A machine cable management system

Abstract

A machine cable management system for managing the location of a cable of a machine is disclosed. The management system comprises a cable locating system configured to predict a path location of a cable between a cable anchor location and a cable receiving reel of the machine. The cable locating system includes a data storage device that stores cable anchor location data, cable reel location data, and cable path data. The cable locating system also includes a cable locating model configured to predict a new path location of the cable after movement of the machine relative to the cable anchor point using the cable anchor location data and the cable reel location data. The machine cable management system is configured to produce predicted location data indicative of the predicted path location of the cable, the predicted location data usable to display information indicative of the predicted path location of the cable.

Description

[0001] A MACHINE CABLE MANAGEMENT SYSTEM

[0002] Field of the Invention

[0003] The present invention relates to a machine cable management system for managing the location of one or more cables of one or more machines that may include drilling machines in the resources industry. of the Invention

[0004] In the resources industry, it is common to use one or more machines to carry out exploration, extraction, transportation and processing tasks, and in some situations one or more machines are used that require a cable extending to the machine and disposed predominantly on the ground between a cable anchor point and the machine. For example, some types of drilling machine include a cable that delivers electrical power to the machine.

[0005] During use of such machines, in particular drilling machines, it is necessary to periodically move the drilling machine as part of the drilling process, but significant risk exists in doing so because movement of the machine may interfere with the cable. This is particularly problematic in cold environments wherein the cable may become submerged in or otherwise obscured by snow.

[0006] Summary of the Invention

[0007] In accordance with a first aspect of the present invention, there is provided a machine cable management system for managing the location of a cable of a machine, the machine cable management system comprising: a cable locating system configured to predict a path location of a cable between a cable anchor location disposed remotely of the machine and a cable receiving reel of the machine, the cable locating system including: a data storage device that stores: cable anchor location data indicative of a location of the cable anchor; cable reel location data indicative of a location of the cable reel; and cable path data indicative of a path location of the cable between the cable anchor location and the cable reel; a cable locating model configured to predict a new path location of the cable after movement of the machine relative to the cable anchor point using the cable anchor location data and the cable reel location data; the machine cable management system configured to produce predicted location data indicative of the predicted path location of the cable, the predicted location data usable to display information indicative of the predicted path location of the cable.

[0008] In an embodiment, the cable reel location data is obtained automatically.

[0009] In an embodiment, the machine cable management system includes a cable reel GPS device arranged to determine the cable reel location data.

[0010] In an embodiment, the cable receiving reel location data includes data indicative of the location of a spreader bar relative to the cable reel.

[0011] In an embodiment, the cable locating model is arranged to use approximate physical modelling techniques to predict the new path location of the cable.

[0012] In an embodiment, the cable locating model is arranged to model the cable as a plurality of segments of point mass, each segment having an associated location and velocity.

[0013] In an embodiment, the cable locating model is arranged to determine an external portion of the cable that is disposed externally of the cable reel and an internal portion of the cable that is disposed on the cable reel, the external portion of the cable having a plurality of external segments.

[0014] In an embodiment, the cable locating model includes a grounded external cable segments determiner arranged to predict external segments of the external portion of the cable that engage with the ground and external segments of the external portion of the cable that do not touch the ground. In an embodiment, the cable locating model is arranged to iteratively predict a velocity of each external segment, and at each iteration to apply at least one modification factor to the velocity of at least some external segments based on physical characteristics associated with and / or impacting on the cable.

[0015] In an embodiment, the cable locating model includes a segment velocity damper arranged to apply a velocity damping factor at each iteration to each segment velocity.

[0016] In an embodiment, the cable locating model is arranged to apply a gravity component at each iteration to each external segment.

[0017] In an embodiment, the cable locating model is arranged to apply a ground friction component at each iteration to each external segment that touches the ground.

[0018] In an embodiment, the cable locating model is arranged to apply at least one constraint at each iteration to at least some external segments. The constraints may include a below ground constraint and / or a segment length constraint.

[0019] In an embodiment, the below ground constraint is arranged to constrain segments at each iteration such that they cannot have a height value relative to ground that is below the ground. The below ground constraint may be arranged to set the velocity of the segment to the Baumgarte velocity bias if the cable locating model produces a segment height value that is below ground.

[0020] In an embodiment, the segment length constraint is arranged to constrain all segments such that the segments are not able to stretch or compress. The segment length constraint may be arranged to apply a Baumgarte velocity bias to the segment velocity.

[0021] In an embodiment, the cable locating model includes an integrator arranged to integrate the predicted velocities of the external segments at each iteration to produce predicted values for the locations of the external segments.

[0022] In an embodiment, the machine cable management system is arranged to store the predicted values for the locations of the cable segments so that the predicted values for the locations of the cable segments can be retrieved if power to the machine cable management system is lost.

[0023] In an embodiment, the machine cable management system includes a display and a user interface arranged to show a representation of the machine and a representation of the predicted path location of the cable.

