A system for controlling multiple autonomous vehicles in a mining site

Abstract

To provide a method for wirelessly stopping autonomous travel machines including the ability to stop all vehicles and / or a selected vehicle.SOLUTION: A system for controlling a plurality of autonomous vehicles on a mine site comprises: a centralized platform configured to store an inventory list of vehicles traveling on the mine site and including a first communication interface configured to communicate missions to the vehicles; a first communication interface configured to wirelessly communicate with the centralized platform for receiving a predetermined mission; a plurality of autonomous vehicles including a trajectory control system configured to autonomously control the autonomous vehicle according to the predetermined mission; and a portable terminal including a second communication interface configured to wirelessly communicate with a second communication interface of the plurality of autonomous vehicles from the mine site.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a system for controlling multiple autonomous vehicles at a mining site. [Background technology]

[0002] An autonomously controlled vehicle used in a mining site, such as an autonomously controlled dump truck, can receive a mission from a centralized platform consisting of a predefined trajectory to move from a start location to an end location. The trajectory control system of the autonomous vehicle can identify the current location of the autonomous vehicle and control the autonomous vehicle along the predefined trajectory.

[0003] US Patent No. 5,399,633 discloses a method and system for tracking the position of objects in the vicinity of an autonomous vehicle in a mining site.

[0004] US Pat. No. 5,399,633 discloses a method and system for computerized safety tracking and proximity warning for personnel, plant and equipment. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent Application No. 2003 / 0102974 [Patent Document 2] US Patent Application No. 2017 / 0270761 Summary of the Invention [Problem to be solved by the invention]

[0006] Since personnel may be present at the mining site, measures may be required to protect personnel from the autonomous vehicle when they are in the autonomous operating area, especially in the event of malfunction or unintended operation of the autonomous vehicle.

[0007] Additionally, there may be a need for personnel to be able to safely approach the autonomous vehicle. In particular, means for ensuring safe access to and safe exit from the autonomous vehicle may be required. For example, if the autonomous vehicle has an autonomous mode in which a track control system autonomously controls the vehicle, and a manual mode in which the vehicle is controlled by a driver, the driver may need to approach and board the vehicle to transition from the autonomous mode to the manual mode. [Means for solving the problem]

[0008] In aspects of the present disclosure, a mechanism may be provided to wirelessly shut down the autonomous vehicle in the event of malfunction or unintended operation of the autonomous vehicle.

[0009] In an aspect of the present disclosure, a mobile terminal is provided for wirelessly stopping an autonomous vehicle, including the ability to stop all vehicles and / or selected vehicles.

[0010] The present disclosure includes the concept of a wireless remote device that can identify autonomous vehicles within a given radius.

[0011] This disclosure includes the concept of a wireless remote device with a user interface that allows a user to selectively ban autonomous vehicles (not a global ban of autonomous vehicles), which can support safe access / exit from specific autonomous vehicles use cases.

[0012] The present disclosure includes the concept of a two-stage detent button on a wireless terminal that is configured to allow the user to push through a local emergency stop before reaching a second detent position that is a global stop.

[0013] The present disclosure includes the concept of a local emergency stop that has a variable radius safety bubble around the user when pressed.

[0014] The present disclosure includes the concept of a constantly present safety bubble of variable radius around the user.

[0015] The present disclosure includes concepts for adding and removing mobile terminals without interrupting operation.

[0016] In a first embodiment, a system for controlling a plurality of autonomous vehicles within a mining site is provided, the system comprising: a centralized platform configured to store an inventory list of vehicles moving within the mining site and having a first communication interface configured to communicate missions to the vehicles; a plurality of autonomous vehicles having a first communication interface configured to wirelessly communicate with the centralized platform to receive a predetermined mission and a trajectory control system configured to autonomously control the autonomous vehicles according to the predetermined mission; and at least one mobile terminal having a second communication interface configured to wirelessly communicate from the mining site with a second communication interface of the plurality of vehicles.

[0017] In a second embodiment, a system for controlling a plurality of autonomous vehicles within a mining site is provided, the system comprising: a centralized platform configured to store an inventory list of vehicles moving within the mining site and to communicate missions to the vehicles; a plurality of autonomous vehicles having a transmitter configured to wirelessly communicate with the centralized platform to receive predetermined missions and a trajectory control system configured to autonomously control the autonomous vehicles according to the predetermined missions; and at least one mobile terminal having a transmitter configured to wirelessly communicate from the mining site with the centralized platform and at least one of the plurality of vehicles and a user interface for selecting at least one vehicle from among the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle.

[0018] In a third embodiment, a method for controlling a plurality of autonomous vehicles within a mining site is provided, the method comprising: storing in a centralized platform an inventory list of vehicles moving within the mining site; communicating a mission from the centralized platform to vehicles using a first communication interface of the centralized platform; receiving a mission from the centralized platform via the first communication interface using a first communication interface of the centralized platform and the autonomous vehicles; and operating the plurality of autonomous vehicles to autonomously control the autonomous vehicles according to the predetermined mission. The method further comprises operating at least one handheld device, the operation comprising communicating with a second communication interface of the plurality of vehicles from the mining site and / or selecting at least one vehicle of the plurality of autonomous vehicles on a user interface of a handheld device and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle.

[0019] The mobile terminal may be a handheld device.

[0020] In one embodiment, the system may further comprise a personnel location tag configured to continually block movement of all autonomous vehicles from a plurality of autonomous vehicles present within a predetermined distance from the personnel identification tag and / or configured to make its location visible to a centralized platform.

[0021] In this way, the operating safety of a system controlling multiple autonomous vehicles within a mining site can be improved. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a side view of an embodiment of an autonomous dump truck, which is an example of an autonomous vehicle of the present disclosure. [Diagram 2] FIG. 1 is a schematic diagram illustrating functional portions of one embodiment of a system for controlling multiple autonomous vehicles at a mining site of the present disclosure. [Diagram 3]FIG. 1 is a schematic diagram illustrating the functional portions of one embodiment of an autonomous vehicle of the present disclosure. [Figure 4] FIG. 1 is a schematic diagram showing an example of use at a mining site. [Diagram 5] FIG. 1 is a schematic diagram illustrating an embodiment of a mobile terminal. [Figure 6] FIG. 2 is a schematic diagram illustrating communication between a mobile terminal, a centralized platform, and an autonomous vehicle in one embodiment of the present disclosure. [Figure 7] 1 is a flow chart illustrating a method for inhibiting operation of one or more autonomous vehicles using a mobile terminal, according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] In the following, embodiments of a system for controlling a plurality of autonomous vehicles at a mining site, and embodiments of autonomous vehicles used at a mining site, are described with reference to the drawings.

[0024] 1 shows an example of an autonomous vehicle for use at a mining site. In an embodiment, the vehicle is a dump truck for transport purposes at the mining site. The dump truck can have a payload of 100 tons or more.

[0025] The dump truck 30 comprises a chassis 2 movable on wheels 1. The wheels 1 are driven by a drive unit 6 comprising at least one engine. The engine may be an internal combustion engine, for example a diesel engine. According to an embodiment, the drive unit 6 may be a diesel-electric drive unit. The wheels may be driven by an electric motor powered by a generator, which in turn is driven by the diesel engine.

[0026] The dump truck shown in Figure 1 comprises a dump body 3 attached to a chassis 2. The dump body is attached to the chassis with a horizontal pivot shaft and can be raised and rotated by a hoist cylinder 4 to slide material contained within the dump body out of the dump body to the rear of the dump truck.

