Redundant dual-pump hydraulic system and weighted operation method thereof

Abstract

A redundant dual pump hydraulic system for a vehicle includes: a first hydraulic power device; a second hydraulic power device; a hydraulically operated vehicle component selectively driven by the first hydraulic power device and the second hydraulic power device; and a system controller including a device processor and a non-transitory computer readable medium. The computer readable medium includes instructions executable by the processor to perform the following functions: receiving data regarding a first vehicle parameter and a second vehicle parameter; and selecting, based on the received data regarding the two or more vehicle parameters, which hydraulic power device drives the hydraulically operated vehicle component; wherein the received data is weighted for each of the first vehicle parameter and the second vehicle parameter such that, upon determining which hydraulic power plant is to drive the hydraulically operated vehicle component, one of the vehicle parameters is prioritized over the other.

Description

[0001] Related Applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 520,550, filed August 18, 2023, entitled “Redundant Dual Pump Hydraulic System and Method of Weighted Operation Thereof for Mining Machinery” in the U.S. Patent and Trademark Office; the content of this application is incorporated herein by reference in its entirety. Redundant dual pump Hydraulic system and method of weighted operation thereof This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 520,550, filed August 18, 2023, entitled “Redundant Dual Pump Hydraulic System and Method of Weighted Operation Thereof for Mining Machinery” in the U.S. Patent and Trademark Office; the content of this application is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to mining machinery and vehicles, and more particularly, to a redundant dual pump hydraulic system for mining machinery and vehicles. BACKGROUND

[0004] A general description of underground mine environments and electrically powered vehicles for mining can be found in U.S. Patent No. 9,994,117, entitled “System and Method for Providing Power to Mining Operations” issued June 12, 2018. The present disclosure relates to heavy electrically powered machinery or vehicles that can operate in a continuous operation environment, such as an underground mine. The battery packs for the electric mining machinery are heavy, high power battery packs that include a plurality of battery modules housed within a battery pack housing. Each module includes a plurality of battery cells. The modules are equipped with an array of operational sensors and are provided with electronic components to provide data from the sensors to an independent maintenance network. The sensors can include temperature sensors, timekeeping devices, charge level detection devices, and other monitoring devices that can be used to provide accurate, real-time data to an operations center regarding the performance of the module and its performance history. Details regarding exemplary battery packs, battery management systems, and related data generation and monitoring can be found in U.S. Patent No. 9,960,396, entitled “Modular Backbone System” issued May 1, 2018, and U.S. Patent No. 10,063,069, entitled “Modular Maintenance System” issued August 28, 2018. System and method for providing power to a mining operation Module Backbone system Module maintenance system

[0005] ​​​Vehicles for mining and other applications utilize hydraulic systems to power various components of the vehicle, such as work implements, loading components, unloading components, steering systems, and other accessories. Some existing hydraulic systems employ dual pumps, but the selection process for load distribution between the two pumps is limited, and for electric vehicles, the selection process is typically based on a single factor, usually the state of charge of the individual batteries associated with the two hydraulic pumps. That is, generally, the pump / battery combination with the higher state of charge can be used to provide greater output. However, there are numerous other factors and parameters that can influence which pump is preferably used under a given set of operating conditions.

[0006] There remains a need in the art for an improved system and method to address the deficiencies of existing solutions. SUMMARY

[0007] According to the technology described herein, a redundant dual pump hydraulic system and method for a vehicle is provided. The disclosed system selectively designates which of two hydraulic pumps is the active primary pump, and which is the active secondary pump. The primary pump operates to drive the hydraulic driven components of the vehicle, while the secondary pump remains in an idle state, or otherwise in a low output state, or is completely deactivated. If the hydraulic demand of the hydraulic driven components is greater than the capacity of the primary hydraulic pump, measured in volumetric output or flow, the system engages the secondary hydraulic pump to meet the demand that exceeds the capacity of the primary hydraulic pump. This approach provides greater efficiency than running both pumps in parallel and sharing the pumping load, even at low outputs below the capacity of a single pump.

[0008] Further, the disclosed system is configured to control which of the two hydraulic pumps is the primary hydraulic pump, and which is the secondary hydraulic pump, and to exchange or switch which pump is primary and which is secondary depending on various monitored parameters. Further, the system takes into account weighting factors in making this determination. That is, certain monitored parameters can have a greater or lesser influence on whether the primary and secondary hydraulic pumps are exchanged. Further, the weighting factors can vary based on certain other monitored parameters, and / or can be selectively adjusted, for example by an operator or maintenance technician.

[0009] In one aspect, the present disclosure relates to a mining vehicle. The mining vehicle includes a first hydraulic power device, a second hydraulic power device, a hydraulically operated component configured to be powered by at least one of the first and second hydraulic power devices, and a system controller. The system controller is configured to determine one of the first and second hydraulic power devices as a primary hydraulic power device and the other of the first and second hydraulic power devices as a secondary hydraulic power device based at least in part on a combination of weighted parameters, determine a current required hydraulic demand of the hydraulically operated component, and based on a comparison between the determined current required hydraulic demand of the hydraulically operated component and a maximum hydraulic capacity of the primary hydraulic power device, operate only the primary hydraulic power device to power the hydraulically operated component when the determined current required hydraulic demand is less than or equal to the maximum hydraulic capacity of the primary hydraulic power device, and operate both the primary hydraulic power device and the secondary hydraulic power device to power the hydraulically operated component when the determined current required hydraulic demand is greater than the maximum hydraulic capacity of the primary hydraulic power device.

[0010] In another aspect, the present disclosure relates to a method in a system controller of a mining vehicle. The mining vehicle includes a first hydraulic power device, a second hydraulic power device, and a hydraulically operated component configured to be powered by at least one of the first and second hydraulic power devices. The method includes determining one of the first and second hydraulic power devices as a primary hydraulic power device and the other of the first and second hydraulic power devices as a secondary hydraulic power device based at least in part on a combination of weighted parameters, determining a current required hydraulic demand of the hydraulically operated component, and based on a comparison between the determined current required hydraulic demand of the hydraulically operated component and a maximum hydraulic capacity of the primary hydraulic power device, operating only the primary hydraulic power device to power the hydraulically operated component when the determined current required hydraulic demand is less than or equal to the maximum hydraulic capacity of the primary hydraulic power device, and operating both the primary hydraulic power device and the secondary hydraulic power device to power the hydraulically operated component when the determined current required hydraulic demand is greater than the maximum hydraulic capacity of the primary hydraulic power device.

[0011] In another aspect, the present disclosure relates to a redundant dual pump hydraulic system for a vehicle. The system can include a first hydraulic power plant including a first hydraulic pump, a first inverter, and a first electric motor; a second hydraulic power plant including a second hydraulic pump, a second inverter, and a second electric motor; a hydraulically operated vehicle component selectively driven by the first and second hydraulic power plants; and a system controller including a plant processor and a non-transitory computer readable medium. The computer readable medium includes instructions executable by the processor for performing the functions of: receiving data regarding a first vehicle parameter and a second vehicle parameter; and selecting which hydraulic power plant to drive the hydraulically operated vehicle component based on the received data regarding the two or more vehicle parameters; wherein the received data is weighted for each of the first and second vehicle parameters such that one of the vehicle parameters is prioritized over the other vehicle parameter in determining which hydraulic power plant to drive the hydraulically operated vehicle component.