[0024] The user interface may be arranged to show a representation of a position of the spreader bar relative to the cable reel.

[0025] Ther user interface may be arranged to show a cable on reel indicator arranged to indicate a proportion of the cable currently disposed on the cable reel, for example using a shaded bar, a dimension of which is indicative of the proportion of the cable currently disposed on the cable reel.

[0026] In an embodiment, the user interface is arranged to facilitate manual movement of the representation of the predicted path location of the cable and / or a representation of the cable anchor location, for example using a mouse.

[0027] In an embodiment, the machine cable management system includes an error detection component arranged to detect an error situation and communicate the error situation to a user.

[0028] In an embodiment, the error situation may include a cable location error indicative that the cable is disposed too close to the machine, a cable reel excessive torque error and / or a minimum length of cable on the cable reel error.

[0029] In an embodiment, the error situation may include a cable reel excessive side load error and the cable reel GPS device may be arranged to determine heading data indicative of a heading direction of the cable reel, the error detection component using the heading data to detect the excessive side load error.

[0030] In an embodiment, the machine cable management system is arranged to prevent tramming of the machine when an error situation is determined. In an embodiment, the machine cable management system is arranged to enable a user to override an error situation and permit tramming of the machine.

[0031] In an embodiment, the machine cable management system is arranged to limit the maximum tramming speed of the machine when an error situation has been overridden by a user.

[0032] In an embodiment, the machine is a drilling machine.

[0033] Brief Description of the Drawings

[0034] The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0035] Figure 1 is a diagrammatic representation of a machine cable management system in accordance with an embodiment of the present invention;

[0036] Figure 2 is a schematic block diagram of a machine cable management system architecture shown in Figure 1 ;

[0037] Figure 3 is a schematic block diagram showing functional components of the machine cable management system shown in Figures 1 and 2;

[0038] Figure 4 is a schematic block diagram showing constraints applied by a cable locating model shown in Figure 3;

[0039] Figure 5 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4;

[0040] Figure 6 shows example cable reel representations on a current cable location screen of the user interface of the system shown in Figures 1 to 4;

[0041] Figure 7 shows an example cable location movement screen of a user interface of the system shown in Figures 1 to 4; Figure 8 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 after a cable has been moved;

[0042] Figure 9 shows example cable feeder button representations on a current cable location screen of the user interface of the system shown in Figures 1 to 4;

[0043] Figure 10 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 when a cable location error exists;

[0044] Figure 11 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 when a cable location error exists and tramming override has been enabled by an operator;

[0045] Figure 12 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 when a cable reel torque error exists;

[0046] Figure 13 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 when a minimum length of cable on cable reel error exists;

[0047] Figure 14 shows an example current cable location screen of a user interface of the system shown in Figures 1 to 4 when a cable reel excessive side loading error exists;

[0048] Figure 15 shows an example enlarged representation of a cable including segment representative points disposed so as to indicate a cable hanging from the spreader bar to the ground;

[0049] Figure 16 is a flow diagram illustrating a method of managing the location of a cable of a machine; and

[0050] Figure 17 is a flow diagram illustrating a method of predicting the location of a cable of a machine, the prediction method being part of the method of managing the cable location shown in Figure 16. Description of an Embodiment of the Invention

[0051] Referring to the drawings, Figure 1 shows a diagrammatic representation of an example machine cable management system 10 for managing the location of a cable of a machine by predicting the path location of the cable and communicating the path location to a user for example by displaying the cable path location on a screen.

[0052] In the present described examples, the cable is arranged to at least provide power to the machine and in some arrangements the cable may be used for other purposes, for example to transfer data to and / or from the machine.

[0053] Also in the present described examples, the machine is a drilling machine of the type used in the resources industry, although it will be understood that the invention is also applicable to other types of machine.

[0054] According to the present cable management system, an initial location of a machine cable is recorded, for example by manually recording a cable anchor location, manually or automatically recording the location at which the cable engages with the drilling machine, and manually recording the path location of the cable between the anchor location and the drilling machine. The system then responds to movement of the drilling machine by predicting a new cable path location based on the absolute position of the cable reel, and in particular the absolute position of the cable spreader bar; and based on physical characteristics associated with and impacting on the cable, including ground friction, gravity and cable mass. In the present embodiment, the new cable path location is displayed to an operator and an error is communicated to the operator if an error condition is triggered, for example because the cable is considered to be too close to the drilling machine.

[0055] Figure 1 shows a machine cable management system 10 that includes a cable locating system 12 arranged to predict the path location of a machine cable as a machine, in this example a drilling machine 14, moves. In this example, the predicted path location of the cable is presented on a display 16 and an error communication produced if an error condition exists such as a portion of the cable that has moved to a location considered too close to the machine 14. In the present example, the cable locating system 12 and display 16 are located on the drilling machine 14 so that an operator of the drilling machine 14 is able to view the predicted current location of the cable, receive errors associated with the path location of the cable, and interact directly with the system. However, as shown in Figure 1 , in a variation, the machine cable management system 10 may be arranged to facilitate access to and interaction with the system 10 from a remote location, for example through a wide area network such as the Internet 18, by suitable computing devices, such as personal computing devices 20, smartphones 22 and / or tablet computers 24.

