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WO2005024536A1 - Systeme de guidage pour vehicules lourds - Google Patents

Systeme de guidage pour vehicules lourds Download PDF

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Publication number
WO2005024536A1
WO2005024536A1 PCT/AU2004/001201 AU2004001201W WO2005024536A1 WO 2005024536 A1 WO2005024536 A1 WO 2005024536A1 AU 2004001201 W AU2004001201 W AU 2004001201W WO 2005024536 A1 WO2005024536 A1 WO 2005024536A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
markers
scanning device
road
route
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AU2004/001201
Other languages
English (en)
Inventor
Eduardo Nebot
Jose Emilio Guivant
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Acumine Pty Ltd
Original Assignee
Acumine Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2003904869A external-priority patent/AU2003904869A0/en
Application filed by Acumine Pty Ltd filed Critical Acumine Pty Ltd
Priority to AU2004271220A priority Critical patent/AU2004271220B2/en
Publication of WO2005024536A1 publication Critical patent/WO2005024536A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • Absolute Position These approaches measure the absolute position of the truck using Global Positioning System (GPS) and compare it with a mine map. For this system to work the GPS needs to report position with less than a meter error and an updated map of the mine must be available. Only high quality differential or RTK GPS systems can provide this accuracy.
  • GPS Global Positioning System
  • the present invention provides a method of guiding the operator of a heavy vehicle along a predetermined route, including the steps of providing a plurality of markers at predetermined locations along the route, providing a scanning device on the vehicle capable of determining the location of the markers relative to the vehicle as the vehicle proceeds along the route, and processing the information from the scanning device to provide a signal to alert the operator when the vehicle strays from the route.
  • the plurality of markers include artificial infrastructure arranged to be a desired distance from the predetermined route.
  • the markers are poles arrayed to one side of the predetermined route.
  • the markers are located at predetermined intervals calculated to be different from the intervals between any other similar devices along the route.
  • the poles are formed from plastics pipe.
  • the artificial infrastructure is selected from the group comprising; earth bunds, excavated cutting walls, roadside buildings, roadside furniture, fencing and screening.
  • the plurality of markers include natural infrastructure arranged to be a predetermined desired distance from the predetermined route.
  • the natural infrastructure includes trees selectively felled to be at the desired distance from the predetermined route.
  • the scanning device is a scanning laser.
  • the scanning device uses radar.
  • the scanning device uses ultrasonic waves.
  • the scanning device is mounted on the vehicle in a position where it can scan forwardly and rearwardly to one side of the vehicle.
  • the markers are located a predetermined distance from a desired road centreline along the route and information from the scanning device is processed to determine the distance of the vehicle from the road centreline.
  • the distance of the vehicle from the road centreline is compared with two predetermined distances from the centreline defining a normal road corridor, and the operator of the vehicle alerted by way of visual and/or sound signals when the vehicle strays outside the normal road corridor.
  • the distance of the vehicle from the road centreline is also compared with other distances defining a valid operating road corridor wider than the normal road corridor, and the operator of the vehicle alerted by strident alarms when the vehicle strays outside the valid operating road corridor.
  • the information from the scanning device is processed by a computer within the vehicle, the computer also being programmed to recognise preset groupings of markers.
  • preset groupings of markers are located at positions where it is desired to suppress or reactivate the alarm signals, and the computer programmed to suppress or reactivate the alarm signals accordingly.
  • the vehicle is provided with Global Positioning
  • GPS Global System
  • the vehicles are equipped with communication equipment arranged to transmit their location information to one another, and each vehicle is provided with information processing equipment arranged to compare the location information from approaching vehicles and warn the operators of a potential collision.
  • the present invention differs from previous approaches by constantly monitoring the Haul truck alignment within the road by using relative measurements to special infrastructure in or alongside the road. It generates different levels of warning to alert the operator when it deviates from the normal preset corridor.
  • the road is divided into areas of different risks allowing the system to generate the proper warning to the operator to react to the alarm well before the truck is in a collision area.
  • This early warning normally allows gentle correction of the course of truck to avoid potential collision expected from having the truck running outside a valid corridor.
  • the system is based on relative measurement to PVC poles located at the side of the road. The accuracy is not degraded as long as the infrastructure is maintained. The system does not require any map or absolute position to work.
  • FIG. 1 is a diagrammatic plan view of a road in a mining operation showing the positioning of haul trucks in normal operating corridors on the road surface;
  • Fig. 2 shows a typical extension of the system using a wireless link;
  • Fig. 3 is a block diagram of the components located on or within the vehicle for operation of the system and method according to the invention;
  • Fig. 4 is an example of a typical operator interface panel from the vehicle guidance system;
  • Fig. 5 is a diagrammatic view similar to Fig. 1 showing the distances used for calculation of a normal haul road corridor on the road surface;
  • Fig. 6 is a similar view to Fig. 1 showing the calculation of a wider valid operating haul road corridor on the road surface;