[0012] In another aspect, the present disclosure relates to a method of operating a redundant dual pump hydraulic system for a vehicle. The method includes using a system controller including a plant processor and a non-transitory computer readable medium including instructions executable by the processor to perform the functions of: receiving data regarding a first vehicle parameter and a second vehicle parameter; and selectively operating a first hydraulic power plant and a second hydraulic power plant to drive a hydraulically operated vehicle component, wherein the first hydraulic power plant includes a first hydraulic pump, a first inverter, and a first electric motor, and the second hydraulic power plant includes a second hydraulic pump, a second inverter, and a second electric motor. Selecting which hydraulic power plant to drive the hydraulically operated vehicle component is based on the received data regarding the two or more vehicle parameters. Further, the data is weighted for each of the first and second vehicle parameters such that one of the vehicle parameters is prioritized over the other vehicle parameter in determining which hydraulic power plant to drive the hydraulically operated vehicle component.

[0013] Other systems, methods, features, and advantages of the disclosed systems and methods will be or become apparent to one with skill in the art upon examination of the following drawings and detailed description. It is intended that all such additional systems, methods, features, and advantages be included within this description and within the scope of the disclosed systems and methods, and be protected by the following claims. It will be understood that all of the above described features are not necessarily required to practice the disclosed systems and methods. BRIEF DESCRIPTION OF DRAWINGS

[0014] The disclosed systems and methods can be better understood with reference to the following drawings and description. The components in the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the disclosed systems. Furthermore, in the drawings, like reference numerals designate corresponding parts throughout the several views.

[0015] Figure 1 is an isometric view of one example embodiment of an electric mining machine; Figure 2 is a profile view of the example embodiment of the electric mining machine, showing components of a redundant dual pump hydraulic system; Figure 3 is a schematic diagram of one example embodiment of a pair of hydraulic pumps for a redundant dual pump hydraulic system; Figure 4 is a schematic diagram of components of a redundant dual pump hydraulic system of an electric mining machine; Figure 5 is a representative view of one example embodiment of hydraulic power distribution in an electric mining machine under hydraulic load; Figure 6 is a flowchart of one example embodiment of a method for hydraulic power distribution in an electric mining machine; Figure 7 is a block diagram of a redundant dual pump hydraulic system according to one example embodiment; Figure 8 is a flowchart showing a subroutine in which state of charge of batteries associated with two independent hydraulic power plants are compared and the comparison is weighted; Figure 9 is a flowchart showing a subroutine in which inverter temperatures of two independent hydraulic power plants are compared and the comparison is weighted; Figure 10 is a flowchart showing a subroutine in which motor temperatures of two independent hydraulic power plants are compared and the comparison is weighted; Figure 11 is a flowchart showing a subroutine in which available power from two independent hydraulic power plants is compared and the comparison is weighted; Figure 12 is a flowchart of Figures 8 to 11 showing a process of determining whether to switch which hydraulic power plant to use as a primary power plant to drive hydraulic driven components and which hydraulic power plant to use as a secondary (or assist) power plant; Figure 13 is a flowchart showing a method of automatically adjusting weighting of received parameter data based on other received data related to vehicle operating conditions; Figure 14 is a flow chart illustrating a method of adjusting weighting of received parameter data by an operator of a vehicle. DETAILED DESCRIPTION

[0016] The present disclosure relates to any type of vehicle that can implement an on-board hydraulic system. The disclosed redundant hydraulic system can be applicable to road-going vehicles. For example, a hydraulic steering system can employ dual hydraulic pumps. Additional benefits can be realized when the disclosed redundant hydraulic system is applied to a work machine and particularly to an underground mining machine. Further benefits can also be realized when the system is applied to an electrically powered vehicle. It should be understood that the term "vehicle" as used herein shall mean any type of vehicle. It should also be understood that the disclosed system and method are particularly applicable to underground mining vehicles and more particularly to electric mining machines.

[0017] Electric mining machines are typically powered by on-board battery packs. Such machines can be load-haul-dump machines (LHDs), scalers, graders, scoops, rock breakers, cutters, transporters, or combinations thereof. In general, electric mining machines are heavy-duty vehicles designed to cope with challenging underground environments and limited spaces, powered by on-board batteries or other power sources. Such machines typically include a tool end, heavy-duty wheels and tires, an operator area, control devices, and can include a removable power source mounted on the machine.

[0018] The present disclosure relates to a redundant dual pump hydraulic system and method for an electric mining machine having two main battery packs, each supplying power to a separate hydraulic pump and motor of the electric mining machine. According to the technology described herein, the disclosed redundant dual pump hydraulic system and method distributes hydraulic power output between the two hydraulic pumps to meet hydraulic power load demands. The technology described herein also provides for a complex procedure for selecting which hydraulic pump to use at any given moment based on data collected about operating parameters of the vehicle operation and hydraulic system components.

[0019] Figure 1 An example embodiment of an electric mining machine 100 is illustrated. In one embodiment, the electric mining machine 100 is a load-haul-dump machine (LHD) having a transport capacity of about 18 metric tons. However, in other embodiments, the technology of the present embodiment for hydraulic power output distribution can be applied to any type of electric mining machine or mining vehicle.

[0020] As Figure 1As shown, in the present embodiment, the electric mining machine 100 includes a chassis 102 (or frame) that forms the body of the electric mining machine 100. The chassis 102 is configured to engage with a removable power source 104 that provides electrical power to the electric mining machine 100. The removable power source 104 includes a battery frame 106 (also referred to as a battery cage or battery housing) that holds battery packs that provide electrical power to the electric mining machine 100. In the present embodiment, the removable power source 104 includes two battery packs, namely a first battery pack 108 and a second battery pack 110. Each battery pack is a self-contained, self-contained battery pack that is configured to supply electrical power to a respective hydraulic pump, as described below.

[0021] In one example embodiment, each of the first battery pack 108 and the second battery pack 110 can be a heavy-duty, high-power battery pack that includes a plurality of battery modules housed within a battery pack housing. Each battery module (or module) includes a plurality of battery cells (or cells). The modules are also equipped with an array of operational sensors and provided with electronic components to provide data from the sensors to an independent maintenance network. Suitable battery modules and related sensors and components are described, for example, in U.S. Patent Nos. 9,960,396 and 10,063,069.

[0022] The removable power source 104 is removably attached to the electric mining machine 100. As used herein, the term “removably attached” means that two components are joined to one another but can be separated without damaging one or the other component. That is, the components can be detached from one another in a non-destructive manner. Exemplary “removable attachment” means include connections formed using removable fasteners, snaps, latches, hooks, magnetic connections, and other types of connections.

[0023] In the present embodiment, the removable power source 104 is removably attached to the chassis 102 at a rear portion of the electric mining machine 100. For example, an attachment mechanism (not shown) can be configured to engage with a portion of the battery frame 106 of the removable power source 104 through a plurality of hooks. It should be appreciated that other types of attachment mechanisms can be used to attach the removable power source 104 to the electric mining machine 100. Moreover, in other embodiments, the attachment location of the removable power source 104 on the electric mining machine 100 can also be different.

[0024] In one example embodiment, the electric mining machine 100 is an LHD and includes a bucket 114 at a front portion of the electric mining machine 100. However, in other embodiments, the electric mining machine can be any type of electric mining machine or electric vehicle. In these embodiments, the electric mining machine can be equipped with different hydraulically operated components depending on its function. That is, the bucket 114 is an optional component and not necessary to implement the technology of this example embodiment.

[0025] In some embodiments, the chassis 102 that forms the body of the electric mining machine 100 can include a first body portion 116 and a second body portion 118. The first body portion 116 can be a rearward portion of the electric mining machine 100. The second body portion 118 can be a forward portion of the electric mining machine 100. In some embodiments, a mechanical linkage 120 connects the first body portion 116 and the second body portion 118 such that the two portions can move (e.g., swivel or pivot) relative to each other. In one example embodiment, a plurality of hydraulic lines 121 extend between the first body portion 116 and the second body portion 118 at the mechanical linkage 120. The plurality of hydraulic lines 121 are configured to supply hydraulic fluid to one or more components of a redundant dual pump hydraulic system, as will be described below.

