System and method for operating a mining machine with respect to a geofence using a dynamic operation zone

Patent metadata

Field	Value
Publication number	US-12596380-B2
Application number	US-202418434565-A
Country	US
Kind code	B2
Filing date	Feb 6, 2024
Priority date	Feb 19, 2021
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

Abstract

Systems and methods for operating a mining machine with respect to a geofence. One system includes an electronic processor configured to determine a first virtual operation zone positioned around the mobile industrial machine, where the first virtual operation zone is a dynamic area around the mobile industrial machine. The electronic processor is also configured to modify a parameter of the first virtual operation zone.

First claim

What is claimed is:

1 . A system for operating a mobile industrial machine with respect to a geofence, the system comprising:
an electronic processor configured to:
receive a command for controlling the mobile industrial machine;
determine a first operation zone positioned around the mobile industrial machine;
determine a second operation zone positioned around the mobile industrial machine and the first operation zone;
determine whether a perimeter point of the first operation zone is within a restricted region;
in response to determining that the perimeter point of the first operation zone is not within the restricted region:
determine whether a perimeter point of the second operation zone is within the restricted region; and
control the mobile industrial machine to perform the command or a modified command based on whether the perimeter point of the second operation zone is within the restricted region.

2 . The system of claim 1 , wherein in response to determining that the perimeter point of the first operation zone is within the restricted region, the electronic processor is further configured to:
determine whether performance of the command increases penetration of the first operation zone into the restricted region; and control the mobile industrial machine to perform the command or a stop command based on whether the performance of the command increases penetration of the first operation zone into the restricted region.

3 . The system of claim 1 , wherein the restricted region includes a first restricted region and a second restricted region.

4 . The system of claim 3 , wherein the first restricted region surrounds an area in which the mobile industrial machine is permitted to work; and
wherein the second restricted region is disposed adjacent to mobile industrial machine.

5 . The system of claim 3 , wherein the first restricted region surrounds an area in which the mobile industrial machine is permitted to work; and
wherein the second restricted region corresponds to an area in which a second mobile industrial machine is permitted to work.

6 . The system of claim 3 , wherein the first restricted region has a first shape and the second restricted region has a second shape different than the first shape.

7 . The system of claim 1 , wherein the restricted region is disposed above the mobile industrial machine.

8 . The system of claim 1 , wherein a size of the first operation zone is proportional to an uncertainty in a current position of the mobile industrial machine.

9 . The system of claim 1 , wherein the electronic processor is further configured to dynamically determine the first operation zone based on a position associated with a component of the mobile industrial machine.

10 . The system of claim 9 , wherein the component of the mobile industrial machine is a mast.

11 . A method of operating a mobile industrial machine with respect to a geofence, the method comprising:
receiving, with an electronic processor, a command for controlling the mobile industrial machine; determining, with the electronic processor, a first operation zone positioned around the mobile industrial machine; determining, with the electronic processor, a second operation zone positioned around the mobile industrial machine and the first operation zone; determining, with the electronic processor, whether a perimeter point of the first operation zone is within a restricted region; in response to determining that the perimeter point of the first operation zone is not within the restricted region,
determining, with the electronic processor, whether a perimeter point of the second operation zone is within the restricted region, and
controlling, with the electronic processor, the mobile industrial machine to perform the command or a modified command based on whether the perimeter point of the second operation zone is within the restricted region.

12 . The method of claim 11 , further comprising:
in response to determining that the perimeter point of the first operation zone is within the restricted region:
determining, with the electronic processor, whether performance of the command increases penetration of the first operation zone into the restricted region; and
controlling, with the electronic processor, the mobile industrial machine to perform the command or a stop command based on whether the performance of the command increases penetration of the first operation zone into the restricted region.

13 . The method of claim 11 , further comprising dynamically determining, with the electronic processor, the first operation zone based on at least one of an uncertainty in a current position of the mobile industrial machine and an angle associated with a component of the mobile industrial machine.

14 . The method of claim 11 , further comprising dynamically determining, with the electronic processor, the second operation zone based on at least one of an uncertainty in a current position of the mobile industrial machine and an angle associated with a component of the mobile industrial machine.

15 . A mobile industrial machine comprising:
a moveable component; and an electronic processor configured to:
receive a command for controlling the moveable component of the mobile industrial machine;
determine, based on a position associated with the moveable component, a first operation zone positioned around the mobile industrial machine;
determine a second operation zone positioned around the mobile industrial machine;
determine whether a perimeter point of the first operation zone is within a restricted region;
in response to determining that the perimeter point of the first operation zone is not within the restricted region:
determine whether a perimeter point of a second operation zone is within the restricted region; and
control the mobile industrial machine to perform the command or a modified command based on whether the perimeter point of the second operation zone is within the restricted region.

16 . The mobile industrial machine of claim 15 , wherein in response to determining that the perimeter point of the first operation zone is within the restricted region, the electronic processor is further configured to:
determine whether performance of the command increases penetration of the first operation zone into the restricted region; and control the mobile industrial machine to perform the command or a stop command based on whether the performance of the command increases penetration of the first operation zone into the restricted region.

17 . The mobile industrial machine of claim 15 , wherein the first operation zone has a smaller area than the second operation zone and the first operation zone is positioned within the second operation zone.

18 . The mobile industrial machine of claim 15 , wherein the restricted region includes a first restricted region and a second restricted region.

19 . The mobile industrial machine of claim 18 , wherein the first restricted region surrounds an area in which the mobile industrial machine is permitted to work; and
wherein the second restricted region is disposed adjacent to mobile industrial machine.

20 . The mobile industrial machine of claim 18 , wherein the first restricted region is disposed above the moveable component of the mobile industrial machine; and
wherein the second restricted region is disposed adjacent to mobile industrial machine.

Assignees

• Joy Global Surface Mining Inc

Inventors

• Malegam Keshad Darayas

Classifications

• G05D2105/05

  for soil shifting, building, civil engineering or mining, e.g. excavators · CPC title

• G05D2107/73

  Mining · CPC title

• H04W12/64

  using geofenced areas · CPC title

• H04W12/08

  Access security · CPC title

• G05D2107/90

  Building sites; Civil engineering · CPC title