  • Fig. 7 is a diagrammatic view of an ad-hoc radio network between vehicles;
  • Fig. 8 is a diagrammatic plan view of a truck showing relative position and movement of proximity threats;
  • Fig. 9 is a block diagram showing the interaction between trucks and a base station.
  • the invention will be described in the context of the use of large haul trucks along a haul road in an open cut mining operation although it will be appreciated that the invention can be equally applied to any heavy vehicle operating environment where it is desired or necessary to alert the operator of the vehicle to deviations from an intended route.
  • the system used to implement the invention is based on a scanning laser sensor 9 that detects a row of markers or guide posts 1 (PVC Poles) located on the side of the haul road 2 as shown in Fig. 1.
  • the guide posts are at a constant distance from the haul road centre line 6.
  • the sensor determines the angle and distance to the guide posts. This information is processed in real time by an onboard CPU 10 (Fig.
  • the haul road alignment is partitioned into normal and valid operating corridors 3 and 4 respectively. Heavy vehicles 5 spend most of their transit time within the normal haul road corridor. Once the vehicle is outside this corridor, visual alarms are initiated as a warning to other operators.
  • the valid operating corridor is outside the normal corridor but can be utilised by a vehicle at a reduced speed, for example, when passing a grader.
  • the audible alarms are used to inform the operator of the truck that the vehicle is in a situation that may be hazardous to the operator or other operators.
  • Special infrastructure e.g. preset groupings of markers in the form of three guide posts close together is used to trigger the audible alarm. This infrastructure is positioned at the entry to all intersections, entry to dump points and entry to load points. Its function is to make sure the operator is alert when entering these areas.
  • Another set of special infrastructure is used to suspend the system operation (no visual or audible alarms). Similar infrastructure enable the system when in suspend mode.
  • the system includes an Operator Interface Box with an operating panel such as shown in Fig. 4, that informs the operator the status of the system.
  • the Operator Interface Box also houses a button 12 to allow the operator to cancel any audible alarms.
  • the system can be fitted with IEEE 802.1 lb wireless capabilities shown at 13 to download the logged data and potentially report information such as GPS position and infrastructure state. This will enable almost real time capability of fleet monitoring capabilities with appropriate installation of wireless download stations, as shown in Fig. 2.
  • the wireless capability 13 can also be used in combination with the GPS 11 to provide an enhanced proximity detection system as between vehicles. Normally, determining position of a vehicle using GPS alone results in an area of uncertainty which is typically circular in nature with the truck or other vehicle at the centre.
  • the area of uncertainty can cause problems when two trucks are about to pass each other in the situation shown in Fig. 1 as the areas of uncertainty can overlap, causing a proximity alarm to be activated even where each truck is safely within the normal corridor.
  • GPS to an ellipse of the type shown at 27 in Fig. 1 which will allow two trucks to pass safely within the normal corridor without the respective areas of uncertainty 27 overlapping.
  • the position of the truck along the road is still able to be accurately determined using the GPS system and the alarm to be triggered when a dangerous object comes within the envelope surrounding the truck.
  • This process is generated according to a set of rules that also considers direction of travel as shown in the example of Figure 8.
  • the operator of the truck 28 is provided with information regarding the presence of a typical intruder 29 that may pose a collision risk with the truck.
  • each truck 35, 36 downloads recorded data from its system computer via wireless links 37 to a base station 38 typically located at the crusher which is periodically visited by each truck.
  • the information from the base station 38 may then be transmitted via internet links 39 to management terminals 40, 41 to be logged and analysed to manage operator fatigue issues and other data from the system.
  • the invention uses relative information to obtain the position of the truck within the road and the algorithms to generate the position information. This is based on range and bearing information obtained from a sensor mounted on the truck and looking at a special infrastructure located at known distance from the center of the road and sophisticated feature extraction and data association algorithms.
  • the system is autonomous to the vehicle, except for a single 24 V DC ( ⁇ 6A) power input into the main box, as shown in Fig. 3.
  • the main system sensor is an outdoor scanning laser 9 such as those manufactured by Erwin Sick.
  • the model used is typically the LMS221.
  • This laser has a maximum scanning angle of 180°.
  • the laser is mounted on shock absorbers in a steel housing at the front of the vehicle.
  • the laser mounting is designed such that the laser will be subjected to less than the manufactures recommended vibration levels.
  • the laser is approximately 2.8 meters from the road surface as the heavy equipment can negotiate water crossings up to 2 meters in depth. At this height the laser will detect the 3.5 meter high guide posts.
  • the laser is mounted on the left hand side of the vehicle, parallel to the side of the vehicle to allow the laser to side scan in front and behind the vehicle.
  • the system used to implement the invention has been described so far using a laser scanner to detect a row of guide posts, the system is equally applicable to using other scanning devices such as radar or ultra-sonic scanners to measure relative distance from either natural or artificial infrastructure known to be at a certain distance from the centre of the road.
  • the artificial infrastructure could include continuous roadside features such as earth bunds or excavated cutting walls and could also be devices such as roadside buildings placed at the desired spacing of the centreline of the road, roadside furniture such as signs or guardrails, and various forms of fencing or screening placed alongside the road.
