Target destination selection for a mining vehicle

• US 10,330,481 B2
• Filed: 04/04/2017
• Issued: 06/25/2019
• Est. Priority Date: 08/24/2011
• Status: Active Grant

• Current Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Original Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Inventors: Lewis, Michael W., Rottig, Andree, Van Latum, Lucas
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/479,083
• Publication Number:
  US 20170205241A1
• Time in Patent Office: 812 Days
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3461 Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G07C 5/0816 Indicating performance data, e.g. occurrence of a malfunction
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B

Abstract

A system and method for determining a path to a target destination are presented. A position sensor is mounted to a haul truck. The position sensor is configured to identify a position of the haul truck. A distributed objects database stores information describing target destinations within a mining environment and performance characteristics of the haul truck. A navigation aid is connected to the position sensor. The navigation aid is configured to identify a target destination for the haul truck, retrieve a performance characteristic of the haul truck from the distributed objects database, and calculate a first path to the target destination using the performance characteristic of the haul truck. A user interface is connected to the navigation aid. The user interface is configured to display the first path for an operator of the haul truck.

Claims

1. A system, comprising:

a position sensor mounted to a haul truck, the position sensor configured to identify a position of the haul truck;

a distributed objects database storing information describing target destinations within a mining environment and performance characteristics of the haul truck;

a navigation aid connected to the position sensor, the navigation aid being configured to;

identify a target destination for the haul truck;

retrieve a target type of the target destination from the distributed objects database;

determine that the target type indicates that the target destination is a dynamic target;

retrieve a target equipment operator for the target destination from the distributed objects database;

transmit, to the target equipment operator, a message request that the target equipment operator indicate whether the target destination is valid;

receive a confirmation from the target equipment operator indicating that the target destination is valid;

retrieve a performance characteristic of the haul truck from the distributed objects database; and

calculate a first path to the target destination using the performance characteristic of the haul truck; and

a user interface connected to the navigation aid, the user interface being configured to display the first path for an operator of the haul truck.

2. The system of claim 1, wherein the performance characteristic includes a minimum turning radius of the haul truck and the navigation aid is configured to calculate the first path so that the first path avoids turns that include a turning radius that is smaller than the minimum turning radius of the haul truck.

3. The system of claim 1, wherein the performance characteristic includes a maximum slope for the haul truck and the navigation aid is configured to calculate the first path so that the first path avoids climbs having a slope that exceeds the maximum slope for the haul truck.

4. The system of claim 1, wherein the performance characteristic includes a weight of the haul truck and the navigation aid is configured to calculate the first path so that the first path avoids roads having a maximum weight restriction that is less than the weight of the haul truck.

5. The system of claim 1, wherein the navigation aid is configured to:

determine a current location of the haul truck using the position sensor;

calculate, using the first path and the current location of the haul truck, a feedback trajectory, wherein the feedback trajectory indicates a direction the haul truck can travel to return to the first path;

determine, using the performance characteristic, whether the haul truck is capable of traveling along the feedback trajectory; and

when the haul truck is not capable of traveling along the feedback trajectory, display a notification that the haul truck is not capable of traveling along the feedback trajectory for the operator of the haul truck.

6. The system of claim 1, wherein the navigation aid is configured to:

determine a current location of the haul truck using the position sensor;

calculate, using the first path and the current location of the haul truck, a deviation between the current location of the haul truck and the first path;

determine, using the deviation between the current location of the haul truck and the first path, whether the haul truck is capable of returning to the first path; and

when the haul truck is not capable of returning to the first path, display a notification that the haul truck is not capable of returning to the first path for the operator of the haul truck.

7. The system of claim 1, wherein the distributed objects database identifies hazards within the mining environment and the navigation aid is configured to calculate the first path to the target destination using the performance characteristic of the haul truck by:

calculating a plurality of potential paths to the target destination;

determining a plurality of hazard locations from the hazards in the distributed objects database; and

ranking each potential path in the plurality of potential paths using the hazard locations retrieved from the distributed objects database.