[0027] The dump truck further comprises a cab 5 for a driver to enable manual operation of the dump truck. In particular, the dump truck can have an autonomous mode in which a track control system mounted on the truck autonomously controls the truck, and a manual mode in which the driver controls the vehicle.

[0028] In an embodiment, the cab 5 is located above the heat exchanger 9 and is provided on a platform 8 accessible via a staircase 7. In other embodiments, no cab may be provided.

[0029] The dump truck further comprises a vehicle controller for autonomously controlling the vehicle. The vehicle controller may in particular comprise a trajectory control system for autonomously controlling the truck in predefined missions.

[0030] 2 illustrates functional portions of one embodiment of a system for controlling multiple autonomous vehicles, such as dump trucks 30, within a mining site 70, the system including a centralized platform 10, such as a fleet / traffic management system, multiple autonomous vehicles 30, and at least one mobile terminal 40 or 50. The mobile terminal may be a handheld device 40 or a personnel location tag 50. Although FIG. 2 illustrates only two mobile terminals 40 and 50, the system may include multiple mobile terminals 40 and / or multiple mobile terminals 50.

[0031] The converged platform 10 may comprise at least one microprocessor and software stored on a non-transitory memory and software executing on the microprocessor to implement the functionality and subsystems of the converged platform 10 described herein. The various subsystems of the converged platform 10 may be implemented by software and / or hardware components of the converged platform 10. The converged platform 10 may further comprise input and / or output devices to enable monitoring and / or control of the converged platform 10 by personnel.

[0032] The centralized platform 10 may include a mission controller 14 configured to determine and communicate a mission to the autonomous vehicles 30. In particular, the centralized platform 10 may be configured to provide the autonomous vehicles 30 with a predetermined trajectory.

[0033] In one embodiment, the centralized platform 10 comprises electronic storage configured to store an inventory 13 of the autonomous vehicles 30 moving within the mining site 70. Additionally, the electronic storage may be configured to store a site map 12 of the mining site.

[0034] A first communication interface 11 is provided on the centralized platform 10 for communication between the centralized platform and the autonomous vehicles 30, the mobile terminals 40 and the personnel location tags 50. The first communication interface 11 of the centralized platform may be used to communicate a mission to the autonomous vehicles 30. The mission may include, among other things, a trajectory for the autonomous vehicles 30 to perform the mission. The first communication interface 11 may further be used to receive position or status information from the autonomous vehicles 30 and / or the mobile terminals 40, 50.

[0035] The centralized platform may further comprise a second communication interface, not shown, which may be used to receive location or status information from the autonomous vehicle 30 and / or the mobile terminals 40, 50 instead of or in addition to the first communication interface.

[0036] The first communication interface 11 and the second communication interface of the converged platform may comprise separate hardware such as separate communication controllers, amplifiers, and / or antennas. In one embodiment, the converged platform may comprise only the first communication interface 11.

[0037] The centralized platform 10 may be provided with a complete list of vehicles and mobile terminals, updated with information received via the first and / or second communication interfaces.

[0038] The autonomous vehicles 30 may each include a first communication interface 31 for establishing communication with the first communication interface 11 of the centralized platform 10. The first communication interface 31 of the autonomous vehicles may be used to receive a predetermined mission from the first communication interface 11 of the centralized platform 10.

[0039] Each autonomous vehicle may further comprise a trajectory control system 21. The trajectory control system 21 may be configured to autonomously control the autonomous vehicle 30 in response to a predetermined mission received from the centralized platform 10.

[0040] Each autonomous vehicle may further comprise a second communication interface 31'. The first communication interface 31 and the second communication interface 31' may comprise separate hardware, such as separate communication controllers, amplifiers, and / or antennas. In one embodiment, the second communication interface 31' may be used to communicate directly between the first autonomous vehicle and the second autonomous vehicle (V2V). In one embodiment, the second communication interface 31' may be used to exchange position and / or heading information between the autonomous vehicles.

[0041] The system may further comprise at least one mobile terminal 40, 50. The mobile terminal 40, 50 may comprise a second communication interface 41′, 51′ configured to communicate wirelessly with at least one of the second communication interface of the centralized platform 10 and the second communication interface 31′ of the plurality of vehicles 30 from a location within the mining site.

[0042] The mobile terminal 40, 50 may comprise at least one microprocessor and software stored on non-transitory memory, software executing on the microprocessor to implement the functions and subsystems of the mobile terminal 40, 50 (such as the method 700 described in more detail below), and features to participate in the control of the systems described herein. The various subsystems of the mobile terminal 40, 50 may be implemented by software and / or hardware components. The mobile terminal 40 may further comprise input and / or output devices.

[0043] In one embodiment, the mobile terminal 40, 50 may include a location system 46, 56 configured to detect a position and / or orientation of the mobile terminal 40, 50 within the mining site 70. For example, the location system 46, 56 may include a receiver configured to receive signals from a satellite-based navigation system, such as a GPS, or from a mining site navigation system. The location system 46, 56 may further include a gyroscope and / or an acceleration sensor.

[0044] In one embodiment, the mobile terminal 40 may comprise at least one of a user interface 42 and an emergency push button 43. In one embodiment, the mobile terminal 40 may further comprise at least one sensor 44.

[0045] In one embodiment, the mobile terminal 40 may comprise a first communication interface 41 configured to communicate with the first communication interface 11 of the centralized platform. The first communication interface 41 and the second communication interface 41' may comprise separate hardware, such as separate communication controllers, amplifiers, and / or antennas. In one embodiment, the mobile terminal 40, 50 may be configured to communicate location information, such as its position and / or orientation, to the first communication interface 11 of the centralized platform via the first communication interface 41. In one embodiment, the mobile terminal 40, 50 may be configured to communicate location information, such as its position and / or heading, to the second communication interface 31' of the autonomous vehicle via the second communication interface 41', 51'. In one implementation, the mobile terminal 40 or 50 may comprise only the second communication interface.

[0046] In an embodiment, the first communication interfaces 11, 31, 41 and 51 may be provided by wireless communication interfaces, in particular radio interfaces. In an embodiment, the mining site may be provided with a wireless communication system, such as a mobile phone system, to provide a first communication interface between the centralized platform 10, the autonomous vehicles 30 and the mobile terminals 40, 50. In an embodiment, the wireless communication system may cover all passable areas of the mining site, for example all areas in which the autonomous vehicles 30 are allowed to move. In an embodiment, the second communication interfaces 11', 31', 41' and 51' may be provided by wireless communication interfaces, in particular radio interfaces. In an embodiment, the first communication interface may have a larger data bandwidth than the second communication interface.

[0047] In one embodiment, the second communication interface can have better reliability than the first communication interface. For example, the second communication interface may provide redundancy while the first communication interface may not provide redundancy. In one embodiment, the second communication interface can be a short-range communication interface.

[0048] In particular, the autonomous vehicle 30, the mobile terminal 40, and the personnel location tag 50 may be equipped with a V2V transmitter to provide a second communication interface for communicating directly with each other. In one embodiment, the V2V transmitter is a wireless interface, in particular a radio interface. The V2V communication interface may be a short-range interface that allows communication between the two vehicles or the vehicle and the mobile terminal 40, 50 via the second communication interface when they are in close proximity to each other. In particular, the V2V communication may be independent of the central wireless network used to provide the first communication interface used to communicate with the centralized platform 10.

[0049] Further functional portions of an embodiment of vehicle controller 20 of autonomous vehicle 30, as well as other components of the autonomous vehicle, are further described with respect to Figure 3. Figure 3 describes only one example of a vehicle controller used in each of multiple autonomous vehicles in a system, and other configurations are possible as well.