  • Various combinations of these devices can also be used such as fencing or guardrails in between groups of buildings to provide the desired reference datum for the scanning device.
  • the nature of the scanning device may depend partly on the environment in which it is used and also on the nature of the infrastructure being scanned.
  • the infrastructure is relatively constant in nature such as an earth bund or excavator cutting wall
  • radar sensing technology may be more appropriate, particularly in dusty or bad visibility conditions.
  • natural infrastructure may for example include a row of trees which is already in place, or trees which have been selectively felled to leave a defined row or edge to a plantation in the desired location.
  • the processing apparatus is located within the operator's cabin in the form of a box housing a PC- 104 type Microcomputer 13, an A12 GPS 11 OEM board and power adapters, signal distribution hardware and interfaces, as shown in Fig. 3.
  • the operator interface box 14 is located within the operator's cabin at a location to allow easy visual and physical access by the operator.
  • the purpose of the operator interface box is to: 1. Notify the operator that the system is in operation. 2. Notify the operator that the system requires attention. 3. Allow the operator to cancel any audible alarms. 4. Allow the operator to adjust the brightness of any lights on the box. During normal operation, the green 'System Tracking' light 15 (Fig. 4) will be illuminated.
  • the scanning laser has an automatic pollution detection system. If the window of the sensor becomes dirty, the yellow 'Laser requires cleaning' light 17 will be illuminated. The laser will still be operable but requires cleaning at the next possible opportunity.
  • the red 'Laser inoperable' light 18 will be illuminated. If this occurs, the laser window should be cleaned. If this light remains on, the system should be checked by maintenance. If the system has a hardware malfunction, the red 'System Malfunction' light 19 will be illuminated. In this case the system should be checked by maintenance.
  • the patterns to identify the faults are as follows: 1. System malfunction LED ON only: GPS Fault. 2. System Malfunction and laser Inoperable LEDs ON: Laser Polluted or not working. There are also two visual warning lights, each a different colour, on the top of each vehicle. An amber light is used to indicate to all other operators in proximity that the vehicle has moved to the left of the normal haul road corridor.
  • a red light is used to indicate that the vehicle has moved to the right of the normal haul road corridor and other operators should monitor the vehicles location.
  • a GPS aerial will be mounted on the vehicle to receive satellite information to determine vehicle speed (used for alarm generation) and location (used in data logging).
  • the audible alarm generated will have two levels. The first level is to indicate to an alert operator that the vehicle is in an alarm situation. In this case the alarm volume and frequency will be sufficient that it will be identified by the operator as an alarm from this system and that it can be manually cancelled using the 'Cancel audible alarm' button on the Operator Interface Box. The second level of alarm should be at a level of volume and frequency that the alarm would 'wake the dead'.
  • the transition from the first to second levels should be executed within a short period of time. If the alarm reaches the second level, it will be logged so the data can be used for monitoring the performance of any systems to minimise driver fatigue.
  • the system requires a normal operating haul road corridor to be defined. When a vehicle is within this corridor, no visual or audible alarms will be generated.
  • the normal operating haul road corridor will be defined by two distances from the haul road centre line. Distance 21 will be from the haul road centre line to the right of the corridor and distance 22 from the haul road centre line to the left of the corridor.
  • the poles are typically placed at 20 meters distance apart, avoiding 20 meters distance from other poles 26 which may already be in place.
  • the system also requires a valid operating haul road corridor to be defined.
  • the valid operating corridor is used to control the type of alarms generated. In general, a vehicle that is travelling at speed and tracking and is outside the valid operating corridor will be considered to be not in control.
  • the valid operating haul road corridor is defined by two distances from the haul road centre line. Distance 23 will be from the haul road centre line to the right of the corridor and distance 24 from the left of the corridor. Distance 25 is the distance from the haul road centre line to the system detection guide posts. Distances 23, 24 and 25 are system parameters predetermined by operating conditions.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé de guidage de véhicules tels que les gros camions de chantier (5) utilisés dans les exploitations minières. En l'occurrence, chaque véhicule est équipé d'un détecteur optique à balayage (9) agencé de façon à détecter la présence de repères tels que des piquets (1) placés en des endroits définis le long d'un itinéraire voulu tel qu'une route à ligne médiane (6). L'information en provenance du détecteur est traitée en temps réel au niveau du camion pour avertir l'opérateur que son engin est potentiellement en train d'évoluer en dehors d'un couloir normal (3) ou autorisé (4). Divers degrés d'alarme peuvent être fournis à l'opérateur en fonction de divers degrés de danger. L'invention concerne également un système de détection de proximité utilisant les signaux GPS en association avec le détecteur de façon à donner une enveloppe de précision renforcée (27) pour la position de chaque véhicule.
PCT/AU2004/001201 2003-09-05 2004-09-06 Systeme de guidage pour vehicules lourds Ceased WO2005024536A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2004271220A AU2004271220B2 (en) 2003-09-05 2004-09-06 Heavy vehicle guidance system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2003904869 2003-09-05
AU2003904869A AU2003904869A0 (en) 2003-09-05 Heavy vehicle guidance system

