System and method for automated machine operation

• US 9,575,491 B1
• Filed: 09/03/2015
• Issued: 02/21/2017
• Est. Priority Date: 09/03/2015
• Status: Active Grant

• Current Assignee: Caterpillar Underground Mining Pty. Ltd. (Caterpillar Incorporated)
• Original Assignee: Caterpillar Underground Mining Pty. Ltd. (Caterpillar Incorporated)
• Inventors: Nelson, Anthony K N, Bynon, Joshua G.
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/844,336
• Publication Number:
  US 20170068244A1
• Time in Patent Office: 537 Days
• US Class Current: 1/1
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00

Abstract

A system for automated operation of a plurality of machines deployed on an underground worksite is provided. The system includes a monitoring module provided on-board each of the plurality of machines. The system also includes an area isolation control module associated with the underground worksite. The system further includes a machine control module coupled to the monitoring module and the area isolation control module.

Claims

1. A system for automated operation of a plurality of machines deployed on an underground worksite, the system comprising:

a monitoring module provided on-board each of the plurality of machines, the monitoring module configured to generate a signal indicative of one or more operational parameters associated with the respective machine;

an area isolation control module associated with the underground worksite, the area isolation control module configured to generate a signal indicative of at least one of a state of a machine barrier and a presence of a personnel barrier at the underground worksite; and

a machine control module coupled to the monitoring module and the area isolation control module, the machine control module configured to;

receive the signal indicative of the one or more operational parameters associated with the respective machine based, at least in part, on a loaded state of the respective machine;

receive the signal indicative of at least one of the state of the machine barrier and the presence of the personnel barrier at the underground worksite; and

control an automated traversal of the respective machine on the underground worksite between a load point and a dump point, based at least in part, on the received signals and a site map of the underground worksite.

2. The system of claim 1, wherein the one or more operational parameters includes at least one of a machine speed, a machine position, and a machine heading.

3. The system of claim 1 further comprising:

a load indication module provided on-board each of the plurality of machines, the load indication module configured to generate a signal indicative of the loaded state of the respective machine.

4. The system of claim 1, wherein the machine control module is located at a remote location.

5. The system of claim 1, wherein the area isolation control module is located at a remote location.

6. The system of claim 1, wherein the monitoring module includes at least one of a LADAR sensor, a rotary sensor, and an inertial monitoring unit.

7. The system of claim 6, wherein the monitoring module further includes a plurality of image capturing devices associated with each of the plurality of machines.

8. The system of claim 1, wherein the machine control module is further configured to:

control an automated shutdown of the respective machine based, at least in part, on the state of the machine barrier and the presence of the personnel barrier.

9. The system of claim 8, wherein the machine control module is further configured to issue a command signal to shutdown an engine of the respective machine and engage a brake of the respective machine for controlling the shutdown of the respective machine.

10. The system of claim 1, wherein the machine control module is further configured to control a dumping action of the respective machine at the dump point.

11. The system of claim 1, wherein the machine control module is activated based on a user command.

12. A method for automated operation of a plurality of machines at an underground worksite, the method comprising:

receiving a signal indicative of one or more operational parameters associated with each of the plurality of machines;

receiving a signal indicative of a presence of at least one of the state of the machine barrier and the presence of the personnel barrier at the underground worksite; and

controlling an automated traversal of the respective machine on the underground worksite between a load point and a dump point, based at least in part, on the received signals and a site map of the underground worksite.

13. The method of claim 12 further comprising:

receiving a signal indicative of a loaded state associated with the respective machine.

14. The method of claim 12, wherein the one or more operational parameters includes at least one of a machine speed, a machine position, and a machine heading.

15. The method of claim 12 further comprising:

receiving an image feed associated with the plurality of machines.

16. The method of claim 12 further comprising:

controlling an automated shutdown of the respective machine based, at least in part, on the state of the machine barrier and the presence of the personnel barrier.

17. The method of claim 16 further comprising:

issuing a command signal to shutdown an engine of the respective machine and engage a brake of the respective machine for controlling the shutdown of the respective machine.

18. The method of claim 12 further comprising:

controlling a dumping action of the respective machine at the dump point.