Mining truck spotting under a shovel

• US 8,954,241 B2
• Filed: 08/10/2012
• Issued: 02/10/2015
• Est. Priority Date: 08/10/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ruth, Eric
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US13/572,038
• Publication Number:
  US 20140046540A1
• Time in Patent Office: 914 Days
• Field of Search: 701/41, 701/301, 701/50
• US Class Current: 701/50
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027

Abstract

This disclosure is generally drawn to methods, systems, devices and/or apparatus related to aligning a mining truck with a shovel. Specifically, some of the disclosed example methods, systems, devices and/or apparatus relate to semi-automatic and/or automatic alignment of mining trucks relative to shovel during mining loading operations.

Claims

1. A system for aligning a mining vehicle under a shovel, the vehicle comprising a transmission, a throttle, and a steering mechanism, the system comprising:

a communication interface configured to direct an operator of the mining vehicle to perform one or more vehicle operation, including at least one of engaging a reversing gear of the transmission and reversing the mining vehicle;

one or more distance sensor mounted to the mining vehicle and configured to measure, by using at least one of a laser sensor, a LIDAR sensor, a RADAR sensor, a SONAR sensor, and an ultrasonic sensor, a distance between the mining vehicle and the shovel and a location and orientation of the shovel relative to the mining vehicle;

one or more steering sensor configured to determine a steering angle associated with the steering mechanism; and

an electronic control module configured to;

cause the mining vehicle to at least one of accelerate, decelerate, and adjust the steering angle;

repeatedly receive the distance measured by the one or more distance sensor;

repeatedly receive the steering angle from the one or more steering sensor; and

adjust at least one of the throttle and the steering mechanism based, at least in part, on at least one of the distance measured by the one or more distance sensor and the steering angle.

2. The system of claim 1, wherein the one or more vehicle operation includes:

stopping the mining vehicle;

decelerating the mining vehicle;

accelerating the mining vehicle; and

steering the mining vehicle.

3. The system of claim 1, wherein at least one of the one of more distance sensor is configured to measure a lateral distance between a rear portion of the mining vehicle and a front portion of the shovel.

4. The system of claim 1, wherein at least one of the one of more distance sensor is configured to measure a distance between a side of mining vehicle and a side of the shovel.

5. A method of aligning a mining vehicle with a shovel, the mining vehicle comprising a transmission, a throttle and a steering mechanism, the method comprising:

prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear;

measuring, by a distance sensor comprising at least one of a laser sensor, a LIDAR sensor, a RADAR sensor, a SONAR sensor, and an ultrasonic sensor mounted on the mining vehicle, a first distance between the mining vehicle and the shovel, the first distance comprising a distance between a rear portion of the mining vehicle and a front portion of the shovel;

measuring, by the distance sensor mounted on the mining vehicle, a second distance between the mining vehicle and the shovel, the second distance comprising a distance between a side portion of the mining vehicle and a side portion of the shovel;

measuring a steering angle of the steering mechanism;

controlling the steering mechanism and the throttle to reduce the first distance; and

controlling the steering mechanism and the throttle to reduce the second distance.

6. The method of claim 5, further including:

repeating at least one of measuring a first distance between the mining vehicle and the shovel, measuring a second distance between the mining vehicle and the shovel, controlling the steering mechanism and the throttle to reduce the first distance, and controlling the steering mechanism and the throttle to reduce the second distance.

7. The method of claim 5, further including:

prior to prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear;

determining the shovel'"'"'s location relative to the mining vehicle;

storing the shovel'"'"'s location relative to the mining vehicle;

determining the mining vehicle'"'"'s location; and

comparing the mining vehicle'"'"'s location to the stored shovel'"'"'s location relative to the mining vehicle to determine if the mining vehicle'"'"'s location satisfies predetermined safety parameters.

8. The method of claim 5, wherein controlling the steering mechanism and the throttle to reduce the first distance includes adjusting the steering mechanism based, at least in part, on the measured steering angle;

and wherein controlling the steering mechanism and the throttle to reduce the second distance includes adjusting the steering mechanism based, at least in part, on the measured steering angle.

9. A system for aligning a mining vehicle with a shovel, the mining vehicle comprising a transmission, a throttle and a steering mechanism, the system comprising:

one or more sensor comprising at least one of a laser sensor, a LIDAR sensor, a RADAR sensor, a SONAR sensor, and an ultrasonic sensor coupled to a mining vehicle, the one or more sensor configured to measure at least one of a distance between the mining vehicle and a shovel, a location of the shovel relative to the mining vehicle, an orientation of the shovel relative to the mining vehicle, and a steering angle of the steering mechanism;

a communication interface configured to instruct a mining vehicle operator to perform one or more vehicle operations, including at least one of engaging a reversing gear of the transmission and reversing the mining vehicle; and

an electronic control module configured to receive at least one of the distance, the location, the orientation, and the steering angle from the one or more sensor, and further configured to control the throttle based, at least in part, on at least one of the distance, the location, the orientation, and the steering angle, and further configured to adjust the steering mechanism based, at least in part, on at least one of the distance, the location, the orientation, and the steering angle, so as to align the mining vehicle with the shovel.

10. The system of claim 9, wherein the one or more sensor is configured to periodically measure at least one of the distance, the location, the orientation, and the steering angle.

11. The system of claim 10, wherein the one or more vehicle operations include:

applying the mining vehicle'"'"'s brake;

engaging one or more gears of the transmission;

disengaging one or more gears of the transmission; and

adjusting the throttle.

12. The system of claim 9, wherein the communication interface is integrated with the mining vehicle'"'"'s instrument panel.

13. The system of claim 9, wherein the communication interface is incorporated in a standalone device.

14. The system of claim 9, wherein the communication interface is integrated with at least one of the mining vehicle'"'"'s mirrors.

15. The system of claim 9, wherein the communication interface configured to instruct a mining vehicle operator to perform one or more vehicle operations includes one or more audible instructions.

16. The system of claim 9, wherein the communication interface configured to instruct a mining vehicle operator to perform one or more vehicle operations includes one or more visual instructions.