[0026] In one example embodiment, the electric mining machine 100 includes a propulsion system that includes one or more electric motors that are supplied with power by one or more batteries. In some embodiments, the electric mining machine 100 can include at least two electric motors for powering each set of wheels, respectively. For example, in the present embodiment, the electric mining machine 100 includes a first set of wheels 122 located at the second body portion 118, which is associated with the forward portion of the electric mining machine 100. The first set of wheels 122 is connected to a front axle 124 that is driven by at least one front electric motor. In the present embodiment, the electric mining machine 100 also includes a second set of wheels 126 located at the first body portion 116, which is associated with the rearward portion of the electric mining machine 100. The second set of wheels 126 is connected to a rear axle 128 that is driven by at least one rear electric motor.

[0027] In one example embodiment, each set of wheels (e.g., the first set of wheels 122 and the second set of wheels 126) can include a pair of wheels (i.e., one wheel on each side) on each side of the electric mining machine 100. In other embodiments, additional wheels can be provided on one or both axles. For example, in some cases, one or both of the front axle 124 and the rear axle 128 can include two wheels on each side of the electric mining machine 100.

[0028] In one embodiment, the front axle 124 and the rear axle 128 are not mechanically linked. In other words, each axle can be independently driven by its associated electric motor. In this manner, the first set of wheels 122 on the front axle 124 and the second set of wheels 126 on the rear axle 128 can be driven at different speeds and / or provided with different amounts of power.

[0029] In some embodiments, the electric mining machine 100 can include additional components, including various standard vehicle configurations and accessories. For example, as shown in Figure 1 The electric mining machine 100 includes a cab 130 for housing one or more operators of the electric mining machine 100. Other typical components of a mining machine can also be provided.

[0030] Referring now to Figure 2 , a profile view of the electric mining machine 100 is shown to illustrate components of the redundant dual pump hydraulic system 200. In one example embodiment, the redundant dual pump hydraulic system 200 includes a hydraulic control system 202 configured to control operation of various components of the redundant dual pump hydraulic system 200. For example, the hydraulic control system 202 can be in fluid communication with a pair of hydraulic pumps 210, including a first hydraulic pump 212 and a second hydraulic pump 216.

[0031] The first hydraulic pump 212 can be in fluid communication with the hydraulic control system 202 via a first hydraulic supply line 204, and the second hydraulic pump 216 can be in fluid communication with the hydraulic control system 202 via a second hydraulic supply line 206. With this arrangement, the hydraulic control system 202 can use pressurized hydraulic fluid received from the first hydraulic pump 212 and / or the second hydraulic pump 216 to operate one or more hydraulically operated components, including, for example, a steering system 224 (via a first hydraulic output line 226) and / or a lift and load system 228 (via a second hydraulic output line 230).

[0032] In some embodiments, each battery pack of the removable power source 104 (i.e., the first battery pack 108 and the second battery pack 110) can supply power to a different hydraulic pump (and its associated pump motor) of the pair of hydraulic pumps 210, including the first hydraulic pump 212 and the second hydraulic pump 216, respectively. For example, in the present embodiment, the first battery pack 108 supplies power to a first pump motor 214 that drives the first hydraulic pump 212. Similarly, the second battery pack 110 supplies power to a second pump motor 218 that drives the second hydraulic pump 216.

[0033] In one embodiment, as Figure 2As shown, the first battery pack 108 can be connected through a power cable 220 to supply power to the first hydraulic pump 212 and the first pump motor 214. Likewise, the second battery pack 110 can be connected through a power cable 222 to supply power to the second hydraulic pump 216 and the second pump motor 218.

[0034] It should be appreciated that the first battery pack 108 and the second battery pack 110 can also supply power to other components of the electric mining shovel 100, including, for example, the one or more motors configured to move the first set of wheels 122 on the front axle 124 and / or the second set of wheels 126 on the rear axle 128. In addition, the first battery pack 108 and the second battery pack 110 can supply power to other components of the electric mining shovel 100, including the hydraulic control system 202, the steering system 224, the lift and load system 228, and various accessories, such as lighting, sensors, communication devices, displays, etc.

[0035] By using separate battery packs to supply power to each hydraulic pump in the pair of hydraulic pumps 210 (e.g., the first battery pack 108 supplies power to the first hydraulic pump 212 and the second battery pack 110 supplies power to the second hydraulic pump 216), the amount of power that needs to be delivered to a single power source can be reduced. This allows for load balancing between the hydraulic pumps, thereby controlling the amount of power used to better manage the amount of power remaining in each battery pack.

[0036] In one example embodiment, the pair of hydraulic pumps 210 can be arranged behind the cab 130 on the body or chassis 102 of the electric mining shovel 100. In this embodiment, the pair of hydraulic pumps 210 are arranged together (i.e., adjacent to each other). However, in other embodiments, each individual hydraulic pump in the pair of hydraulic pumps 210 (e.g., the first hydraulic pump 212 and the second hydraulic pump 216) can be arranged at different locations on the body or chassis 102 of the electric mining shovel 100. For example, in one embodiment, each individual hydraulic pump in the pair of hydraulic pumps 210 (e.g., the first hydraulic pump 212 and the second hydraulic pump 216) can be arranged on opposite sides of the electric mining shovel 100. In other embodiments, the arrangement of each individual hydraulic pump within the electric mining shovel can vary based on space and layout requirements and specifications. By using two individual hydraulic pumps (each of which is smaller in size than a conventional single hydraulic pump), flexibility can be provided in arranging the hydraulic pumps within the body or chassis 102 of the electric mining shovel 100.

[0037] Referring now to Figure 3 , a schematic diagram of components of the pair of hydraulic pumps 210 of the redundant dual pump hydraulic system 200 of the electric mining shovel 100 is illustrated. In this embodiment, the pair of hydraulic pumps 210 (including the first hydraulic pump 212 and the second hydraulic pump 216) can be seen in detail. As shown, the first hydraulic pump 212 and the second hydraulic pump 216 are each connected to a respective pump motor 214, 218. In this embodiment, the first hydraulic pump 212 and the second hydraulic pump 216 are each connected to a respective pump motor 214, 218 through a respective power cable 220, 222.Figure 3 As shown, the first outlet 300 of the first hydraulic pump 212 is in fluid communication with the hydraulic control system 202 via the first hydraulic supply line 204. The first battery pack 108 supplies power via the first inverter 305 through the power cable 220 to power the first pump motor 214 to drive the first hydraulic pump 212 such that hydraulic fluid within the first hydraulic pump 212 is pressurized. Collectively, the first inverter 305, the first pump motor 214, and the first hydraulic pump 212 comprise a first hydraulic power plant. With this arrangement, pressurized hydraulic fluid from the first hydraulic pump 212 can flow from the first outlet 300 to the hydraulic control system 202 via the first hydraulic supply line 204.

[0038] Similarly, the second outlet 302 of the second hydraulic pump 216 is in fluid communication with the hydraulic control system 202 via the second hydraulic supply line 206. The second battery pack 110 supplies power via the second inverter 310 through the power cable 222 to power the second pump motor 218 to drive the second hydraulic pump 216 such that hydraulic fluid within the second hydraulic pump 216 is pressurized. Collectively, the second inverter 310, the second pump motor 218, and the second hydraulic pump 216 comprise a second hydraulic power plant. With this arrangement, pressurized hydraulic fluid from the second hydraulic pump 216 can flow from the second outlet 302 to the hydraulic control system 202 via the second hydraulic supply line 206.

[0039] The first inverter 305 and the second inverter 310 convert direct current (DC) to alternating current (AC) for motor control. The battery packs supply power to the inverters through a DC circuit. In addition, the inverters receive speed reference commands sent by the machine control system. Subsequently, the inverters control the speed of the pump motors by supplying AC current. It should be understood that although the system is described as using speed reference commands, the system can alternatively use torque reference commands.