[0056] Referring to Figure 2, an example computing architecture 30 for implementing the machine cable management system 10 is shown. The example architecture 30 includes a processor 32 arranged to implement functionality of the system 10 using one or more programs 36 stored on a data storage device 34, the programs 36 using and / or producing data 38. The architecture 30 also includes memory 40 usable to implement the programs 36 by the processor 32 and one or more interfaces 42, in this example that include a network communication interface, a display interface and user interfaces that may include a keyboard, mouse and / or touch screen.

[0057] Functional components of the cable locating system 12 are shown in Figure 3.

[0058] The functional components include a cable locating model 50 configured to predict the path location of the portion of the machine cable that is external of the cable reel, that is, the portion of the machine cable that extends from the cable anchor location to the machine, based on: a cable anchor location 52 and current cable path location 56; the current position of the cable reel, in this example determined using a cable reel GPS device 54; and the current position of the cable spreader bar relative to the cable reel, in this example determined using a spreader bar sensor 58.

[0059] In this example, the cable locating model 50 uses approximate physical modelling techniques of the type typically used in the computer gaming industry, with the purpose being to produce an appropriate estimate of the real path location of a machine cable. The highest possible accuracy prediction for the path location of the cable, which would require significantly more memory and processor time, is not necessary. The data 38 stored in the data storage device 34 includes cable anchor location data 60 indicative of the received cable anchor location information 56, cable reel GPS location data 62 indicative of the location of the cable reel obtained from the cable reel GPS device 54, and spreader bar location data 64 indicative of the position of the spreader bar relative to the cable reel obtained from the spreader bar sensor 58.

[0060] In this example, the cable locating model 50 models the cable as a plurality of short segments of point mass, with each segment having an associated 3D location and velocity, and for this reason the stored data 38 includes cable segment location data 66, cable segment mass data 68 and cable segment velocity data 69.

[0061] In this example, the cable locating model 50 comprises an iterative kinematic simulation model to approximate real world cable motion. The model uses semi- implicit Euler integration using the following formula: where s is position, v is velocity, and At is a time step between iterations. Alternative integration methods include explicit Euler integration and implicit Euler integration, but the semi-implicit method is often preferred in numerical simulations due to its simplicity and stability.

[0062] The approach taken to update segment positions at each time step is discussed below.

[0063] In the present example, the portion of the machine cable that is external of the cable reel is quantised into segments of 0.25m length. The model applies a 3D rigid body simulation of the position and velocity of the cable segments. In the model, each segment point mass is connected to its neighbours by a simulated rigid fixed-length link and ball and socket joint. Segment orientation is not modelled. It will be appreciated that defining cable segments of length 0.25m strikes a balance between computational cost and simulation accuracy.

[0064] The simulation employs an iterative solving approach, includes components of velocity damping to prevent instability, acceleration under gravity, friction with the ground, and applies Baumgarte bias velocity to enforce physical constraints of the cable.

[0065] The cable locating model 50 is arranged to determine the portion of the cable that is disposed externally of the machine 14, in this example using a dispensed cable determiner 70 that for example uses one or more sensors to determine the rotational position of the cable reel.

[0066] The cable locating model 50 also includes a grounded external cable segments determiner 72 that predicts the external cable segments considered to engage with the ground, and therefore also the external cable segments that do not engage with the ground because they are disposed adjacent the cable reel. The stored data 38 includes data indicative of the external portion of the cable 74, the cable segments that are disposed on the ground 76 and the height of the cable segments that do not touch the ground 80.

[0067] At initialisation of the model, velocities of all cable segments are set to zero. The cable locating model 50 then predicts velocity of each external segment at each time step as the cable moves based on a previous velocity and position of the external portion of the cable, the cable anchor location, and the new location of the cable at the interface with the cable reel.

[0068] In this example, the cable locating model 50 includes a segment velocity damper 86 arranged to apply a velocity damping factor to each segment velocity determined by a previous iteration, and the model 50 applies a gravity component 88 to each external cable segment and a ground friction component 90 to each external cable segment that touches the ground.

[0069] The cable locating model 50 also applies constraints 92 to all cable segments that in this example include a below ground constraint 96 and a segment length constraint 98, as shown in Figure 4.

[0070] In this example, the below ground constraint 96 constrains all segments such that they cannot have a height value relative to ground that is below the ground. If the model 50 produces a segment height value that is below ground, the model 50 is arranged to set the velocity of the segment to the Baumgarte velocity bias, which causes the determined height relative to ground to move towards the ground. The Baumgarte velocity bias counters slight solving errors that accumulate over time.