Publications (1)

Publication Number Publication Date
WO2005024536A1 true WO2005024536A1 (fr) 2005-03-17

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Application Number Title Priority Date Filing Date
PCT/AU2004/001201 Ceased WO2005024536A1 (fr) 2003-09-05 2004-09-06 Systeme de guidage pour vehicules lourds

Country Status (1)

Country Link
WO (1) WO2005024536A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103376778A (zh) * 2012-04-17 2013-10-30 南京世泽科技有限公司 矿下无人驾驶机车无线控制系统
US20130325243A1 (en) * 2011-02-16 2013-12-05 Siemens Aktiengesellschaft Method for the autonomous localization of a driverless, motorized vehicle
CN116295499A (zh) * 2023-04-06 2023-06-23 大连港隆网络技术有限公司 一种车辆导航方法、装置、电子设备和存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764632A (ja) * 1993-08-31 1995-03-10 Meidensha Corp 無人搬送車
EP0725326B1 (fr) * 1995-01-31 1999-12-08 Isuzu Motors Limited Appareil d'alarme pour sortie de voie
US20030128106A1 (en) * 2001-05-24 2003-07-10 Ross Phillip N. Infrared road line detector

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764632A (ja) * 1993-08-31 1995-03-10 Meidensha Corp 無人搬送車
EP0725326B1 (fr) * 1995-01-31 1999-12-08 Isuzu Motors Limited Appareil d'alarme pour sortie de voie
US20030128106A1 (en) * 2001-05-24 2003-07-10 Ross Phillip N. Infrared road line detector

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130325243A1 (en) * 2011-02-16 2013-12-05 Siemens Aktiengesellschaft Method for the autonomous localization of a driverless, motorized vehicle
US9134734B2 (en) * 2011-02-16 2015-09-15 Siemens Aktiengesellschaft Method for the autonomous localization of a driverless, motorized vehicle
CN103376778A (zh) * 2012-04-17 2013-10-30 南京世泽科技有限公司 矿下无人驾驶机车无线控制系统
CN116295499A (zh) * 2023-04-06 2023-06-23 大连港隆网络技术有限公司 一种车辆导航方法、装置、电子设备和存储介质

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