[0040] Referring now to Figure 4 components of the redundant dual pump hydraulic system 200. In one example embodiment, the redundant dual pump hydraulic system 200 is located on the main body or chassis 102 of the electric mining shovel 100. Power for the redundant dual pump hydraulic system 200 is provided by the removable power source 104 that includes the first battery pack 108 and the second battery pack 110, which, as described above, can be removed from the main body or chassis 102 of the electric mining shovel 100 for replacement with another substantially similar removable power source that includes two independent battery packs.

[0041] As described above, the first battery pack 108 supplies power to the first hydraulic power unit 410 via the first inverter 305. That is, the first battery pack 108 supplies power to the first pump motor 214 via the first inverter 305 to drive the first hydraulic pump 212 to pressurize the hydraulic fluid. The pressurized hydraulic fluid leaves the first hydraulic pump 212 through the first outlet 300 and flows through the first hydraulic supply line 204 (e.g., ...). Figure 3 As shown), it then passes through the first one-way valve 400 and then reaches the hydraulic control system 202. Similarly, the second battery pack 110 supplies power to the second hydraulic power unit 415 via the second inverter 310. That is, the second battery pack 110 supplies power to the second pump motor 218 via the second inverter 310 to drive the second hydraulic pump 216 to pressurize the hydraulic fluid. The pressurized hydraulic fluid leaves the second hydraulic pump 216 through the second outlet 302 and passes through the second hydraulic supply line 206 (e.g., as shown). Figure 3 As shown), it then passes through the second check valve 402 and then reaches the hydraulic control system 202.

[0042] System controller 420 controls the operation of the first hydraulic power unit 410 and the second hydraulic power unit 415. The functionality of an exemplary system controller will be described below. Figure 7 A more detailed discussion follows. Among other functions, the system controller 420 determines which hydraulic power unit will provide hydraulic power as the primary power unit at any given time, and the system controller 420 is configured to coordinate the switching or alternation of which hydraulic power unit is the primary hydraulic power unit and which hydraulic power unit is the auxiliary hydraulic power unit based on various monitored parameters.

[0043] At the hydraulic control system 202, pressurized hydraulic fluid from each of the first hydraulic pump 212 and the second hydraulic pump 216 converges to the main valve 404. The main valve 404 may receive instructions from the hydraulic control system 202 (e.g., instructions from a processor or other computerized controller) to release pressurized hydraulic fluid from the main valve 404 through one or more hydraulic cylinders 406. For example, the hydraulic cylinders 406 may be associated with various hydraulic system components, including, but not limited to, the steering system 224 and / or the lifting and loading system 228.

[0044] In one example embodiment, the steering system 224 may use hydraulic actuators to pivot or rotate the first body section 116 and the second body section 118 about the mechanical link 120 to control the steering angle or direction of the electric mining machinery 100. In one example embodiment, the lifting and loading system 228 may use hydraulic actuators to control the operation (i.e., lifting, tilting, etc.) of the bucket 114 located at the front of the electric mining machinery 100.

[0045] It should also be appreciated that the redundant dual pump hydraulic system 200 can include other conventional components, including, but not limited to, a return hydraulic supply line (for sending hydraulic fluid back to the pair of hydraulic pumps 210) and a reservoir or other tank configured to hold or store hydraulic fluid.

[0046] Furthermore, the electric mining machine 100 can include one or more hydraulic accessories 408 that can use hydraulic fluid from the redundant dual pump hydraulic system 200, such as, for example, a braking system, a power take-off system, etc. Furthermore, in some embodiments, the electric mining machine 100 can include other components typically associated with a mining vehicle or other type of earth moving machine.

[0047] Figure 5 is a representative view of an example embodiment showing hydraulic power distribution in the electric mining machine 100 under hydraulic load. In this embodiment, the electric mining machine 100 is performing normal operations, such as lifting the dipper 114 using the lift and load system 228 described above. Lifting the dipper 114 requires a certain amount of hydraulic power to drive the hydraulic actuators of the lift and load system 228. Notably, the heavier the load being attempted to lift, the greater the hydraulic output required to drive the lift system 228. For lower hydraulic demands, the controller 420 can instruct the hydraulic pump currently designated as the primary hydraulic pump to provide the entire required hydraulic power output, as shown on the left side. Figure 5 For higher hydraulic demands, the controller 420 can engage the secondary hydraulic pump to provide the excess portion of the required hydraulic power output.

[0048] Figure 6 The various steps of this hydraulic power distribution process are illustrated. As shown in Figure 6 Step 600, the system determines the primary power device and the secondary power device based at least in part on a combination of weighted parameters. (The selection of which power device is the primary / secondary power device and the weighting of the parameters will be discussed in more detail below.) Subsequently, in Step 605, the system determines the current required hydraulic demand of the vehicle. Once the current demand has been determined, the system evaluates whether the current required hydraulic demand is greater than the maximum hydraulic capacity of the primary power device in Step 610. If not, the system continues to operate the primary power device to satisfy the current required hydraulic demand of the vehicle (Step 615) and deactivates the secondary power device (Step 620). It should be appreciated that when the secondary power device is not engaged, the secondary power device can instead be operating in an idle or other low output state.

[0049] If, in step 610, the current required hydraulic demand is greater than the maximum hydraulic capacity of the primary power device, the system proceeds to step 625, causing the primary power device to operate at its maximum capacity and the secondary power device to operate to meet the difference between the current required hydraulic demand of the vehicle and the maximum hydraulic capacity of the primary power device (step 630).

[0050] The system is configured to exchange which of the two hydraulic pumps is the primary hydraulic pump and which is the secondary hydraulic pump based on various monitored parameters. For example, the system takes into account the state of charge of the battery associated with each pump, the temperature of various system components such as inverters and motors, and the available power of each hydraulic power device.

[0051] By exchanging which power device is the primary power device and which is the secondary power device, the operation of the hydraulically driven components can be improved and the frequency of required maintenance can be reduced. Furthermore, by imposing a bias on the selection of which hydraulic power device to use at a given moment based on a plurality of parameters, the duration of the system performance can be extended.

[0052] By reducing the frequency at which the vehicle must be maintained, costs can be saved in a number of ways. For a vehicle, and especially an underground mining machine, downtime can be a significant cost. Not only is the productivity of the vehicle lost, but the operator is typically still paid while the maintenance operation is being performed, and there are costs associated with the maintenance operation. It should also be noted that maintenance operations on a malfunctioning underground mining machine are extremely difficult. First, the vehicle is typically located very deep underground, which means that if the vehicle is still mobile, it must travel a long distance to reach the surface. Second, if the mining machine is unable to reach the surface on its own, it is difficult for a maintenance vehicle to access the mining machine. Third, the size of the vehicle and its components makes it difficult and expensive to transport replacement components to the vehicle at the underground (or any other location). For all of these reasons, it is preferable to keep the machine and its components operating for as long as possible without requiring repair, maintenance, or repair.

[0053] Furthermore, it is worth noting that underground mining environments can have extremely harsh conditions. Temperatures can be very high, and temperature is an important factor affecting the performance of the mining machine, for example in terms of efficiency, durability, longevity, battery life, etc. The operation of the mining machine is almost continuous, so temperature control and component life are important considerations. Therefore, it is necessary to closely monitor component temperatures and manage the operation of the hydraulic system accordingly.

[0054] Figure 7 is a block diagram of a redundant dual pump hydraulic system according to one example embodiment. Figure 7A redundant dual pump hydraulic system 1100 for a vehicle is illustrated. The system 1100 includes a system controller 420 that includes a device processor 1110 and a non-transitory computer readable medium 1115 that includes instructions executable by the processor 1110 for performing various functions discussed below.

