Flatbed mining vehicle

Abstract

A cabinless mining vehicle with a frame, traction wheels, motors, and a platform resting on the frame and extending over the mining vehicle. Operational modules for power, power distribution, low-level and high level controller module may be attachably-detachable and replaceable. Interconnectors may withstand immersion in water. Sensors may detect proximate objects and map surroundings. Tie-down straps may extend across the platform. Rotation may be achieved using skid steering under low clearance. A navigation antenna may receive navigation commands. The platform may toollessly disengage from the frame and a mechanical lifting mechanism may raise and lower the platform. The mining vehicle may be used for mapping a mine in collaboration with other mining vehicles. The mining vehicle may deposit or pick up the platform on a support structure.

Description

TITLEFLATBED MINING VEHICLEPRIORITY STATEMENT

[0001] This patent application claims priority based upon the prior U.S provisional patent application entitled “FLATBED MINING VEHICLE”, application number 63 / 728,803, filed on December s, 2024, in the name of ARLYX TECHNOLOGIES INC.TECHNICAL FIELD

[0002] The present invention relates to a vehicle and, more particularly, to an electric flatbed vehicle for hauling and transport in a mining environment.BACKGROUND

[0003] In mining, the efficient transportation of ore, waste materials and equipment to and from the surface is achieved through several methods. Rail systems have long been a staple, facilitating the movement of ore via rail cars along fixed tracks. While effective, these systems demand substantial infrastructure investment and ongoing maintenance efforts. Conveyor belts are also prevalent, providing continuous bulk material transport over extensive distances. Despite their efficiency, they entail high installation and operational costs, posing economic challenges.

[0004] Load-Haul-Dump (LHD) vehicles are another solution used in underground operations, transporting ore from the mining face to designated transfer points, such as conveyor belts or ore passes. In addition, shuttle cars and haul trucks are employed to move materials from the mining face to the surface. Predominantly powered by diesel, these vehicles require comprehensive ventilation systems to manage emissions, highlighting an enduring challenge in subterranean environments.

[0005] Despite recent innovations, the construction and maintenance of transport infrastructure remain significant logistical and financial challenges that the industry must address to ensure continued advancement. There is a need for a mining vehicle adapted for the transportation of material.SUMMARY

[0006] 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 as an aid in determining the scope of the claimed subject matter.

[0007] In a first aspect, the technique described herein relates to a cabinless mining vehicle with a frame, traction wheels, and a platform. The traction wheels may include two ormore left wheels on a left side of the mining vehicle and two or more right wheels on a right side of the mining vehicle. The left wheels and the right wheels may be driven with two or more motors. The platform may rest on the frame and extend over at least 80 % of a plan-view area of the mining vehicle.

[0008] In embodiments, the mining vehicle may include a plurality of operational modules. The operational modules may include a power distribution unit, a power module, a low-level controller module, and a high-level sensor module. The power distribution unit may include one or more relays for distributing power to the mining vehicle and a power distribution unit interface for connecting the power distribution unit to the mining vehicle. The power module may include one or more batteries for providing power to the power distribution unit and a power module interface for connecting the power module to the mining vehicle. The low-level controller module may include one or more motor controllers for controlling the two or more motors and a low-level controller module interface for connecting the low-level controller module to the mining vehicle. The high-level sensor module may include one or more processors for processing sensor data from sensors of the mining vehicle and a high-level sensor module interface for connecting the high-level sensor module to the mining vehicle.

[0009] The power distribution unit may be attachably-detachable from the mining vehicle and connectably-disconnectable from the mining vehicle by disconnecting the power distribution unit interface therefrom. The power module may be attachably-detachable from the mining vehicle and connectably-disconnectable from the mining vehicle by disconnecting the power module interface therefrom. The low-level controller module may be attachably- detachable from the mining vehicle and connectably-disconnectable from the mining vehicle by disconnecting the low-level controller module interface therefrom. The high-level sensor module may be attachably-detachable from the mining vehicle and connectably-disconnectable from the mining vehicle by disconnecting the high-level sensor module interface therefrom.

[0010] In embodiments, the operational modules may be interconnected using a plurality of interconnectors configured to withstand immersion in water and high-pressure waterjets.

[0011] In embodiments, each of the operational modules may be replaceable by a corresponding replacement module in less than 15 minutes.

[0012] In embodiments, the two or more motors may include an electric motor configured to provide regenerative electrical power to the one or more batteries during braking of the mining vehicle.

[0013] In embodiments, the one or more batteries may be recharged with a wireless charging receiver when the mining vehicle is aligned with a wireless charging station.

[0014] In embodiments, the sensors may include range sensors for detecting the presence of objects proximate to the mining vehicle. Optionally, the range sensors may provide data formapping the surroundings of the mining vehicle. Optionally, the range sensors may include a lidar, a sonar, a stereo camera, and / or a radar.

[0015] In embodiments, the location of the mining vehicle within a mine may be determined using a positioning module. Optionally, the positioning module may include a GPS, an RTK GPS, an inertial navigation system, an RFID system, a Wi-Fi positioning system, an ultrasonic positioning system, a lidar-based SLAM system, and / or a visual-based SLAM system, and may additionally or alternatively use wireless communication technologies such as Bluetooth, LTE, 5G, or proprietary radio-beacon systems to derive or refine the location of the mining vehicle.

[0016] In embodiments, using the one or more processors, the mining vehicle may receive a navigation objective, process sensor data from the high-level sensor module, process the location from the positioning module, and compute navigation commands, thereby providing autonomous navigation to the mining vehicle.

[0017] In embodiments, the platform may include one or more tie-down strap anchors for fastening a tie-down strap when extended across the platform, thereby securing material onto the platform. Optionally, the tie-down strap may be a retractable tie-down strap.

[0018] In embodiments, the mining vehicle may be configured to carry at least 2000 kg on a 20% upward incline.

[0019] In embodiments, the frame may provide at least 30 cm of ground clearance.

[0020] In embodiments, the platform may include a left-side rail and a right-side rail, each extending upward from the platform and running from a back of the platform to a front of the platform.

[0021] In embodiments, the mining vehicle may be configured for skid steering such that the mining vehicle can rotate about a substantially vertical axis by driving the two or more left wheels in a direction opposite to the two or more right wheels. Optionally, the mining vehicle may be configured to complete a 360-degree rotation within a turning radius of at most 4 meters.

[0022] In embodiments, the traction wheels may directly engage the ground surface. Alternatively, in embodiments, the mining vehicle may include a left endless track engaging a ground surface and driven by the left wheels, and a right endless track engaging the ground surface and driven by the right wheels.

[0023] In embodiments, at least one traction wheel of the traction wheels may be replaceable with a replacement wheel in less than 15 minutes.

[0024] In embodiments, a servicing cabinet may include a plurality of tools for servicing the mining vehicle.

[0025] In embodiments, the mining vehicle may include one or more spare wheels.

[0026] In embodiments, a navigation antenna may be used to receive navigation commands.

[0027] In embodiments, a camera may be used for capturing the surrounding view of the mining vehicle. Optionally, a video feed antenna may be used for transmitting a video feed of the surrounding view of the mining vehicle.

[0028] In embodiments, the mining vehicle may be configured to detect an overload thereof. Optionally, the overload may be detected based on an increase in electrical current draw, an increase in motor temperature, and / or a torque sensor output.

[0029] In embodiments, one or more emergency stop switches may be disposed on an exterior of the mining vehicle to allow personnel to quickly stop the mining vehicle in case of emergency.

[0030] In embodiments, the mounting of the traction wheels to the frame may be suspension-less.

[0031] In embodiments, the mining vehicle may be fully operational in a forward and a reverse direction.

[0032] In embodiments, the platform may be toollessly disengageably-engageable with the frame. Optionally, the platform may include one or more fastening mechanisms for disengaging and lifting the platform.

[0033] In embodiments, a mechanical lifting mechanism may be operatively coupled between the frame and the platform and configured to raise and lower the platform relative to the frame. Optionally, the mechanical lifting mechanism may include a hydraulic actuator and / or an endless screw arranged between the frame and the platform and configured such that rotation thereof raises or lowers the platform relative to the frame.

[0034] In embodiments, the frame may include a lower deck and an upper deck defining an interdeck space therebetween. The operational modules, including the power distribution unit, the power module, the low-level controller module, and the high-level sensor module, may be disposed in the interdeck space and may be attachably-detachable from the interdeck space. The mining vehicle may further comprise a front panel and a back panel at least partially covering the interdeck space, the front panel and the back panel each including a plurality of anchors for attaching one or more additional equipment to the mining vehicle. In embodiments, the platform may rest on the upper deck of the frame and may extend over at least 80% of a plan-view area of the mining vehicle.

[0035] In embodiments, an interdeck space defined between a lower deck and an upper deck of the frame may house a plurality of interconnectors for interconnecting the plurality ofoperational modules, the interconnectors being configured to withstand immersion in water and high-pressure waterjets.

[0036] In embodiments, the frame may include, on an upper deck of the frame, one or more fastening mechanism or fastening mechanisms configured for engagement with a lifting device to raise the platform relative to the frame, thereby providing access to an inter-deck space defined between the upper deck and a lower deck of the frame during maintenance.

[0037] In embodiments, the motors may include an electric motor and / or an hydraulic motor.

