Steering system and operating method for mining truck

• US 8,577,530 B2
• Filed: 12/01/2011
• Issued: 11/05/2013
• Est. Priority Date: 12/01/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ruth, Eric, Stratton, Kenneth
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US13/308,804
• Publication Number:
  US 20130144472A1
• Time in Patent Office: 705 Days
• Field of Search: 701/22
• US Class Current: 701/22
• CPC Class Codes: B62D 1/02 vehicle-mounted
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Operating a mining truck includes receiving data indicative of a prospective directional change in an on-trolley availability corridor, and outputting a control command to a steering mechanism of the mining truck responsive to the data. The mining truck is steered responsive to the control command from a first heading accordant with a first part of the corridor toward a second heading accordant with a succeeding part of the corridor. A related mining truck and steering system are disclosed.

Claims

1. A method of operating a trolley assist-capable mining truck comprising the steps of:

receiving data via an electronic control unit indicative of a prospective directional change in an on-trolley availability corridor to be traversed by the mining truck while electrically connected with an overhead trolley line coinciding with the corridor;

outputting a control command via the electronic control unit to a steering mechanism of the mining truck responsive to the data; and

steering the mining truck via the steering mechanism responsive to the control command from a first heading accordant with a first part of the corridor preceding the directional change, toward a second heading accordant with a second part of the corridor succeeding the directional change, and such that the steering commences while the mining truck is within the first part of the corridor.

2. The method of claim 1 further comprising a step of powering an electric propulsion motor of the mining truck via electric power from the overhead trolley line during transitioning from the first part to the second part of the corridor.

3. The method of claim 2 further comprising the steps of receiving a steering override command indicative of a fault, and responsively commanding lowering the pantograph.

4. The method of claim 2 wherein the step of outputting includes outputting the control command to an electrically actuated control valve for at least one steering cylinder of the steering mechanism.

5. The method of claim 4 wherein the data includes data indicative of a real-time location of the mining truck, and stored map data of the on-trolley availability corridor.

6. A method of operating a trolley assist-capable mining truck comprising the steps of:

receiving data indicative of a prospective directional change in an on-trolley availability corridor to be traversed by the mining truck while electrically connected with an overhead trolley line coinciding with the corridor;

outputting a control command to a steering mechanism of the mining truck responsive to the data;

steering the mining truck responsive to the control command from a first heading accordant with a first s art of the corridor succeeding the directional change toward a second heading accordant with a second part of the corridor succeeding the directional change; and

powering an electric propulsion motor of the mining truck via electric power from the overhead trolley line during transitioning from the first part to the second part of the corridor;

wherein the directional change is defined by a difference in orientation between a first linear segment and a succeeding linear segment, of the overhead trolley line, coinciding with the first and second parts of the corridor, respectively.

7. The method of claim 6 wherein the first heading and the second heading are parallel the first and the succeeding linear segments, respectively.

8. The method of claim 6 wherein:

the corridor defines fixed boundaries upon a haul road coinciding with the overhead trolley line, the fixed boundaries being based at least in part upon a tolerance for displacement of the mining truck from the overhead trolley line; and

the step of steering further includes steering the mining truck in an arc such that a pantograph of the mining truck slides transversely against the overhead trolley line.

9. A trolley assist-capable mining truck comprising:

a frame;

a plurality of ground engaging wheels coupled with the frame;

a steering system including a wheel steering mechanism and an electronic control unit in control communication with the wheel steering mechanism;

the electronic control unit being configured to receive data indicative of a prospective directional change in an on-trolley availability corridor for electrically powering the mining truck via an overhead trolley line; and

the electronic control unit being further configured to output a control command to the wheel steering mechanism responsive to the data, such that the mining truck is steered from a first heading accordant with a first part of the corridor preceding the directional change, toward a second heading accordant with a second part of the corridor succeeding the directional change, while within the first part of the corridor and electrically connected with the overhead trolley line.

10. The mining truck of claim 9 further comprising a propulsion system including a generator, an electric propulsion motor, and a pantograph configured to electrically connect the propulsion system with the overhead trolley line.

11. The mining truck of claim 10 wherein the wheel steering mechanism includes a first and a second hydraulic actuator coupled with a first and a second one of the ground engaging wheels, respectively, and at least one electrically actuated control valve operably coupled with the first and second hydraulic actuators and movable responsive to the control command.

12. The mining truck of claim 10 further comprising a receiver configured to receive real-time location data of the mining truck.

13. The mining truck of claim 12 further comprising a computer readable memory coupled with the electronic control unit and storing map data of the on-trolley availability corridor.

14. The mining truck of claim 13 wherein the data indicative of the prospective directional change includes the location data and the map data, and the electronic control unit is further configured to determine the control command responsive to a difference between the location data and the map data.

15. A steering system for a trolley assist-capable mining truck comprising:

a steering mechanism configured to adjust a wheel steering angle of the mining truck;

an electronic control unit configured to receive data indicative of a prospective directional change in an on-trolley availability corridor, the on-trolley availability corridor being defined by a tolerance for displacement of the mining truck from an overhead trolley line; and

the electronic control unit being further configured to output a control command to the steering mechanism such that the mining truck is steered from a first heading toward a second heading, prior to reaching the directional change in the on-trolley availability corridor;

wherein the directional change is defined by a difference in orientation between adjacent segments of the overhead trolley line, and wherein the electronic control unit is further configured to output the control command such that the mining truck is steered toward the second heading prior to electrically connecting a pantograph of the mining truck with the succeeding segment.

16. The steering system of claim 15 further comprising a computer readable memory coupled with the electronic control unit and storing map data of the on-trolley availability corridor, and a receiver configured to receive real-time location data of the mining truck, and wherein the electronic control unit is further configured to output the control command responsive to the map data and the real-time location data.

17. The steering system of claim 16 wherein the computer readable memory stores haul road profile data for a plurality of locations upon a haul road coinciding with the overhead trolley line, and wherein the electronic control unit is further configured to output the control command responsive to the haul road profile data.

18. The steering system of claim 17 wherein the haul road profile data includes data indicative of a roll parameter of the haul road.