[0055] The non-transitory computer readable medium can include any suitable computer readable medium, such as memory, e.g., RAM, ROM, flash, or any other type of memory known in the art. In some embodiments, the non-transitory computer readable medium can include, for example, electronic, optical, magnetic, electromagnetic, semiconductor, or any suitable combination of the foregoing. More specific examples of the non-transitory computer readable medium can include a portable computer diskette, a hard disk, a random access memory (RAM), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), an erasable programmable read-only memory (EPROM), a digital versatile disc (DVD), a memory stick, and any suitable combination of the foregoing. As used herein, "non-transitory computer readable medium" should not be construed to be a transitory signal per se, such as a radio wave or other freely propagating electromagnetic wave, electromagnetic wave propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0056] The instructions stored on the non-transitory computer readable medium to perform the operations of the present system can be in the form of an instruction set architecture (ISA) instructions, assembly instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, configuration data for integrated circuitry, state setting data, or source code or object code written in any one of one or more programming languages, including an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the "C" programming language or similar programming languages.

[0057] Aspects of the disclosure are described in connection with the accompanying drawings, which are illustrated by way of example in the following schematic drawings: a flow diagram and / or block diagram illustrating methodologies for methods, devices (systems), and computer products. It will be understood that each block of the flow diagram and / or block diagram, and combinations of blocks in the flow diagram and / or block diagram, can be implemented by computer readable instructions. The flow diagrams and / or block diagrams illustrate the architecture, functionality, and operation of possible implementations of various embodiments of the disclosure. In this regard, each block can represent a module, a segment, or a portion of instructions, which can be executed by a processor. In some embodiments, the functions noted in the block can occur out of the order noted and / or concurrently in alternative implementations.

[0058] Controller 420 may include networking hardware configured to interface with other network nodes, such as LANs, WLANs, or other networks. Furthermore, controller 420 may be configured to receive data from multiple sources and transmit information to one or more external destinations. Therefore, controller 420 may include receiver 1120 and transmitter 1125. (It should be understood that in some embodiments, the receiver and transmitter may be combined into a transceiver.)

[0059] Communication between the controller 420 and other system components can employ any suitable communication platform and / or protocol. Since various information sources may each have their own platform and / or protocol, the system can be configured to interface with each platform and / or protocol to receive data.

[0060] like Figure 7 As shown, in some embodiments, controller 420 can be configured to receive data from various sources. For example, controller 420 can be configured to receive vehicle operation data (1130). Vehicle operation data 1130 may include data on any operating parameters of the vehicle. For example, such data may include the temperature of components other than those in the hydraulic system. For example, this data may include coolant temperature, oil temperature, battery temperature, and any other measurable vehicle temperature. Alternatively or additionally, vehicle operation data 1130 may include operating time, average speed, driving gradient / inclination, tool usage, and / or other vehicle stress indicators. It should be understood that controller 420 may also receive other types of vehicle operation data.

[0061] like Figure 7 It is also shown that, in some embodiments, atmospheric data (1135) may be received by controller 420. Exemplary atmospheric data 1135 that may be received by controller 420 may include current atmospheric temperature, current humidity, and / or other current atmospheric conditions. Furthermore, controller 420 may be configured to receive forecast data regarding temperature, humidity, and / or other such conditions.

[0062] In some embodiments, one or more of the weighting factors can be adaptive based on one or more detected parameters, such as vehicle operating data 1130 and / or atmospheric data 1135. For example, if the controller 420 receives vehicle operating data 1130 indicating a harsh driving condition (e.g., long time on a hill (i.e., large grade steep slope)), the controller 420 can automatically adjust the weighting factors to prioritize component temperature as a deciding factor in selecting which hydraulic pump to drive the hydraulically operated components. Similarly, if a high ambient temperature is detected, the controller 420 can automatically prioritize component temperature as a deciding factor in selecting which hydraulic pump to drive the hydraulically operated components.

[0063] Further, in some embodiments, the controller 420 can be configured to receive operator input (1140), particularly with respect to weighting factors used to impart a bias to the decision of which hydraulic pump to use to drive the hydraulically operated components of the vehicle. For example, in some cases, the operator can determine that environmental conditions (e.g., high ambient temperature) warrant a more aggressive selection process in terms of temperature. That is, the operator can wish to impart a higher weight to component temperature in deciding which hydraulic pump to use. In other cases (e.g., when the ambient temperature is cool), the operator can provide input to reduce the weight of the temperature factor and / or increase the weight of other factors. For example, if the risk of component overheating is low, the operator can wish to impart a higher weight to the battery’s charge for performance reasons.

[0064] Similarly, adjustment of the weighting factors can also be performed by a maintenance technician. Thus, the controller 420 can be configured to receive input from a maintenance technician with respect to the weighting factors (1145). This approach can be less efficient than operator input, but it can prevent improper modification of the weighting factors. For example, if a machine is known to be used in a high temperature environment, the technician can provide input to modify the weighting factors during routine maintenance of the machine prior to deployment.

[0065] As Figure 7 Further shown, the system 1100 includes a first hydraulic power plant 410 including a first hydraulic pump 212, a first inverter 305, and a first electric motor 214. The system 1100 also includes a first battery pack 108 configured to supply power to the first hydraulic power plant 410. Further, the system 1100 includes a second hydraulic power plant 415 including a second hydraulic pump 216, a second inverter 310, and a second electric motor 218. Further, the system 1100 includes a second battery pack 110 configured to supply power to the second hydraulic power plant 415. As Figure 7Further shown is that the system 1100 also includes at least one hydraulically operated vehicle component 1180 that is selectively driven by the first hydraulic power device 410 and the second hydraulic power device 415. The features and functions of the inverter, hydraulic pump, and electric motor have been discussed in detail above.

[0066] The hydraulically operated vehicle component can be any of such components on a vehicle. For example, in some cases, the hydraulically operated vehicle component 1180 can include a steering system, a work implement (e.g., a shovel, a fork lift, etc.), or any other hydraulically operated system on a vehicle. It should be understood that more than one hydraulically operated component can be driven by the hydraulic power devices. For example, as shown, the hydraulic system can drive hydraulically operated components such as the accessories 408, the steering system 224, and / or the lift and load equipment 228. Figure 4

[0067] The system is configured to prioritize at least one vehicle parameter over another vehicle parameter in determining which hydraulic pump to use. That is, the controller is configured to receive data regarding at least two vehicle parameters. In some embodiments, the system is configured to receive data regarding more than two vehicle parameters. The system shown and described herein receives data from four system components and weights each data set to prioritize certain parameters over others. It should be understood that the concepts described herein apply to systems that monitor two or more parameters and are equally applicable to systems that monitor three parameters and systems that monitor more than four parameters.

[0068] In the base system, the controller is configured to receive data regarding a first vehicle parameter and a second vehicle parameter and, based on the received data regarding the two or more vehicle parameters, select which hydraulic power device to drive the hydraulically operated vehicle component, wherein the received data is weighted for each of the first vehicle parameter and the second vehicle parameter such that one of the vehicle parameters is prioritized over the other vehicle parameter in determining which hydraulic power device to drive the hydraulically operated vehicle component. This selection process determines which hydraulic power device should be the primary power device and which should be the secondary (or assist) power device.

[0069] ​In most cases, the first vehicle parameter is a comparison between the state of charge of a first battery associated with a first hydraulic power plant and the state of charge of a second battery associated with a second hydraulic power plant. In such cases, the second vehicle parameter is selected from the group consisting of: a comparison between the temperature of a first pump motor and the temperature of a second pump motor; a comparison between the temperature of a first inverter and the temperature of a second inverter; and a comparison between the amount of power available from the first hydraulic power plant and the amount of power available from the second hydraulic power plant. However, it will be appreciated that the first vehicle parameter can be any one of the four parameters described above, and the second vehicle parameter can be any one of the remaining three parameters.