[0038] In a second aspect, the technique described herein relates to a method for mapping a mine using a mining vehicle. The mining vehicle may be the mining vehicle of the first aspect. The mining vehicle may be driven through different areas of the mine. Sensor data from sensors of the mining vehicle comprising range measurements and environmental measurements may be collected. From the sensor data, a geometric representation of the mine may be computed, the geometric representation comprising a geometric model of the mine and, for points or mesh elements of the geometric model, stored sensor samples representing one or more of the environmental measurements. Optionally, the environmental measurements may include seismic activity, moisture level, dust and particulate matter level, air quality, gas concentration, temperature, humidity level, traffic and personnel movement, communication signal strength, device and equipment identification, and / or surface integrity.

[0039] In embodiments, a communication channel with at least one second mining vehicle may be established. A partial geometric representation computed by the second mining vehicle may be received therefrom. The partial geometric representation may be combined with the geometric representation of the mine.

[0040] In a third aspect, the technique described herein relates to a method for depositing a platform of a mining vehicle onto a support structure. The mining vehicle provided may be the mining vehicle of the first aspect. The platform may be raised by a lifting mechanism of the mining vehicle relative to the frame, thereby creating a clearance between the platform and the frame. The mining vehicle may be driven into a support structure comprising at least two spaced-apart, generally parallel support rails, such that the frame may be positioned between the support rails and the support rails may be located beneath the platform. The platform may be lowered relative to the frame until the platform is supported by the support rails. The platform may be disengaged from the frame. The mining vehicle may be driven away from beneath the platform, thereby leaving the platform supported by the support structure.

[0041] In a fourth aspect, the technique described herein relates to a method for picking up a platform supported on a support structure by a mining vehicle. The mining vehicle provided may be the mining vehicle of the first aspect. The mining vehicle may be driven into a supportstructure on which the platform is supported by at least two spaced-apart, generally parallel support rails, such that the frame may be positioned between the support rails and beneath the platform. The platform may be raised, by a lifting mechanism of the mining vehicle, from the support rails until the platform is supported by the frame. The platform may be engaged with the frame. The mining vehicle may be driven away from the support structure with the platform carried by the frame.

[0042] In a fifth aspect, the technique described herein relates to a mining vehicle system a first mining vehicle and a second mining vehicle. Each mining vehicle may include a sensor module, a positioning module, a network interface module, and a processor module. The sensor module may collect sensor data from sensors of the respective mining vehicle, the sensor data comprising range measurements and environmental measurements. The positioning module may determine a location of the respective mining vehicle within a mine. The network interface module may establish a communication channel with the other mining vehicle and to transmit and receive data over the communication channel. The processor module may compute, from the sensor data, a geometric representation of at least a portion of the mine, the geometric representation comprising a geometric model of the mine and, for points or mesh elements of the geometric model, stored sensor samples representing one or more of the environmental measurements, and receive, via the network interface module, a partial geometric representation computed by the other mining vehicle and combine the partial geometric representation with the geometric representation computed from the sensor data of the respective mining vehicle.BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Further features and exemplary advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the appended drawings, in which:

[0044] Figure 1 is a drawing of an exemplary mining vehicle in accordance with the teachings of the present invention depicted with a payload;

[0045] Figure 2 is a perspective view of an exemplary mining vehicle with a platform, in accordance with the teachings of the present invention.

[0046] Figure 3 is a perspective view of an exemplary mining vehicle with the platform removed, in accordance with the teachings of the present invention;

[0047] Figure 4 is a front view of an exemplary mining vehicle in accordance with the teachings of the present invention;

[0048] Figure 5 is a side view of an exemplary mining vehicle in accordance with the teachings of the present invention;

[0049] Figure 6A is a top view of an exemplary mining vehicle with a platform and Figure 6B is a top view of an exemplary mining vehicle with the platform removed, in accordance with the teachings of the present invention;

[0050] Figure 7A is a bottom view of an exemplary mining vehicle with a skid plate and Figure 7B is a bottom view of an exemplary mining vehicle with the skid plate removed, in accordance with the teachings of the present invention;

[0051] Figure 8 is a perspective view of an alternative mining vehicle embodiment with payload, in accordance with the teachings of the present invention;

[0052] Figure 9 is a front view of an alternative mining vehicle embodiment, in accordance with the teachings of the present invention;

[0053] Figure 10 is a side view of an alternative mining vehicle embodiment, in accordance with the teachings of the present invention;

[0054] Figure 11A is a top view of an alternative mining vehicle embodiment with a platform and Figure 11 B is a top view of an alternative mining vehicle embodiment with the platform removed, in accordance with the teachings of the present invention;

[0055] Figure 12A is a perspective view of an alternative mining vehicle embodiment with a platform and Figure 12B is a perspective view of an alternative mining vehicle embodiment with the platform and the wheels removed, in accordance with the teachings of the present invention;

[0056] Figure 13 is a perspective close up view of an exemplary mining vehicle with a stop switch, in accordance with the teachings of the present invention;

[0057] Figure 14 is a perspective close up view of an exemplary right wheel of a mining vehicle propelled by a motor in accordance with the teachings of the present invention;

[0058] Figure 15 is a perspective close up view of an exemplary left wheel of a mining vehicle propelled by a motor in accordance with the teachings of the present invention;

[0059] Figure 16 is a top view of an exemplary power distribution unit for a mining vehicle in accordance with the teachings of the present invention;

[0060] Figure 17 is a top view of an exemplary power module for a mining vehicle in accordance with the teachings of the present invention;

[0061] Figure 18 is a top view of an exemplary low-level controller module for a mining vehicle in accordance with the teachings of the present invention;

[0062] Figure 19 is a top view of an exemplary high-level sensor module for a mining vehicle in accordance with the teachings of the present invention;

[0063] Figure 20 is a perspective view of exemplary removable operational modules for a mining vehicle in accordance with the teachings of the present invention;

[0064] Figure 21 A and Figure 21 B are a front view of exemplary power distribution unit interfaces for a mining vehicle in accordance with the teachings of the present invention;

[0065] Figure 22 is a front view of exemplary power distribution unit interfaces for a mining vehicle in accordance with the teachings of the present invention;

[0066] Figure 23 is a front view of exemplary power distribution unit interfaces for a mining vehicle in accordance with the teachings of the present invention;

[0067] Figure 24A and Figure 24B are a front view of exemplary high-level sensor module interface for a mining vehicle in accordance with the teachings of the present invention;

[0068] Figure 25A, Figure 25B, Figure 25C, Figure 25D and Figure 25E are drawings of a mining vehicle depicted while depositing a platform on a support structure, in accordance with the teachings of the present invention, wherein:- Figure 25A depicts the mining vehicle approaching the support structure;- Figure 25B depicts the mining vehicle raising the platform;- Figure 25C depicts the mining vehicle driving into the support structure with the raised platform;- Figure 25D depicts the mining vehicle lowering the platform into the support structure; and- Figure 25E depicts the mining vehicle leaving the support structure, leaving the platform onto the support structure;

[0069] Figure 26 is a flow diagram depicting an exemplary method for mapping a mine using a mining vehicle in accordance with the teachings of the present invention;

[0070] Figure 27 is a flow diagram depicting an exemplary method for depositing a platform of a mining vehicle onto a support structure in accordance with the teachings of the present invention;

[0071] Figure 28 is a flow diagram depicting an exemplary method for picking up a platform supported on a support structure by a mining vehicle in accordance with the teachings of the present invention; and

[0072] Figure 29 is a logical modular representation of an exemplary system comprising a mining vehicle.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0073] The mining vehicle described herein may be used during hauling and mining operations both underground and at the surface. The mining vehicle may, for example, facilitate the transport of ore, waste materials, and equipment within mining sites, wherewith the mining vehicle may navigate diverse terrains and inclines. The mining vehicle may be employed in Load-Haul-Dump operations, wherein material may be loaded at a mining face, hauled to transfer points, and dumped for further processing or transport. Mining conditions may require high uptime and high repairability of equipment, thereby the mining vehicle may be designed to meet such needs. The mining vehicle may facilitate the construction and maintenance of mining infrastructure by transporting tools, machinery, and construction materials. The mining vehicle may be adapted for autonomous navigation or remote operation by incorporating advanced control and sensor modules, thereby enhancing safety by reducing human presence in hazardous areas. The mining vehicle may be used for surveying and mapping mining environments, wherewith high-level sensor modules may collect and process data to create mine layout maps. The mining vehicle may serve as a platform for emergency response, equipped with tools and equipment to address accidents or hazardous conditions. The mining vehicle may include a servicing cabinet with tools and spare parts, thereby allowing on-site maintenance or repairs on other machinery to minimize downtime. The mining vehicle may be configured in different sizes, accommodating a mining environment, with, for example, a smaller configuration of the mining vehicle allowing for increased maneuverability and a larger configuration of the mining vehicle optimized for hauling capacity.

[0074] Reference is now made to the drawings in which Figure 1 depicts an exemplary mining vehicle 100 in accordance with the teachings of the present invention depicted with a payload, Figure 2 and Figure 3 depict a perspective view of an exemplary mining vehicle 100 with and without the platform 160 respectively, Figure 4 depicts a front view of an exemplary mining vehicle 100, Figure 5 depicts a side view of an exemplary mining vehicle 100, Figure 6A and Figure 6B depict top views of an exemplary mining vehicle 100 with and without the platform 160, and Figure 7A and Figure 7B depict bottom views of an exemplary mining vehicle 100 with and without a skid plate 170.

