Abstract: A method of determining the location of a candidate object in an environment, the method including the steps of: (a) capturing a 3D point cloud scan of the object and its surrounds; (b) forming a surface geometry model of the candidate object. (c) forming a range hypothesis test comparing an expected range from the geometry model of the candidate object in comparison with the measured range of points in the Lidar point cloud scan and deriving an error measure there between; (d) testing the range hypothesis for a series of expected locations for the surface geometry model of the candidate object and determining a likely lowest error measure.

Abstract: A method of implementing an optimal avoidance filter for interposing between a human operator issued movement commands and a corresponding machine control system of a movable machine, for the avoidance of collisions with objects. The method: includes inputting a detailed representation of objects in the vicinity of the movable machine; and formulating a hierarchical set of bounding boxes around the objects. The hierarchical set including refinement details depending on the current positional state of the movable machine, with objects closer to the machine having higher levels of refinement details. The method further includes utilizing the resultant hierarchical set as a set of constraints for a mixed integer optimization problem to determine any alterations to the issued movement commands so as to avoid collisions with any objects.

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.

Abstract: A method of implementing an optimal avoidance filter for interposing between a human operator issued movement commands and a corresponding machine control system of a movable machine, for the avoidance of collisions with objects. The method: includes inputting a detailed representation of objects in the vicinity of the movable machine; and formulating a hierarchical set of bounding boxes around the objects. The hierarchical set including refinement details depending on the current positional state of the movable machine, with objects closer to the machine having higher levels of refinement details. The method further includes utilizing the resultant hierarchical set as a set of constraints for a mixed integer optimisation problem to determine any alterations to the issued movement commands so as to avoid collisions with any objects.

Abstract: The present invention relates generally to the field of positioning mechanical equipment, and particularly to the likes of mechanical excavation and electric mining shovels. In one embodiment, there is disclosed a system for calibrating the sensors that measure hoist and crowd motions for an electric mining shovel, enabling the position of a bucket to be known with greater accuracy than can be achieved using previously known approaches.

Abstract: A method of payload estimation of weight bearing machinery, the method comprising the steps of: (a) creating a series of Kalman filter approximations to the weight bearing machinery for different levels of payload; (b) determining from the series an approximation to the current operating characteristics of the weight bearing machinery; and, (c) utilizing the parameters derived from the step (b) to determine an estimated payload of the weight bearing machinery.

Abstract: The present invention relates generally to the field of positioning mechanical equipment, and particularly to the likes of mechanical excavation and electric mining shovels. In one embodiment, there is disclosed a system for calibrating the sensors that measure hoist and crowd motions for an electric mining shovel, enabling the position of a bucket to be known with greater accuracy than can be achieved using previously known approaches.

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.

Abstract: A method of payload estimation of weight bearing machinery, the method comprising the steps of: (a) creating a series of Kalman filter approximations to the weight bearing machinery for different levels of payload; (b) determining from the series an approximation to the current operating characteristics of the weight bearing machinery; and, (c) utilizing the parameters derived from the step (b) to determine an estimated payload of the weight bearing machinery.