[0070] Figures 8 to 11 The process of weighting the four monitored parameters is illustrated separately. Subsequently, Figure 12 The manner in which the outputs of these four processes (i.e. the weighted parameters) are utilised is shown.

[0071] Figure 8 is a flow chart illustrating a subroutine in which the state of charge of batteries associated with two separate hydraulic power plants is compared and the comparison is weighted. As shown in Figure 8 The battery 1200 of the auxiliary hydraulic power plant 1205 is monitored to determine its state of charge 1210. In addition, the battery 1215 of the primary hydraulic power plant 1220 is monitored to determine its state of charge 1225. Subsequently, at step 1230, the state of charge 1210 of the battery 1200 is divided by the state of charge 1225 of the battery 1215, resulting in a state of charge (SOC) based switching recommendation factor 1235. (Note: here "switching" refers to the switching between which hydraulic power plant is the primary drive and which is the auxiliary drive.) Subsequently, the SOC based switching recommendation factor 1235 is multiplied by an SOC weighting factor 1240, resulting in a first factor 1250.

[0072] It will be appreciated that the weighting factor can be any suitable value. Since the recommendation factor is multiplied by the weighting factor, the lower the value of the weighting factor, the lower the priority given to the recommendation factor. The greater the value of the weighting factor, the higher the priority given to the recommendation factor. Those of ordinary skill in the art will readily identify different weighting factors for prioritising one recommendation factor over another (and vice versa).

[0073] Figure 9 is a flow chart illustrating a subroutine in which the temperature of inverters of two separate hydraulic power plants is compared and the comparison is weighted. As shown in Figure 9As shown, the inverter temperature 1300 of the primary hydraulic power plant 1305 is monitored to determine a primary inverter temperature 1310. Additionally, the inverter temperature 1315 of the secondary hydraulic power plant 1320 is also monitored to determine a secondary inverter temperature 1325. Subsequently, at step 1330, the primary inverter temperature 1310 is divided by the secondary inverter temperature 1325, resulting in an inverter temperature based switching recommendation factor 1335. This inverter temperature based switching recommendation factor 1335 is subsequently multiplied by an inverter temperature weighting factor 1340, resulting in a second factor 1350.

[0074] Figure 10 is a flowchart illustrating a subroutine in which the pump motor temperatures of two independent hydraulic power plants are compared and the comparison is weighted. As shown, Figure 10 the pump motor temperature 1400 of the primary hydraulic power plant 1405 is monitored to determine a primary pump motor temperature 1410. Additionally, the pump motor temperature 1415 of the secondary hydraulic power plant 1420 is also monitored to determine a secondary pump motor temperature 1425. Subsequently, at step 1430, the primary pump motor temperature 1410 is divided by the secondary pump motor temperature 1425, resulting in a pump motor temperature based switching recommendation factor 1435. This pump motor temperature based switching recommendation factor 1435 is subsequently multiplied by a pump motor temperature weighting factor 1440, resulting in a third factor 1450.

[0075] Figure 11 is a flowchart illustrating a subroutine in which the available power of two independent hydraulic power plants is compared and the comparison is weighted. As shown, Figure 11 the available drive power 1500 of the secondary hydraulic power plant 1505 is monitored to determine a secondary power 1510. Additionally, the available drive power 1515 of the primary hydraulic power plant 1520 is also monitored to determine a primary power 1525. Subsequently, at step 1530, the secondary power 1510 is divided by the primary power 1525, resulting in an available power based switching recommendation factor 1535. This available power based switching recommendation factor 1535 is subsequently multiplied by an available power weighting factor 1540, resulting in a fourth factor 1550.

[0076] Figure 12 is a flowchart that picks up Figures 8 to 11 and illustrates a process of determining whether to switch which hydraulic power plant is used as the primary power plant driving the hydraulically driven components and which is used as the secondary (or assist) power plant. As shown, Figure 12 the first factor from Figure 8 the second factor from Figure 9 the third factor from Figure 10 and the fourth factor from Figure 11The fourth factor is added at step 1600 to generate a total factor 1605. Then, in step 1615, the total factor 1605 is divided by the sum of the weighted factors 1610 to generate a weighted switching proposal (WSR) 1620.

[0077] In step 1625, the system determines whether WSR 1620 is less than (1 + switching hysteresis). If so, the method proceeds to step 1665, where switching is prevented. Alternatively, if WSR 1620 is greater than or equal to (1 + switching hysteresis), the method prepares to switch and proceeds to step 1670 for further evaluation. Hysteresis is used to prevent repeated switching between primary and secondary roles. For example, if a state of charge comparison is used without hysteresis, the system will switch roles even if there is only a 0.1% difference between battery packs. However, by employing, for example, a 5% hysteresis, a 5.0% difference in state of charge is required before switching occurs. This prevents the system from repeatedly switching back and forth between primary and secondary roles. It should be understood that the magnitude of the hysteresis employed can vary, and any suitable hysteresis can be used in the system of this disclosure.

[0078] Simultaneously, a stringent temperature subroutine 1630 is executed. In this subroutine, the temperatures of the motor and inverter are monitored. If the main motor or inverter is too hot, the system considers the temperatures of the auxiliary motor and inverter. If both the main and auxiliary power units' motors or inverters are too hot, the system activates limp mode, triggers an alarm, and shuts down the operation of both hydraulic power units. In this stringent temperature monitoring subroutine, the temperatures of components of the first and second hydraulic power units are evaluated, and if the temperature of any of these components exceeds a predetermined threshold temperature, the system prohibits the operation of the hydraulic power unit with the temperature exceeding the threshold from driving the hydraulically operated components.

[0079] like Figure 12 As shown, in step 1635, the system determines whether the temperature of the main motor or main inverter is greater than or equal to a predetermined threshold. If not, the system continues to monitor these temperatures. If yes, in step 1640, the system determines whether the temperature of the auxiliary motor or auxiliary inverter is greater than or equal to a predetermined threshold. If yes, in step 1645, the system activates limp mode, restricting the use of any hydraulic power unit and triggering an alarm.

[0080] If the main motor and inverter are too hot, as determined in step 1635, but the auxiliary motor and inverter temperature are not too hot, the method proceeds to step 1650, where a warning is triggered. Subsequently, the system prepares to switch from the main hydraulic power plant to the auxiliary hydraulic power plant and proceeds to step 1670. It will be appreciated that in some embodiments, this harsh temperature subroutine can override the weighted switch recommendation. In other embodiments, the subroutine can be weighed against the weighted switch recommendation. For example, if the battery state of charge of a certain power plant is low enough, it can trump the harsh temperature subroutine.

[0081] Further, the auxiliary power plant activation subroutine 1655 can assess the activity status of the auxiliary battery, inverter, and other aspects of the power plant. If these auxiliary components are not functional, a switch to the auxiliary power plant cannot be made, or is not recommended. Thus, in step 1660, it is determined whether the auxiliary battery, inverter, or power plant is running. If these components are running, the monitoring of these components continues. If any of these components are not running (e.g., due to a system failure), the system proceeds to step 1665, where the switch is prevented. Thus, even if a switch is recommended, the switch is prevented due to the inability of the auxiliary components to take over the main drive.

[0082] In the main power plant subroutine 1688, an assessment is made as to whether the main battery, inverter, or power plant as a whole is running. In step 1690, it is determined whether the main battery, inverter, or power plant is running. If so, the system simply continues to monitor these components. If not, the system prepares for a switch, as a failure has been indicated.

[0083] Thus, summarizing the foregoing steps, the system is configured to exchange the roles of the power plants when one or more of the following conditions occur: a switch is recommended based on the weighted parameter data; a certain component temperature of the functioning main power plant exceeds a predetermined threshold; and a failure occurs in at least one of the battery supplying power to the functioning main power plant, the inverter of the functioning main power plant, or the motor of the functioning main power plant.

