Bi-directional autonomous truck

• US 6,578,925 B1
• Filed: 01/15/2002
• Issued: 06/17/2003
• Est. Priority Date: 01/15/2002
• Status: Active Grant

• Current Assignee: Modular Mining Systems Incorporated (Komatsu)
• Original Assignee: Modular Mining Systems Incorporated (Komatsu)
• Inventors: Baker, Mark R., Omdahl, Randall J.
• Primary Examiner(s): Gordon, Stephen T.
• Application Number:
  US10/047,645
• Time in Patent Office: 518 Days
• Field of Search: 298/7, 298/17.5, 298/17.6, 298/22.R, 180/167, 180/342, 180/343, 180/371
• US Class Current: 298/17.6
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/10 using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
• CPC Class Codes: B60P 1/16 actuated by fluid-operated mechanisms
• CPC Class Codes: B60P 1/283 Elements of tipping devices
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A bi-directional autonomous truck. The truck includes a drive-train including one or more drive wheels, the drive-train having drive characteristics that are substantially the same whether the drive wheels rotate clockwise or counterclockwise. The drive characteristics may consist of the ability to reach a maximum rotational speed of the drive wheels, but may include other characteristics, such as the ability to steer corresponding pairs of drive wheels that are situated at opposite ends of the truck. Preferably, the truck includes a dump bed that is adapted for dumping in either of two opposite directions.

Claims

1. An autonomous truck having a longitudinal axis defining front and rear ends thereof, comprising a drive-train having first and second front wheels, corresponding first and second rear wheels spaced apart from respective said front wheels along said axis, and a first power source, said drive-train further including one of (a) a mechanical transmission for transmitting rotational motion of said power source to said first front wheel, said mechanical transmission including a plurality of forward gears and a plurality of reverse gears, and (b) an electrical control system for distributing electrical current to said power source, said power source being mechanically coupled to said first front wheel, said electrical control system being adapted so that the maximum rotational speed of said power source is substantially the same for both clockwise and counterclockwise rotation thereof.

2. The autonomous truck of claim 1, wherein said drive-train includes said electrical control system.

3. The autonomous truck of claim 2, further comprising a second power source mechanically coupled to said first rear wheel, said electrical control system being adapted so that the maximum rotational speed of said second power source is substantially the same for both clockwise and counterclockwise rotation thereof.

4. The autonomous truck of claim 3, wherein said maximum rotational speeds of said first and second power sources are substantially the same.

5. The autonomous truck of claim 3, further comprising a third power source mechanically coupled to said second front wheel and a fourth power source mechanically coupled to said second rear wheel, said electrical control system being adapted so that the maximum rotational speed of said third and fourth power sources is substantially the same for both clockwise and counterclockwise rotation thereof.

6. The autonomous truck of claim 5, wherein said maximum rotational speeds of said first, second, third and fourth power sources are substantially the same.

7. The autonomous truck of claim 1, further comprising a truck chassis and a dump bed supported by said truck chassis, said truck chassis having respective lifting mechanisms and bearings disposed at each of two opposite ends, said lifting mechanisms being coupled to corresponding opposite ends of said dump bed, wherein for each of said bearings, the bearing is adapted to receive and pivotally retain said dump bed when said dump bed is being lifted by the lifting mechanism disposed at the end opposite the end at which the bearing is disposed, and to release said dump bed when said dump bed is being lifted by the lifting mechanism disposed at the same end at which the bearing is disposed.

8. The autonomous truck of claim 7, wherein said drive-train includes said electrical control system.

9. The autonomous truck of claim 8, further comprising a second power source mechanically coupled to said first rear wheel, said electrical control system being adapted so that the maximum rotational speed of said second power source is substantially the same for both clockwise and counterclockwise rotation thereof.

10. The autonomous truck of claim 9, wherein said maximum rotational speeds of said first and second power sources are substantially the same.

11. The autonomous truck of claim 9, further comprising a third power source mechanically coupled to said second front wheel and a fourth power source mechanically coupled to said second rear wheel, said electrical control system being adapted so that the maximum rotational speed of said third and fourth power sources is substantially the same for both clockwise and counterclockwise rotation thereof.

12. The autonomous truck of claim 11, wherein said maximum rotational speeds of said first, second, third and fourth power sources are substantially the same.

13. The autonomous truck or claim 7, wherein said chassis includes respective one of said wheels corresponding to each of said ends of the truck, wherein said dump bed is substantially symmetric about a plane that is perpendicular to said longitudinal axis and centered between said wheels.