Sensor system and method for mining vehicles

Abstract

An exemplary embodiment provides a sensor system in a mining vehicle, the sensor system comprising: at least one sensor configured to scan a perimeter of the mining vehicle; at least one computing device configured to execute a plurality of applications; and a managed switch connected to the at least one sensor and the at least one computing device, the managed switch connected to the at least one computing device via a first port of the managed switch configured to transfer data for a first application of the plurality of applications and via at least one second port configured to transfer data for a second application of the at least one of the plurality of applications, the managed switch configured to transmit ambient measurement data from the at least one sensor to the first port and to transmit a copy of the measurement data to the at least one second port.

Description

[Technical Field]

[0001] The present application relates generally to mining vehicles. In particular, some example embodiments of the present application relate to a sensor system for a mining vehicle configured to provide measurement data from at least one sensor to multiple applications via a managed switch. [Background technology]

[0002] A mining vehicle can have multiple applications that use sensors for different tasks, and each application can receive data from a separate sensor configured based on the requirements of the application. Summary of the Invention

[0003] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0004] An exemplary embodiment may enable data received from one or more sensors configured to scan the perimeter of a mining vehicle to be transmitted to multiple applications. At least one computing device configured to execute the multiple applications and the one or more sensors are connected via a managed switch. When multiple applications receive data from the one or more sensors via the managed switch, monitoring the perimeter of the mining vehicle may be implemented more cost-effectively. Thus, applications may be executed as separated processes, during which delays for receiving data may be minimized between different applications.

[0005] According to a first aspect, a sensor system is provided within a mining vehicle, the sensor system comprising: at least one sensor configured to scan a perimeter of the mining vehicle, at least one computing device configured to execute a plurality of applications, and a managed switch connected to the at least one sensor and the at least one computing device via a first port configured to transfer data for a first application of the plurality of applications and via at least one second port configured to transfer data for a second application of the at least one of the plurality of applications, the managed switch configured to transmit ambient measurement data from the at least one sensor to the first port and to transmit a copy of the measurement data to the at least one second port.

[0006] In one embodiment, the at least one sensor comprises a light detection and ranging sensor.

[0007] In one embodiment, additionally or alternatively, the at least one sensor comprises a radio detection and ranging sensor.

[0008] In one embodiment, additionally or alternatively, the at least one sensor comprises a time-of-flight camera.

[0009] In one embodiment, additionally or alternatively, the plurality of applications includes at least one vehicle safety application.

[0010] In one embodiment, additionally or alternatively, the at least one sensor is configured to provide measurement data based on parameter settings of a vehicle safety application.

[0011] In one embodiment, additionally or alternatively, the plurality of applications includes an application configured for at least one of collision avoidance, access detection to a working area of ​​a boom of the mining vehicle, obstacle detection, localization or mapping.

[0012] In one embodiment, additionally or alternatively, the at least one sensor is configured to scan the perimeter below the attachment point of the boom of the mining vehicle.

[0013] According to a second aspect there is provided a mining vehicle comprising a sensor system according to the first aspect, wherein at least one sensor is mounted on a front side of a carrier of the mining vehicle in a direction of travel of the mining vehicle.

[0014] In one embodiment, the front face of the carrier comprises at least one mounting slot configured to form a recess, and the at least one sensor is mounted within the recess, the recess having an inclined surface to enable the at least one sensor to scan at least an area in the direction of travel of the mining vehicle.

[0015] In one embodiment, additionally or alternatively, at least one mounting slot is located on at least one side of the front of the carrier, and the mounting slot has an inclined surface extending to at least one side of the mining vehicle so that the at least one sensor can scan the area in which the at least one side of the mining vehicle is located.

[0016] In one embodiment, additionally or alternatively, the mining vehicle comprises at least one boom and the at least one sensor is mounted on a carrier below an attachment point of the boom.

[0017] In one embodiment, additionally or alternatively, at least one sensor is mounted on the bumper of the mining vehicle.

[0018] According to a third aspect, there is provided a method for distributing measurement data around a mining vehicle, the method comprising: configuring a first port of a managed switch for a first application of a plurality of applications stored on at least one computing device, configuring at least one second port for at least one second application of the plurality of applications stored on the at least one computing device, transmitting, by the managed switch, measurement data received from at least one sensor configured to scan a perimeter of the mining vehicle to the first port, and transmitting, by the managed switch, a copy of the measurement data to the at least one second port.

[0019] According to a fourth aspect, there is provided a computer program comprising instructions which, when executed by a computer, cause the computer to carry out a method according to the third aspect.

[0020] Many of the attendant features will be more readily appreciated as the same becomes better understood by reference to the following detailed description considered in connection with the accompanying drawings.

