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Anti-rut system for autonomous-vehicle guidance

a technology of autonomous vehicles and ruts, which is applied in the direction of process and machine control, distance measurement, instruments, etc., can solve the problems of affecting the efficiency and operation of roads, and the formation of ruts is inheren

Inactive Publication Date: 2001-09-13
MODULAR MINING SYSTEMS
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  • Claims
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Problems solved by technology

Therefore, such roads normally consist of unpaved dirt routes that are easily damaged by vehicle traffic.
In particular, the repetitive passage of autonomous vehicles over the same predetermined trajectories unavoidably causes ruts in the roads that can affect the efficiency and operation of the roads.
Thus, the formation of ruts is an inherent problem of autonomous-vehicle traffic on dirt roads.

Method used

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  • Anti-rut system for autonomous-vehicle guidance

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Embodiment Construction

[0023] The heart of this invention lies in the idea of introducing variations in the precisely-controlled path followed by autonomous vehicles traveling on the roadways of a surface mine. By avoiding repetitive passage over the same trajectory, the formation of undesirable ruts is prevented, or at least greatly reduced.

[0024] For the purposes of this disclosure, it is understood that every reference to a vehicle is intended to apply as well to any other movable piece of equipment that may be found in a surface mine or other facility employing autonomous vehicles. The term "trajectory" of a vehicle is intended to mean the predetermined path assigned to the vehicle so that it can perform its intended task. Accordingly, it refers to the set of x, y, z positions defining a trajectory to be followed by a reference point on the vehicle as it travels between an origin and a destination.

[0025] Referring to the drawings, wherein like parts are designated throughout with like numerals and sym...

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Abstract

In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and / or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility. Thus, by avoiding repeated passage precisely over the path of the nominal trajectory, rutting on the road is greatly reduced and a more uniform surface is maintained for travel.

Description

[0001] This is a continuation-in-part application of U.S. Ser. No. 09 / 521,436, filed on Mar. 7, 2000.[0002] 1. Field of the Invention[0003] This invention is related in general to autonomous vehicles operating in a surface facility, such as a surface mine. In particular, the invention relates to a method for avoiding the formation of ruts and similar road damage caused by the repetitive passage of autonomously-guided vehicles over prescribed travel trajectories.[0004] 2. Description of the Related Art[0005] Autonomous vehicles operating in a surface facility such as a mine are controlled by tracking the position of each vehicle in the system and by guiding the vehicle safely along a predetermined course. Guidance control signals may be generated from a central location, a peripheral position, other vehicles, or directly from within the vehicle. Typically, the position of the vehicle is continuously monitored and controlled by a central or satellite center transmitting control signal...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): G01S19/48G05D1/02
CPCG05D1/0278G05D1/0297G05D2201/0202G05D2201/021
Inventor BURNS, RAY L.PARFENOV, VADIM
Owner MODULAR MINING SYSTEMS
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