[0050] The autonomous vehicle may include a propulsion system 34, a braking system 33, and a steering system 32. The propulsion system 34 may include, among other things, one or more motors for driving the wheels of the vehicle. The vehicle may further include a vehicle controller that controls at least one of the propulsion system 34, the braking system 33, and the steering system 32.

[0051] The vehicle controller 20 may include at least one microprocessor and software stored in non-transitory memory that executes on the microprocessor to perform the functions and subsystems of the vehicle controller described herein. The various subsystems of the vehicle controller may be implemented by software and / or hardware components of the vehicle controller.

[0052] The vehicle controller may include a propulsion inhibition system 29 configured to inhibit propulsion of the vehicle when an inhibition command is received from the centralized platform 10, the mobile terminal 40, or the personnel location tag 50. In particular, the propulsion inhibition system 29 may cut off power to the vehicle's propulsion system 34. The propulsion inhibition system 29 may be configured to reconnect power to the propulsion system 34 upon receiving a release command. The autonomous vehicle may include functionality for inhibiting propulsion, among others, as described in co-pending U.S. patent application Ser. No. 16 / 412,128, filed May 14, 2019, the entire disclosure of which is incorporated herein by reference.

[0053] In one embodiment, the vehicle controller may include a positioning system 26 configured to detect a position and / or orientation of the autonomous vehicle 30 within the mining site 70. For example, the positioning system may include a receiver configured to receive signals from a satellite-based navigation system, such as a GPS, or from a navigation system at the mining site. The positioning system may further include a gyroscope and / or an acceleration sensor.

[0054] The vehicle controller 20 of the autonomous vehicle may further comprise the trajectory control system 21 as described above. The trajectory control system 21 may be configured to autonomously control the autonomous vehicle 30 according to a predetermined mission received from the centralized platform 10 via the first communication interfaces 11 and 31. According to one embodiment, the vehicle controller 20 may comprise a steering control system 22 configured to control a steering system 32 of the autonomous vehicle, a propulsion control system 24 configured to control a propulsion system 34 of the vehicle, and a braking control system 23 configured to control a braking system 33 of the autonomous vehicle.

[0055] According to one embodiment, the trajectory control system 21 may be configured to autonomously control the autonomous vehicle 30 via the steering control system 22, the propulsion control system 24, and the braking control system 23 to follow a trajectory prescribed by the mission. In particular, as part of the mission, the centralized platform 10 may communicate a predetermined trajectory to the autonomous vehicle 30, and the trajectory control system 21 may be configured to autonomously control the autonomous vehicle 30 via the steering control system 22 and the braking control system 23 along the predetermined trajectory.

[0056] In one embodiment, the autonomous vehicle may be configured to communicate location information, such as the autonomous vehicle's position and / or heading, to the first communication interface 11 of the centralized platform via the first communication interface 31. In one embodiment, the autonomous vehicle may be configured to communicate location information, such as its position and / or heading, to the second communication interface 31' of another autonomous vehicle and / or the second communication interface 41' or 51' of the mobile terminal 40, 50 via the second communication interface 31'.

[0057] The vehicle controller 20 may further comprise a detection system 25. The detection system 25 may be configured to evaluate signals of sensors 35 disposed on the autonomous vehicle. The detection system 25 may be configured to detect obstacles, such as other vehicles or personnel, by evaluating sensor information received from at least one sensor 35 of the autonomous vehicle. The sensors may include optical and / or RF sensors. The detection system 25 may be augmented by data received from other vehicles and / or mobile terminals via a second communication interface 31′.

[0058] Additionally, the vehicle controller 20 may include a collision prediction system 28 configured to predict a collision with an obstacle, such as another vehicle, detected by the detection system 25. Additionally, in one embodiment, the vehicle controller may include a collision avoidance system 27. If the collision prediction system 28 predicts a collision, the collision avoidance system may be configured to autonomously re-plan a pre-defined trajectory onboard the vehicle to provide a re-planned trajectory that avoids the collision.

[0059] The vehicle controller 20 may be connected to sensors 35. At least one sensor 35 is connected to the detection system 25, enabling the detection system 25 to detect obstacles, such as other vehicles.

[0060] The vehicle controller 20 may further be connected to actuators 36. Such actuators include a steering actuator connected to the steering control system 22 and enabling the steering control system to steer the vehicle, and a brake actuator connected to the brake control system 23 and enabling the brake control system to brake the vehicle.

[0061] The vehicle may further comprise input devices 37. According to one embodiment, the input devices enable the driver to drive the autonomous vehicle in a manual operation mode by controlling the propulsion system 34, the braking system 33, and the steering system 32. For example, the input devices may comprise a steering wheel, a brake pedal, and / or a propulsion pedal. The input devices may be connected to the vehicle controller 20. The vehicle controller may provide a drive by wire function. According to one embodiment, the input devices may enable the driver to switch the autonomous vehicle from the autonomous driving mode to a manual operation mode and / or reverse.

[0062] The autonomous vehicle may, among other things, be equipped with functionality for switching the autonomous vehicle from an autonomous mode of operation to a manual mode of operation and / or functionality described in co-pending U.S. patent application Ser. No. 16 / 412,128, filed May 14, 2019, the entire disclosure of which is incorporated herein by reference.

[0063] Various embodiments of a system that uses an embodiment of an autonomous vehicle as described above or other types of autonomous vehicles are described below with respect to FIGS. 2 and 4-6.

[0064] In one embodiment, the user interface 42 of the mobile device 40 may be configured to display information identifying a subset of at least one of the plurality of autonomous vehicles 30, the subset of vehicles being determined based on distance to the mobile device 40.

[0065] According to one embodiment, the subset of vehicles may be determined by selecting all vehicles from among the plurality of autonomous vehicles that are within a predetermined distance 60 of the mobile terminal 40. In one embodiment, the predetermined distance 60 may be configurable. In particular, the predetermined distance 60 may be configurable from the centralized platform 10.

[0066] According to one embodiment, each of the multiple autonomous vehicles is equipped with a positioning system 26 that determines the position of the autonomous vehicle and the mobile terminal 40, and the multiple autonomous vehicles 30 are configured to communicate the positions of the multiple autonomous vehicles 30 to the mobile terminal 40 via second communication interfaces 31', 41'.

[0067] In one embodiment, mobile terminal 40 includes a location system 46 and a user interface 42, where location system 46 is configured to determine a location of mobile terminal 40 and user interface 42 is configured to display information identifying a subset of at least one vehicle of the plurality of autonomous vehicles 30 based on the location communicated via second communications interface 41′. In particular, the subset of vehicles may be determined based on distance relative to the location of mobile terminal 40.

[0068] In one embodiment, the mobile device 40 may include a user interface 42 configured to input prohibition commands for at least one of prohibiting and stopping operation of at least one of the plurality of autonomous vehicles 30. In one embodiment, the user interface 42 may be configured to specifically select the at least one vehicle that is prohibited from among the subset of vehicles identified by the user interface 42.

[0069] In one embodiment, the system is configured to communicate at least one of the location of the mobile terminals 40, 50, the location of the multiple autonomous vehicles 30 within the mining site, and the status of at least one of the multiple autonomous vehicles 30 to the centralized platform 10 via the first communication interface 11.

[0070] In one embodiment, the second communication interface 31 ′ may be configured to directly exchange data regarding at least one of position and orientation between at least two of the plurality of autonomous vehicles 30 .