[0071] In this example, the segment length constraint 98 constrains all segments such that the segments are not able to stretch or compress and the distance between adjacent segment points 109 is constant. In an example, the segment length constraint 98 operates as follows: i. Calculate the velocity change required to cancel the relative velocity in the direction of the constraint; ii. Add a Baumgarte velocity bias, which counters slight solving errors that accumulate over time and addresses constraint violation by movement of segments; iii. Apply the combined velocity change to each segment in proportion to the mass of the segment relative to the combined mass of the two segments; iv. Apply an infinite mass to the segment immediately adjacent the anchor location 110 and the segment immediately adjacent the cable spreader bar 106 so that they will not be moved by the constraint update; v. Apply an infinite mass to any point currently being dragged by a user so that it will not be moved by the constraint update.

[0072] To simulate the physics of the cable, segment velocity and position updates are modelled at a high rate, such as 200 Hz (At in equation 1 above = 0.005 seconds).

[0073] Physics updates are performed as in the following example steps: i. Let N be the number of external cable segments ii. Let index 1 be index of the anchor, and N be the index of the cable trolley iii. Let p[k] and v[k] specify 3D cable segment k position and velocity vectors iv. Let g be the gravitational acceleration constant, for example -9.80665 m / s2v. Apply velocity damping: For segments (k) 2 to N - 1 : v[k] = v[k] x 0.97 vi. Apply gravity acceleration: For segments (k) 2 to N - 1: v[k]z= v[k]z+ gAt vii. Iteratively apply the cable constraints 5 times, where repeated application produces simulation stability and convergence given the sequential nature of the constraint application. The constraint application steps are shown below. viii. Apply friction for points near the ground using a coefficient of friction p (for example 1.5): ix. For segments (k) 2 to N - 1 : If p[k]z< 0.01 : a. If |v[k]xy| < pgAt: v[k]xy = 0 b. Else: v[k]xy = v[k]xyx (1 - pgAt I v[k]xy) x. Integrate updated velocities for segments (k) from 2 to N - 1 : p[k] = p[k] + v[k] x At

[0074] Example constraint application steps that in this example are repeated 5 times for each physics update: i. Let N be the number of external cable segments ii. Let index 1 be index of the anchor, and N be the index of the cable trolley iii. Let p[k] and v[k] specify 3D cable segment k position and velocity vectors iv. Let segment_length(k-1, k) give the cable length between points k-1 and k v. Let inv_mass[k] specify cable segment inverse mass scalar vi. Let CBaumgarte be the tuneable Baumgarte bias constant, for example 0.05 vii. Apply ground constraint as follows: viii. For each segment (k) 2 to N - 1 : a. If inv_mass[k] is infinite, skip this loop iteration for segment k b. ground_violation = max(0, p[k]z) c. baumgarte_v = - ( CBaumgarte x 5 / At ) x ground_violation d. v[k]z= v[k]z+ baumgarte_v ix. Apply cable segment length constraint in reverse index order as follows: x. For each segment (k) N to 2: a. segment_distance = | p[k- 1 ] - p[k] | b. segment_direction = ( p[k- 1 ] - p[k] ) I segment_distance c. Iength_violation = segment_length(k-1 , k) - segment_distance d. relative_v = v[k-1 ] - v[k] e. constraints = dot_product( relatives. segment_direction ) f. baumgartes = - ( CBaumgarte x 5 / At ) x lengthsiolation g. impulse = - segment_direction x ( constraints+baumgartes ) I ( inv_mass[k-1] + inv_mass[k] ) h. v[k-1] = v[k-1] + impulse x inv_mass[k-1] i. v[k] = v[k] + impulse x inv_mass[k] It will be understood that segment velocity values propagate between time steps such that the segment velocity of a segment at a particular time step is used to determine the segment velocity at the next time step, with friction, damping, gravity, the constraints 92 at each time step, and the new machine location having an effect on the segment velocity at the subsequent time step. For example, at each iteration, acceleration under gravity can have a velocity increasing effect on cable segments that are adjacent to the cable reel 104 and above ground as the cable is payed out, the cable length constraint can cause an increase in cable segment velocities as the drilling machine moves, and friction and damping have the effect of reducing cable segment velocity at each iteration.

[0075] After the predicted velocities of each external cable segment have been determined at each iteration, the model 50 uses an integrator 94 to integrate the cable segment velocities and thereby produce predicted values for the positions of the external cable segments for each iteration. The predicted values for the positions of the cable segments are stored in the data storage device as new values for the cable segment positions 66.

[0076] It will be understood that since the current predicted locations of the cable anchor location 110, the drilling machine 102, the cable reel 104, the cable spreader bar 106 and the cable 108 are always stored in the data storage device 34, the present cable model has data persistence that enables the current positions to be retrieved should power to the cable locating system and / or the drilling machine 102 be lost. After restoration of power, if valid location information is not available for the cable anchor location 110, the drilling machine 102, the cable reel 104, the cable spreader bar 106 and / or the cable 108, the system 10 may prompt a user to implement an initialisation process that involves manually defining the locations of at least the cable anchor location 110 and / or the cable 108.

