System for, and a method of, controlling operation of a vehicle in a defined area

• US 10,146,220 B2
• Filed: 09/12/2013
• Issued: 12/04/2018
• Est. Priority Date: 09/13/2012
• Status: Active Grant

• Current Assignee: Technological Resources Pty. Ltd. (Rio Tinto Limited)
• Original Assignee: Technological Resources Pty. Ltd. (Rio Tinto Limited)
• Inventors: McHugh, Charles Benjamin, Nettleton, Eric William, Oppolzer, Florian
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US14/024,716
• Publication Number:
  US 20140074319A1
• Time in Patent Office: 1,909 Days
• Field of Search: 701 2, 701 50
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06F 7/00 Methods or arrangements for processing data by operating upon the order or content of the data handled logic circuits H03K19/00

Abstract

A system 10 for controlling operation of a vehicle 12 in a defined area 14 includes a perimeter 16 defining a boundary of the defined area 14. A user interface 18 is provided for at least one of controlling and monitoring movement of the vehicle 12 as it traverses the area 14 and monitoring the location of the vehicle 12 relative to the perimeter 16. The system 10 further includes a controller 26 to which the vehicle 12 is responsive, the vehicle 12 having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode. The controller 26 is operative, when the vehicle 12 is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle 12 from crossing the perimeter 16 and, when the vehicle 12 is operating in the operator controlled mode or is converted from autonomous mode to operator controlled mode, to permit the vehicle 12 to cross the perimeter 16 under control of the operator.

Claims

1. A system for controlling operation of a vehicle in a defined area, the system including

a perimeter defining an outer boundary of the defined area;

a user interface for at least one of controlling and monitoring movement of the vehicle as it traverses the area and monitoring the location of the vehicle relative to the perimeter; and

a controller in communication with the user interface and to which the vehicle is responsive, the vehicle having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode, and the controller being operative, when the vehicle is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to cease autonomous mode operation to inhibit the vehicle from crossing the perimeter and to notify an operator that the operator is to assume operator controlled mode of operation to move the vehicle out of the predetermined range of the perimeter, which action includes at least one of maneuvering the vehicle, while within the defined area, away from the perimeter and crossing the perimeter under control of the operator, the user interface being configured to enable the operator to cause the controller to switch the vehicle back from the operator controlled mode to the autonomous mode when conditions again permit the vehicle to operate in autonomous mode.

2. The system of claim 1 in which the user interface is remotely located relative to the defined area and in which the operator controlled mode of operation is a remote control mode of operation, the vehicle being controlled by the operator located at, and using, the user interface.

3. The system of claim 1 in which the user interface includes an operator console and at least one display screen.

4. The system of claim 3 in which the at least one display screen is a haptic display responsive to touch commands from an operator.

5. The system of claim 3 in which the perimeter is displayed as a perimeter indicator overlying the defined area on the at least one display screen.

6. The system of claim 5 in which the perimeter indicator has different characteristics depending on which part of the boundary of the area the perimeter indicator is demarcating.

7. The system of claim 1 in which the perimeter is implemented as a virtual perimeter which is surveyed after preparation of the defined area, the virtual perimeter being entered into the controller after having been surveyed.

8. A method of controlling operation of a vehicle in a defined area, the vehicle having a plurality of modes of operation, the method including

monitoring a position of the vehicle relative to a perimeter defining an outer boundary of the defined area;

and

when the vehicle is operating in an autonomous mode of operation and the vehicle comes within a predetermined range of the perimeter disabling the vehicle by ceasing autonomous mode operation to inhibit the vehicle from crossing the perimeter and notifying an operator that the operator is to assume operator controlled mode of operation to move the vehicle out of the predetermined range of the perimeter, which action includes at least one of maneuvering the vehicle, while within the defined area, away from the perimeter and crossing the perimeter under control of an operator and causing the controller to switch the vehicle back from the operator controlled mode to the autonomous mode when conditions again permit the vehicle to operate in autonomous mode.

9. The method of claim 8 in which the user interface is remotely located relative to the defined area and in which the method includes, when the vehicle is in the operator controlled mode of operation, operating the vehicle in a remote control mode of operation via the user interface.

10. The method of claim 8 which includes displaying the perimeter indicator with different characteristics depending on which part of the boundary of the area the perimeter indicator is demarcating.