[0021] The accompanying drawings, which are included to provide a further understanding of the exemplary embodiments and are incorporated into and constitute a part of this specification, illustrate exemplary embodiments and, together with the description, serve to explain the principles of the exemplary embodiments. [Brief explanation of the drawings]

[0022] [Figure 1] 1 illustrates an example of a sensor system in a mining vehicle, according to an illustrative embodiment. [Figure 2] 1 illustrates a partial view of a mining vehicle with multiple booms and an exemplary arrangement of sensors within the mining vehicle, according to an exemplary embodiment; [Figure 3] 1 illustrates a partial view of a mining vehicle and an exemplary arrangement of sensors within the mining vehicle as viewed from the side of the mining vehicle, according to an exemplary embodiment. [Figure 4]1 illustrates an example of a partial view of a mining vehicle and an example of an arrangement of sensors within the mining vehicle, according to an illustrative embodiment. [Figure 5] 1 illustrates an example of the field of view of a sensor mounted in a mounting slot in the lower front corner of a mining vehicle, according to an illustrative embodiment. [Figure 6] 1 illustrates an example of a method for distributing measurement data around a mining vehicle, according to an illustrative embodiment.

[0023] Like reference numerals are used to denote like parts in the accompanying drawings. DETAILED DESCRIPTION OF THE INVENTION

[0024] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below in connection with the accompanying drawings is intended as an explanation of the examples and is not intended to represent the only manner in which the examples may be constructed or utilized. The description sets forth functions of the examples and possible sequences of acts for constructing and operating the examples. However, the same or equivalent functions and sequences may be accomplished by different examples.

[0025] A single mining vehicle may have multiple subsystems that use data from different sensors, which may include, for example, different applications for monitoring the mining vehicle's surroundings.

[0026] If every application has a dedicated sensor, the bill of materials for the mining vehicle may be large, making the mining vehicle expensive to manufacture. The bill of materials may include inventory of raw materials, subassemblies, intermediate assemblies, subcomponents, parts, and the quantities of each required to manufacture the mining vehicle, each associated with a price for each. Furthermore, sensors may be provided in different locations, and the locations may be limited within the mining vehicle. It may be difficult to find sensor locations that fit all the purposes required by multiple applications.

[0027] In an exemplary embodiment, the managed switch may be connected to at least one sensor. Further, the at least one computing device may be configured to execute a plurality of applications. The at least one sensor may be configured by the at least one computing device based on parameter settings of a first application of the plurality of applications. The at least one sensor may be configured to transmit measurement data for the first application via the managed switch. The managed switch may be further configured to transmit a copy of the measurement data to the at least one computing device for a second application of the at least one of the plurality of applications. Thus, other applications may be configured to intercept data transmitted from the at least one sensor for the first application.

[0028] Because measurement data from the same sensor is received by multiple applications, the bill of materials for the mining vehicle can be reduced. Furthermore, the complexity of the equipment required for the functioning of multiple applications, including the number of sensors, current feeds, and wiring required, can be reduced. Thus, simplification of the services provided by multiple applications and a reduction in the number of failure points in the required installation can be achieved.

[0029] In an exemplary embodiment, the at least one sensor may be positioned on a front side of the carrier of the mining vehicle in the direction of travel of the mining vehicle. For example, the at least one sensor may be positioned on at least one corner of the carrier of the mining vehicle. The at least one corner of the carrier of the mining vehicle may comprise, for example, a lower corner of the mining vehicle. A corner may include an area on the carrier located at or near a corner of the carrier, such as, for example, a side edge or a side corner of the carrier. A lower corner or corner may refer to a corner located closer to the bottom of the carrier than the roof of the carrier. A lower front corner may comprise, for example, a corner of the carrier located below the boom of the mining vehicle. The carrier may comprise equipment for moving the mining vehicle, such as, for example, a motor and wheels. The location of the lower front corner may enable the at least one sensor to scan a perimeter in an area suitable for providing measurement data for a plurality of different applications. For example, at least one sensor located on the lower front corner may allow the sensor to be configured to scan the surroundings in an area including an area ahead of the mining vehicle in the direction of travel of the mining vehicle for collision avoidance and an area covering both sides of and ahead of the mining vehicle for access detection. The different applications may include one or more vehicle safety applications, such as an application for collision avoidance or access detection in a working area of ​​at least one boom of the mining vehicle. The vehicle safety application may also be referred to as a safety function-related application. Access detection may include detecting the intrusion of an object or person into the working area of ​​the boom. The multiple applications may further include one or more vehicle non-safety critical applications, such as a simultaneous localization and mapping system used in autonomous path planning preparation or an application for non-critical obstacle detection. The vehicle non-safety critical application may also be referred to as a non-safety function-related application.