[0075] A first aspect of the techniques described herein relates to a cabinless mining vehicle 100 with a frame 110, traction wheels 122, and a platform 160. The frame 110 of the mining vehicle 100 may be constructed from high-strength steel or composite materials, thereby offering durability and resistance to the wear and tear associated with mining activities. The frame 110 may be designed in a rectangular or tubular shape, wherewith structural integrity may be maintained while minimizing weight to enhance the maneuverability and efficiency of the mining vehicle 100. The frame 110 may include reinforced joints and cross-members, thereby providing additional support and stability to withstand heavy loads and impacts. Theframe 110 may be modular, allowing for customization and integration of additional components or systems according to specific operational requirements. The frame 110 may encompass attachment points or mounts, wherewith various operational modules 130, panels, and the platform 160 may be securely affixed. In certain embodiments, the frame 110 may be treated with anti-corrosive coatings or finishes, thereby enhancing the longevity of the frame 110 in harsh underground conditions. The frame 110 may be structured to support various components and may serve as the foundational base of the mining vehicle 100, thereby providing a stable platform upon which other components may be mounted.

[0076] The dimensions of the frame 110 of the mining vehicle 100 may be designed to accommodate typical dimensions of mining tunnels, thereby allowing for efficient maneuverability of the mining vehicle 100 within confined spaces. The width and height of the frame 110 and the platform 160 may be configured to fit within standard tunnel dimensions encountered in mining operations, thereby ensuring that the mining vehicle 100 may travel smoothly without obstruction. The frame 110 may be designed with a compact profile, thereby enabling the mining vehicle 100 to perform operations such as rotating on an axis of the mining vehicle 100 within a tunnel. The capability for rotating on the axis of the mining vehicle 100 may be achieved by configuring a length and a width of the frame 110 to allow for a turning radius that may be compatible with dimensions of the tunnel, thereby facilitating navigation and positioning of the mining vehicle 100 in restricted environments. In one embodiment, the frame 110 may be rectangular, with dimensions of 8 feet by 4 feet.

[0077] The frame 110 may comprise one or several housings for operational modules 130 and other systems, wherewith the operational modules 130 and the other systems may be mounted. The frame 110 may provide additional structural support and may be used to mount the platform 160 or other equipment necessary for the operation of the mining vehicle 100.

[0078] The platform 160 may rest on the frame 110 and may extend over at least 80 % of a plan-view area of the mining vehicle 100. The plan-view area of the mining vehicle 100 may refer to an area enclosed by an outer perimeter of the mining vehicle 100 when viewed from above, for example a footprint defined by a projection of the frame 110, the traction wheels 122, and structural elements that may define an outer contour of the mining vehicle 100 onto a horizontal plane. Extending over at least 80 % of the plan-view area of the mining vehicle 100 may mean that a surface area of the platform 160, when projected onto the same horizontal plane, may cover at least 80 % of the footprint of the mining vehicle 100, thereby providing a substantially continuous load-carrying surface over a majority of the footprint of the mining vehicle 100. In one embodiment, the platform 160 may extend over at least 90 % or substantially all of the plan-view area of the mining vehicle 100, leaving only peripheral regions of the mining vehicle 100 for elements such as mounting structures, rails, or attachment points.

[0079] The cabinless configuration of the mining vehicle 100 may facilitate provision of wide platform 160 coverage by eliminating a need for a dedicated operator cabin occupying a portion of a plan-view area of the mining vehicle 100. In an absence of an operator cabin, a larger contiguous area of an upper deck 114 of the frame 110 may be made available for supporting the platform 160, thereby allowing the platform 160 to extend over a substantial portion of the plan-view area of the mining vehicle 100 as described above. By not reserving space for operator seating, control interfaces, visibility windows, and structural elements associated with a cabin, the cabinless configuration of the mining vehicle 100 may enable the platform 160 to be arranged substantially symmetrically about a longitudinal and / or transverse axis of the mining vehicle 100, wherewith a more uniform and extensive load-carrying surface of the platform 160 may be obtained.

[0080] The cabinless configuration of the mining vehicle 100 may also allow the mining vehicle 100 to be fully reversible. In an absence of a forward-facing operator station or cabin that may define a fixed forward travel direction, the mining vehicle 100 may be configured such that a front of the mining vehicle 100 and a back of the mining vehicle 100 are functionally similar for operational purposes. Lighting systems, sensors 140, cameras 820, a navigation antenna 810, range sensors 840, and other perception or signaling devices may be arranged in a generally symmetric manner relative to the frame 110, thereby allowing the mining vehicle 100 to receive navigation commands, perceive the environment, and execute control actions equivalently when moving in either longitudinal direction. Control logic executed by the one or more processors 510 may define a current forward direction based on a selected operating mode rather than a fixed structural orientation, wherewith the mining vehicle 100 may travel with either end leading without requiring reorientation of an operator. A combination of a cabinless structure and a symmetric arrangement of functional components may therefore allow the mining vehicle 100 to operate as a fully reversible vehicle while simultaneously enabling wide platform 160 coverage.

[0081] The traction wheels 122 may include two or more left wheels 124 on a left side of the mining vehicle 100 and two or more right wheels 126 on a right side of the mining vehicle 100. The left wheels 124 and the right wheels 126 may be driven by two or more motors 128. Each motor 128 may drive a respective traction wheel 122 through a dedicated drive unit, or each motor 128 may drive multiple traction wheels 122 through a drive unit. One or more drive units and associated power-transmission components may be collectively referred to as the drivetrain 120. As used herein, the drivetrain 120 may refer to an overall system that may transfer power from the motors 128 to the traction wheels 122, including any transmission, gearbox, or other component that may be involved in a power transfer from the motors 128 to the traction wheels 122.

[0082] The traction wheels 122 of the mining vehicle 100 may be configured as either inflated pneumatic traction wheels 122 or solid non-pneumatic traction wheels 122, wherewith each configuration may offer distinct operational benefits depending on an application and an environment. Pneumatic traction wheels 122 may be inflated with air or another gas to provide cushioning and shock absorption, thereby enhancing adaptability to uneven surfaces and improving traction. Solid traction wheels 122 may be constructed from materials such as rubber or composite, thereby eliminating a need for inflation and providing resistance to punctures and damage. Solid traction wheels 122 may offer increased durability in conditions where sharp objects and rough surfaces are prevalent. In certain embodiments, the mining vehicle 100 may include a traction wheel 122 system that may allow conversion between pneumatic traction wheels 122 and solid traction wheels 122, thereby providing flexibility to adapt to different operational needs and conditions.

[0083] In certain embodiments, the traction wheels 122 may be equipped with specialized treads or patterns designed to maximize grip on loose or slippery surfaces, thereby improving the traction capabilities of the mining vehicle 100. The drivetrain 120 may be designed to distribute power efficiently to the left wheels 124 and right wheels 126, enabling the mining vehicle 100 to perform complex maneuvers such as turning on an axis of the mining vehicle 100 or navigating tight spaces. The configuration of the traction wheels 122 may also facilitate an ability of the mining vehicle 100 to carry heavy loads, wherewith a weight of the heavy loads may be evenly distributed across the multiple traction wheels 122.

[0084] In another embodiment, the drivetrain 120 of the mining vehicle 100 may include tracks instead of traction wheels 122 or in addition to traction wheels 122. A tracked configuration of the drivetrain 120 may enhance an ability of the mining vehicle 100 to traverse particularly challenging terrains often encountered in mining environments, such as loose gravel, mud, or uneven surfaces. The use of tracks in place of traction wheels 122 may provide several advantages for movement of the mining vehicle 100. Tracks may distribute a weight of the mining vehicle 100 more evenly over a larger surface area, thereby reducing ground pressure and increasing stability and traction on soft or unstable ground. Tracks may also be beneficial in minimizing a risk of the mining vehicle 100 becoming bogged down in loose or muddy conditions. In an embodiment, the drivetrain 120 may include a left track engaging the ground, propelled by the left wheels 124, and a right track engaging the ground, propelled by the right wheels 126. The tracks may facilitate smooth and controlled movement of the mining vehicle 100 across varied and rugged terrains. The tracks may be constructed from durable materials such as reinforced rubber or metal, designed to withstand wear and tear associated with continuous use in harsh mining conditions. T racks may also provide the mining vehicle 100 with improved climbing capabilities, allowing the mining vehicle 100 to ascend steep inclines more effectively than wheeled configurations. Additionally, the tracked drivetrain 120 mayenhance maneuverability of the mining vehicle 100, enabling the mining vehicle 100 to execute pivot turns or rotate within a confined radius by moving the left track in an opposite direction to the right track.

[0085] Reference is now made to the drawings in which Figure 8 depicts a perspective view of a mining vehicle 100 with an interdeck platform 160, embodiment with payload, in accordance with the teachings of the present invention, Figure 9 depicts a front view of a mining vehicle 100 embodiment with interdeck platform 160, Figure 10 depicts a side view of a mining vehicle 100 embodiment with interdeck platform 160, Figure 11A and Figure 11 B depict a top view of a mining vehicle 100 embodiment with interdeck platform 160 with and without the platform 160 respectively, and Figure 12A and Figure 12B depict perspective views of a mining vehicle 100 with interdeck platform 160 embodiment with and without the platform 160 and the traction wheels 122.

