Autonomous mining vehicle control
AssigneeSandvik Mining and Construction Oy
InventorsJari Jasu, Lauri Siivonen
Life of this patent
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Abstract
A method includes receiving, from an inverter unit of a mining vehicle, driveline information indicative of at least a torque status of an electric motor of the mining vehicle configured to perform an autonomous loading and hauling cycle in a mining automation system, detecting, on the basis of the driveline information from the inverter unit, a phase change condition to change a phase of the autonomous loading and hauling cycle performed by the mining vehicle, from a first phase to a second phase, and controlling, in response to the detected phase change condition, the change of the phase of cycle from the first phase to the second phase.
Claims15
An apparatus for controlling a mining vehicle configured to perform an autonomous loading and hauling cycle including a sequence of operation phases performed in a predefined order in a mining automation system, the apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, cause the apparatus at least to:
- receive, from an inverter unit of the mining vehicle, driveline information indicative of at least a torque status of an electric motor of the mining vehicle;
- detect, on the basis of the driveline information from the inverter unit, a phase change condition to change phase of the autonomous loading and hauling cycle performed by the mining vehicle, from a first phase of the autonomous loading and hauling cycle to a second phase of the autonomous loading and hauling cycle;
- and
- control, in response to the detected phase change condition, the change of the phase of the autonomous loading and hauling cycle performed by the mining vehicle from the first phase of the autonomous loading and hauling cycle to the second phase of the autonomous loading and hauling cycle.
A method for controlling a mining vehicle configured to perform an autonomous loading and hauling cycle including a sequence of operation phases performed in a predefined order in a mining automation system, the method comprising:
- receiving, from an inverter unit of the mining vehicle, driveline information indicative of at least a torque status of an electric motor of the mining vehicle;
- detecting, on the basis of the driveline information from the inverter unit, a phase change condition to change a phase of the autonomous loading and hauling cycle performed by the mining vehicle, from a first phase of the autonomous loading and hauling cycle to a second phase of the autonomous loading and hauling cycle;
- and
- controlling, in response to the detected phase change condition, the change of the phase of the autonomous loading and hauling cycle performed by the mining vehicle from the first phase of the autonomous loading and hauling cycle to the second phase of the autonomous loading and hauling cycle.
Dependencies are inferred from the claim text.