[0030] 1 illustrates an example of a sensor system 100 in a mining vehicle. In one embodiment, the sensor system 100 may include a mining vehicle. The mining vehicle may be, for example, a rock drilling rig, a bolting rig, or a loader.

[0031] The sensor system 100 may include at least one sensor 102 configured to scan the perimeter of the mining vehicle. The mining vehicle may be a mobile mining vehicle, and the at least one sensor 102 may be configured to scan the perimeter along the path of the mining vehicle. In one embodiment, the at least one sensor 102 may include a light detection and ranging (lidar) sensor. The lidar sensor may be configured to determine range by targeting an object with a laser and measuring the time it takes for the reflected light to return to a receiver of the lidar sensor. In one embodiment, the at least one sensor 102 may include a radio detection and ranging (radar) sensor. The radar sensor may be configured to transmit electromagnetic energy toward an object and observe the echo returned from the object. In one embodiment, the at least one sensor 102 may include a time-of-flight (ToF) camera. The ToF camera may be configured to determine the distance between the camera and an object by measuring the round-trip time of an artificial light signal provided by a laser or light-emitting diode (LED).

[0032] The sensor system 100 may include at least one computing device 106. The at least one computing device 106 may be configured to execute multiple applications. The multiple applications may be executed by the at least one computing device 106 as isolated processes. Process isolation is a set of different hardware and software techniques designed to protect each process from other processes on the operating system. Thus, the at least one computing device 106 may be configured so that different applications function independently of each other. In one embodiment, at least some of the multiple applications may be stored and executed on the same computing device 106. In one embodiment, the sensor system 100 may include multiple computing devices 106, and at least some of the multiple applications may be stored and executed on different computing devices 106, such as a first computing device and a second computing device.

[0033] In one embodiment, the plurality of applications includes at least one vehicle safety application. Generally, the vehicle safety application may be configured to avoid personal injury, personal death, property damage, financial loss, damage to the natural environment, or destructive overall impacts. The vehicle safety application may be designed to ensure the safe use of a hazardous system, such as a mobile mining vehicle. The vehicle safety application may include, for example, at least one of a collision avoidance application or an access detection application.

[0034] An application for collision avoidance may also be referred to as forward collision warning or collision mitigation. A collision avoidance application may be designed to prevent or reduce the severity of a collision. For example, a collision avoidance application may be configured to monitor the speed of the mining vehicle, the speed of objects in front of the mining vehicle, and the distance between the mining vehicle and object(s) in the path of the mining vehicle. The object(s) may be detected within the field of view of a sensor configured to scan the perimeter of the mining vehicle. Data received from the sensor may then be processed by the application. The controller may then be configured to send a signal to a control system of the mining vehicle to avoid the obstacle or to intervene in a wired manner to avoid the obstacle. A collision avoidance application may be configured, for example, to intervene when the obstacle detection application and the mining vehicle's proactive planning system are unable to avoid a detected obstacle or collision risk.

[0035] The access detection application may be configured to monitor objects, such as people, located within the area of ​​one or more booms of a mining vehicle. Access detection may be used, for example, to detect objects when the mining vehicle is stationary but performing an operation. Thus, a working area may be monitored, for example, so that the boom of the mining vehicle may be safely operated. The working area may include, for example, the area within the reach of the boom, such as below, behind, and next to the boom.

[0036] The plurality of applications may further include one or more vehicle non-safety-critical applications. The vehicle non-safety-critical applications may be configured to increase the safety of the mining vehicle or enable automated functions such as autonomous driving. Although the vehicle non-safety-critical applications may be configured to contribute to a safety layer by proactively reducing the risk of entering a dangerous situation, the vehicle non-safety-critical applications may not be considered safety-critical intervention systems that react to imminent danger. Thus, the vehicle non-safety-critical applications may be considered non-safety-critical functions. The vehicle non-safety-critical applications may include, for example, at least one of a simultaneous localization and mapping (SLAM) application or an obstacle detection application.

[0037] Obstacle detection applications can be used, for example, in preparation for autonomous path planning. Thus, obstacle detection may be used for non-critical tasks such as mapping the surroundings of a mining vehicle to enable the mining vehicle to drive autonomously or semi-autonomously.

[0038] A simultaneous localization and mapping application may be configured to track the location of a mining vehicle within an unknown environment while simultaneously building or updating a map of the environment. The map may be constructed by the application using several algorithms based on concepts from computational geometry and computer vision, such as particle filters, extended Kalman filters, or covariance intersection.

