Method and system for driving a mining and/or construction machine

• US 10,343,680 B2
• Filed: 11/15/2012
• Issued: 07/09/2019
• Est. Priority Date: 11/18/2011
• Status: Active Grant

• Current Assignee: Epiroc Rock Drills AB (Epiroc AB)
• Original Assignee: Epiroc Rock Drills AB (Epiroc AB)
• Inventors: Larsson, Johan
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US13/261,838
• Publication Number:
  US 20140297135A1
• Time in Patent Office: 2,427 Days
• Field of Search: 701 50, 701 98
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2300/17 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention relates to a method for driving a mining and/or construction machine, where said machine is arranged to be controlled by an operator by means of maneuvering means, where said operator, when driving said machine, provides steering commands by means of said maneuvering means for maneuvering said machine. The method comprises, when said machine is being driven in an environment having at least a first obstacle:

• • when said machine is within a first distance from said first obstacle, estimate a first path that has been requested by said operator by means of said steering commands,
  • by means of a control system, determining whether said machine when moving according to said requested first path will be driven within a second distance from said first obstacle, and
  • when it is determined that said machine, when travelling according to said first path, will be driven within said second distance from said first obstacle, retard said machine by means of said control system.

Claims

1. Method for driving a mining and/or construction machine, where said machine is arranged to be controlled by an operator by means of maneuvering means, where said operator, when driving said machine, provides steering commands by means of said maneuvering means for maneuvering said machine, wherein the method comprises, when said machine is being driven in an environment having at least a first obstacle, the steps of:

when said machine is within a first distance from said first obstacle, estimating a first path that has been requested by said operator by means of said steering commands,

by means of a control system determining whether said machine when moving according to said requested first path will be driven within a second distance from said first obstacle, and

when it is determined that said machine, when traveling according to said first path, will be driven within said second distance from said first obstacle, retard said machine by means of said control system;

wherein, when determining said first distance to said first obstacle in said requested first path, said path is defined as an area in the direction of travel having a first length and a width corresponding at least to the width of the machine, where obstacles within said area have the result that the machine will be driven within said second distance from said first obstacle when traveling according to said requested path;

wherein the width of said area is defined as a width corresponding to the width of the machine and a first lateral safety distance; and

wherein said first lateral safety distance is a lateral safety distance being different from zero.

2. Method according to claim 1, wherein said first distance constitutes a representation of a distance from a position on said machine to said first obstacle.

3. Method according to claim 1, further comprising:

during said retardation, retarding said machine to a full stop before said machine reaches a position within said second distance from said first obstacle.

4. Method according to claim 1, further comprising, based on said first distance, determining a retardation for retarding said machine.

5. Method according to claim 1, further comprising:

determine a representation of said first distance from said machine to said first obstacle, and

commence said retardation when said first distance to said first obstacle is below a third distance.

6. Method according to claim 5, where said third distance is determined at least partially based on a required stopping distance for said machine at a current speed.

7. Method according to claim 1, wherein said lateral safety distance of said machine is set to different values for each side of said machine, respectively.

8. Method according to claim 7, wherein said difference in safety distance at least partially is determined by said operator.

9. Method according to claim 1, wherein the safety distance on the outer side of the machine when turning is dependent on the turning angle and/or speed of the machine.

10. Method according to claim 9, wherein the steering angle dependent safety distance is dependent of the length of the machine in front of the front wheel axle in the direction of travel.

11. Method according to claim 9, wherein the safety distance on the outer side of the machine when turning, which is dependent on the turning angle of the machine, is applied only in front of the machine.

12. Method according to claim 1, further comprising, during an ongoing retardation:

determine whether the path requested by the operator is changed to a second path being different from said first path, and

interrupt said retardation if said machine when traveling according to said second path will not be driven within said second distance from said first obstacle.

13. Method according to claim 1, wherein said second distance is a distance in the interval 0-0.5 meters, preferably in the interval 0-0.2 meters.

14. Method according to claim 1, further comprising:

determining whether said machine will be driven within a first distance from said first obstacle when said machine is being driven with a speed exceeding a first speed.

15. Method according to claim 1, wherein said estimated path is estimated based on a steering angle command.

16. Method according to claim 1, wherein said distance to said obstacle is determined by means of sensors arranged on said machine.

17. Method according to claim 1, wherein said maneuvering means are arranged at said machine, and wherein said machine is arranged to be maneuvered from a maneuvering position onboard said machine.

18. Method according to claim 1, further comprising the step:

generating a signal to notify said driver that said vehicle is being retarded.

19. Method according to claim 1, wherein said environment comprises a plurality of obstacles, where the method further comprises:

by means of said control system determining whether said machine when moving according to said first path will be driven within said second distance from at least one of said plurality of obstacles, and

when said machine, when traveling according to said path, will be driven within said second distance from at least one of said plurality of obstacles, retard said machine.

20. Method according to claim 1, wherein said machine is an articulated machine.

21. Method according to claim 1, wherein said path is estimated as the track that said machine will follow at the current steering command given by said operator.

22. Method according to claim 1, wherein said path is estimated as the track that said machine will follow at the current steering angle or ongoing steering angle change, such as articulation angle/articulation angle change of an articulated machine.

23. Method according to claim 1, wherein said machine is a machine intended for transportation of broken rock/ore.

24. System for driving a mining and/or construction machine, where said machine is arranged to be controlled by an operator by means of maneuvering means, where said operator, when driving said machine, provides steering commands by means of said maneuvering means for maneuvering said machine, wherein the system comprises means for, when said machine is being driven in an environment having at least a first obstacle:

when said machine is within a first distance from said first obstacle, estimate a first path that has been requested by said operator by means of said steering commands,

by means of a control system, determining whether said machine when moving according to said requested first path will be driven within a second distance from said first obstacle, and

when it is determined that said machine, when traveling according to said first path, will be driven within said second distance from said first obstacle, retard said machine;

wherein, when determining said first distance to said first obstacle in said requested first path, said path is defined as an area in the direction of travel having a first length and a width corresponding at least to the width of the machine, where obstacles within said area have the result that the machine will be driven within said second distance from said first obstacle when traveling according to said requested path;

wherein the width of said area is defined as a width corresponding to the width of the machine and a first lateral safety distance; and

wherein said first lateral safety distance is a lateral safety distance being different from zero.

25. Mining—

and/or construction machine, wherein said mining—

and/or construction machine comprises a system according to claim 24.