[0084] In some embodiments, the exchange or switch is performed by accelerating the speed of the functioning auxiliary motor to match or substantially match the speed of the functioning main motor, and then performing the exchange with respect to which pump drives the hydraulic driven vehicle components. This process is illustrated as the exchange routine 1675. As Figure 12As shown, in step 1682, the first motor speed 1678 is substantially equalized with the second motor speed 1680. That is, the speed of the second motor is generally accelerated to be substantially the same as the speed of the first motor. Once the speeds are within a predetermined error range, the process proceeds to step 1685, where a switch is performed at step 1695 if there is a switch instruction and the motors are at substantially the same speed.

[0085] As noted above, in some embodiments, the weighting factors can be adjusted - in some cases automatically, in other cases manually through input by an operator or maintenance technician. Figure 13 is a flowchart showing a method of automatically adjusting the weighting of received parameter data based on other data received relating to vehicle operating conditions. As Figure 13 shown, in step 1700, the system controller receives data relating to vehicle operating conditions. These data can include the vehicle operating data 1130 and / or atmospheric data 1135 discussed above in connection with Figure 7 Once this data is collected, the system assesses in step 1705 whether the detected conditions meet a given threshold. If not, the weighting factors are left unchanged in step 1710. If so, one or more of the weighting factors is modified in step 1715.

[0086] Figure 14 is a flowchart showing a method of adjusting the weighting of received parameter data by an operator of the vehicle. (It will be appreciated that this step can also be performed by a technician, for example through the use of a dedicated tool and / or interface.) In step 1800, the controller can receive an operator input. In step 1805, it is determined whether it is necessary to modify the weighting factors based on the operator's input. For example, if temperature has been prioritized, and the operator's input is to prioritize temperature, there is no need to change the weighting factors. If the weighting factors do not need to be modified, they are left unchanged (step 1810). If modification is necessary, the weighting factors are changed in step 1815.

[0087] The embodiments discussed herein can utilize methods and systems in artificial intelligence to improve the efficiency and effectiveness of the disclosed systems. As used herein, "artificial intelligence" can include any known methods in machine learning and related fields. As an example, artificial intelligence can include systems and methods used in deep learning and machine vision.

[0088] While various embodiments have been described, this description is intended to be exemplary, rather than limiting, and many modifications are possible in light of the above description. Other combinations of features are possible. Any feature of the disclosed embodiments can be used in combination with any other feature or element from another embodiment, or used in combination with any other element or feature not expressly stated. It will thus be appreciated that any feature shown and / or discussed in the disclosure can be used in any suitable combination. Accordingly, the embodiments are not to be restricted based on the described embodiments. It is intended that the disclosure be construed as including all such modifications and alterations in the scope of the claims.

Claims

1. A mining vehicle, the mining vehicle comprising: First hydraulic power unit; Second hydraulic power unit; A hydraulically operated component, the hydraulically operated component being configured to be powered by at least one of the first hydraulic power unit and the second hydraulic power unit; System controller, the system controller being configured to: Based at least in part on a combination of weighted parameters, one of the first hydraulic power unit and the second hydraulic power unit is determined as the main hydraulic power unit, and the other of the first hydraulic power unit and the second hydraulic power unit is determined as the auxiliary hydraulic power unit. Determine the current hydraulic requirements of the hydraulically operated components; Based on a comparison between the determined current hydraulic demand of the hydraulically operated component and the maximum hydraulic capacity of the main hydraulic power unit, when the determined current hydraulic demand is less than or equal to the maximum hydraulic capacity of the main hydraulic power unit, only the main hydraulic power unit is operated to provide power to the hydraulically operated component; and when the determined current hydraulic demand is greater than the maximum hydraulic capacity of the main hydraulic power unit, both the main hydraulic power unit and the auxiliary hydraulic power unit are operated to provide power to the hydraulically operated component.

2. The mining vehicle according to claim 1, wherein the vehicle comprises: A first battery pack, configured to supply power to the first hydraulic power unit; And a second battery pack configured to supply power to the second hydraulic power unit, wherein at least one of the weighted parameters is the result of a comparison between the charge level of the first battery pack and the charge level of the second battery pack.

3. The mining vehicle according to claim 1 or 2, wherein the first hydraulic power unit includes a first inverter, wherein the second hydraulic power unit includes a second inverter, and wherein, At least one of the weighted parameters is the result of a comparison between the temperature of the first inverter and the temperature of the second inverter.

4. The mining vehicle according to any one of claims 1 to 3, wherein the first hydraulic power unit comprises a first pump motor, wherein the second hydraulic power unit comprises a second pump motor, and wherein, At least one of the weighted parameters is the result of a comparison between the temperature of the first pump motor and the temperature of the second pump motor.

5. The mining vehicle according to any one of claims 1 to 4, wherein at least one of the weighted parameters is the result of a comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

6. The mining vehicle according to claim 1, wherein the first hydraulic power unit comprises a first inverter, a first pump motor, and a first hydraulic pump, wherein the second hydraulic power unit comprises a second inverter, a second pump motor, and a second hydraulic pump, and wherein, The vehicle includes: a first battery pack configured to supply power to the first hydraulic power unit; and a second battery pack configured to supply power to the second hydraulic power unit.

7. The mining vehicle of claim 6, wherein the weighted parameters include at least two of the following: The result of comparing the charge level of the first battery pack with the charge level of the second battery pack; The result of comparing the temperature of the first inverter with the temperature of the second inverter; The result of comparing the temperature of the first pump motor with the temperature of the second pump motor; as well as The result of a comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

8. The mining vehicle according to any one of claims 1 to 7, wherein each of the weighted parameters is weighted by a weighting factor, wherein the weighting factor is configured to apply a bias to identifying one of the first hydraulic power unit and the second hydraulic power unit as the main hydraulic power unit and the other of the first hydraulic power unit and the second hydraulic power unit as the auxiliary hydraulic power unit.

9. The mining vehicle according to any one of claims 1 to 8, wherein when only the main hydraulic power unit is operated to provide power to the hydraulically operated components, the system controller is configured to operate the main hydraulic power unit to meet the determined current hydraulic demand of the hydraulically operated components.

10. The mining vehicle according to any one of claims 1 to 9, wherein when operating both the main hydraulic power unit and the auxiliary hydraulic power unit to provide power to the hydraulically operated components, the system controller is configured to operate the main hydraulic power unit at the maximum hydraulic capacity of the main hydraulic power unit, and to operate the auxiliary hydraulic power unit to meet the difference between the determined currently required hydraulic demand of the hydraulically operated components and the maximum hydraulic capacity of the main hydraulic power unit.

11. A method in a system controller of a mining vehicle, the mining vehicle including a first hydraulic power unit, a second hydraulic power unit, and hydraulically operated components, the hydraulically operated components being configured to be powered by at least one of the first hydraulic power unit and the second hydraulic power unit, the method comprising: Based at least in part on a combination of weighted parameters, one of the first hydraulic power unit and the second hydraulic power unit is determined as the main hydraulic power unit, and the other of the first hydraulic power unit and the second hydraulic power unit is determined as the auxiliary hydraulic power unit. Determine the current hydraulic requirements of the hydraulically operated components; Based on a comparison between the determined current hydraulic demand of the hydraulically operated component and the maximum hydraulic capacity of the main hydraulic power unit, when the determined current hydraulic demand is less than or equal to the maximum hydraulic capacity of the main hydraulic power unit, only the main hydraulic power unit is operated to provide power to the hydraulically operated component; and when the determined current hydraulic demand is greater than the maximum hydraulic capacity of the main hydraulic power unit, both the main hydraulic power unit and the auxiliary hydraulic power unit are operated to provide power to the hydraulically operated component.