11. The method of claim 8 which includes providing a user interface including at least one display screen and displaying the perimeter as a perimeter indicator overlying the area on the at least one display screen.

12. The method of claim 11 which includes implementing the perimeter as a virtual perimeter and storing it in a controller of the vehicle.

13. The method of claim 11 which includes generating a discernible warning when the vehicle crosses the perimeter.

14. A system for controlling operation of multiple vehicles, each vehicle having a plurality of modes of operation, including an autonomous mode of operation and an operator controlled mode of operation, and each vehicle operating in a defined area having a safety perimeter defining an outer boundary of the defined area, the system including

a controller associated with each vehicle, each controller being configured to control operation of its associated vehicle including a mode of operation of each vehicle, the controller being operative to cause its associated vehicle to cease autonomous mode of operation when that vehicle comes within a predetermined range of the perimeter of the defined area;

and

a user interface in communication with each controller, the user interface being accessible by an operator for enabling the operator at least to monitor movement of each vehicle as it traverses its associated area and to monitor the location of each vehicle relative to the perimeter of its associated area, the user interface further being configured, when a selected one of the vehicles comes within the predetermined range of the perimeter, to notify the operator that the selected one of the vehicles has ceased autonomous mode of operation to permit the operator to issue operating instructions to the controller of the selected one of the vehicles to convert the selected one of the vehicles to an operator controlled mode of operation, which operating instructions includes at least one of maneuvering the selected one of the vehicles under control of the operator, while within the defined area, away from the perimeter and permitting the selected one of the vehicles to cross the perimeter under control of the operator, the user interface also being configured to enable the operator to cause the controller to switch the selected one of the vehicles back from the operator controlled mode to the autonomous mode when vehicle operating conditions again permit the selected one of the vehicles to operate in autonomous mode.

15. The system of claim 14 in which the controller is operative, when the vehicle is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle from crossing the perimeter.

16. The system of claim 14 in which the user interface includes an operator console and at least one display screen, the at least one display screen being a haptic display responsive to touch commands from the operator.

17. The system of claim 16 in which the perimeter is displayed as a virtual perimeter indicator overlying the defined area on the at least one display screen.

18. The system of claim 14 in which the user interface is remotely located relative to the defined area and in which the operator controlled mode of operation is a remote control mode of operation, each vehicle being controlled by the operator located at, and using, the user interface.

19. A method of controlling operation of multiple vehicles, each vehicle having a controller associated with it, each vehicle having a plurality of modes of operation, including an autonomous mode of operation and an operator controlled mode of operation, and each vehicle operating in a defined area having a safety perimeter defining an outer boundary of the defined area, the method including

controlling operation of each vehicle via its controller, including a mode of operation of each vehicle, the controller of each vehicle being operative to cause its associated vehicle to cease autonomous mode of operation when that vehicle comes within a predetermined range of the perimeter of the defined area;

enabling an operator at least to monitor movement of each vehicle as it traverses its associated area and to monitor the location of each vehicle relative to the perimeter of its associated area; and

when a selected one of the vehicles comes within a predetermined range of the perimeter, notifying the operator that selected one of the vehicles has ceased autonomous mode of operation and permitting the operator to issue operating instructions to the controller of the selected one of the vehicles to convert the vehicles to an operator controlled mode of operation, which operating instructions includes at least one of maneuvering the selected one of the vehicles under control of the operator, while within the defined area, away from the perimeter and permitting the selected one of the vehicles to cross the perimeter under control of the operator, and enabling the operator to cause the controller to switch the selected one of the vehicles back from the operator controlled mode to the autonomous mode when vehicle operating conditions again permit the selected one of the vehicles to operate in autonomous mode.

20. The method of claim 19 which includes, when the vehicle is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, inhibiting the vehicle from crossing the perimeter.

21. The method of claim 19 which includes providing a user interface which includes an operator console and at least one display screen, the at least one display screen being a haptic display responsive to touch commands from the operator and in which the method includes displaying the perimeter as a virtual perimeter indicator overlying the defined area on the display screen.

22. The method of claim 21 in which the user interface is remotely located relative to the defined area and in which the method includes, when the vehicle is in the operator controlled mode of operation, operating the vehicle in a remote control mode of operation via the user interface.