[0039] The sensor system 100 may further include a switch, such as a managed switch 104. The managed switch may be a configurable switch device. The managed switch 104 may include multiple ports. Each port may be configured, for example, to enable traffic monitoring and control by the managed switch. The at least one sensor 102 and the at least one computing device 106 may be connected to the managed switch 104 via multiple ports, for example. Thus, the at least one computing device 106 may be configured to receive data from the at least one sensor 102 via the managed switch 104. The ports may be configured for a particular application among multiple applications.

[0040] The managed switch 104 may be configured for port mirroring. Generally, port mirroring may be used on a network switch to send a copy of a network packet seen on a designated port (source port) to another designated port (destination port). A network switch is configured to forward data packets between devices. The managed switch 104 is an example of a network switch. Port mirroring may allow data packets sent to one particular port to be monitored and / or analyzed by applications associated with other designated ports. The managed switch 104 may have multiple (destination) ports connected to the same computing device 106, where the ports are configured to forward data packets for separate applications running on the same computing device 106. Alternatively, the managed switch 104 may have multiple (destination) ports connected to multiple computing devices 106, where the ports are configured for different applications running on the multiple computing devices 106. The managed switch 104 may include at least a first port configured to forward data packets to a first application of the plurality of applications and at least a second port configured to forward data packets to at least one second application of the plurality of applications. The data packets may include measurement data from at least one sensor 102. Instead of a managed switch, the sensor system 100 may include another type of switch, such as an unmanaged switch. The unmanaged switch may be pre-configured for port mirroring as described above.

[0041] The first application may include specific parameter settings for scanning the surroundings. The at least one computing device 106 may be configured to configure the at least one sensor 102 based on the parameter settings of the first application. The first application may include a vehicle safety application. The first application may include, for example, a collision avoidance application. Configuring the at least one sensor 102 based on the parameter settings of the first application may allow the configuration of the at least one sensor 102 to be prevented from being mixed with different settings of multiple applications. For example, a specific setting for the at least one sensor 102 may be required for safety reasons, such as for accurate functioning of the vehicle safety application. The parameter settings may include, for example, at least one of an angular resolution of the at least one sensor 102, a range resolution of the at least one sensor 102, a measurement speed of the at least one sensor 102, a range of the at least one sensor 102, a field of view of the at least one sensor 102, or a measurement mode of the at least one sensor 102.

[0042] In one embodiment, the managed switch 104 can be configured to forward measurement data received from at least one sensor 102 to a first port configured for a first application. The managed switch 104 can be further configured to send a copy of the measurement data to a port(s) configured for at least one second application of the plurality of applications. In one embodiment, the managed switch 104 can be configured to use User Datagram Protocol (UDP) to send the copy of the measurement data. UDP is a message-oriented transport layer protocol suitable for time-sensitive applications. UDP allows applications to avoid waiting for packets delayed by retransmission, since waiting for packets is not an option in real-time systems such as safety applications. Alternatively, the managed switch 104 can be configured to use any technique that supports multicasting. Multicasting refers to group communication in which a data transmission is simultaneously addressed to a group of destination devices. For example, the managed switch 104 can be configured to broadcast the measurement data. Broadcasting is a method of simultaneously addressing and forwarding a message to all available devices in a network.

[0043] At least one computing device 106 may include at least one processor 108. The at least one processor 108 may include one or more of a variety of other processing devices including, for example, a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), processing circuitry with or without an associated DSP, or integrated circuits such as, for example, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a microcontroller unit (MCU), a neural processing unit (NPU), a hardware accelerator, a dedicated computer chip, or the like.

[0044] At least one computing device 106 may further comprise at least one processor 110. The memory 110 may be configured to store, for example, computer program code 112, such as, for example, operating system software and one or more application software. The memory 110 may include one or more volatile memory devices, one or more non-volatile memory devices, and / or a combination thereof. For example, the memory may be embodied as a magnetic storage device (e.g., a hard disk drive, magnetic tape, etc.), a magneto-optical storage device, or a semiconductor memory (e.g., a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, a random access memory (RAM), etc.).

[0045] The computing device 106 may further comprise a communication interface configured to enable the computing device 106 to transmit information to and / or receive information from other devices. The device may comprise at least one sensor 102 configured to scan the surroundings of the mining vehicle, such as, for example, one or more lidar sensors. The device may further comprise a management switch 104. The communication interface may be configured to provide at least one wireless radio connection, such as, for example, a 3GPP mobile broadband connection (e.g., 3G, 4G, 5G). However, the communication interface may also be configured to provide one or more other types of connection, for example, a wireless local area network (WLAN) connection, such as those standardized by the IEEE 802.11 series or the Wi-Fi Alliance; a short-range wireless network connection, such as, for example, a Bluetooth, NFC (near field communication), or RFID connection; a wired connection, such as, for example, a local area network (LAN) connection, a universal serial bus (USB) connection, or an optical network connection; or a wired internet connection. The communication interface may comprise at least one antenna for transmitting and / or receiving radio frequency signals or may be configured to be coupled to at least one antenna. One or more of the various types of connections may also be implemented as a separate communication interface that may be coupled to or configured to be coupled to multiple antennas.