[0071] In one embodiment, the user interface of the mobile device may be configured to select at least one vehicle from the plurality of autonomous vehicles and input a prohibition command to prohibit operation of the selected vehicle. In one embodiment, the user interface may be configured to display information identifying at least a subset of the vehicles from the plurality of autonomous vehicles for selection. In one embodiment, the subset of vehicles is determined based on a distance 60 to the mobile device 40. In one embodiment, the subset of vehicles may be determined by selecting all vehicles from the plurality of autonomous vehicles that are within a predetermined distance 60 of the mobile device 40. In one embodiment, the predetermined distance 60 may be configurable. In particular, the predetermined distance 60 may be configurable from the centralized platform 10 or from a user interface of the mobile device 40.

[0072] Further optional features and usage scenarios of the present disclosure are described below.

[0073] As shown in Fig. 4, the mobile terminal can be used within a mining site 70 where there are multiple autonomous vehicles AV1-AV5. Personnel 80 at the mining site wish to approach vehicle AV2. For example, vehicles AV1 and AV3-AV5 can travel along a road 71, while vehicle AV2 can park on a parking area 72 to be serviced or can switch from autonomous operation to manual operation.

[0074] If a local emergency stop (e.g. prohibiting the driving of all vehicles within a certain distance 60 to the mobile terminal) were to be initiated by personnel, this would not only prohibit vehicle AV2, but also vehicles AV1 and AV3, thus stopping traffic on road 71. However, this is not required to guarantee the safety of personnel 80, since vehicles traveling on the road pass by parking area 72 at a safe distance.

[0075] Thus, the mobile terminal displays all vehicles present within a predefined distance 60 to the mobile terminal 40 and allows a user (e.g., personnel 80) to select one or some of the displayed vehicles in order to prohibit the advancement of only the selected vehicles. For this purpose, the mobile terminal receives location information determined by the vehicle location system 26 via the second communication interfaces 31' and 41' and is able to determine the distance from the mobile terminal to the vehicle locations by comparing these locations with the mobile terminal's location determined by its location system 46.

[0076] Figure 5 shows an embodiment of a mobile terminal 90 having a display 91, selection keys 92 and 93, and a prohibit command key 94. The embodiment shown in Figure 5 may further have the features already mentioned above with respect to the embodiment shown in Figure 2. In this embodiment, the user interface is arranged to display a subset of vehicles with instructions depending on the distance of the vehicles to the mobile terminal 40. In particular, the display shows a list of all vehicles AV1-AV3 that are within a certain distance 60, the vehicles being shown from top to bottom in order of increasing distance.

[0077] In this embodiment, up key 92 and down key 93 may be used to move a selection bar 96 through the list to select the vehicle to be banned. By pressing the ban key 94, the selected vehicle is banned from being driven. In the embodiment shown, banning of a vehicle must be confirmed, for example by pressing the ban key 94 again after a corresponding request 97. The ban command may be transmitted from the mobile terminal 40 to the corresponding autonomous vehicle via the second communication interfaces 41' and 31'.

[0078] The centralized platform may be notified of the prohibition command by the mobile terminal 40 via the first communication interfaces 41 and 11. Alternatively or additionally, the centralized platform may be notified of the prohibition condition by the autonomous vehicle 30 via the first communication interfaces 31 and 11.

[0079] The interface 42 of the mobile terminal may further be configured to input a release command for releasing the inhibition command. In the embodiment shown in FIG. 5, this is provided by a release key 95. The vehicle to be released can be selected again by the selection keys 92, 93. By pressing the release key 95, the propulsion inhibition of the selected vehicle is released. In the embodiment shown, the release of the vehicle must be confirmed, for example by pressing the release key 95 again after a corresponding request 97. The release command may be transmitted from the mobile terminal 40 to the corresponding autonomous vehicle via the second communication interfaces 41′ and 31′. The centralized platform may be informed of the release command by the mobile terminal 40 via the first communication interfaces 41 and 11. Alternatively or additionally, the centralized platform may be informed of the release status by the autonomous vehicle 30 via the first communication interfaces 31 and 11.

[0080] Instead of showing the vehicle with instructions depending on the vehicle's distance to the mobile terminal, the display may be configured to graphically show the location of the vehicle relative to the mobile terminal 40. For example, the display may show a map of the surrounding terrain and the vehicles present in this terrain. The display may also be of the touch screen type, allowing control of the mobile terminal by tapping on relevant areas of the touch screen. For example, a vehicle displayed on the display may be selected by tapping on the location where the vehicle is displayed. Regardless of the particular configuration of the display, the display may be configured to show identification and / or status information of the vehicle, and / or the distance of the vehicle to the mobile terminal.

[0081] In an embodiment of the present disclosure, the mobile device may include a local emergency stop inhibiting function for all of the autonomous vehicles present within a predetermined distance of the mobile device. In one embodiment, the local emergency stop may be activated by a user input on the mobile device. For example, a push button may be provided to activate the emergency stop. In one embodiment, the mobile device may further include a global emergency stop for inhibiting movement of all of the autonomous vehicles present at the mining site. In one embodiment, activation of the global emergency stop is only possible after activation of the local emergency stop.

[0082] For example, a local emergency stop may be activated by pressing a push button on the mobile terminal and a global emergency stop may be activated by pressing the same push button, the push button having a first and a second stage, in which case the local emergency stop is activated by pressing the push button to the first stage and the global emergency stop is activated by pressing the push button through the first stage and then to the second stage.

[0083] In one embodiment, the mobile terminal may be configured to inhibit the movement of all of the autonomous vehicles within a predetermined distance of the mobile terminal at all times. For example, in this embodiment, the mobile terminal may be configured as a personnel location tag 50 worn by all personnel at the mining site.

[0084] In an embodiment, the mobile device may have a first local emergency stop that may be activated by a user input from the mobile device to prohibit operation of all of the autonomous vehicles within a first distance from the mobile device, and a second local emergency stop that is configured to always prohibit operation of all of the autonomous vehicles within a second distance from the mobile device. In particular, the second distance may be smaller than the first distance. In an embodiment, the predetermined distance, or the first and second distances, may be configurable. The variance may be possible, for example, via the mobile device and / or a centralized platform. In an embodiment, a vehicle that comes within the predetermined distance to the mobile device after the local emergency stop is activated is prohibited.

[0085] Commands for local and / or global emergency stops may be sent from the mobile terminals 40, 50 to the autonomous vehicles via the second communication interfaces 41', 51' and 31'. The centralized platform may be notified of the local and / or global emergency stop commands by the mobile terminals 40 via the first communication interfaces 41 and 11. Alternatively or in addition, the centralized platform may be notified of an emergency stop condition by the corresponding autonomous vehicles 30 via the first communication interfaces 31 and 11. In one embodiment, commands for local and / or global emergency stops may be sent from the mobile terminals 40, 50 to the autonomous vehicles via the centralized platform using the first and / or second communication interfaces.

[0086] Also, the above mentioned embodiments may be combined, for example the embodiment of figure 5 also comprises a local emergency stop button 43. The button may be a mechanical push button.

[0087] Further optional features of any of the above-described embodiments and combinations thereof are described below.

[0088] In one embodiment, the plurality of autonomous vehicles each include a vehicle controller for placing the vehicle in a prohibited state by ceasing propulsion of the vehicle after receiving a prohibition command, in particular after receiving a prohibition command from a mobile terminal via the second communication interface.