[0086] The frame 110 of the mining vehicle 100 may include a lower deck 112 and an upper deck 114, wherewith the lower deck 112 and the upper deck 114 may be structured to support various components and facilitate the operational capabilities of the mining vehicle 100. The lower deck 112 may serve as the foundational base of the frame 110, thereby providing a stable platform upon which the drivetrain 120 and other components may be mounted. The lower deck 112 may be constructed from robust materials to withstand forces exerted by movement of the mining vehicle 100 and to withstand a weight of carried loads of the mining vehicle 100.

[0087] The dimensions of the frame 110 of the mining vehicle 100, including the lower deck 112 and the upper deck 114, may be designed as described above with reference to the frame 110, thereby allowing for efficient maneuverability of the mining vehicle 100 within confined spaces such as typical mining tunnels and enabling the mining vehicle 100 to perform operations such as rotating on an axis of the mining vehicle 100 within the tunnel. In one embodiment, the frame 110 may be rectangular, with dimensions of 8 feet by 4 feet.

[0088] The lower deck 112 and the upper deck 114 may define an interdeck space 116. The upper deck 114 may be positioned above the lower deck 112, thereby creating the interdeck space 116 where operational modules 130 and other systems may be housed or integrated. The configuration of the interdeck space 116 may allow for an organized and efficient layout of components of the mining vehicle 100, wherewith the upper deck 114 may serve as a protective layer for modules located in the interdeck space 116. The upper deck 114 may also provide additional structural support and may be used to mount the platform 160 or other equipment necessary for operation of the mining vehicle 100.

[0089] The dual-deck structure may facilitate easy access to the interdeck space 116 for maintenance and replacement of operational modules 130 and other components, therebyenhancing serviceability and operational uptime of the mining vehicle 100. In certain embodiments, the lower deck 112 and the upper deck 114 may be connected by vertical supports or beams, thereby ensuring rigidity and stability of the frame 110 under various operational conditions.

[0090] Reference is now made to the drawings in which Figure 14 may depict a close up view of an exemplary right wheel 126 of a mining vehicle 100 propelled by a motor 128 in accordance with the teachings of the present invention and Figure 15 may depict a close up view of an exemplary left wheel 124 of a mining vehicle 100 propelled by a motor 128 in accordance with the teachings of the present invention.

[0091] The drivetrain 120 of the mining vehicle 100 may include two or more motors 128 that may provide power necessary to drive the two or more left wheels 124 and the two or more right wheels 126. In one embodiment, the drivetrain 120 may use a single motor 128 on each side of the mining vehicle 100, thereby driving all traction wheels 122 on a respective side of the mining vehicle 100. Driving multiple traction wheels 122 from a single motor 128 may be sufficient for providing necessary torque and power distribution across traction wheels 122, wherewith multiple traction wheels 122 may be coupled to a single motor 128 via mechanical linkages or axles.

[0092] In another embodiment, each traction wheel 122 may be coupled with a dedicated motor 128, thereby allowing for individual control of power and speed of each traction wheel 122. A configuration where each traction wheel 122 may be individually controlled may offer advantages in terms of traction and maneuverability, as precise control of movement of the mining vehicle 100 and an ability to adjust power delivery to each traction wheel 122 based on terrain conditions may thereby be achieved. The selection between the embodiments of the drivetrain 120 may depend on specific operational requirements of the drivetrain 120, such as a need for enhanced control or simplified mechanical design of the drivetrain 120.

[0093] The motors 128 may be configured to provide at least 500 Nm of torque for each traction wheel 122, thereby allowing four traction wheels 122 to carry a load of 2000 kg over a 20% incline. The motors 128 driving the traction wheels 122 may include electric motors and / or hydraulic motors supplied by a hydraulic power unit, or other types of motors suitable for providing traction in a mining environment.

[0094] Reference is now made to the drawings in which Figure 16 depicts an exemplary power distribution operational module 130 for a mining vehicle 100 in accordance with the teachings of the present invention, Figure 17 depicts an exemplary power operational module 130 for a mining vehicle 100, Figure 18 depicts an exemplary low-level controller operational module 130 for a mining vehicle 100, Figure 19 depicts an exemplary high-levelsensor operational module 130 for a mining vehicle 100, and Figure 20 depicts a perspective view of exemplary removable operational modules 130 for a mining vehicle 100.

[0095] The operational modules 130 may include a power distribution unit 200, a power module 300, a low-level controller module 400, and a high-level sensor module 500. Modularity in the operational modules 130 of the mining vehicle 100 may be achieved by designing each operational module 130 to be attachably-detachable and connectably-disconnectable, thereby allowing for replacement, upgrading, or maintenance of individual components of the mining vehicle 100 without affecting the entire system of the mining vehicle 100. The design approach of attachable-detachable and connectable-disconnectable operational modules 130 may enable each operational module 130, such as the power distribution unit 200, the power module 300, the low-level controller module 400, and the high-level sensor module 500, to function independently while being integrated into the overall vehicle system of the mining vehicle 100 through standardized interfaces.

[0096] Each operational module 130 may be equipped with specific interfaces, such as connectors or docking ports, wherewith the operational modules 130 may be quickly connected to or disconnected from the mainframe of the mining vehicle 100. The configuration of specific interfaces of each operational module 130 may allow for rapid changes or repairs of each operational module 130, thereby minimizing downtime of the mining vehicle 100 and enhancing the adaptability of the mining vehicle 100 to different operational requirements or technological advancements.

[0097] In embodiments, other operational modules 130 may be utilized. For example, an environmental monitoring module may be included to detect air quality, temperature, humidity, and the presence of hazardous gases, thereby contributing to safety within a mining environment. A dedicated communication module may facilitate wireless connectivity, enabling remote operation and data exchange between the mining vehicle 100 and control centers or other vehicles within a mining site. An autonomous navigation module may incorporate advanced algorithms and additional sensors such as lidar, GPS, and cameras, thereby enabling the mining vehicle 100 to navigate autonomously through complex mining environments. A load management module may monitor and manage a distribution and a weight of a load carried by the mining vehicle 100, thereby optimizing stability and reducing a likelihood of overloading. A thermal management module may manage thermal conditions of components of the mining vehicle 100, including a battery and motors of the mining vehicle 100, by providing cooling or heating as necessary to maintain operating temperatures of the components of the mining vehicle 100 within a desired range. A dedicated energy recovery module may incorporate regenerative braking technology to capture and store energy generated during braking, thereby improving energy efficiency. A maintenance and diagnostics module may include diagnostic tools and software to continuously monitor a health of variouscomponents of the mining vehicle 100, predicting maintenance needs and facilitating diagnostics and repairs. A tool and equipment module may serve as a modular storage system to carry specific tools and equipment needed for maintenance tasks or other operations, enabling the mining vehicle 100 to function as a mobile workshop.

[0098] The functions described herein as being implemented in separate operational modules, such as the low-level controller module 400 and the high-level sensor module 500, may be partially or entirely combined in a single physical module, or distributed differently among multiple physical modules. References in the present description to a particular “module” (for example the low-level controller module 400 or the high-level sensor module 500) may therefore refer to a logical grouping of functions, irrespective of whether the functions are implemented in one enclosure or in multiple enclosures within the mining vehicle 100. For example, a dedicated sensor module may be provided to interface with the sensors 140 and to supply sensor data both to the low-level controller module 400 and to the high-level sensor module 500, the term “sensor module” referring in this context to the functional aggregation of sensor-interface and data-acquisition functions, regardless of whether these functions are implemented in a separate physical enclosure.

[0099] As depicted on Figure 16, the power distribution unit 200 includes an enclosure housing one or more bus bars or high current terminals for receiving power from the power module 300 and distributing the power to a plurality of branch circuits of the mining vehicle 100. In one embodiment, large gauge conductors may enter the enclosure through sealed cable glands 280 and may terminate on positive and negative stud terminals 240, which together may define a main DC bus. One or more protective devices, such as fuses, current shunts and / or main disconnect switches or contactors, may be connected in series with the main DC bus to provide over current protection and controlled connection and disconnection of the power module 300. The power distribution unit 200 may further comprise a plurality of relays 210 and over current protection devices, such as miniature circuit breakers or fused switches, mounted on one or more DIN rails and configured to selectively connect the main DC bus to individual loads, for example the low level controller module 400, the high level sensor module 500, auxiliary pumps, lighting, and charging interfaces. One or more DC-DC converters 222 or AC-DC power supplies 224 may also be mounted on the DIN rail and configured to convert the battery voltage to one or more auxiliary voltages, for example 24 VDC or 12 VDC, for control and sensor circuitry. A plurality of terminal blocks may be provided for terminating low voltage control and signal wiring, thereby interconnecting the relays 210, the contactors, the controllers and external harnesses.