[0077] An example implementation will now be described with reference to an example user interface that in this example is shown during use on the display 16. Representations of the example user interface are shown in Figures 5 to 14.

[0078] Figure 5 shows a current cable location screen 100 of the user interface, the current cable location screen 100 in this example showing a drilling machine 102, a cable reel 104 and associated cable spreader bar 106, and a cable 108 that extends from the cable spreader bar 106 to a cable anchor location 110. The cable spreader bar 106 is arranged to move relative to the cable reel 104 as the cable is payed out from the cable reel 104 or taken up on the cable reel 104 during use so that the cable is wound in an orderly manner on the cable reel. As shown, the current cable location screen 100 displays the current path location of the cable 108 from the cable anchor location 110 to the cable spreader bar 106. Each segment of the cable 108 is represented on the user interface using a point 109, as best shown in Figure 6c.

[0079] The cable path location shown in Figure 5 represents the path location of the cable 108 after initialisation of the cable locating model 50, or according to a live representation of the predicted current path location of the cable 108. As such, the displayed path location of the cable 108 and the position of the drilling machine 102 will move as the actual drilling machine moves.

[0080] In the present example, only one drilling machine 102 and associated cable 108 are displayed, although it will be understood that multiple drilling machines 102 and associated cables 108 may be displayed.

[0081] Figures 6a to 6c show enlarged views of representations of the cable reel 104 of the drilling machine 102. As shown, the displayed position of the representation of the cable spreader bar 106 relative to the representation of the cable reel 104 indicates the position of the cable spreader bar relative to the cable reel of the actual drilling machine.

[0082] Figures 6a to 6c also show a cable on reel indicator 112 that indicates the proportion of the cable currently disposed on the cable reel 104. In the present example, the cable on reel indicator 112 is shown as a shaded bar, the width of which is representative of the proportion of the cable currently disposed on the cable reel 104, although it will be understood that alternative arrangements for displaying the proportion of the cable currently disposed on the cable reel 104 are envisaged. In the examples, in Figure 6a) shows the cable on reel indicator 112 when a cable is fully disposed on the cable reel 104, Figure 6b) shows the cable on reel indicator 112 when a cable is partially disposed on the cable reel 104, and Figure 6c) shows the cable on reel indicator 112 when a cable is fully payed out from the cable reel 104. The current cable location screen 100 also includes a cable adjustment button 114 that when selected enables a user to manually move the cable 108 and / or the cable anchor location 110. Selection of the cable adjustment button 114 causes a cable movement toolbar 115 to be displayed, as shown in Figure 7. The cable movement toolbar 115 includes a discard button 116 that when selected discards the current cable location so that re-initialisation of the cable location can be carried out; a discard movement button 117 that when selected causes the cable location to revert to the state before user adjustment began; an undo button 118 that reverses the last mouse drag adjustment; and a confirm button 119 that when selected confirms the cable adjustment.

[0083] After activation of the cable adjustment button 114, a user is able to define the initial or a new location of the cable 108, the drilling machine 102 and the cable anchor location 110, for example by dragging the cable 108, the drilling machine 102 and / or the cable anchor location 110 using a mouse.

[0084] Figure 7 shows a cable location movement screen 120 of the user interface. Like and similar features are indicated with like reference numerals. The cable location movement screen 120 includes a current location of the cable 108 and cable anchor location 110; and a new location of the cable 122 and cable anchor location 124 that have been defined by a user. For example, the displayed cable path location may be manually moved using the cable location movement screen 120 because the current displayed cable path location does not accurately reflect the actual cable path location, or because the actual cable anchor location 110 and / or the actual cable path location has been moved by operators.

[0085] The current cable path location and new cable path location may be represented differently, for example by displaying the current cable path location in a colour that is different to the colour of the new cable path location.

[0086] A new cable location screen 126 after the cable and cable anchor location have been moved is shown in Figure 8.

[0087] The user interface also includes cable feeder buttons 130 shown more particularly in Figure 9. The cable feeder buttons 130 include a cable adjustment mode button 132 usable to select a cable reel mode. In this example, 3 cable reel modes are available, an off mode wherein the cable reel 104 is locked from automatic mode or remote feed control operations; a standard mode wherein cable pay out or cable take up occurs during tramming to maintain a constant cable tension; and an automatic mode wherein cable pay out and take up is controlled according to cable tension, tramming speed of the drill machine 102, and position of the cable spreader bar 106. The off mode, standard mode and automatic mode are selected using respective off, standard and automatic mode buttons 134, 136, 138. Whilst in the automatic mode, a fixed payout button 140 and a fixed take up button 142 are available for selection, the fixed payout button 140 causing a defined length of cable, in this example 3m, to be payed out by the cable reel, and the fixed take up button 142 causing a defined length of cable, in this example 3m, to be taken up by the cable reel. However, it will be understood that any suitable length of cable is envisaged for fixed take up and / or payout.

