area.
摘要翻译：用于提供诸如铲子的工业机器的概览头视图的系统和方法。一个系统包括至少一个处理器，其被配置为从安装在铲上的至少一个传感器接收与挖掘机周围的区域相关的数据，基于该数据识别多个平面，确定多个平面是否位于预定配置与运输卡车相关联，并且如果多个平面位于预定构造中，则将多个平面叠加在铲的顶视图像和区域上。

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