[0089] In one embodiment, if the mobile terminal has an inhibited connection with the vehicle and this connection is lost (e.g. due to a dead battery), the vehicle controller can communicate to the centralized platform via the first communication interface that the mobile terminal is no longer associated with the network. In one embodiment, if the vehicle controller is switched off in an inhibited state and switched on again, the vehicle will keep the inhibited state until released by the mobile terminal. In an embodiment, the centralized platform may control the vehicle controller to start in an inhibited state after being switched on again until released by the mobile terminal. If the inhibited state is released while the vehicle controller is disconnected, the centralized platform can command the vehicle to start immediately in normal operation.

[0090] In an alternative embodiment, the vehicle controller can store the inhibited state locally and, after being switched on again, start up in the inhibited state based on the stored value until it is released by the mobile terminal. If the inhibited state is released while the vehicle controller is shut off, the centralized platform can command the vehicle to release the inhibited state and / or update the stored value.

[0091] The system may be configured to operate with multiple mobile terminals, not all of which need have the specific functionality described above.

[0092] In one embodiment, each of the multiple mobile terminals may be configured to inhibit the vehicle's propulsion. Thus, a single vehicle may receive multiple inhibit commands received from multiple mobile terminals. In one embodiment, if one vehicle of the multiple autonomous vehicles is inhibited by inhibit commands received from at least two of the multiple mobile terminals, the vehicle can only be unlocked after all inhibit commands have been released. In particular, the autonomous vehicle may have a "lockout" feature where the release of an inhibit command must be from the specific device that initiated the inhibit command. For example, another handheld device cannot release the inhibit command from the device that initiated the inhibit command. The release is specific to the device that initiated the inhibit command.

[0093] In one embodiment, the mobile terminals may have a pairing function for pairing and unpairing the mobile terminals to the system. In one embodiment, deactivation of the mobile terminals may only be possible in the unpaired state. In one embodiment, the centralized platform may monitor the connection to all mobile terminals paired with the system and initiate a global emergency stop if the connection is lost for a predefined period of time. For this purpose, the centralized platform may comprise a second communication interface for communicating with the second communication interface of the mobile terminals in order to monitor their functions.

[0094] According to one embodiment, the mobile terminal may include an inertial measurement unit 44 for determining at least one of the inactivity of the person carrying the mobile terminal and the mobile terminal being dropped by the person carrying the mobile terminal.

[0095] According to one embodiment, the centralized platform 10 may be configured to determine the location of the mobile terminals 40 and the autonomous vehicles 30 within the mining site 70. For this purpose, the mobile terminals and the vehicles may transmit location information regarding their current location to the centralized platform. The inventory list of the centralized platform consists of an inventory of all paired mobile terminals in addition to the autonomous vehicles present at the mining site.

[0096] According to one embodiment, the centralized platform 10 may be configured to determine a subset of the plurality of vehicles that are within a predetermined distance to the mobile terminal. In the first and second embodiments, the centralized platform may transmit identification information about the vehicles from the subset to the mobile terminal.

[0097] In one embodiment, the centralized platform can control all vehicles from the subset to change to a prohibited state after receiving a local emergency stop command from a mobile terminal, or control any vehicle from the subset to change to a prohibited state at any time.

[0098] The system may be configured such that inhibition control is also performed via the centralized platform.

[0099] The system can also be configured to operate using direct communication between the vehicles and the mobile devices, so that inhibition control can be performed both via the centralized platform and by direct communication.

[0100] FIG. 6 shows an embodiment in which there is both communication 90 via a first communication interface with the centralized platform 10 and direct communication 100 between the mobile terminal and the autonomous vehicle 30 via a second communication interface.

[0101] The autonomous vehicle 30 may be configured to send out identification and / or location information by direct communication. This may be part of V2V communication as described in co-pending U.S. patent application Ser. No. 16 / 460,693, filed July 2, 2019, the contents of which are incorporated by reference in their entirety. In particular, the autonomous vehicle 30 may be configured to send out identification and / or location information by direct communication at regular intervals. In particular, the autonomous vehicle-to-autonomous vehicle direct communication regarding position and orientation may be used for collision avoidance, using a second communication interface that is also used to communicate with a mobile terminal. The same concept may also be used for mobile or fixed devices mounted on the vehicle and moving towards the autonomous vehicle. This allows for the integration of collision avoidance / V2V functionality within the wireless safety system RF infrastructure.

[0102] For example, the second communication interface may transmit characteristics, such as speed, heading, path, etc., to determine an imminent collision with another autonomous vehicle or vehicle or personnel equipped with a mobile device. The vehicle controller of the autonomous vehicle may monitor all other surrounding systems and calculate the likelihood of a collision. The vehicle controller of the autonomous vehicle may transmit data over the second communication interface detailing the position, speed, and heading of the nearest safety system.

[0103] A collision avoidance module within the safety system may be responsible for independently reporting the following:

[0104] (Vehicle ahead, on the same route) Vehicle 2 can transmit its parameters. Vehicle 1 can recognize that vehicle 2 is following an approximate path taken by vehicle 1. Vehicle 1 may recognize that vehicle 2 is ahead of vehicle 1. Vehicle 1 can calculate that if vehicle 2 stops, it is on the same path and presents a potential collision. Vehicle 1 can transmit this information.

[0105] (vehicle ahead, oncoming lane) Vehicle 3 can transmit its parameters. Vehicle 1 may realize that vehicle 3 is approaching vehicle 1. Vehicle 1 may realize that vehicle 3 is traveling along a different route, in the opposite lane as vehicle 1. Vehicle 1 can conclude that vehicle 3 will pass safely without a collision. Vehicle 1 can transmit this information.

[0106] (Vehicle following, in the same lane) Vehicle 1 can transmit its parameters. Vehicle 2 can recognize that vehicle 1 is behind vehicle 2. Vehicle 2 can recognize that vehicle 1 is traveling along a path that is in the same lane as vehicle 2. Vehicle 2 can calculate that because vehicle 1 is behind, vehicle 1 poses no collision threat, regardless of following distance. Vehicle 2 can transmit this information.

[0107] The handheld device may be configured to receive identification and / or location information from surrounding vehicles. The handheld device may be configured to determine a distance between its location and the location of the vehicle based on the received information. The handheld device may be configured to determine a subset of the vehicles within a predetermined distance. The handheld device may be configured to send prohibition commands to specific vehicles via direct communication.

[0108] The handheld device can be configured to send a local prohibition command, including information about its location, to all vehicles within range via direct communication, and the vehicles can be configured to determine the distance to the handheld device and, based on this distance, decide whether or not to follow the prohibition command.

[0109] Hardware Unit The system may be composed of multiple hardware units, all providing a specific function. The system may include a fixed infrastructure that may be used to ensure adequate coverage of the autonomous operating area and a host of devices attached to the autonomous vehicles, handheld or attached to personnel. To be integrated into the system, the vehicle controller may be mounted on the truck. The handheld transmitters and personnel location tags are used by personnel to perform the functions described below. They may be configured as embodiments of mobile terminals. The external buttons are mounted on the haul truck and used to perform their specific functions. The fixed infrastructure may be used to extend the wireless signal based on geographic constraints to ensure complete coverage of the autonomous operating area. The vehicle controller may be paired with multiple handheld units and may be changeable via wired or wireless connection to the system infrastructure.

[0110] function The system may provide one or more of the following functions:

[0111] Local Electronic Shutdown is a system that is activated by pressing the red electronic shutdown button on a radio transmitter or a wired button, which initiates a safety-rated electronic shutdown of all assets within a configurable radius.

[0112] The global stop is an extension of the local electronic stop system. It requires that the local electronic stop be activated and additional actions are taken.