[0046] At least one computing device 106 may comprise a user interface. The user interface may comprise at least one of an input device or an output device. The input device may take various forms, such as a keyboard, a touch screen, or one or more embedded control buttons. The output device may comprise, for example, a display, a tactile device, and / or a speaker. The at least one computing device 106 may be configured to output data regarding the surroundings of the mining vehicle to an operator via the output device. The data may be provided as at least one of a visual signal, tactile feedback, or an audible signal. Alternatively or additionally, the computing device 106 may be configured to output data to an autonomous driving system of the mining vehicle. The data regarding the surroundings of the mining vehicle may include safety-related data, such as information regarding obstacles and / or instructions for avoiding the obstacles.

[0047] The computing devices 106 may include, for example, server devices, client devices, mobile phones, tablet computers, laptops, etc. In one embodiment, the computing devices 106 may comprise a control unit of a mining vehicle, such as a control unit of an autonomous driving system. Although the at least one computing device 106 is shown as a single device, it will be understood that the functionality of the at least one computing device 106 may be distributed across multiple devices, where applicable.

[0048] When at least one computing device 106 is configured to implement a function, one or more components of the computing device 106, such as, for example, at least one processor 108 and / or memory 110, may be configured to implement the function. Further, when at least one processor 108 is configured to implement a function, the function may be implemented using, for example, program code 112 included in memory 110. Implementing the function may include, for example, executing at least one of a plurality of applications. Additionally or alternatively, implementing the function may include configuring one or more ports of the managed switch 104. Additionally or alternatively, implementing the function may include configuring at least one sensor 102.

[0049] The functionality described herein may be performed, at least in part, by one or more computer program product components, such as software components. According to one embodiment, the computing device 106 includes a processor 108 or processor circuitry, such as a microcontroller, that is configured by program code 112 when executed to perform embodiments of the described operations and functions. Alternatively, or additionally, the functionality described herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing units (NPUs), and tensor processing units (TPUs).

[0050] The computing device 106 comprises means for performing at least one of the methods described herein. In one example, the means comprises at least one processor 108 and at least one memory 110 containing instructions that, when executed by the at least one processor 108, cause the computing device 106 to perform the method.

[0051] 2 illustrates a partial view of a mining vehicle with multiple booms and an exemplary arrangement of sensors within the mining vehicle, which may be, for example, at least one sensor 102 of sensor system 100, according to an exemplary embodiment.

[0052] A mining vehicle can have one or more structural members that at least partially block the field of view of a sensor configured to scan the periphery of the mining vehicle. The structural members of the mining vehicle may include, for example, a boom, a bucket, a carrier, etc. For example, the mining vehicle may be a drilling rig. The mining vehicle may include one or more booms attached to the mining vehicle's carrier. If a sensor is installed on a boom, the sensor is exposed to harsh conditions and vibrations. Also, placing the sensor on the boom causes the sensor to move with the boom. Movement of the sensor with the boom can cause calibration and accuracy issues because the sensor is not stationary relative to the drilling rig. Furthermore, if a sensor is placed on top of the mining vehicle's carrier, at least in some cases, the field of view may be blocked by one or more booms, preventing the sensor from monitoring the area below the boom. While a boom is used as an example, other structural members may also limit the field of view, and the exemplary solutions described herein are also applicable in such cases.

[0053] The sensor 102 may be mounted, for example, on the front of the carrier in the direction of forward movement of the mining vehicle. In one embodiment, the sensor 102 may be mounted on the carrier of the mining vehicle 202 below the boom 204. The sensor 102 may be provided, for example, below an attachment point where at least one boom is attached to the carrier. For example, the sensor 102 may be mounted on the bumper 206 of the mining vehicle 202. In one embodiment, the sensor 102 may be provided, for example, on at least one lower front corner of the mining vehicle 202. In one embodiment, the sensor 102 may be provided on both lower front corners of the mining vehicle 202. The lower front corners may comprise the bumper 206 of the mining vehicle 202. The sensor 102 may be provided, for example, on at least one side of the bumper 206. The lower front corners may comprise a section at the front of the carrier. The lower front corners may be located, for example, below at least one horizontal centerline at the front of the carrier or below an attachment point for at least one boom. FIG. 3 illustrates a partial view of a mining vehicle 202 and an exemplary arrangement of sensors 102 within the mining vehicle 202 from a side view of the mining vehicle 202, according to an exemplary embodiment.