[0100] In other embodiments, the power distribution unit 200 may also include status indication devices, such as LEDs or pilot lights, for indicating a presence of voltage on a main DC bus or on selected branch circuits, and test points or measurement terminals for monitoringvoltage, current or insulation resistance. An enclosure of the power distribution unit 200 may further comprise a panel carrying multiple bulkhead connectors or feed throughs to interface with wiring harnesses of the mining vehicle 100, the bulkhead connectors being selected, by way of non limiting example, from sealed circular connectors, high current DC connectors and multi pin signal connectors. An internal layout of the power distribution unit 200 may be arranged such that high current conductors are physically separated from low voltage control wiring, thereby reducing electromagnetic interference and facilitating maintenance and inspection.

[0101] The power distribution unit 200 may be attachably-detachable from the frame 110 or from the interdeck space 116 and may include one or more relays 210 for distributing power to the mining vehicle 100 and a power distribution unit interface 220 for connecting the power distribution unit 200 to the mining vehicle 100. In addition, voltage regulators of the power distribution unit 200 may be included to maintain a consistent voltage level across systems of the mining vehicle 100, thereby ensuring stable and reliable operation of electrical components of the mining vehicle 100. The power distribution unit 200 may also feature a control module for monitoring and managing power flow of the power distribution unit 200, thereby optimizing energy use and efficiency of the mining vehicle 100. Additionally, sensors or diagnostic interfaces of the power distribution unit 200 may be included to monitor performance and health of the power distribution system of the mining vehicle 100, thereby enabling predictive maintenance and reducing downtime of the mining vehicle 100.

[0102] The power distribution unit 200 may be connectably-disconnectable from the mining vehicle 100 by disconnecting the power distribution unit interface 220 from the mining vehicle 100. The power module 300 may be attachably-detachable from the frame 110 or from the interdeck space 116 and may include one or more batteries 310 for providing power to the power distribution unit 200 and a power module interface 320 for connecting the power module 300 to the mining vehicle 100.

[0103] The connectors used for the power distribution unit interface 220 and elsewhere may be designed to withstand harsh environmental conditions, potentially being rated as IP68 or IP69K. Environmental ratings such as IP68 or IP69K ensure that connectors resist dust ingress and exposure to water, including high-pressure and high-temperature water jets, thereby maintaining reliable electrical connections in challenging mining environments.

[0104] As depicted on Figure 17, the power module 300 may include one or more battery packs 310 enclosed within a rigid housing, the battery packs 310 being mechanically retained by one or more securing elements such as straps, clamps or brackets. In one embodiment, the battery packs 310 may be prismatic or rectangular battery assemblies disposed side-by-side and strapped down using high-strength webbing straps with adjustable buckles, thereby constraining movement of the battery packs 310 within the power module 300 under vibrationand shock. The power module 300 may further include high-current conductors connected to the battery packs 310, for example a positive bus and a negative bus terminating at external terminals or studs, as well as at least one high-current quick-disconnect connector (for example, a commercially available high-current DC plug) configured to mate with a complementary connector of the mining vehicle 100. Cable glands or sealed feed-throughs may be provided on a wall of the housing to route power cables and signal wires while maintaining environmental protection of the interior of the power module 300. A protective device, such as a fuse, a circuit breaker, and / or a contactor, may be electrically connected in series with the battery packs 310 to limit fault currents and to allow controlled connection and disconnection of the power module 300 from the power distribution unit 200. A protective earth conductor may be connected between the housing of the power module 300 and a grounding point of the mining vehicle 100, thereby ensuring proper bonding of the enclosure of the power module 300.

[0105] In other embodiments, the power module 300 may also include a battery management system (BMS) configured to monitor cell voltages, currents and temperatures of the battery packs 310 and to balance charging and discharging across the battery packs 310, one or more temperature sensors thermally coupled to the battery packs 310, and one or more low-voltage harnesses for communication with the high-level sensor module 500 and / or the low-level controller module 400. The battery packs 310 may comprise, by way of non-limiting example, lithium-ion, lithium iron phosphate, nickel-metal hydride or sealed lead-acid cells connected in series and / or in parallel to provide a desired voltage and capacity. The power module 300 may further comprise passive or active thermal management components, such as heat-spreading plates, ventilation openings, fans, or liquid-cooling interfaces, configured to maintain the batteries 310 within a desired operating temperature range.

[0106] The power module 300 may be attachably-detachable from the frame 110 or from the interdeck space 116, thereby facilitating access of the power module 300 for maintenance or replacement. The power module 300 may include one or more batteries 310 for supplying power to the power distribution unit 200. The power module 300 may consist of a single battery pack or multiple batteries 310 that may be used collaboratively to supply power to the power distribution unit 200. In a configuration with a single battery pack, the power module 300 may house a high-capacity battery designed to meet energy demands of the mining vehicle 100 on the high-capacity battery alone. The configuration of a single battery pack may simplify maintenance and management of the power module 300, as only one unit of the power module 300 may require attention. Alternatively, the power module 300 may contain multiple batteries 310 connected in series or parallel configurations, thereby allowing for flexibility in voltage and capacity management of the power module 300. When multiple batteries 310 are used collaboratively within the power module 300, the power module 300 may balance a load across the batteries 310, optimize power delivery of the batteries 310, and extend an operationallifespan of the battery system of the power module 300 by preventing any single battery 310 from becoming overly taxed.

[0107] Additionally, the power module 300 may be equipped with connectors and interfaces that may allow for easy integration of the power module 300 with the electrical system of the mining vehicle 100 and may enable quick disconnection and reconnection of the power module 300 during maintenance or replacement, thereby contributing to the reliability, efficiency, and flexibility of the power supply system of the mining vehicle 100.

[0108] The power module interface 320 may serve as a connection point between the power module 300 and the mining vehicle 100. The power module interface 320 may utilize connectors that are IP68 or IP69K rated, thereby ensuring that electrical connections of the power module interface 320 remain secure and unaffected by environmental factors such as dust, moisture, or pressurized water.

[0109] The system may be designed to facilitate the replacement of the entire power module 300 as a single unit, rather than replacing the batteries 310 individually. Replacement of the entire power module 300 as a single unit may allow for a more efficient and streamlined process when a user maintains or upgrades the power supply of the mining vehicle 100. By swapping out the entire power module 300, the mining vehicle 100 may quickly return to operation, as a replacement power module 300 may be pre-charged and ready to provide power to the power distribution unit 200.

[0110] As depicted on Figure 18, the low level controller module 400 may include one or more motor controllers 410, for example a sealed power electronics unit 480 fixed to a base of an enclosure and configured to drive the motors 128 of the mining vehicle 100. The motor controller 410 may be connected to the traction motors 128 through high current conductors routed via sealed cable glands of the low level controller module interface 420. The low level controller module 400 may further comprise a DIN rail mounted control unit 430, such as a programmable logic controller or modular I / O controller, having a plurality of input and output terminals and status indicating light emitting diodes (LEDs). The control unit 430 may be wired to terminal blocks 482 arranged along a wiring duct, thereby providing connection points for signals from and to sensors, switches, contactors and the motor controllers 410. One or more safety relays may be disposed among the terminal blocks 482 and may be configured to process emergency stop signals and other safety related inputs, and to interrupt drive enable or control signals to the motor controllers 410 when a fault or emergency condition is detected. In some embodiments, a communication device 450, such as an Ethernet switch or fieldbus coupler, may be mounted on the DIN rail and may be configured to provide data connectivity between the control unit 430, the motor controllers 410 and other operational modules 130 of the mining vehicle 100. Harnesses from the remainder of the mining vehicle 100 may enter the low level controller module 400 through bulkhead connectors and cable glands forming part ofthe low level controller module interface 420, the harnesses being terminated on the terminal blocks 482 and / or directly on the control unit 430 for organized distribution of power, control and communication signals within the low level controller module 400.

[0111] In other embodiments, the low level controller module 400 may also include additional interface modules, such as digital and analog input / output expansion modules, communication interfaces, for example CAN, Ethernet, or serial interfaces, for exchanging commands and status information with the high level sensor module 500 and / or the power distribution unit 200, and low voltage power supply modules configured to provide regulated control voltages to the control unit 430, the safety relays and the sensors. Wiring ducts or raceways may be provided to route and retain conductors within an enclosure of the low level controller module 400, thereby reducing a risk of damage to wiring of the low level controller module 400 during operation or maintenance of the mining vehicle 100 and facilitating serviceability of the low level controller module 400.

[0112] The low level controller module 400 may be attachably detachable from the frame 110 or from the interdeck space 116, thereby facilitating access for maintenance, upgrades, or replacement of the low level controller module 400, and may include one or more motor controllers 410 for controlling the two or more motors 128 and a low level controller module interface 420 for connecting the low level controller module 400 to the mining vehicle 100. A modular approach of the low level controller module 400 may allow the low level controller module 400 to be quickly removed and reinstalled, thereby enhancing flexibility and serviceability of the mining vehicle 100. Within the low level controller module 400, the motor controllers 410 may be responsible for regulating operation of the two or more motors 128 that propel the mining vehicle 100. By managing variables such as speed, torque, and direction of the motors 128, the motor controllers 410 may ensure performance and efficiency of the drivetrain 120 under varying operational conditions of the mining vehicle 100.