[0088] A maintenance mode is also available, although in this embodiment, maintenance mode is only activatable using a manual switch on the drilling machine 14. In this example, in the maintenance mode remote fixed feed operations are disabled and tramming is not permitted.

[0089] In the present example, the machine cable management system 10 includes an error detection component 95 arranged to detect error situations and communicate these to an operator when they occur.

[0090] For example, Figure 10 shows a cable location screen 150 that includes a cable location error communicated to a user by indicating an area of the drilling machine 102 that is within a defined minimum distance of the cable 108, in this example using a cable location error indicator 152 in the form of a red circle. When a cable location error is determined, an error banner 154 is displayed that includes a tramming override button 156 and a take no action button 158. The tramming override button 156 is usable to override the cable location error and enable an operator to move the drilling machine 102.

[0091] In the present example, a cable location error is determined to exist when the cable error detection component 95 detects that a section of the cable 108 is located within a minimum defined distance from an inner frame of the drilling machine 102. In this example, the cable error detection component 95 is arranged to maintain the cable location error until the cable is determined to be located at a defined distance from the inner frame that is greater than the defined minimum distance. For example, a minimum distance of 1.8 metres from a virtual box around the drill’s tracks, jacks, and drill string.

[0092] The cable error detection component 95 may be arranged to only generate error situations based on the location of the cable 108 associated with a single drilling machine 102, or to generate error situations based on the location of any cable 108 associated with any of multiple drilling machines 102.

[0093] After selection of the tramming override button 156, a tramming override screen 160 is displayed as shown in Figure 11. The tramming override screen 160 includes a tramming override active banner 162 that indicates to a user that a cable location error exists, but an operator has chosen to override the error. Further cable proximity errors are suppressed when the tramming override active banner 162 is displayed, although it will be understood that other error situations may still be communicated.

[0094] In the present example, selection of tramming override enables tramming to occur but causes the maximum tramming speed to be reduced so that an operator is able to carefully move the drilling machine 14 to a location wherein the drilling machine 14 is not too close to the cable 108. In the present arrangement, only remote, non- autonomous, tramming is possible. An example maximum tramming speed during tramming override is 0.18 metres per second, reduced from 0.5 metres per second for normal tramming.

[0095] In a further example, as shown in Figure 12, a cable location screen 170 is shown that includes a cable reel excessive torque error communicated to a user by indicating the cable reel area using an excessive torque indicator 172, for example in the form of a red square. Like and similar features are indicated with like reference numerals. In the present example, a cable reel excessive torque error is determined to exist when the cable error detection component 95 detects that the cable reel torque is above a defined threshold, for example 1500 Newton-metres. When a cable reel excessive torque error is determined, an error banner 174 is displayed that includes the tramming override button 156 and the take no action button 158. As with the cable location error shown in Figures 8 to 11 , it is possible to override the cable reel excessive torque error by selecting the tramming override button 156.

[0096] A similar error situation may also occur when a minimum length of cable on the cable reel is detected, for instance a minimum length of 5 metres. As shown in Figure 13, a cable location screen 180 is shown that includes a low cable on reel error communicated to a user by indicating the cable reel area using a low cable on reel indicator 182, for example in the form of a red square. Like and similar features are indicated with like reference numerals. When a low cable on reel error is determined, an error banner 184 is displayed that includes the tramming override button 156 and the take no action button 158.

[0097] As with the errors shown in Figures 8 to 12, it is possible to override the low cable on reel error by selecting the tramming override button 156.

[0098] In a further example in Figure 14, a cable location screen 186 is shown that includes a cable reel excessive side load error, in this example communicated to a user by indicating the cable reel spreader bar using an excessive side load indicator 188, for example in the form of a red dot. Like and similar features are indicated with like reference numerals. In the present example, a cable reel excessive side load error is determined to exist when the cable error detection component 95 detects that the cable reel side load is above a defined threshold. For instance, an excessive side load condition may exist if the cable extending from the spreader bar has a distance to cable length ratio above a threshold of 0.9 over the first 4 metres, and the angle to the spreader bar is too high, such as above a threshold of 60 degrees. This poses a risk of damage to the machine and the drill may be prevented from tramming. When a cable reel side load error is determined, an error banner 190 is displayed that includes the tramming override button 156 and the take no action button 158. The excessive side load error situation may be determined using the absolute cable reel spreader bar location and heading determined by the cable reel GPS device 54, as well as the location of the cable model segments up to a configurable length along the cable from the spreader bar, in order to calculate the tautness and angle of the section of cable close to the spreader bar. The degree of tension in the cable near the cable reel may be communicated to a user in a top down view by displaying points 109 representing the cable segments adjacent the cable spreader bar 106 and hanging from the cable spreader bar 106 as closer together when hanging slack under gravity such as in Figure 15, or further apart when pulled taut against gravity as in Figure 6c.

[0099] As with the cable location error shown in Figures 8 to 13, it is possible to override the cable reel excessive torque error by selecting the tramming override button 156.

