Autonomous mine vehicle operation

Patent metadata

Field	Value
Publication number	US-2022251809-A1
Application number	US-202017610576-A
Country	US
Kind code	A1
Filing date	May 12, 2020
Priority date	May 14, 2019
Publication date	Aug 11, 2022
Grant date	—

Abstract

A method for controlling autonomous mine vehicle operations includes the steps of detecting a dust condition for an autonomously operating mine vehicle performing optical environment scanning for positioning the mine vehicle at a worksite, transitioning the mine vehicle operating in an automatic driving mode to a dust driving mode in response to detecting the dust condition, the dust driving mode being associated with one or more control actions for autonomous operation of the mine vehicle, controlling dead-reckoning based positioning for updating the position of the mine vehicle during the dust driving mode, monitoring of a dead-reckoning error parameter during the dust driving mode, and in response to the dead-reckoning error parameter reaching an error threshold, controlling the mine vehicle to stop or reduce speed.

First claim

1 . An apparatus comprising means configured for performing the steps of:
detecting a dust condition for an autonomously operating mine vehicle performing optical environment scanning for positioning the mine vehicle at a worksite; transitioning the mine vehicle operating in an automatic driving mode to a dust driving mode response to detecting the dust condition, the dust driving mode being associated with one or more control actions for autonomous operation of the mine vehicle, wherein the dust driving mode includes or defines one or more control actions applied for limiting autonomous driving of the mine vehicle; controlling dead-reckoning based positioning for updating the position of the mine vehicle during the dust driving mode; monitoring a dead-reckoning error parameter during the dust driving mode; and in response to the dead-reckoning error parameter reaching an error threshold, controlling the mine vehicle to stop or reduce speed.

2 . The apparatus of claim 1 , wherein the means are further configured for performing the step of controlling speed reduction for the mine vehicle in response to entering the dust driving mode.

3 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of analyzing scanner response signals, and detecting the dust condition on the basis of the scanner response signal analysis.

4 . The apparatus of claim 1 , wherein the means are further configured for performing the step of disabling obstacle detection function by the mine vehicle in response to entering the dust driving mode.

5 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of controlling a wheel block detection function in response to entering the dust driving mode, and controlling the mine vehicle to stop in response to detecting a wheel block by the wheel block detection function.

6 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of controlling collision detection function for the mine vehicle in response to entering the dust driving mode, and controlling the mine vehicle to stop in response to detecting a collision by the collision detection function.

7 . The apparatus of claim 1 , wherein the means are further configured for performing the step of detecting the dust condition and/or entering the dust driving mode in response to detecting at least one of the mine vehicle entering an area for which a dust driving mode has been defined in a route data or environment data processed for the mine vehicle, a signal from a dust detector indicative of the dust condition or causing the dust condition, and a number of detected points in an environment model identified based on the scanning falling below a threshold value.

8 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of monitoring time that the mine vehicle has been in the dust driving mode, and controlling the mine vehicle to stop in response to detecting that a maximum time for the dust driving mode is reached.

9 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of monitoring environment of the mine vehicle during the dust driving mode, and disabling the dust driving mode in response to detecting a dust driving mode exit condition, wherein the dust driving mode is exited in response to again successfully positioning the mine vehicle based on optical scanning or in response to detecting one or more dust condition parameters falling below a dust condition threshold.

10 . The apparatus of claim 1 , wherein the means are further configured for performing the step of defining an indication of the dust condition and/or dust driving mode in route data or environment model at an area of the worksite where the dust condition was detected.

11 . The apparatus of claim 1 , wherein the means are further configured for performing the step of notifying an operator of the dust condition and/or entering the dust driving mode.

12 . The apparatus of claim 1 , wherein the means are configured to determine position of the mine vehicle on the basis of comparison of tunnel profile data and reference profile data stored in an environment model to correct dead-reckoning based position before entering the dust driving mode and determine the position during the dust driving mode without positioning based on the optical environment scanning.

13 . The apparatus of claim 1 , wherein the means are configured to accumulate latitudinal error and longitudinal error in response to entering the dust driving mode, wherein the longitudinal error and/or the latitudinal error is estimated on the basis of recent historical error correction to dead-reckoning based on the optical environment scanning positioning before entering the dust driving mode.

14 . The apparatus of claim 1 , wherein the means are further configured for performing the steps of detecting availability of satellite-based positioning for the mine vehicle, and preventing entering the dust driving mode or disabling the dust driving mode when position of the mine vehicle is defined based on the satellite-based positioning.

15 . The apparatus of claim 1 , wherein the apparatus is an underground loading and/or hauling vehicle or an underground drilling rig.

16 . A method for controlling autonomous mine vehicle operations, comprising the steps of:
detecting a dust condition for an autonomously operating mine vehicle performing optical environment scanning for positioning the mine vehicle at a worksite; transitioning the mine vehicle operating in an automatic driving mode to a dust driving mode in response to detecting the dust condition, the dust driving mode being associated with one or more control actions for autonomous operation of the mine vehicle, wherein the dust driving mode comprises or defines one or more control actions applied for limiting autonomous driving of the mine vehicle; controlling dead-reckoning based positioning for updating the position of the mine vehicle during the dust driving mode; monitoring a dead-reckoning error parameter during the dust driving mode; and in response to the dead-reckoning error parameter reaching an error threshold, controlling the mine vehicle to stop or reduce speed.

17 . A computer program comprising code for, when executed in a data processing apparatus, causes a method in accordance with claim 16 to be performed.

Assignees

• Sandvik Mining & Construction Oy

Inventors

• Sanerma Simo
• Lehtinen Antti
• Parkkinen Teemu
• Pajala Esa
• Pulli Riku

Classifications

• G01S17/89

  for mapping or imaging · CPC title

• E02F9/268 Primary

  with failure correction follow-up actions · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• G05D1/024 Primary

  in combination with a laser (lasers per se H01S) · CPC title

• G05D2201/021

  Physics · mapped topic