Guided maneuvering of a mining vehicle to a target destination

• US 9,157,754 B2
• Filed: 10/11/2013
• Issued: 10/13/2015
• Est. Priority Date: 08/24/2011
• Status: Active Grant

• Current Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Original Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Inventors: Lewis, Michael W., Rottig, Andree, Van Latum, Lucas
• Primary Examiner(s): BUTLER, RODNEY ALLEN
• Application Number:
  US14/052,543
• Publication Number:
  US 20140100782A1
• Time in Patent Office: 732 Days
• Field of Search: 701/408, 701/411, 701/414, 701/416
• US Class Current: 1/1
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 21/3461 Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G07C 5/0816 Indicating performance data, e.g. occurrence of a malfunction
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B

Abstract

A navigation device and a method for navigation are disclosed. A display is provided and a processor is connected to the display. The processor is configured to communicate with a database. The database stores information describing a plurality of objects in a mining environment. The processor is configured to identify a heavy equipment in the database, and identify a loading envelope for the heavy equipment. The loading envelope is at least partially determined by a location of the heavy equipment. The processor is configured to display the loading envelope on the display.

Claims

1. A navigation device, comprising:

a display mounted to a vehicle; and

a processor connected to the display, the processor being configured to communicate with a database, the database storing information describing a plurality of objects in a mining environment, the processor being configured to;

identify a heavy equipment in the database;

retrieve a loading envelope for the heavy equipment from the database, the loading envelope being at least partially determined by a location and a type of the heavy equipment and configured so that when the vehicle is positioned within the loading envelope the vehicle can receive material from the heavy equipment; and

display information relating to the loading envelope on the display.

2. The navigation device of claim 1, wherein the heavy equipment includes a power shovel and the loading envelope is at least partially determined by a tail swing of the power shovel and a boom swing radius of the power shovel.

3. The navigation device of claim 1, wherein the processor is configured to identify a loading path to the loading envelope.

4. The navigation device of claim 1, wherein the processor is configured to:

identify a second loading envelope for the heavy equipment; and

receive, from a central application, an assignment of one of the loading envelope and the second loading envelope.

5. A method, comprising:

accessing a global positioning system (GPS) receiver to determine a location of a heavy equipment;

accessing a distributed objects database to determine at least a first and second loading envelope for the heavy equipment using the distributed objects database, the location of the heavy equipment, and a type of the heavy equipment, the distributed objects database identifying a plurality of objects within a mining environment, the at least a first and second loading envelope for the heavy equipment being at least partially determined by the location and the type of the heavy equipment; and

transmitting the at least the first and second loading envelope to a navigation aid of a vehicle for display to an operator of the vehicle.

6. The method of claim 5, wherein the heavy equipment includes a power shovel and the first and second loading envelopes are at least partially determined by a tail swing of the power shovel and a boom swing radius of the power shovel.

7. The method of claim 5, including:

defining a loading path to one of the first and second loading envelope, the loading path defining an acceptable region in which the vehicle can travel to the one of the first and second loading envelope; and

storing the loading path in the database accessible by the navigation aid of the vehicle.

8. The method of claim 5, including assigning one of the first and second loading envelopes to the vehicle based upon an expected arrival time of the vehicle at the heavy equipment.

9. The method of claim 5, including assigning one of the first and second loading envelopes to the vehicle based upon an occupancy of one of the first and second loading envelopes by a second vehicle.

10. The method of claim 7, wherein defining the loading path includes defining a reverse point along the loading path.

11. The method of claim 7, wherein defining the loading path includes:

identifying a location of a hazard; and

defining the loading path to not include the hazard.

12. A method, comprising:

accessing a global positioning system (GPS) receiver to determine a location and a type of a heavy equipment;

defining a target position in proximity to a heavy equipment, the target position being at least partially determined by a location and a type of the heavy equipment; and

transmitting the target position to a navigation aid of a vehicle for display to an operator of the vehicle.

13. The method of claim 12, wherein the heavy equipment includes a power shovel and the target position is at least partially determined by a tail swing of the power shovel and a boom swing radius of the power shovel.

14. The method of claim 12, including:

defining a loading path to the target position, the loading path defining an acceptable region in which the vehicle can travel; and

storing the loading path in the database accessible by the navigation aid of the vehicle.

15. The method of claim 14, wherein defining the loading path includes defining a reverse point along the loading path.

16. The method of claim 14, wherein defining the loading path includes:

identifying a location of a hazard; and

defining the loading path to not include the hazard.