[0100] While most of the external portion of the cable 108 is disposed on the ground and is therefore subject to ground friction, part of the external portion of the cable 108 will not be in contact with the ground because the cable spreader bar 106 at which the cable 108 connects to the drilling machine 104 is disposed at a defined height above the ground. Accordingly, in the present example, the grounded external cable segments determiner 72 is arranged to determine the cable segments that are not in contact with the ground based on the modelled vertical location component of the segments relative to nominal ground level at vertical zero. For instance, any segment with a vertical location of 0.01 metres or above may be considered not in contact with the ground.

[0101] Referring to Figures 16 and 17, an example methodology implemented by the machine cable management system 10 during use is shown.

[0102] Figure 16 is a flow diagram illustrating a method 200 of managing the location of a cable of a machine.

[0103] In the present example, in order to initialise the cable locating model 50, a user provides the system 10 with information indicative of the location of the cable anchor 110 and the current location path of the cable 108, as indicated at steps 202 and 210. This may be achieved for example using the user interface by dragging the cable 108 and cable anchor location 110 to the desired locations. Information indicative of the cable reel location and heading is provided to the system 10 automatically, in this example using a cable reel GPS device, as indicated at steps 204 and 206. The spreader bar sensor 58 automatically provides the cable locating model 50 with information indicative of the location of the spreader bar relative to the cable reel, as indicated at steps 208. Based on the initialisation information, the locations of the drilling machine 14, cable anchor location 110 and path location of the cable 108 are displayed, as indicated at step 214.

[0104] If the cable is manually moved by operators, a user may either manually adjust the location of the representation of the cable 108, or alternatively carry out a process to re-initialise the cable locating model 50, as indicated at step 216.

[0105] If the actual drilling machine 14 is moved by operators, the cable locating model 50 uses the received information to predict a new path location of the cable 108, and the new locations of the drilling machine 14 and cable path location are displayed, as indicated at steps 220 and 222.

[0106] The cable locating model 50 also makes determinations as to whether an error situation exists based on the new location of the drilling machine and the new cable path location, and an error message is generated if any error situations are determined, as indicated at steps 224 and 226.

[0107] Figure 17 is a flow diagram 230 illustrating an example method of predicting the path location of a cable of a machine, the prediction method being part of the method of managing the cable location shown in Figure 16.

[0108] In the present embodiment, the path location of the cable 108 is predicted using an iterative process based on the following current information: anchor location; current cable reel GPS location; current spreader bar location relative to the cable reel; previous cable path location; and previous simulated cable segment velocities.

[0109] As indicated at steps 234 and 236, based on information derived from the cable reel 104, an internal portion of the cable located on the cable reel 104 and an external portion of the cable not disposed on the cable reel 104 are determined, and based on the determined external cable portion, a model of the external cable portion is defined that models the external cable portion as a plurality of point masses associated with a plurality of cable segments, each of which has a position and velocity, as indicated at step 236.

[0110] As indicated at step 238, at each iteration the model 50 determines segment velocities, then applies a velocity damping factor to all cable segment velocities by multiplying each preliminary segment velocity by a damping factor, and as indicated at step 240 a gravity factor is applied to all cable segments except the cable segments that directly contact the anchor location and the cable spreader bar.

[0111] As indicated at step 242, at each iteration the below ground and segment length constraints are applied to all segments, and as indicated at step 244, the model 50 uses those constraints together with the height of the cable at the cable spreader bar 106 and gravity to determine simulated segment heights, and therefore which segments touch the ground by reference to the segment height being close to or less than zero. A ground friction factor is then applied to all cable segments that are considered to be in contact with the ground, as indicated at step 246.

[0112] As indicated at step 250, for each iteration, the predicted segment velocities are then integrated to produce predicted new cable segment locations.

[0113] It will be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.

[0114] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

[0115] Modifications and variations as would be apparent to a skilled addressee are determined to be within the scope of the present invention.

Claims

The claims defining the invention are as follows:1 . A machine cable management system for managing the location of a cable of a machine, the machine cable management system comprising: a cable locating system configured to predict a path location of a cable between a cable anchor location disposed remotely of the machine and a cable receiving reel of the machine, the cable locating system including: a data storage device that stores: cable anchor location data indicative of a location of the cable anchor; cable reel location data indicative of a location of the cable reel; and cable path data indicative of a path location of the cable between the cable anchor location and the cable reel; a cable locating model configured to predict a new path location of the cable after movement of the machine relative to the cable anchor point using the cable anchor location data and the cable reel location data; the machine cable management system configured to produce predicted location data indicative of the predicted path location of the cable, the predicted location data usable to display information indicative of the predicted path location of the cable.

2. A machine cable management system as claimed in claim 1 , wherein the cable reel location data is obtained automatically.

3. A machine cable management system as claimed in claim 2, comprising a cable reel GPS device arranged to determine the cable reel location data.