12. The method of claim 11, wherein the vehicle comprises: A first battery pack configured to supply power to the first hydraulic power unit, and a second battery pack configured to supply power to the second hydraulic power unit, wherein at least one of the weighted parameters is the result of a comparison between the charge level of the first battery pack and the charge level of the second battery pack.

13. The method according to claim 11 or 12, wherein the first hydraulic power unit comprises a first inverter, wherein the second hydraulic power unit comprises a second inverter, and wherein, At least one of the weighted parameters is the result of a comparison between the temperature of the first inverter and the temperature of the second inverter.

14. The method according to any one of claims 11 to 13, wherein the first hydraulic power unit comprises a first pump motor, wherein the second hydraulic power unit comprises a second pump motor, and wherein, At least one of the weighted parameters is the result of a comparison between the temperature of the first pump motor and the temperature of the second pump motor.

15. The method according to any one of claims 11 to 14, wherein at least one of the weighted parameters is the result of a comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

16. The method of claim 11, wherein the first hydraulic power unit comprises a first inverter, a first pump motor, and a first hydraulic pump, wherein the second hydraulic power unit comprises a second inverter, a second pump motor, and a second hydraulic pump, and wherein the vehicle comprises: A first battery pack, configured to supply power to the first hydraulic power unit; And a second battery pack, configured to supply power to the second hydraulic power unit.

17. The method of claim 16, wherein the weighted parameters include at least two of the following: The result of comparing the charge level of the first battery pack with the charge level of the second battery pack; The result of comparing the temperature of the first inverter with the temperature of the second inverter; The result of comparing the temperature of the first pump motor with the temperature of the second pump motor; as well as The result of a comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

18. The method according to any one of claims 11 to 17, wherein each of the weighted parameters is weighted by a weighting factor, wherein the weighting factor is configured to impose a bias on determining one of the first hydraulic power unit and the second hydraulic power unit as the main hydraulic power unit and determining the other of the first hydraulic power unit and the second hydraulic power unit as the auxiliary hydraulic power unit.

19. The method according to any one of claims 11 to 18, further comprising: When only the main hydraulic power unit is operated to provide power to the hydraulically operated components, the main hydraulic power unit is operated to meet the determined current hydraulic requirements of the hydraulically operated components.

20. The method according to any one of claims 11 to 19, further comprising: When both the main hydraulic power unit and the auxiliary hydraulic power unit are operated to provide power to the hydraulically operated components, the main hydraulic power unit is operated at its maximum hydraulic capacity, and the auxiliary hydraulic power unit is operated to meet the difference between the determined current hydraulic demand of the hydraulically operated components and the maximum hydraulic capacity of the main hydraulic power unit.

21. A redundant dual-pump hydraulic system for a vehicle, comprising: A first hydraulic power unit, comprising a first hydraulic pump, a first inverter, and a first electric motor; The second hydraulic power unit includes a second hydraulic pump, a second inverter, and a second electric motor. A hydraulically operated vehicle component, which is selectively driven by the first hydraulic power unit and the second hydraulic power unit; A system controller, comprising a device processor and a non-transitory computer-readable medium, the non-transitory computer-readable medium including instructions executable by the processor to perform the following functions: Receive data regarding the first vehicle parameters and the second vehicle parameters; as well as Based on the received data about two or more vehicle parameters, select which hydraulic power unit drives the hydraulically operated vehicle component; The received data is weighted for each of the first vehicle parameter and the second vehicle parameter such that, when determining which hydraulic power unit will drive the hydraulically operated vehicle component, one vehicle parameter takes precedence over the other.

22. The system of claim 21, wherein the first vehicle parameter is a comparison between the charge level of a first battery associated with the first hydraulic power unit and the charge level of a second battery associated with the second hydraulic power unit.

23. The system of claim 22, wherein the second vehicle parameter is selected from the group consisting of: A comparison of the temperature of the first motor and the temperature of the second motor; A comparison between the temperatures of the first inverter and the second inverter; and A comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

24. The system of claim 21, wherein one or more of the weighting factors are adaptive based on one or more detected parameters.

25. The system of claim 21, wherein one or more of the weighting factors are adjustable by the operator of the vehicle.

26. The system of claim 21, wherein one or more of the weighting factors are adjustable by a maintenance technician.

27. The system of claim 21, wherein the selection process determines which hydraulic power unit should be the primary power unit and which hydraulic power unit should be the auxiliary power unit.

28. The system of claim 27, wherein the system is configured to switch the role of the power unit in one or more of the following situations: Exchanges are recommended based on weighted parameter data; The temperature of a component of the active power unit exceeds a predetermined threshold. as well as The battery supplying power to the active power unit is faulty.

29. The system of claim 28, wherein the exchange is performed by accelerating the speed of the auxiliary motor in operation to match or substantially match the speed of the main motor in operation, and then performing the exchange with respect to which pump drives the hydraulically driven vehicle component.

30. The system of claim 21, wherein a stringent temperature monitoring subroutine is executed, in which the temperatures of components of the first hydraulic power unit and components of the second hydraulic power unit are evaluated; and If the temperature of any of these components exceeds a predetermined threshold temperature, the system is prevented from operating the hydraulic power unit to drive the hydraulically operated component if the temperature exceeds the threshold.

31. A method of operating a redundant dual-pump hydraulic system for a vehicle, comprising: The system controller includes a device processor and a non-transitory computer-readable medium, the non-transitory computer-readable medium including instructions executable by the processor to perform the following functions: Receive data regarding the first vehicle parameters and the second vehicle parameters; as well as Selectively operate a first hydraulic power unit and a second hydraulic power unit to drive hydraulically operated vehicle components, wherein the first hydraulic power unit includes a first hydraulic pump, a first inverter and a first electric motor, and the second hydraulic power unit includes a second hydraulic pump, a second inverter and a second electric motor. The selection of which hydraulic power unit drives the hydraulically operated vehicle component is based on received data about two or more vehicle parameters; and The data is weighted for each of the first and second vehicle parameters, such that when determining which hydraulic power unit will drive the hydraulically operated vehicle component, one vehicle parameter takes precedence over the other.

32. The method of claim 31, wherein the first vehicle parameter is a comparison between the charge level of a first battery associated with the first hydraulic power unit and the charge level of a second battery associated with the second hydraulic power unit.

33. The method of claim 32, wherein the second vehicle parameter is selected from the group consisting of: A comparison of the temperature of the first motor and the temperature of the second motor; A comparison between the temperatures of the first inverter and the second inverter; and A comparison between the amount of available power of the first hydraulic power unit and the amount of available power of the second hydraulic power unit.

34. The method of claim 31, wherein one or more of the weighting factors are adaptive based on one or more detected parameters.

35. The method of claim 31, wherein one or more of the weighting factors can be adjusted by the operator of the vehicle.

36. The method of claim 31, wherein one or more of the weighting factors can be adjusted by a maintenance technician.

37. The method of claim 31, wherein the selection process includes determining which hydraulic power unit operates as the main power unit and which hydraulic power unit operates as the power unit.

38. The method of claim 37, further comprising: The role of the power unit shall be switched when one or more of the following conditions occur: Exchanges are recommended based on weighted parameter data; The temperature of a component of the active power unit exceeds a predetermined threshold. as well as The battery supplying power to the active power unit is faulty.

39. The method of claim 38, wherein the exchange is performed by accelerating the speed of the auxiliary motor in operation to match or substantially match the speed of the main motor in operation, and then performing the exchange with respect to which pump drives the hydraulically driven vehicle component.

40. The method of claim 31, further comprising: A stringent temperature monitoring subroutine is executed, in which the temperature of the components of the first hydraulic power unit and the components of the second hydraulic power unit is evaluated; and If the temperature of any of the components exceeds a predetermined threshold temperature, the system is prevented from operating the hydraulic power unit that has exceeded the threshold temperature to drive the hydraulically operated component.

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