[0054] The mining vehicle 202 may include a mounting slot 200 for the sensor 102. The mounting slot 200 may be provided, for example, in a bumper 206 of the mining vehicle. The mounting slot 200 may be formed to provide a recess configured to fit the sensor 102 within the recess. For example, the sensor 102 may be mounted within the recess such that it is completely within the contour of the bumper 206. Thus, the sensor 102 may be protected from impacts, such as those caused by movement of the boom 204 or impact with a wall. The mounting slot 200 may be open toward the direction of travel of the mining vehicle 202. Thus, the sensor 102 may be configured to scan an area in front of the mining vehicle 202. The recess may further include an inclined surface to enable at least one sensor 102 to scan at least the area in front of the mining vehicle 202 while installed within the bumper or carrier.

[0055] The sloped surface may allow for an increased field of view for the sensor 102. The area in front of the mining vehicle 202 may include up to 180 degrees measured from side to side of the mining vehicle 202 (e.g., + / - 90 degrees relative to the direction of travel 500 of the mining vehicle 202 shown in FIG. 5). The area in front of the mining vehicle 202 may include the area below and behind the boom 204 in the scanning direction of the at least one sensor 102 toward the direction of travel of the mining vehicle. Thus, positioning the sensor 102 at a lower front corner, such as on the side of the bumper 206 of the mining vehicle, may allow the sensor 102 to detect obstacles or people behind, below, or in the middle of the boom 204 extending in the direction of travel of the mining vehicle 202.

[0056] The sloped surface may be configured to provide an unobstructed view to at least one side of the mining vehicle 202, in addition to the area in front of the mining vehicle 202. In one embodiment, the mounting slot 200 may be configured to provide the sensor 102 with a field of view of up to 270 degrees (e.g., from −90 degrees to 180 degrees relative to the direction of travel 500 of the mining vehicle 202, as shown in FIG. 5 ). Thus, the sensor 102 may be further configured to scan a side area of ​​the mining vehicle 202. The side area may be located adjacent to a corner of the bumper 206 on which the sensor 102 is mounted. The side area may include, for example, an area covering 90 degrees measured from a corner of the mining vehicle 202 relative to an axis 502 extending from the corner perpendicular to the direction of travel of the mining vehicle 202 to the side of the mining vehicle 202.

[0057] 4 shows an example of a partial view of a mining vehicle and an example of an arrangement of sensors within the mining vehicle, according to an illustrative embodiment. The multiple sensors may include sensors 102 of sensor system 100. In one embodiment, the multiple sensors may include sensors 102 installed at both front lower corners of a carrier of mining vehicle 202. Sensors 102 may be installed on both sides of bumper 206, for example. The multiple sensors may further include at least one sensor 102 installed in a central region of bumper 206. The central region of the bumper may be located between the sides of bumper 206.

[0058] In one embodiment, the mounting slots 200 may extend substantially along the entire length of the bumper 206 and provide recesses for multiple sensors. In addition to multiple sensors, the mounting slots 200 extending substantially the entire length of the bumper 206 may include, for example, headlights of the mining vehicle 202. The mounting slots 200 may also be configured for the mounting of other components of the mining vehicle 202 that may be susceptible to damage from an impact. Alternatively, the mining vehicle 202 may include a separate mounting slot 200 for each sensor 102 and / or headlight or other fragile component of the mining vehicle 202. The headlights and / or other fragile components may be recessed within the mounting slots 200 so that they may be protected from impact.

[0059] When the mining vehicle is traveling on a track, the boom may be in a straight position aligned with the attachment point in the direction of travel of the mining vehicle, or in an elevated position above the attachment point. If the boom includes a hose, the hose may be positioned to minimize dangling. The sensor 102 may be parameterized by the at least one computing device 106 to prevent the sensor 102 from responding to objects higher than a set threshold height. Alternatively, the applications may be configured to only consider measurement data including measurements obtained below the threshold height. The set threshold height may, for example, include a scan height corresponding to the height of the attachment point of at least one boom 204. Alternatively, the threshold height may be set to have any value lower than the height of the attachment point of the boom 204. Furthermore, the placement of the sensor 102 may enable the sensor 102 to detect objects below the boom 204 and in front of the mining vehicle 202. By positioning the at least one sensor 102 in a low position within the carrier, the at least one sensor 102 may be able to provide measurement data usable by multiple applications configured to monitor different areas around the mining vehicle or for different purposes. The low position may be a position located at the front of the carrier below the roof level of the carrier. The low position may be located, for example, below at least one boom or at a lower front corner, such as a bumper, of the mining vehicle.