4. A machine cable management system as claimed in any one of claims 1 to 3, wherein the cable receiving reel location data includes data indicative of the location of a spreader bar relative to the cable reel.

5. A machine cable management system as claimed in any one of the preceding claims, wherein the cable locating model is arranged to use approximate physical modelling techniques to predict the new path location of the cable.

6. A machine cable management system as claimed in any one of the preceding claims, wherein the cable locating model is arranged to model the cable as a plurality of segments of point mass, each segment having an associated location and velocity.

7. A machine cable management system as claimed in claim 6, wherein the cable locating model is arranged to determine an external portion of the cable that is disposed externally of the cable reel and an internal portion of the cable that is disposed on the cable reel, the external portion of the cable having a plurality of external segments.

8. A machine cable management system as claimed in claim 7, wherein the cable locating model includes a grounded external cable segments determiner arranged to predict external segments of the external portion of the cable that engage with the ground and external segments of the external portion of the cable that do not touch the ground.

9. A machine cable management system as claimed in claim 7 or claim 8, wherein the cable locating model is arranged to iteratively predict a velocity of each external segment, and at each iteration to apply at least one modification factor to the velocity of at least some external segments based on physical characteristics associated with and / or impacting on the cable.

10. A machine cable management system as claimed in claim 9, wherein the cable locating model includes a segment velocity damper arranged to apply a velocity damping factor at each iteration to each segment velocity.

11. A machine cable management system as claimed in claim 9 or claim 10, wherein the cable locating model is arranged to apply a gravity component at each iteration to each external segment.

12. A machine cable management system as claimed in any one of claims 9 to 11 , wherein the cable locating model is arranged to apply a ground friction component at each iteration to each external segment that touches the ground.

13. A machine cable management system as claimed in any one of claims 9 to 12, wherein the cable locating model is arranged to apply at least one constraint at each iteration to at least some external segments.

14. A machine cable management system as claimed in claim 13, wherein the at least one constraint includes a below ground constraint arranged to constrain segments such that they cannot have a height value relative to ground that is below the ground.

15. A machine cable management system as claimed in claim 14, wherein the below ground constraint is arranged to set the velocity of the segment to the Baumgarte velocity bias if the cable locating model produces a segment height value that is below ground.

16. A machine cable management system as claimed in any one of claims 13 to 15, wherein the at least one constraint includes a segment length constraint arranged to constrain all segments such that the segments are not able to stretch or compress.

17. A machine cable management system as claimed in claim 16, wherein the segment length constraint is arranged to apply a Baumgarte velocity bias to the segment velocity.

18. A machine cable management system as claimed in any one of claims 9 to 17, wherein the cable locating model includes an integrator arranged to integrate the predicted velocities of the external segments at each iteration to produce predicted values for the locations of the external segments.

19. A machine cable management system as claimed in any one of the preceding claims, wherein the machine cable management system is arranged to store the predicted values for the locations of the cable segments so that the predicted values for the locations of the cable segments can be retrieved if power to the machine cable management system is lost.

20. A machine cable management system as claimed in any one of the preceding claims, wherein the machine cable management system includes a display and a userinterface arranged to show a representation of the machine and a representation of the predicted path location of the cable.

21. A machine cable management system as claimed in claim 20, wherein the user interface is arranged to show a representation of a position of the spreader bar relative to the cable reel.

22. A machine cable management system as claimed in claim 20 or claim 21 , wherein the user interface is arranged to show a cable on reel indicator arranged to indicate a proportion of the cable currently disposed on the cable reel.

23. A machine cable management system as claimed in any one of claims 20 to 22, wherein the user interface is arranged to facilitate manual movement of the representation of the predicted path location of the cable and / or a representation of the cable anchor location.

24. A machine cable management system as claimed in any one of the preceding claims, wherein the machine cable management system includes an error detection component arranged to detect an error situation and communicate the error situation to a user.

25. A machine cable management system as claimed in claim 24, wherein the error situation includes a cable location error indicative that the cable is disposed too close to the machine, a cable reel excessive torque error and / or a minimum length of cable on the cable reel error.

26. A machine cable management system as claimed in claim 24 wherein the error situation includes a cable reel excessive side load error.

27. A machine cable management system as claimed in claim 26 when dependent on claim 3, wherein the cable reel GPS device is arranged to determine heading data indicative of a heading direction of the cable reel, the error detection component using the heading data to detect the excessive side load error.

28. A machine cable management system as claimed in any one of claims 24 orclaim 27, wherein the machine cable management system is arranged to prevent tramming of the machine when an error situation is determined.

29. A machine cable management system as claimed in any one of claims 24 to 28, wherein the machine cable management system is arranged to enable a user to override an error situation and permit tramming of the machine.

30. A machine cable management system as claimed in any one of claims 24 to 29, wherein the machine cable management system is arranged to limit the maximum tramming speed of the machine when an error situation has been overridden by a user.

31. A machine cable management system as claimed in any one of the preceding claims, wherein the machine is a drilling machine.

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