[0113] The low level controller module 400 may connect to the mining vehicle 100 through the low level controller module interface 420, the low level controller module interface 420 serving as a connection point providing electrical and data links between the low level controller module 400 and electrical and control systems of the mining vehicle 100. The design of the low level controller module interface 420 may allow for secure and reliable communication, thereby ensuring that the motor controllers 410 may receive commands and feedback from systems within the mining vehicle 100. The low level controller module 400 may be connectably-disconnectable from the mining vehicle 100 by disconnecting the low level controller module interface 420 from the mining vehicle 100, thereby facilitating maintenance, troubleshooting, or replacement of the low level controller module 400 without requiring extensive disassembly of the mining vehicle 100 or systems of the mining vehicle 100. Use of a standardized connection point of the low level controller module interface 420 may supportmodularity and flexibility of the mining vehicle 100, enabling swaps or upgrades of the low level controller module 400, reducing downtime of the mining vehicle 100, and enhancing operational efficiency and serviceability of the mining vehicle 100.

[0114] As depicted on Figure 19, the high level sensor module 500 may include one or more processors 510 implemented, for example, as an industrial computer mounted within an enclosure and configured to execute perception, mapping, navigation and data logging software. In one embodiment, the industrial computer may be fixed to a base of the enclosure and connected to a plurality of data and power cables routed through cable glands or bulkhead connectors. The high level sensor module 500 may further comprise one or more mass storage devices 550, such as solid state drives, mounted on a DIN rail or on a support bracket and connected to the industrial computer for storing operating software, configuration data, sensor logs and geometric representations of the mine. A communication interface module 530, such as an Ethernet switch, router and / or wireless communication device, may be disposed on a DIN rail and connected to the industrial computer, thereby providing data connections to external sensors 140, cameras 820, range sensors 840, the positioning module 700 and other modules of the mining vehicle 100. Terminal blocks 540 may be provided at the periphery of the enclosure to distribute power and low voltage signals to the industrial computer, the communication interface module 530 and the connected sensors 140, with wiring ducts guiding and retaining associated conductors. Panel mounted connectors, such as circular or Ethernet type bulkhead connectors, may be located on a wall of the enclosure and may form part of the high level sensor module interface 520 for connecting external harnesses to the high level sensor module 500.

[0115] In other embodiments, the high level sensor module 500 may also include dedicated interface modules for particular sensor technologies, such as serial to Ethernet converters, time synchronization modules or GNSS / RTK receivers, as well as power conditioning devices configured to provide regulated supply voltages to the sensors 140. The one or more processors 510 may further comprise hardware accelerators, such as graphics processing units (GPUs), vision processing modules and / or field-programmable gate arrays (FPGAs), to accelerate processing of camera and range sensor data and other complex data processing tasks. Environmental monitoring elements, such as internal temperature sensors or fan control circuits, may be provided within an enclosure of the high level sensor module 500 to maintain operation of the high level sensor module 500 within specified operating conditions and to report diagnostics to the other operational modules 130 of the mining vehicle 100. Calibration and diagnostic tools may be integrated with the high level sensor module 500 for quick adjustments and troubleshooting to maintain sensor performance of the sensors 140.

[0116] The high-level sensor module 500 may be attachably-detachable from the frame 110 or from the interdeck space 116, thereby allowing the high-level sensor module 500 to beremoved and replaced as a single unit with limited disruption to other components of the mining vehicle 100. The high-level sensor module 500 may connect to the mining vehicle 100 through a high-level sensor module interface 520, the high-level sensor module interface 520 may comprise one or more sealed data and power connectors providing necessary electrical and data connections between the high-level sensor module 500 and other systems of the mining vehicle 100. By virtue of the high-level sensor module interface 520, the high-level sensor module 500 may communicate with other components of the mining vehicle 100 and with external devices, thereby facilitating integration, processing and logging of sensor data for functions such as navigation, obstacle detection and environmental monitoring of the mining vehicle 100.

[0117] Reference is now made to the drawings in which Figure 21 A and Figure 21 B, Figure 22 and Figure 23 depict exemplary power distribution unit interfaces for a mining vehicle 100 in accordance with the teachings of the present invention, and Figure 24A and Figure 24B depict exemplary high-level sensor module interfaces for a mining vehicle 100.

[0118] As depicted in Figure 21 A and Figure 21 B, the mining vehicle 100 may employ a mated pair of high-voltage connectors forming part of the power distribution unit interface 220 and / or the power module interface 320. The connector pair may comprise a panel-mount receptacle fixed to an exterior wall of the power distribution unit 200 and a cable-mounted plug attached to a high-voltage, large-gauge, double-insulated cable leading from the power module 300. The high-voltage connector may provide two main power contacts for the positive and negative poles of the traction battery, and may further include one or more auxiliary signal contacts for implementing, for example, a high-voltage interlock loop or identification signal. In some embodiments, the high-voltage connector may be an automotive-grade, touch-safe DC connector rated for several hundred amperes and several hundred volts, with integral keying and locking features and sealing elements to provide at least IP67 or IP69K environmental protection, thereby making the high-voltage connector suitable for repeated connection and disconnection of the removable power module 300 in a harsh mining environment. In other embodiments, alternative high-voltage connector systems may be used, such as shielded multi-pin high-voltage connectors, bolted bus-bar style disconnects, or other quick-disconnect traction-battery connectors providing equivalent current-carrying capacity and environmental performance.

[0119] As depicted in Figure 22, the mining vehicle 100 may further employ one or more sealed low-pin-count connectors, for example a two-pole automotive-style connector pair, to carry auxiliary power or control signals between modules. The connector pair may include a panel-mount receptacle and a cable-mount plug with an integral latch and radial seals around a cable entry and a mating interface, the connector being terminated to a low-voltage cable such as a two-conductor jacketed cable or a twisted pair. Such a connector may be suited fortransmitting, by way of non-limiting example, low-voltage supply power, an emergency-stop loop, an enable / disable signal for the power distribution unit 200, or a control signal between the low-level controller module 400 and other subsystems, wherewith a sealed design of the connector may protect contacts of the connector from dust, moisture and vibration commonly encountered in mining operations. In other embodiments, alternative sealed connectors may be used for these functions, such as multi-pole automotive sealed connectors, M12 power connectors, or other environmentally protected low-pin-count connectors having comparable current and voltage ratings.

[0120] As depicted in Figure 23, the mining vehicle 100 may also utilize one or more circular multi-pin industrial connectors mounted on an exterior panel of an operational module 130, such as the power distribution unit 200, the low-level controller module 400 or the high-level sensor module 500. Each circular multi-pin industrial connector may comprise a panel-mount receptacle and a mating cable plug, and each circular multi-pin industrial connector may be terminated to a multi-core cable carrying a combination of low-voltage power, discrete I / O signals and / or communication lines. Circular multi-pin industrial connectors of this type may offer robust mechanical retention, strain relief, and optional shielding of the multi-core cable, thereby making circular multi-pin industrial connectors of this type suitable for interconnecting subsystems that may require multiple conductors in a single rugged interface. In other embodiments, the circular multi-pin industrial connectors may be replaced or supplemented by other multi-pin industrial connectors, such as MIL-style circular connectors, rectangular heavy-duty industrial connectors, or other sealed multi-pole connectors providing similar conductor density, mechanical robustness and environmental protection.

[0121] As depicted in Figure 24A and Figure 24B, the high-level sensor module interface 520 may include one or more Ethernet connectors implemented as sealed RJ45 feed-through connectors. In one embodiment, a panel-mount RJ45 receptacle may be installed in an exterior wall of the high-level sensor module 500, the panel-mount RJ45 receptacle being internally connected to the one or more processors 510 and / or the communication interface module 530 of the high-level sensor module 500, while an external cable-side plug with an RJ45 termination may be received in a threaded or bayonet-style protective shell providing strain relief and environmental sealing. Ethernet cables connected through the sealed RJ45 feed-through connectors of the high-level sensor module interface 520 may be, for example, twisted-pair CAT-5e, CAT-6 or higher-category cables, optionally shielded, and Ethernet cables connected through the sealed RJ45 feed-through connectors of the high-level sensor module interface 520 may be used to connect cameras 820, range sensors 840, the positioning module 700, additional mining vehicles 100 or external network infrastructure to the high-level sensor module 500. The sealed RJ45 configuration of the high-level sensor module interface 520 may allow high-speed data communication while providing resistance to dust, water ingress andmechanical impacts. In other embodiments, alternative data connectors may be employed in the high-level sensor module interface 520, such as sealed M12-coded Ethernet connectors, fiber-optic connectors, or other ruggedized network connectors capable of supporting the required data rates and environmental conditions.