8. The system of claim 7, wherein ranking each potential path in the plurality of potential paths includes determining a resource cost associated with each potential path in the plurality of potential paths.

9. A method, comprising:

identifying a target destination for a haul truck;

retrieving an identification of a target equipment operator for the target destination from a distributed objects database;

transmitting, to the target equipment operator, a message requesting that the target equipment operator indicate whether the target destination is valid;

receiving a confirmation from the target equipment operator indicating that the target destination is valid;

retrieving a performance characteristic of the haul truck from a distributed objects database, the distributed objects database storing information describing performance characteristics of the haul truck;

calculating a first path to the target destination using the performance characteristic of the haul truck; and

displaying on a user interface the first path for an operator of the haul truck.

10. The method of claim 9, including determining a minimum turning radius of the haul truck and wherein calculating the first path includes identifying a path that avoids turns that include a turning radius that is smaller than the minimum turning radius of the haul truck.

11. The method of claim 9, including determining a maximum slope for the haul truck and wherein calculating the first path includes identifying a path that avoids climbs having a slope that exceeds the maximum slope for the haul truck.

12. The method of claim 9, including determining a weight of the haul truck and wherein calculating the first path includes identifying a path that that avoids roads having a maximum weight restriction that is less than the weight of the haul truck.

13. The method of claim 9, including:

determining a current location of the haul truck using a position sensor;

calculating, using the first path and the current location of the haul truck, a feedback trajectory, wherein the feedback trajectory indicates a direction the haul truck can travel to return to the first path;

determining, using the performance characteristic, whether the haul truck is capable of traveling along the feedback trajectory; and

when the haul truck is not capable of traveling along the feedback trajectory, displaying a notification that the haul truck is not capable of traveling along the feedback trajectory for the operator of the haul truck.

14. The method of claim 9, including:

determining a current location of the haul truck using a position sensor;

calculating, using the first path and the current location of the haul truck, a deviation between the current location of the haul truck and the first path;

determining, using the deviation between the current location of the haul truck and the first path, whether the haul truck is capable of returning to the first path; and

when the haul truck is not capable of returning to the first path, displaying a notification that the haul truck is not capable of returning to the first path for the operator of the haul truck.

15. The method of claim 9, wherein the distributed objects database identifies hazards within a mining environment and calculating the first path to the target destination using the performance characteristic of the haul truck includes:

calculating a plurality of potential paths to the target destination;

determining a plurality of hazard locations from the hazards in the distributed objects database; and

ranking each potential path in the plurality of potential paths using the hazard locations retrieved from the distributed objects database.

16. The method of claim 15, wherein ranking each potential path in the plurality of potential paths includes determining a resource cost associated with each potential path in the plurality of potential paths.

17. A method, comprising:

determining, using a position sensor, a current location of a haul truck in a mining environment;

determining, for the haul truck, a first path to a target destination;

calculating, using the first path and the current location of the haul truck, a deviation between the current location of the haul truck and the first path;

determining, using the deviation between the current location of the haul truck and the first path, whether the haul truck is capable of returning to the first path;

accessing a distributed objects database to determine a minimum turning radius of the haul truck;

determining, using the minimum turning radius, whether the haul truck is capable of returning to the first path; and

when the haul truck is not capable of returning to the first path, displaying a notification that the haul truck is not capable of returning to the first path for an operator of the haul truck.

18. The method of claim 17, including:

calculating, using the first path and the current location of the haul truck, a feedback trajectory, wherein the feedback trajectory indicates a direction the haul truck can travel to return to the first path;

determining, using a performance characteristic, whether the haul truck is capable of traveling along the feedback trajectory; and

when the haul truck is not capable of traveling along the feedback trajectory, displaying a notification that the haul truck is not capable of traveling along the feedback trajectory for the operator of the haul truck.

19. The method of claim 17, wherein calculating the first path to the target destination includes determining a performance characteristic of the haul truck and calculating the first path using the performance characteristic.