[0113] The interdiction system is a way that a user can select specific assets to be interdicted or put into a suspended state. Use cases for the interdiction system are safe entry and exit from a vehicle and / or initiation into service of an asset.

[0114] The system can be inhibited by pressing a global electronic stop, a local electronic stop, or an appropriate button on the transmitter, vehicle controller, or an external button. A user interface on the handheld transmitter can be used to achieve inhibition on the desired asset.

[0115] The system may have the ability to configure a time period for determining if wireless communication is lost between any transmitter and the vehicle controller, and if the set time period is reached, the system may enter a global electronic shutdown mode.

[0116] The system may have the ability to exit the electronic suspension mode when all connected and paired devices are no longer in electronic suspension mode or location.

[0117] The system may have the ability to configure an external watchdog with an adjustable timeout.

[0118] If a wireless controller is attempted to be removed from operation, the system can prevent the removal process until the wireless controller clears all local, global stops and prohibits from the selected controller.

[0119] specification Details of the various functions and hardware units of an embodiment of the system are described below.

[0120] (Local Electronic Stop) It is a software and hardware output intended to stop all trucks within a variable radius on the active network immediately from any transmitter or local button. When a local electronic stop is initiated, a safety output of the vehicle controller may be connected to a reason for a safe state. This is intended to safely stop all trucks within a specified radius. If multiple local electronic stops are initiated, the vehicle controller may stay in the safe state until all local electronic stops are cleared. At that time, the vehicle controller may reconnect the input voltage to the safety output. Other systems on board the truck handle the restart process. The local electronic stop may have a variable radius. In particular, the radius at which the vehicle controller responds to a local electronic stop request may be variable. The local electronic stop may be dynamic so that vehicles that are closer to the actuator than the variable distance are placed in a safe state. Furthermore, if the vehicle is within the variable distance when the local electronic stop is initiated, the safe state is latched until all of the actuator(s) are cleared. This is to cover the case where the vehicle is moving away from the actuator controller when the local electronic stop is initiated, but exceeds the radius before coming to a stop.

[0121] (Global outage) A global overall stop is an extension of the local electronic stop system. To initiate a global overall stop, the local electronic stop system is initiated, followed by pressing the same or another button on the radio transmitter. Once activated, the safety output on the vehicle controller may be connected to earth, which is a safe state. The intent of this is to safely stop all trucks that are part of the same wireless safety system. If multiple global overall stops are initiated, the vehicle controller may stay in the safe state until all global overall stops are cleared. At that time, the vehicle controller may reconnect the input voltage to the safety output. Other systems on board the asset handle the restart process. If power to the vehicle controller is cut off at the overall stop, the system may maintain the overall stop state as long as the wireless controller maintains the overall stop. The intent is to latch the overall stop even if power to the vehicle is reapplied.

[0122] (Local ban) The local ban feature allows the user to specify a specific truck to be banned. By using a user interface on the radio transmitter, the user can select a specific vehicle to ban. The user interface presents all assets that can be banned in order of distance from the user (closest first). Once selected, the user can confirm the desire to ban again with a yes / no selection. Once the radio transmitter initiates the ban, the vehicle controller of the selected vehicle can communicate the desire for ban. The reverse process may be required to unjam the vehicle. Multiple radio controllers can ban a single vehicle. Once a ban is initiated by a vehicle controller, the ban may remain in effect until all radio controllers unban the selected asset. If a radio controller has a banned connection with a vehicle and that connection is lost (e.g., dead battery), the vehicle controller can communicate that the radio controller is no longer associated with the system. If power to the vehicle controller is interrupted with an active ban, the system can maintain the banned condition as long as the radio controller maintains the ban with the specific vehicle. This is intended to latch the ban even across a power cycle.

[0123] (Collision avoidance) The wireless safety system may transmit the characteristics necessary to determine an impending collision, such as speed, heading, path, etc. The wireless safety system may monitor all other systems around it and calculate the likelihood of a collision. The wireless safety system may transmit data detailing the position, speed, and heading of the nearest safety system. The parameters sent are: System ID# Vehicle type (truck, light vehicle, wheel loader, motor grader, person, etc.) ·speed Headline Predicted curvature It could be.

[0124] (Vehicle Controller) The vehicle controller may have the following functions: When the vehicle controller goes into Global Electronic Stop, Local Electronic Stop, Inhibit mode, the system may disconnect the high side stop output circuit. The stop output circuits may be two physical connections on the vehicle controller and may have identical functions to each other. Any necessary antennas may be externally mounted on the truck or hardwired to the vehicle controller. The vehicle controller may communicate via a variety of protocols. Communication may be wireless communication. The vehicle controller may output the state of all current system functions to the truck and to the active network.

[0125] (V2V) The vehicle controller may include inter-vehicle communications to achieve the functionality described.

[0126] (Handheld Transmitter) The handheld transmitter may have one or more of the following capabilities: When the handheld unit is paired with the system, the handheld may output a signal to the system when the electronic stop button is either pressed or released. When the handheld unit is paired with the system, it may not be able to be powered off.

[0127] (User Interface) The user interface of the handheld unit may be used to perform interdiction functions on the desired track. A backlight may be used to ensure nighttime visibility. The screen may be readable in direct sunlight conditions. A touch screen may be used. If a touch screen is used, there may be a lock feature to ensure the screen is not used unintentionally. When prompted by the user, the user interface may display a list of assets within range from the handheld unit. This range may be set via the Master Coordinator. During normal operation of the handheld unit, the screen may display: Battery level (%) -Stopped / prohibited state ·Handheld ID - Screen lock state (when using a touch screen) can be displayed.

[0128] To perform the inhibit function, the user can request a list of available assets, select the desired asset, and press a button to activate the inhibit. To end an inhibit, the user can select an asset that is in an inhibited state, press a button, and the device can prompt the user for confirmation to end the inhibit of the given asset.

[0129] (Personnel location tag) Personnel tags may be used as part of this system. A personal location tag may activate a local electronic stop with certain configurable rules.

[0130] (External stop / prohibit button) The external stop and inhibit buttons may be twist release buttons that provide hard-wired inputs to the vehicle controller. The external buttons are intended for mounting in the cab of the truck. A user can use them to execute an electronic stop for the truck they are installed on. The electronic stop may be changeable for global or local stopping of the truck.

[0131] (V2V: Vehicle to Vehicle) The safety system can make arrangements to transmit certain information of interest to other vehicles in the vicinity. This information can be used to augment operations within the autonomous operating area. The data reception task can listen to any asset within range and read data. This information does not interfere with other safety functions of the system. It can be transmitted or received on a separate radio if necessary. Examples of parameters for transmission over the V2V radio specific to the HaulTrack implantation of the system are: System ID: Mine ID of the system sending the V2V information - Load requirements for specific trucks Payload spot point (local x,y coordinates): sent by the loader Payload Spot Point Reached: Sent by the loader. Ready: The truck signals that it is ready to load Current truck effective load capacity Final truck payload Bucket delivery: A signal sent by the loader every time a bucket is delivered. · Loading complete: The loading tool transmits the loading capacity. Payload Bias: Truck transmits payload % for LF, RF, LR, RR - total 100% Ore details: Example Copper #2 It is.

[0132] 7 is a flow chart illustrating a method 700 for controlling autonomous vehicle operation via a mobile device at a mining site or other suitable location. Method 700 may be performed according to instructions stored in non-transitory memory of a mobile device, such as mobile device 40 of FIG. 2, in combination with one or more autonomous vehicles (e.g., vehicles 30) and a centralized platform (e.g., centralized platform 10).