[0122] The sensors 140 of the mining vehicle 100 may include a variety of devices for monitoring and detecting environmental and operational conditions. Range sensors, such as LIDAR, sonar, stereo cameras (including a thermal or non-thermal), or radar, may be used to detect the presence and distance of objects surrounding the mining vehicle 100, thereby aiding in navigation and obstacle avoidance. The inclusion of LIDAR may support a LIDAR-based Simultaneous Localization and Mapping (SLAM) system, allowing the mining vehicle 100 to create real-time maps of an environment of the mining vehicle 100 while simultaneously tracking a location of the mining vehicle 100 within the mine. Cameras may be included to capture visual data of the environment of the mining vehicle 100, providing inputs for image processing and situational awareness. The visual data captured by the cameras may facilitate a visual-based SLAM system, enabling the mining vehicle 100 to generate maps and localize the mining vehicle 100 using visual cues from the environment of the mining vehicle 100. Environmental sensors, such as gas detectors, temperature sensors, and humidity sensors, may be utilized to monitor atmospheric conditions within the mining environment, thereby ensuring safety and compliance with operational standards. Load sensors may be used to measure a weight and a distribution of materials carried by the mining vehicle 100, optimizing stability and preventing overloading of the mining vehicle 100. Inertial measurement units (IMUs) may provide data on an orientation and a movement of the mining vehicle 100, supporting navigation and control systems of the mining vehicle 100. Positioning sensors, such as GPS or RTK GPS, may be included to determine a precise location of the mining vehicle 100 within the mine. The sensors 140 may collectively enhance operational capabilities and adaptability of the mining vehicle 100 to diverse mining conditions.

[0123] Temperature sensors may be integrated to monitor thermal conditions of critical components, such as the motors 128 and the power module 300, thereby ensuring that the critical components operate within safe temperature ranges and preventing overheating of the critical components. Humidity sensors may be used to assess moisture levels within components of the mining vehicle 100 and within a surrounding environment of the mining vehicle 100. Torque sensors may be included to measure an output torque of the motors 128, thereby providing data that may be used to adjust performance of the motors 128 and to optimize energy consumption of the motors 128.

[0124] The high-level sensor module 500 may be connectably-disconnectable from the mining vehicle 100 by disconnecting the high-level sensor module interface 520 from the mining vehicle 100, thereby facilitating maintenance, upgrades, or replacements of thehigh-level sensor module 500 and enhancing modularity and flexibility of the mining vehicle 100.

[0125] The front panel 150 and the back panel 151 may be designed to partially cover the frame 110 or the interdeck space 116 of the mining vehicle 100, thereby providing protection to components housed within the frame 110 or the interdeck space 116 of the mining vehicle 100 from environmental elements such as dust, debris, and moisture. The front panel 150 and the back panel 151 may serve as structural elements that enhance durability and integrity of the mining vehicle 100 while allowing access to the frame 110 or the interdeck space 116 for maintenance and operational purposes. Additionally, the front panel 150 and the back panel 151 may include a plurality of anchors 155. The anchors 155 may serve as attachment points for securing additional equipment to the mining vehicle 100. A design and a configuration of the anchors 155 may allow for flexible mounting of various tools, accessories, or auxiliary systems that may be required to support specific operational tasks or to enhance functionality of the mining vehicle 100. For example, sensors 140 may be attached using the anchors 155, enabling the mining vehicle 100 to expand sensing capabilities with additional environmental sensors 140, positional sensors 140, or operational sensors 140 as required. Antennas for communication purposes or navigation purposes may also be mounted using the anchors 155, enhancing an ability of the mining vehicle 100 to transmit data and to receive data, thereby improving connectivity and control of the mining vehicle 100. Tools or auxiliary equipment necessary for particular tasks or maintenance operations may likewise be affixed to the mining vehicle 100 using the anchors 155, thereby increasing functionality and versatility of the mining vehicle 100.

[0126] The anchors 155 on the front panel 150 and the back panel 151 of the mining vehicle 100 may be implemented using various types of fastening systems to accommodate different attachment needs. One approach may involve a grid of holes in a metal panel, which may provide a versatile and adjustable system for mounting additional devices. A grid pattern may allow for precise alignment and positioning of equipment by offering multiple attachment points, thereby facilitating the installation of sensors 140, antennas, tools, or other devices in an optimal configuration. Threaded inserts or nuts may be integrated into the grid holes to provide secure fastening points for bolts or screws, thereby ensuring that attached equipment may remain stable during an operation of the mining vehicle 100. Quick-release mechanisms or clamps may also be employed, thereby enabling rapid installation or removal of devices without a need for specialized tools. Alternatively, rail systems or modular mounting brackets may be used as anchors 155, thereby allowing for sliding or adjustable positioning of equipment along the front panel 150 or the back panel 151.

[0127] The platform 160 of the mining vehicle 100 may be designed to rest upon the upper deck 114, as described above, thereby providing an area for transporting materials, tools, orequipment necessary for mining operations. The platform 160 may be equipped with one or more retractable tie-down straps 162, which may be extended across the platform 160 to secure items being transported. The retractable tie-down straps 162 may be integrated into a design of the platform 160, allowing the retractable tie-down straps 162 to be retracted and stored when not in use, thereby preventing obstruction or interference with a surface of the platform 160. Additionally, the platform 160 may include one or more tie-down strap anchors 164, the tie-down strap anchors 164 serving as secure points for fastening the retractable tiedown straps 162. The tie-down strap anchors 164 may ensure that the retractable tie-down straps 162 may be tightly secured, providing restraint for materials placed on the platform 160. By using the tie-down systems comprising the retractable tie-down straps 162 and the tie-down strap anchors 164, the platform 160 may enhance a capability of the mining vehicle 100 to transport various loads, preventing shifting or loss of materials during transit and ensuring stability and security throughout the operation of the mining vehicle 100.

[0128] The platform 160 on the mining vehicle 100 may be used as a functional surface designed for the transportation and secure handling of materials, tools, equipment, and other items necessary for mining operations. The platform 160 may provide space to accommodate a wide variety of loads, for example raw materials such as ore or waste from a mining site to processing or disposal areas. The platform 160 may also be used to transport tools and machinery required for maintenance or construction tasks within a mine. A design of the platform 160 may allow for the efficient organization and management of materials, tools, equipment, and other items, thereby facilitating quick access and deployment of materials, tools, equipment, and other items when needed. Additionally, an integration of retractable tiedown straps 162 and tie-down strap anchors 164 on the platform 160 may ensure that loads may be securely fastened, thereby preventing movement during transit and enhancing safety of operation of the mining vehicle 100. In embodiments, the platform 160 may be textured or may comprise extrusions to enhance friction and to prevent shifting of a load of the platform 160.

[0129] In embodiments, the mining vehicle 100 may carry at least 2000 kg on a 20% upward incline. The 2000 kg may represent the weight capacity of the mining vehicle 100, signifying an ability of the mining vehicle 100 to carry heavy materials, such as ore, equipment, or supplies, which may be essential for mining operations. The specification of a 20% upward incline describes a gradient or a steepness of a slope that the mining vehicle 100 may handle while carrying the specified load of 2000 kg. A 20% incline indicates that for every 100 units of horizontal distance, an elevation changes by 20 units. Such inclines are typical in mining environments, particularly in underground mines where ramps and access roads often connect different levels of a mine. Such inclines may facilitate movement of vehicles and equipment between a surface and various underground areas. A steepness of such inclines may bedetermined by factors such as a design of a mine, geology, and a type of equipment used. In surface mining operations, haul roads and ramps often feature similar gradients to accommodate efficient transport of materials from a pit to processing areas or waste dumps.

[0130] In another embodiment, by selecting appropriately rated structural elements, drivetrain components, motors 128, traction wheels 122 and braking systems, the mining vehicle 100 may be configured to carry at least 4000 kg while travelling on inclines similar to those described herein.

[0131] In embodiments, the lower deck 112 of the mining vehicle 100 may provide at least 30 centimeters of clearance from the ground. Clearance may refer to a vertical distance between a ground surface and an underside of the lower deck 112. Providing at least 30 centimeters of ground clearance may allow the mining vehicle 100 to traverse uneven and rough terrains commonly found in mining environments without a risk of an undercarriage of the mining vehicle 100 making contact with obstacles such as rocks, debris, or uneven ground surfaces. Sufficient ground clearance may allow maintenance of mobility and flexibility of the mining vehicle 100 in navigating through various types of terrain, including inclines, declines, and areas with loose or unstable surfaces. The clearance may allow the mining vehicle 100 to maneuver over obstacles without the mining vehicle 100 becoming stuck or impeded. Adequate clearance may also contribute to protection of sensitive equipment housed within the lower deck 112 of the mining vehicle 100, as adequate clearance minimizes a likelihood of exposure of the sensitive equipment to harsh environmental elements such as water or mud, which may be prevalent in mining sites.

[0132] In certain embodiments, the frame 110 or the interdeck space 116 of the mining vehicle 100 may be equipped with a plurality of interconnectors 172. The interconnectors 172 may serve a purpose of linking operational modules 130 housed within the mining vehicle 100, thereby facilitating a transmission of power, data, and signals necessary for coordinated operation of the operational modules 130. A design of the interconnectors 172 may ensure that the interconnectors 172 may withstand immersion in water, including immersion in water with IP68 or IP69K ratings, and exposure to high-pressure water jets. By being resistant to water and high-pressure conditions, the interconnectors 172 may maintain reliable connections between the operational modules 130, thereby ensuring uninterrupted functionality and communication between the operational modules 130.

[0133] In certain embodiments, the platform 160 of the mining vehicle 100 may be equipped with a left-side rail 166 and a right-side rail 168. The left-side rail 166 and the rightside rail 168 may extend upward from a surface of the platform 160, thereby providing structural boundaries that may run longitudinally from a back of the platform 160 to a front of the platform 160. An inclusion of the left-side rail 166 and the right-side rail 168 may serve multiple purposes. Primarily, the left-side rail 166 and the right-side rail 168 may act as containmentbarriers, thereby helping to secure and to stabilize loads carried on the platform 160 by preventing the loads from shifting or falling off the platform 160 during transit of the mining vehicle 100. Additionally, the left-side rail 166 and the right-side rail 168 may offer attachment points for securing additional equipment or materials to the platform 160.

