Systems and methods for autonomous equipment operation where GPS not available

• US 10,405,143 B2
• Filed: 03/24/2016
• Issued: 09/03/2019
• Est. Priority Date: 03/24/2016
• Status: Active Grant

• Current Assignee: Denso International America Incorporated (DENSO Corporation)
• Original Assignee: Denso International America Incorporated (DENSO Corporation)
• Inventors: Graves, Jason
• Primary Examiner(s): Fennema, Robert E
• Assistant Examiner(s): Carter, Christopher W
• Application Number:
  US15/079,966
• Publication Number:
  US 20170280278A1
• Time in Patent Office: 1,258 Days
• Field of Search: 700 66
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

A system for autonomous operation of equipment in an environment inaccessible to GPS. The system includes a plurality of location controllers configured to be arranged in the environment. Each one of the location controllers includes a ranging transmitter/receiver, a communication transmitter/receiver, and a control module. The ranging transmitter/receiver is configured to measure controller distance to another one of the location controllers to map the environment, and measure equipment distance to the equipment to determine the equipment'"'"'s location. The communication transmitter/receiver is configured to transmit the measured controller distance to the master controller, and transmit directional commands to the equipment. A master location controller is configured to build a map of the environment based on the measured controller distances. The plurality of location controllers transmit directional commands to the equipment.

Claims

1. A system for autonomous operation of equipment in an underground environment inaccessible to global positioning system (GPS) signals, the system comprising:

a plurality of location controllers configured to be arranged in the underground environment, at least one of the plurality of location controllers operable to be configured as a master location controller, each one of the location controllers including;

a ranging transmitter/receiver configured to measure controller distance to another one of the location controllers to map the underground environment, and measure equipment distance to the equipment to determine the equipment'"'"'s location;

a communication transmitter/receiver configured to transmit the measured controller distance to the master controller, and transmit directional commands to the equipment; and

a control module configured to operate the ranging transmitter/receiver and the communication transmitter/receiver;

wherein the master location controller is configured to;

build a map of the underground environment and define an underground route therethrough for the equipment based on the measured controller distances;

detect entry and exit of the equipment into the underground environment;

transmit a signal to the communication transmitter/receiver of each one of the plurality of location controllers to notify the plurality of location controllers of the entry and exit of the equipment; and

transmit the map and underground route to at least one of the equipment and an equipment control center;

wherein the plurality of location controllers transmit directional commands to the equipment to guide the equipment within the underground environment;

wherein the ranging transmitter/receiver is configured to measure controller distance only to location controllers within line of sight of one another;

wherein the master location controller is configured to determine which one of the plurality of location controllers is closest to the equipment; and

wherein the one of the plurality of location controllers closest to the equipment continuously monitors location of the equipment to identify when the equipment strays from the underground route of the map, and when the equipment strays from the route the one of the location controllers that is closest to the equipment transmits directional corrections to the equipment for returning the equipment to the route.

2. The system of claim 1, wherein the ranging transmitter/receiver is configured to measure controller distance with at least one of lidar, radar, sonar, and ultra-wideband.

3. The system of claim 1, wherein the communication transmitter/receiver is configured to communicate using wireless radio communication.

4. The system of claim 3, wherein the communication transmitter/receiver is configured to communicate using at least one of dedicated short range communication (DSRC) and WiFi.

5. The system of claim 1, wherein the autonomous equipment is mining equipment.

6. The system of claim 1, wherein the autonomous equipment is autonomously piloted through the underground environment based on the map stored onboard the autonomous equipment.

7. The system of claim 1, wherein:

the master controller is configured to receive an intended route of the equipment transmitted from the equipment control center or the equipment; and

the master controller is configured to transmit the intended route to the plurality of location controllers.

8. The system of claim 7, wherein the location controllers are configured to guide the equipment through the environment based on the received intended route.

9. The system of claim 1, wherein:

the vehicle is guided through the environment without GPS.

10. A method for autonomous operation of equipment in an underground environment inaccessible to global positioning system (GPS) signals, the method comprising:

arranging a plurality of location controllers about the underground environment such that each one of the plurality of location controllers is within line of slight of another one of the plurality of location controllers;

measuring controller distances between only the location controllers that are within line of sight of one another with a ranging transmitter/receiver of each one of the plurality of location controllers;

transmitting the controller distances to one of the location controllers configured as a master location controller with a communication transmitter/receiver of each one of the plurality of location controllers;

building a map of the underground environment and defining an underground route therethrough based on the controller distances transmitted to the master location controller;

transmitting the map from the master location controller to at least one of the equipment and an equipment control center;

measuring an equipment distance between the equipment and the location controller closest to the equipment with the ranging transmitter/receiver;

transmitting directional commands to the equipment to guide the equipment within the underground environment along the underground route;

determining which one of the plurality of location controllers is closest to the equipment; and

wherein the one of the plurality of location controllers closest to the equipment continuously monitors location of the equipment to identify when the equipment strays from the underground route of the map, and when the equipment strays from the route the one of the location controllers that is closest to the equipment transmits directional corrections to the equipment for returning the equipment to the route.

11. The method of claim 10, wherein the controller distance is measured with at least one of lidar, radar, sonar, and ultra-wideband.

12. The method of claim 10, further comprising transmitting the measured controller distance to the master location controller, and transmitting directional commands to the equipment, using wireless radio communication.

13. The method of claim 10, wherein the communication transmitter/receiver is configured to communicate using at least one of dedicated short range communication (DSRC) and WiFi.

14. The method of claim 10, further comprising autonomously piloting the equipment through the underground environment based on the map stored onboard the autonomous equipment.

15. The method of claim 10, further comprising:

transmitting an intended route of the autonomous equipment to the master controller from the equipment control center or the equipment; and

transmitting the intended route to the plurality of location controllers.

16. The method of claim 15, further comprising autonomously piloting the equipment through the underground environment based on the received intended route by transmitting directional commands from the location controllers to the equipment.

17. The method of claim 15, further comprising autonomously piloting the equipment underground without GPS.