[0133] At 702, identification and / or location information is received at the mobile terminal from each autonomous vehicle in proximity to the mobile terminal via a second communication interface. In some examples, identification and / or location information is received from each operational (e.g., powered on) autonomous vehicle that is within communication range of the mobile terminal. As described above, the second communication interface can include a V2V transmitter. For example, the mobile terminal may have a V2V transmitter configured to communicate with a respective V2V transmitter on each autonomous vehicle. If an autonomous vehicle is operational (such that the autonomous vehicle's V2V transmitter is powered on / transmitting) and that autonomous vehicle's transmitter is within range of the mobile terminal, that autonomous vehicle's identification and / or location information can be transmitted to the mobile terminal.

[0134] At 704, a respective distance between each autonomous vehicle and the mobile terminal is determined based on the received information and a positioning system of the mobile terminal. The positioning system of the mobile terminal may be a GPS or other navigation system configured to determine a position of the mobile terminal. Thus, a distance between the mobile terminal and each autonomous vehicle may be determined based on the position information received for each autonomous vehicle and the position of the mobile terminal as determined from the positioning system.

[0135] At 706, an indication of each distance is output on a user interface displayed on the mobile device. For example, as shown in FIG. 5, the user interface may display an identifier for each autonomous vehicle (e.g., AV1, AV2, etc.) and the distance of each autonomous vehicle from the mobile device. The identifiers and distances may be displayed in ranked order, such as from closest vehicle to furthest vehicle. In another example, the user interface may display a map with the location of each autonomous vehicle (and the location of the mobile device) graphically depicted.

[0136] At 708, the method 700 includes determining whether a user input has been received requesting an inhibition of operation of the selected vehicle. The user input may include a touch input to a displayed indication of a respective distance, such as a touch input to select a vehicle from a user interface as shown in FIG. 5, or a touch input to select a vehicle from a graphical display such as the map shown in FIG. 4. In other examples, the user input may include depression of one or more mechanical or electronic buttons, such as selection of a vehicle via input to an up or down button as shown in FIG. 5. Once a vehicle is selected, an additional user input may be entered requesting that an inhibition command be sent to that vehicle, such as a touch input or depression of an inhibition control button on the user interface. In some examples, after the initial selection and inhibition request, a confirmation request may be output and a user input confirming the inhibition request may be received.

[0137] If no user input is received requesting to inhibit and / or stop operation of the selected vehicle, method 700 proceeds to 716, which will be described in more detail below. If a user input is received requesting to inhibit and / or stop operation of the selected vehicle, method 700 proceeds to 710 and transmits an inhibit command to the selected vehicle. The inhibit command may be transmitted directly (e.g., via the second communication interface) from the mobile terminal to the selected vehicle. In other examples, the inhibit command may be transmitted indirectly, such as via a centralized platform. For example, via the first communication interface, the mobile terminal may transmit the inhibit command (including an identifier of the selected vehicle) to the centralized platform, and the centralized platform may transmit the inhibit command (e.g., via the first communication interface) to the selected vehicle.

[0138] As previously described, the inhibit command may inhibit (e.g., slow) operation of the selected autonomous vehicle, and in some examples, may inhibit operation to the extent that the selected autonomous vehicle stops. Each operating autonomous vehicle may operate according to a trajectory control system configured to autonomously control the autonomous vehicle according to a mission received from the centralized platform. When a selected autonomous vehicle receives an inhibit command, the mission is overridden and instead the trajectory control system slows (e.g., stops) the vehicle.

[0139] At 712, the method 700 determines whether a user input is received requesting that the inhibit command be lifted. The user input may include a touch-based selection or depression of a lift button on the user interface of the mobile device. If a request to lift the inhibit command is not received, the method 700 returns to 710 to continue sending the inhibit command or waits until a request to lift the inhibit command is received. If a request to lift the inhibit command is received, the method 700 proceeds to 714 and lifts the inhibit command. Lifting the inhibit command may include ceasing to send the inhibit command and / or sending a lift command to the selected vehicle. Once the inhibit command is lifted, the selected vehicle may resume autonomous operation according to the mission.

[0140] At 716, the method 700 determines whether a user input is received requesting a local emergency stop (local electronic stop) or a global emergency stop (global electronic stop). As previously described, a local electronic stop may be requested via a first user input to an electronic stop button (e.g., local emergency stop button 43 of FIG. 5) on the mobile device. The first user input may include pressing the button to a first stage. A global electronic stop may be requested via a second user input to the electronic stop button, such as a user pressing the button through a first stage to a second stage. If a user input is not received requesting a local or global electronic stop, the method 700 returns. If a user input is received requesting a local or global electronic stop, the method 700 proceeds to 718 and transmits an inhibit command to a subset or all of the autonomous vehicles at the mining site. If a local electronic stop is requested, the inhibit command may be transmitted to all autonomous vehicles within a predetermined distance of the mobile device. If a global electronic stop is requested, an inhibit command may be sent to all autonomous vehicles at the mining site (e.g., all autonomous vehicles within a predetermined distance and all autonomous vehicles outside a predetermined distance). As previously described, each inhibit command may slow and / or stop the operation of the intended / target vehicle and may persist until the inhibit command for that vehicle is lifted. It should be appreciated that 716 may be executed at any time during the execution of method 700 such that whenever a user input is received requesting a local or global electronic stop, an appropriate inhibit command is sent. Method 700 then returns.

[0141] The technical effect of displaying the respective distances of each autonomous vehicle on a mobile device and then sending inhibit commands to only selected vehicles is that user override of the autonomous operation of a vehicle can be overridden to increase safety without disrupting the operation of other autonomous vehicles that do not pose a safety risk.

[0142] The control methods and routines disclosed herein may be stored as executable instructions in a non-transitory memory and executed by a control system including a controller in combination with various sensors, actuators, and other system hardware. The particular routines described herein may represent one or more of any number of processing strategies, such as event-driven, interrupt-driven, multitasking, multithreading, and the like. Thus, the various illustrated acts, operations, and / or functions may be performed in the order depicted, in parallel, or in some cases omitted. Similarly, the order of processing is not necessarily required to achieve the features and advantages of the exemplary embodiments described herein, but is provided for ease of illustration and description. One or more of the illustrated acts, operations, and / or functions may be performed repeatedly depending on the particular strategy being used. Additionally, the described acts, operations, and / or functions may be graphically represented as code programmed into a non-transitory memory of a computer-readable storage medium in a control system, where the described acts are performed by executing instructions in a system including various engine hardware components in combination with an electronic controller.

[0143] This specification uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems, and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if the elements are no different from those recited in the claims, or include equivalent elements not significantly different from those recited in the claims.

Claims

1. 1. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of the plurality of autonomous vehicles moving through a mining site and having a first communication interface configured to communicate missions to the plurality of autonomous vehicles; a corresponding first communication interface configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles themselves in response to a predetermined mission; at least one mobile terminal having a second communication interface configured to wirelessly communicate with a second communication interface of each of the plurality of autonomous vehicles; each of the plurality of autonomous vehicles comprising a positioning system for determining a position of the respective autonomous vehicles; The plurality of autonomous vehicles are configured to communicate their own positions to the mobile terminal via a second communication interface that each of the autonomous vehicles has; The mobile terminal further comprises a location system and a user interface; the mobile device location system is configured to determine a location of the mobile device; the user interface is configured to display information identifying at least a subset of the autonomous vehicles of the plurality of autonomous vehicles based on the locations communicated via the second communication interface; The subset of autonomous vehicles is determined based on distance relative to a location of the mobile device.