[0060] For example, the measurement data may be applied by both collision avoidance and access detection applications when the sensor's 102 field of view is not obstructed by the boom 204. Additionally, obstacles that may affect the safety of the rail transport, such as people, may be located at ground level. The location of the sensor(s) 102 may also be suitable for providing measurement data to other applications, such as, for example, simultaneous localization and mapping applications and non-safety-critical obstacle detection applications. In one embodiment, the sensor(s) 102 located low on the carrier may be dedicated to one of one or more vehicle safety applications. The mining vehicle 202 may further be equipped with one or more additional sensors, such as a lidar, on top of the carrier for mapping or localization purposes.

[0061] By positioning at least one sensor 102 on a carrier below the boom, an application may not require complex algorithms to distinguish the boom from actual obstacles. For example, an obstacle detection application may be configured to consider everything an obstacle, making the application simpler. Thus, the application may be configured to ignore measurements higher than a set threshold height.

[0062] FIG. 5 shows an example of the field of view of a sensor 102 mounted in a mounting slot in a lower front corner of a mining vehicle 202, according to an exemplary embodiment. The sensor 102 may be positioned within the mining vehicle 202 within a recess provided by the respective mounting slot. The mounting slots may have a sloped surface so that the sensor 102 can have a field of view of 0 to 180 degrees in front of the mining vehicle 202 relative to an axis 502 extending from the front corner of the mining vehicle 202 perpendicular to the direction of travel of the mining vehicle 202. The field of view available to the sensor 102 by the mounting slot may also be measured relative to the direction of travel 500 of the mining vehicle 202, covering a field of view of -90 to 90 degrees. The sloped surface may be formed so that the field of view of the sensor 102 can extend further toward either side of the mining vehicle 202. For example, the field of view may extend 90 degrees relative to the axis 502 away from the direction of travel 500 of the mining vehicle 202. Therefore, the field of view of the sensor 102 mounted in the installation slot can cover from -90 degrees to 180 degrees relative to the traveling direction 500 of the mining vehicle 202. Also, because the sensor 102 is installed at the lower front corner of the carrier of the mining vehicle 102, the field of view of the sensor 102 cannot be obstructed by, for example, one or more booms of the mining vehicle 202.

[0063] 6 illustrates an example of a method 600 for distributing measurement data of the surroundings of a mining vehicle, according to an exemplary embodiment. Method 600 can be implemented by, for example, sensor system 100.

[0064] At 602, the method may include configuring a first port of the managed switch for a first application of a plurality of applications stored on at least one computing device. The at least one computing device may be further configured to run the first application.

[0065] At 604, the method may include configuring at least one second port for at least one second application of the plurality of applications stored on the at least one computing device. The at least one computing device may be further configured to execute the at least one second application.

[0066] At 606, the method may include transmitting, by the administrative switch, measurement data received from the at least one sensor configured to scan a perimeter of the mining vehicle to the first port.

[0067] At 608, the method may include transmitting, by the managed switch, a copy of the measurement data to at least one second port.

[0068] It is obvious to those skilled in the art that with the advancement of technology, the basic idea of ​​the claimed invention can be implemented in various ways. The claimed invention and its embodiments are not limited to the above examples but may vary within the scope of the claims.

[0069] Further features of the method result directly from the functions and parameters of the apparatus as described in the appended claims and throughout the specification, and therefore will not be repeated here. It should be noted that one or more operations of the method may be performed in a different order.

[0070] The apparatus may be configured to perform or cause the performance of any aspect of the method(s) described herein. Further, a computer program may include instructions that, when executed, cause the apparatus to perform any aspect of the method(s) described herein. Further, the apparatus may comprise means for performing any aspect of the method(s) described herein. According to an exemplary embodiment, the means comprises at least one processor and a memory containing program code, the one memory and the program code, when executed by the at least one processor, being configured to cause the performance of any aspect of the method(s).

[0071] Any range or device value given herein can be expanded or modified without losing the desired effect, and any embodiment can be combined with another embodiment unless otherwise specified.

[0072] Although the subject matter has been described in language specific to structural features and / or operations, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or operations described above. Rather, the specific features and operations described above are disclosed as example forms of implementing the claims, and other equivalent features and operations are intended to be within the scope of the claims.

[0073] It will be understood that the benefits and advantages described above may relate to one embodiment or to several embodiments. The embodiments are not limited to those that solve any or all of the described problems or that have any or all of the described benefits and advantages. It will be further understood that references to "an" item may refer to one or more of those items.

[0074] The actions of the methods described herein may be performed in any suitable order, or simultaneously where appropriate. Additionally, individual blocks may be deleted from any of the methods without departing from the scope of the subject matter described herein. Aspects of any of the embodiments described above may be combined with aspects of any of the other embodiments described above to form further embodiments without losing the desired effect.

