Control system for autonomous operation

• US 9,146,553 B2
• Filed: 04/30/2010
• Issued: 09/29/2015
• Est. Priority Date: 05/01/2009
• Status: Active Grant

• Current Assignee: Technological Resources Pty. Ltd. (Rio Tinto Limited)
• Original Assignee: University of Sydney
• Inventors: Nettleton, Eric, Hennessy, Ross, Durrant-Whyte, Hugh, Gktogan, Ali Haydar, Singh, Surya P N
• Primary Examiner(s): Lim, Steven
• Assistant Examiner(s): Yacob, Sisay
• Application Number:
  US13/318,478
• Publication Number:
  US 20120044043A1
• Time in Patent Office: 1,978 Days
• Field of Search: 340/3.1, 340 37- 39, 340/4.2, 340/436, 340/870.16, 701/25, 701/117, 701/202, 701/248, 701/301, 700/245
• US Class Current: 1/1
• CPC Class Codes: E21C 41/26 Methods of surface mining machines for obtaining, or the removal of, materials in open-pit mines E21C47/00; Layouts therefor
• CPC Class Codes: G05B 19/4148 characterised by using several processors for different functions, distributed (real-time) systems G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/33342 Master slave, supervisor, front end and slave processor, hierarchical structure

Abstract

A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localized zone having an operation-defined boundary. The control system (203) has a primary controller (604) associated with the defined geographical region and a secondary controller (605) associated with the localized zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localized zone, is responsive to the supervisory control of the secondary controller (605).

Claims

1. A hierarchical control system for supervising operations of an autonomous entity located within a defined geographical region containing a plurality of localised zones having operation-defined geographical boundaries, wherein the control system comprises:

a primary controller associated with the defined geographical region, and

a plurality of secondary controllers, wherein each one of the plurality of secondary controllers is associated with a respective one of the localised zones having operation-defined geographical boundaries,

wherein the primary and secondary controllers are configured in a hierarchy determined by the spatial location of the localized zones in the geographical region, and each of the secondary controllers is responsive to the supervisory control of the primary controller, and

wherein upon a transition of the autonomous entity into a given localised zone, the primary controller is configured to transfer the supervisory control over the autonomous entity to the secondary controller that is associated with the given localised zone, such that operation of the autonomous entity, in the given localised zone, is responsive to the supervisory control of the associated secondary controller.

2. The hierarchical control system of claim 1, wherein a sub-zone is nested within a given localised zone, with an autonomous entity being locatable within the sub-zone, and the hierarchical control system further comprises:

a tertiary controller associated with the sub-zone and adapted to control operation of an autonomous entity located in the sub-zone, wherein the tertiary controller is responsive to the secondary controller of the localised zone in which the sub-zone is located.

3. The hierarchical control system of claim 2, wherein the controllers operate hierarchically dependent on the spatial location of the primary, secondary, and tertiary controllers.

4. The hierarchical control system of claim 1, wherein the controllers are substantially identical.

5. The hierarchical control system of claim 1, further comprising:

a localised zone information unit associated with each controller, wherein the localised zone information unit provides its associated controller with information specific to the localised zone.

6. The hierarchical control system of claim 1, further comprising:

an entity information unit associated with each controller, wherein the entity information unit provides its associated controller with information specific to an entity located within the localised zone that the controller is associated with.

7. The hierarchical control system of claim 1, wherein the defined geographical region comprises an open pit mine site and wherein the localised zones respectively embrace distinct mine operation areas within the mine site.

8. The hierarchical control system of claim 1, wherein the hierarchical control system is in bidirectional communication with a data representation system that fuses heterogeneous data to provide a real-time description of the geographical region.

9. The hierarchical control system of claim 8, wherein the hierarchical control system is further in bidirectional communication with a hierarchical planning system that creates plans to be implemented by the hierarchical control system.

10. The hierarchical control system of claim 9, wherein the hierarchical control system is employed in a mine automation system, and integrated with the data representation system and the hierarchical planning system.

11. The hierarchical control system of claim 1, wherein the hierarchical control system is adapted to supervise operations of a plurality of autonomous entities;

and wherein each secondary controller is adapted to control operation of any of the plurality of autonomous entities located in said each secondary controller'"'"'s respective localised zone.

12. The hierarchical control system of claim 1, wherein the operation-defined geographical boundaries of a given localised zone are changed to match the operations that are currently conducted in the given zone.

13. The hierarchical control system of claim 5, wherein the information specific to the localised zone is selected from the group consisting of control behaviours, constraints, and rules that apply within the localised zone.