2. the subset of autonomous vehicles is determined by selecting all autonomous vehicles of the plurality of autonomous vehicles that are within a predetermined distance of the mobile device; The predetermined distance is variable. The system of claim 1 .

3. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of the plurality of autonomous vehicles moving through a mining site and having a first communication interface configured to communicate missions to the plurality of autonomous vehicles; a corresponding first communication interface configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles themselves in response to a predetermined mission; at least one mobile terminal having a second communication interface configured to wirelessly communicate with a second communication interface of each of the plurality of autonomous vehicles; the mobile device comprises a user interface configured to input an inhibit command for at least one of inhibiting and stopping operation of at least one of the plurality of autonomous vehicles; the inhibit command is communicated to at least one of the plurality of autonomous vehicles via the second communication interface; the user interface is configured to specifically select the at least one autonomous vehicle that is prohibited from the subset of autonomous vehicles identified by the user interface based on a distance of the autonomous vehicle relative to a location of the mobile device.

4. at least one of a location of the mobile device, a location of the autonomous vehicles within the mining site, and a status of at least one of the autonomous vehicles are communicated to the centralized platform via the first communication interface; The system of claim 1 .

5. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of the plurality of autonomous vehicles moving through a mining site and having a first communication interface configured to communicate missions to the plurality of autonomous vehicles; a corresponding first communication interface configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles themselves in response to a predetermined mission; at least one mobile terminal having a second communication interface configured to wirelessly communicate with a second communication interface of each of the plurality of autonomous vehicles; The system, wherein the second communication interface is configured to directly exchange data regarding at least one of position and orientation between at least two of the plurality of autonomous vehicles, and the corresponding first communication interface and the corresponding second communication interface of each autonomous vehicle use different hardware for communication.

6. 1. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of a plurality of autonomous vehicles moving through a mining site and configured to communicate missions to the plurality of autonomous vehicles; a first transmitter configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles in response to a predetermined mission; a second transmitter configured to wirelessly communicate with the centralized platform and at least one of the plurality of autonomous vehicles; and a mobile terminal including a user interface for selecting at least one autonomous vehicle of the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle; Equipped with the user interface is configured to display information identifying at least a subset of the selected autonomous vehicles of the plurality of autonomous vehicles; The subset of autonomous vehicles is determined based on distance to the mobile device.

7. The user interface, and / or displaying the subset of autonomous vehicles with instructions dependent on a distance from each autonomous vehicle of the subset of autonomous vehicles to the mobile device. configured to graphically indicate a position of each autonomous vehicle of the subset of autonomous vehicles relative to the mobile device. The system of claim 6.

8. the user interface is configured to input a release command for releasing the prohibition command; each of the plurality of autonomous vehicles includes a vehicle controller that, upon receiving an inhibit command from the mobile device, places the autonomous vehicle in an inhibited state by deactivating propulsion of the autonomous vehicle; When the vehicle controller is switched off in an inhibited state and switched on again, the autonomous vehicle will keep the inhibited state until the inhibit command is released by the mobile terminal. The system of claim 6.

9. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of a plurality of autonomous vehicles moving through a mining site and configured to communicate missions to the plurality of autonomous vehicles; a first transmitter configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles in response to a predetermined mission; a second transmitter configured to wirelessly communicate with the centralized platform and at least one of the plurality of autonomous vehicles; and a mobile terminal including a user interface for selecting at least one autonomous vehicle of the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle; Equipped with the user interface is configured to input a release command for releasing the prohibition command; The system includes a plurality of mobile terminals; If a vehicle of the plurality of autonomous vehicles is inhibited by an inhibit command received from at least two of the plurality of mobile terminals, the vehicle is only released after all inhibit commands have been released.

10. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of a plurality of autonomous vehicles moving through a mining site and configured to communicate missions to the plurality of autonomous vehicles; a first transmitter configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles in response to a predetermined mission; a second transmitter configured to wirelessly communicate with the centralized platform and at least one of the plurality of autonomous vehicles; and a mobile terminal including a user interface for selecting at least one autonomous vehicle of the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle; Equipped with The mobile terminal, an inertial measurement unit for determining deactivation of the mobile terminal and a person carrying the mobile terminal; a pairing function for pairing and unpairing a mobile terminal dropped by a person carrying the mobile terminal to the system; Deactivating a mobile device is only possible if it is not paired. The centralized platform monitors connectivity to all mobile devices paired to the system and initiates a global emergency shutdown if connectivity is lost for a predetermined period of time.

11. the inhibit command is sent directly from the mobile device to at least one of the autonomous vehicles; Each first transmitter is part of a first communication interface; each autonomous vehicle further comprising a second communication interface for communicating with the second transmitter of the mobile terminal to receive the inhibit command; The system of claim 6.

12. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of a plurality of autonomous vehicles moving through a mining site and configured to communicate missions to the plurality of autonomous vehicles; a first transmitter configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles in response to a predetermined mission; a second transmitter configured to wirelessly communicate with the centralized platform and at least one of the plurality of autonomous vehicles; and a mobile terminal including a user interface for selecting at least one autonomous vehicle of the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle; Equipped with the mobile device further includes a local emergency stop configured to prevent movement of all autonomous vehicles of the plurality of autonomous vehicles within a predetermined distance of the mobile device; The system, wherein the local emergency stop is initiated by a user input to the mobile device.

13. the mobile terminal further includes a global emergency stop for inhibiting movement of all autonomous vehicles in the plurality of autonomous vehicles; Activation of the global emergency stop is only possible after activation of the local emergency stop. The system of claim 12.

14. A system for controlling a plurality of autonomous vehicles within a mining site, comprising: a centralized platform configured to store an inventory of a plurality of autonomous vehicles moving through a mining site and configured to communicate missions to the plurality of autonomous vehicles; a first transmitter configured to wirelessly communicate with the converged platform to receive a predetermined mission; and a plurality of autonomous vehicles having a trajectory control system configured to autonomously control the autonomous vehicles in response to a predetermined mission; a second transmitter configured to wirelessly communicate with the centralized platform and at least one of the plurality of autonomous vehicles; and a mobile terminal including a user interface for selecting at least one autonomous vehicle of the plurality of autonomous vehicles and inputting an inhibit command for at least one of inhibiting and stopping operation of the selected vehicle; Equipped with configured to constantly inhibit movement of all autonomous vehicles from the plurality of autonomous vehicles that are within a predetermined distance of a personnel location tag; and / or The system further comprises a personnel location tag configured to make a location of the personnel location tag visible to the centralized platform.

15. 1. A method for a mobile terminal configured to communicate with a plurality of autonomous vehicles in a mining site, comprising: The method includes displaying a user interface on a mobile device; the user interface includes an indication of one or more autonomous vehicles among a plurality of autonomous vehicles within a predetermined distance from the mobile device, and in response to a user input selecting an autonomous vehicle among the one or more autonomous vehicles shown on the user interface, transmitting an inhibit command from the mobile device to the selected autonomous vehicle; The method, wherein the inhibit command is configured to inhibit and / or stop movement of the selected autonomous vehicle.

16. the selected autonomous vehicle includes a trajectory control system configured to autonomously control the selected autonomous vehicle according to a mission received from a centralized platform; the inhibit command is configured to inhibit and / or stop operation of the selected autonomous vehicle as directed by the mission; The method of claim 15.

17. the inhibit command is sent directly from the mobile device to the selected autonomous vehicle via a communication interface between the mobile device and the selected autonomous vehicle; 17. The method of claim 16.

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