[0075] The term "comprising" is used herein to mean including identified methods, blocks, or elements, but that such blocks or elements do not comprise an exclusive list and that a method or apparatus may include additional blocks or elements.

[0076] As used in this application, the term “circuitry” can refer to one or more or all of the following: (a) a hardware-only circuit implementation (such as an implementation with only analog and / or digital circuitry); and (b) (where applicable) (i) a combination of analog and / or digital hardware circuit(s) with software / firmware; and (ii) a combination of hardware circuit(s) and software, such as any portion of a hardware processor(s) having software (including digital signal processor(s)), software, and memory(s) that cooperate to cause a device such as a cell phone or server to perform various functions; and (c) a hardware circuit(s) and a processor(s), such as a microprocessor(s) or portion of a microprocessor(s) that requires software (e.g., firmware) to operate, although software may be absent if not required for operation. This definition of circuitry applies to all uses of the term in this application, including any claims.

[0077] As a further example, as used in this application, the term circuit also covers simply a hardware circuit or processor (or processors), or a portion of a hardware circuit or processor, and its accompanying software and / or firmware implementations. The term circuit also covers, for example, certain claim elements, where applicable, baseband or processor integrated circuits for mobile devices, or similar integrated circuits in servers, cellular network devices, or other computing or network devices.

[0078] It will be understood that the above description is given by way of example only, and that various modifications may be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a degree of particularity, or with reference to one or more individual embodiments, those skilled in the art may make many modifications to the disclosed embodiments without departing from the scope of this specification.

Claims

1. A sensor system for a mining vehicle, At least one sensor configured to scan around the mining vehicle and provide measurement data of the surroundings, A computing device configured to run multiple applications, A management switch configured for port mirroring, connected to the at least one sensor and the at least one computing device, wherein the management switch is connected to the at least one computing device via a first port of the management switch configured to transfer data for a first application among the plurality of applications, and via at least one second port configured to transfer data for at least one second application among the plurality of applications, A sensor system in which the management switch is configured to transmit ambient measurement data from the at least one sensor to the first port and to transmit a copy of the measurement data to the at least one second port using port mirroring.

2. The sensor system according to claim 1, wherein the at least one sensor comprises a light detection sensor and a distance measuring sensor.

3. The sensor system according to claim 1, wherein the at least one sensor comprises a wireless detection and distance measuring sensor.

4. The sensor system according to claim 1, wherein the at least one sensor comprises a time-of-flight camera.

5. The sensor system according to claim 1, wherein the plurality of applications include at least one vehicle safety application.

6. The sensor system according to claim 5, wherein the at least one sensor is configured to provide the measurement data based on the parameter settings of the vehicle safety application.

7. The sensor system according to claim 1, wherein the plurality of applications include an application configured for at least one of collision avoidance, access detection to the working area of ​​the boom of the mining vehicle, obstacle detection, localization, or mapping.

8. The sensor system according to claim 1, wherein the at least one sensor is configured to scan the surroundings below a threshold height configured based on the mounting point of the boom of the mining vehicle.

9. A mining vehicle comprising the sensor system according to any one of claims 1 to 8, wherein the at least one sensor is installed on the front of the carrier of the mining vehicle in the direction of travel of the mining vehicle.

10. The mining vehicle according to claim 9, wherein the front surface of the carrier comprises at least one mounting slot configured to form a recess, the at least one sensor mounted in the recess, and the recess has an inclined surface to allow the at least one sensor to scan at least a region in the direction of travel of the mining vehicle.

11. The mining vehicle according to claim 10, wherein the at least one mounting slot is located on at least one side of the front of the carrier, and the mounting slot has an inclined surface that extends to at least one side of the mining vehicle so that the at least one sensor can scan the area in which the at least one side of the mining vehicle is located.

12. The mining vehicle according to claim 9, wherein the mining vehicle comprises at least one boom, and the at least one sensor is installed on the front surface of the carrier below the mounting point of the boom.

13. The mining vehicle according to claim 9, wherein the at least one sensor is installed on the bumper of the mining vehicle.

14. A method for distributing measurement data about the surroundings of a mining vehicle using a management switch configured for port mirroring, Configuring the first port of the management switch for a first application among multiple applications stored on at least one computing device, To configure at least one second port for at least one second application among the plurality of applications stored in the at least one computing device, The management switch transmits measurement data received from at least one sensor configured to scan the surroundings of the mining vehicle to the first port. A method comprising sending a copy of the measurement data to the at least one second port using port mirroring via the management switch.

15. A computer program, when executed by a computer, that causes the computer to perform the method of claim 14.

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