Stabilization based path planning

Patent metadata

Field	Value
Publication number	US-9970767-B2
Application number	US-201514861437-A
Country	US
Kind code	B2
Filing date	Sep 22, 2015
Priority date	Sep 22, 2015
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A method for controlling a mining truck travelling on a work site is disclosed. The method includes receiving payload information associated with a payload carried in a bed of the mining truck from sensors associated with the mining truck. The method further includes determining an imbalance of the payload based on the payload information. The method further includes receiving positioning data associated with the work site from a positioning system and determining an approaching terrain of the work site based on the positioning data. The method further includes planning a path for the mining truck based on the imbalance and the approaching terrain and controlling the mining truck based on the path.

First claim

What is claimed is:

1. A system for controlling a mining truck travelling on a work site, the system comprising:
a mining truck including a bed;
at least one sensor operatively associated with the mining truck and configured to determine payload information associated with a payload carried in the bed of the mining truck;
a position determining system configured to determine positioning data associated with one or both of the mining truck and the work site; and
a mining truck controller configured to:
receive the payload information from the sensors;
determine an imbalance of the payload based on the payload information;
receive the positioning data from the positioning system;
determine an approaching terrain of the work site based on the positioning data;
plan a path for the mining truck based on the imbalance and the approaching terrain; and
control the mining truck based on the path.

2. The system of claim 1 , further comprising a plurality of actuators operatively associated with the machine, and
wherein controlling the mining truck based on the path includes directing the plurality of actuators to control the mining truck.

3. The system of claim 1 , wherein the sensors include, at least, a payload monitoring system that determines the payload information based on pressures on the bed caused by the payload.

4. The system of claim 1 , wherein the sensors include, at least, pressure sensors that determine the payload information based on pressure information caused by the payload.

5. The system of claim 1 , wherein the mining truck controller is further configured to determine a center of mass of the payload, relative to a center point of the bed of the mining truck, based on the payload information, and
wherein determining the imbalance of the payload is based on the center of mass of the payload.

6. The system of claim 1 , further comprising a wireless control link for connecting the mining truck controller to a remote operation for autonomous control of the mining truck.

7. A mining truck, comprising:
a bed;
a prime mover;
a plurality of wheels;
one or more system sensors operatively associated with the mining truck and configured to determine payload information associated with a payload carried in the bed; and
a mining truck controller configured to:
receive the payload information from the sensors;
determine an imbalance of the payload based on the payload information;
receive the positioning data from a positioning system;
determine an approaching terrain of the work site based on the positioning data;
plan a path for the mining truck based on the imbalance and the approaching terrain; and
control the mining truck based on the path.

8. The mining truck of claim 7 , further comprising a plurality of actuators operatively associated with one or more of the bed, the prime mover, and the plurality of wheels, and
wherein controlling the mining truck based on the path includes directing the plurality of actuators to control one or more of the bed, the prime mover, and the plurality of wheels.

9. The mining truck of claim 7 , wherein the sensors include, at least, a payload monitoring system that determines the payload information based on pressures on the bed caused by the payload.

10. A method for controlling a mining truck travelling on a work site, the method comprising:
receiving payload information associated with a payload carried in a bed of the mining truck from sensors associated with the mining truck;
determining an imbalance of the payload based on the payload information;
receiving positioning data associated with the work site from a positioning system;
determining an approaching terrain of the work site based on the positioning data;
electronically planning a path for the mining truck based on the imbalance and the approaching terrain; and
controlling the mining truck based on the path.

11. The method of claim 10 , further comprising determining a center of mass of the payload, relative to a center point of the bed of the mining truck, based on the payload information, and
wherein determining the imbalance of the payload is based on the center of mass of the payload.

12. The method of claim 10 , wherein determining the approaching terrain includes determining an actual profile of the work site based on the positioning data associated with the work site, and
wherein planning a path for the mining truck is further based on the actual profile of the work site.

13. The method of claim 10 , wherein determining the approaching terrain of the work site based on the positioning data includes determining an uphill portion of the approaching terrain.

14. The method of claim 13 , wherein planning the path for the mining truck based on the imbalance and the approaching terrain further includes planning the path to include turning the mining truck such that a center of mass of the payload remains on the uphill portion of the approaching terrain.

15. The method of claim 10 , wherein receiving payload information associated with the payload from the sensors further includes receiving payload information from a payload monitoring system configured to detect pressures on the bed caused by the payload.

16. The method of claim 10 , wherein receiving payload information associated with the payload from the sensors further includes receiving payload information from pressure sensors configured to determine pressure information caused by the payload.

17. The method of claim 10 , wherein planning the path for the mining truck based on the imbalance and the approaching terrain further includes planning the path to direct the mining truck to an alternative destination.

18. The method of claim 10 , further comprising planning a turning speed for a turn of the path, and
wherein controlling the mining truck is further based on the turning speed for the turn.

19. The method of claim 10 , wherein controlling the mining truck based on the path includes autonomously controlling the mining truck.

20. The method of claim 10 , wherein controlling the mining truck based on the path includes semi-autonomously controlling the mining truck.

Assignees

• Caterpillar Inc

Inventors

• Humphrey James D
• Vitale Andrew J
• Struble Joshua
• Everett Bryan

Classifications

• E21F17/18 Primary

  Special adaptations of signalling or alarm devices (for mine lifts B66B; gas-sensitive devices per se G01N) · CPC title

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G01C21/165 Primary

  combined with non-inertial navigation instruments · CPC title

• G05D2201/021

  Physics · mapped topic