Integrated automation system with picture compilation system

• US 9,297,256 B2
• Filed: 04/30/2010
• Issued: 03/29/2016
• 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, Hatherly, Peter James, Ramos, Fabio Tozeto
• Primary Examiner(s): Gebresilassie, Kibrom K
• Application Number:
  US13/318,465
• Publication Number:
  US 20120046927A1
• Time in Patent Office: 2,160 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• 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: E21F 17/00 Methods or devices for use in mines or tunnels, not covered elsewhere mine lighting F21, H05B
• CPC Class Codes: G05B 2219/45004 Mining
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

Methods and systems are described for generating a data representation of a geographical region as an adjunct to conducting autonomous operations within the region. The method comprises receiving information specifying a plurality of localized caused zones having operation-defined geographical boundaries within the region; receiving heterogeneous data descriptive of the region; associating the received data with respective localized zones; fusing the received data associated with the localized zones into data representations of the localized zones; and integrating the data representations of the localized zones into a common data representation of the geographical region.

Claims

1. A computer-implemented method of generating a data representation of a geographical region as an adjunct to conducting autonomous operations within the region, the method comprising:

a) receiving information specifying a hierarchy of localized zones having operation-defined geographical boundaries within the region, the hierarchy determined by respective spatial locations of the localized zones in the region;

b) receiving heterogeneous data descriptive of the region from a plurality of sensors, the heterogeneous data including data relating to a mobile equipment unit; and

in a processing system configured with a hierarchy of model compilers corresponding to the localized zones, performing the operations of;

c) associating the received data with respective localized zones, and associating received data relating to the mobile equipment unit with a localized zone in which the mobile equipment unit is located;

d) fusing the received data associated with the respective localized zones into data representations of the plurality of localized zones;

e) integrating the data representations of the localized zones into a common data representation of the geographical region, wherein the common data representation is generated as an adjunct to conducting autonomous operations within the region; and

f) providing information from the data representations to a control system that controls the autonomous operations within the region.

2. The method according to claim 1 wherein the autonomous operations are for the extraction of at least one resource from the region and wherein the data representations of the localized zones and the common data representation of the geographic region each comprise models selected from the group consisting of:

a pre-extraction model descriptive of the zone or region and the at least one resource within the zone or region;

an equipment model descriptive of equipment operating in the zone or region; and

a post-extraction model descriptive of extracted material within the zone or region.

3. The method of claim 2, wherein the pre-extraction model comprises a spatial description of the zone or region.

4. The method of claim 2, wherein the pre-extraction model comprises an estimate of the distribution of the at least one resource in the zone or region.

5. The method of claim 1 comprising defining a hierarchical structure for the data representations corresponding to a hierarchical organization of the localized zones.

6. The method of claim 1 comprising receiving information specifying updated boundaries of at least one localized zone.

7. The method of claim 1 wherein the geographic region comprises a mine.

8. The method of claim 2 wherein the received data comprises information descriptive of the at least one resource and selected from the group consisting of chemical, physical, geological, geophysical, mineralogical and contextual properties of the resource.

9. The method of claim 8 wherein the pre-extraction model comprises a description of a distribution and grade of the at least one resource.

10. The method of claim 1 wherein the geographic region is selected from the group consisting of an agricultural region, a forestry region and a marine region.

11. A system for generating a model of an environment in which a plurality of equipment units are deployed for the extraction of at least one resource from the environment, the system comprising:

a computing system with at least one processing unit and at least one non-transitory computer-readable storage medium storing computer-executable code for execution by the at least one processing unit,

wherein the environment is divided into a hierarchy of localized zones having operation-defined geographical boundaries, the hierarchy determined by respective spatial locations of the localized zones in the environment;

wherein the execution of the computer-executable code provides;

a managing unit to configure a plurality of model compilers formed in a hierarchy corresponding to the localized zones, each model compiler comprising modelling units selected from the set consisting of;

a) a pre-extraction modelling unit configured to receive data from a first plurality of heterogeneous sensors and to fuse the data into a pre-extraction model descriptive of the corresponding localized zone;

b) an equipment modelling unit configured to receive equipment data relating to one or more of the equipment units operating in the corresponding localized zone and to combine the equipment data into an equipment model; and

c) a post-extraction modelling unit configured to receive data from a second plurality of sensors and to fuse the data into a post-extraction model descriptive of extracted material; and

wherein the system provides information from the plurality of model compilers to a control system that controls the autonomous operations within the region.

12. The system of claim 11 comprising a model compiler corresponding to the environment and configured to integrate the models of the model compilers corresponding to the localized zones into a common representation of the environment.

13. The system of claim 11 wherein the model compilers corresponding to the localized zones comprise interface modules to enable

communication between the model compiler and data systems of equipment operating in the corresponding localized zone.

14. The system of claim 11, wherein the pre-extraction model comprises:

a spatial description of the zone or region; and

an estimate of the distribution of the at least one resource in the zone or region.

15. The system of claim 11, wherein the post-extraction modelling unit is configured to receive data from the pre-extraction modelling unit and from the equipment modelling unit for reconciling material conservation during the extraction of the at least one resource from the environment.