[0134] In certain embodiments, the upper deck 114 of the mining vehicle 100 may be equipped with one or more fastening mechanisms 174. The fastening mechanisms 174 may be positioned to facilitate the lifting of the platform 160, thereby allowing maintenance personnel to access an interior of the frame 110 or the interdeck space 116 beneath the platform 160. The fastening mechanisms 174 may serve as attachment points for lifting equipment, such as cranes or hoists, which lifting equipment may be used to raise the platform 160 safely and efficiently. By lifting the platform 160, maintenance crews may gain unobstructed access to components and operational modules 130 housed within the frame 110 or the interdeck space 116, thereby enabling performance of inspections, repairs, or replacements as needed.

[0135] In embodiments, rotation of the mining vehicle 100 may be performed by rotating the two or more left traction wheels 124 in an opposite direction from the two or more right traction wheels 126. The rotation of the left traction wheels 124 and the right traction wheels 126 in opposite directions, often referred to as differential steering or skid steering, may allow the mining vehicle 100 to pivot around a central axis of the mining vehicle 100. By rotating the left traction wheels 124 of the mining vehicle 100 forward while rotating the right traction wheels 126 of the mining vehicle 100 backward, the mining vehicle 100 may turn in place or may maneuver with a tight turning radius.

[0136] In embodiments, the mining vehicle 100 may be configured for skid steering such that the mining vehicle 100 may pivot about a point located within a footprint of the mining vehicle 100 by driving the two or more left wheels 124 in a direction opposite to the two or more right wheels 126. From a kinematic standpoint, such a skid-steer configuration may allow the mining vehicle 100 to rotate about a substantially vertical axis passing through or near a centre of the mining vehicle 100, with a theoretical turning radius of approximately zero at a centre of rotation of the mining vehicle 100. In practice, a minimum clearance required to complete a full 360-degree rotation of the mining vehicle 100 may be determined by an outer envelope of the mining vehicle 100, in particular by a trajectory of an outermost point of the mining vehicle 100 during the rotation of the mining vehicle 100. For a substantially rectangular vehicle footprint, the trajectory of the outermost point of the mining vehicle 100 may approximate a circle whose radius may be related to a half-diagonal of a rectangle defined by the footprint of the mining vehicle 100, optionally increased by a safety margin. In one embodiment, for example, a mining vehicle 100 having a frame 110 of about 8 feet by 4 feet may complete a full 360-degree rotation within a clearance radius of less than 4 metres. Accordingly, in some embodiments, the miningvehicle 100 may be configured to complete a full 360-degree rotation within a turning radius of at most 4 metres. A capability of the mining vehicle 100 to complete a full 360-degree rotation within such a turning radius may be particularly useful in confined mining environments where space may be limited, thereby allowing the mining vehicle 100 to navigate tight spaces, reposition the mining vehicle 100 quickly, and access different areas without requiring extensive back-and-forth movements of the mining vehicle 100.

[0137] In certain embodiments, the traction wheels 122 of the mining vehicle 100 may be designed to directly engage the ground, as opposed to utilization of tracks. Direct engagement of the traction wheels 122 with the ground may mean that the traction wheels 122 themselves make direct contact with the surface, thereby providing propulsion and stability through friction generated between the traction wheels 122 and the terrain. Direct engagement of the traction wheels 122 with the ground may offer distinct advantages in terms of simplicity and efficiency, especially in mining environments where the mining vehicle 100 may encounter diverse and challenging surfaces, such as loose soil, rocky paths, or uneven terrain. Unlike tracked systems, which may involve a continuous belt or chain that distributes weight of the mining vehicle 100 over a larger area, direct engagement of the traction wheels 122 with the ground may allow for more precise maneuverability and control of the mining vehicle 100. The traction wheels 122 may respond more quickly to steering inputs, thereby enabling the mining vehicle 100 to navigate tight spaces and adjust to surface variations effectively. Moreover, use of traction wheels 122 instead of tracks may simplify mechanical design of the mining vehicle 100, thereby reducing a number of moving parts involved in propulsion of the mining vehicle 100.

[0138] In certain embodiments, the drivetrain 120 of the mining vehicle 100 may be configured to include a left track 184 and a right track 186, each of which may engage the ground. The left track 184 and the right track 186 may be propelled by the left wheels 124 and the right wheels 126, respectively. A setup of the drivetrain 120 that includes the left track 184 and the right track 186 propelled by the left wheels 124 and the right wheels 126 may combine advantages of wheels and tracks to enhance performance of the mining vehicle 100 in challenging terrains. The left wheels 124 and the right wheels 126 may drive the left track 184 and the right track 186, thereby distributing the weight of the mining vehicle 100 over a larger surface area than wheels alone. A distribution of the weight of the mining vehicle 100 over a larger surface area than wheels alone may reduce ground pressure and may enhance traction, thereby allowing the mining vehicle 100 to navigate soft, loose, or uneven terrains more effectively than with wheels alone. The left track 184 and the right track 186 may provide greater stability and may minimize the risk of the mining vehicle 100 becoming bogged down in challenging conditions, such as mud or sand.

[0139] In certain embodiments, the tracks 184 and 186 may be designed to be optional, thereby allowing for installation or removal of the tracks 184 and 186 based on operational needs. The mining vehicle 100 may include mounting systems and quick-release mechanisms for attaching or detaching the tracks 184 and 186 without extensive modifications of the mining vehicle 100. The drivetrain 120 may include adaptable interfaces, wherewith the left wheels 124 and the right wheels 126 may drive the tracks 184 and 186 when the tracks 184 and 186 are installed. When the tracks 184 and 186 are not needed, the adaptable interfaces of the drivetrain 120 may revert to a wheel-only configuration of the drivetrain 120. The tracks 184 and 186 may be installed to enhance traction and stability in environments such as muddy or loose terrains and may be removed when operating on firmer surfaces where wheels alone may suffice. A modular design of the drivetrain 120 may facilitate maintenance of the drivetrain 120 by allowing easier access to the left wheels 124, the right wheels 126, and drivetrain components of the drivetrain 120 when the tracks 184 and 186 are removed.

[0140] In certain embodiments, the power distribution unit 200, the power module 300, the low-level controller module 400, and the high-level sensor module 500 of the mining vehicle 100 may be designed for rapid replacement. Each operational module 130 may be engineered to be attachably-detachable and connectably-disconnectable, thereby facilitating a swift swap with a replacement operational module 130. A design of each operational module 130 that enables attachment-detachment and connection-disconnection may allow for each operational module 130 to be replaced in less than 15 minutes, thereby minimizing downtime and enhancing operational efficiency of the mining vehicle 100. The connectors and interfaces for each operational module 130, such as the power distribution unit interface 220, the power module interface 320, the low-level controller module interface 420, and the high- level sensor module interface 520, may be standardized to allow for quick disconnection and reconnection of each operational module 130. Quick-release mechanisms or tool-less fasteners may be employed to further streamline a replacement process of each operational module 130. A capability of each operational module 130 to be rapidly replaced using standardized connectors, interfaces, quick-release mechanisms, or tool-less fasteners may ensure that maintenance or upgrades of the mining vehicle 100 may be performed swiftly, thereby enabling the mining vehicle 100 to resume operations with minimal delay.

[0141] In certain embodiments, at least one of the traction wheels 122 on the mining vehicle 100 may be designed to be quickly replaceable with a replacement wheel in less than 15 minutes. A rapid replacement capability of at least one of the traction wheels 122 may be facilitated by design features that may allow for easy removal and installation of the traction wheel 122, thereby minimizing downtime during maintenance or repairs of the mining vehicle 100. A wheel assembly of at least one of the traction wheels 122 may include quick-release mechanisms or simplified fastening systems, such as lug nuts or bolts that may be easilyaccessed and removed using standard tools. A design of the wheel assembly of at least one of the traction wheels 122 may also incorporate alignment guides or positioning aids to ensure that a replacement wheel may be accurately and securely mounted without extensive adjustments of the replacement wheel.

[0142] In certain embodiments, the mining vehicle 100 may be equipped with a servicing cabinet 600 that may contain a plurality of tools specifically intended for maintenance and servicing of the mining vehicle 100. The servicing cabinet 600 may be integrated into a design of the mining vehicle 100, thereby providing a convenient and accessible storage location for essential tools and equipment needed for routine checks, repairs, and adjustments of the mining vehicle 100. Inclusion of the servicing cabinet 600 may ensure that maintenance personnel may have immediate access to necessary tools of the servicing cabinet 600, thereby reducing time and effort required to perform servicing tasks on the mining vehicle 100. Tools within the servicing cabinet 600 may include wrenches, screwdrivers, diagnostic devices, and specialized instruments tailored to components and systems of the mining vehicle 100.

[0143] In certain embodiments, the mining vehicle 100 may be equipped with one or more spare wheels. The spare wheels may be stored on the mining vehicle 100 to provide immediate replacements in the event of wheel damage or failure during operations of the mining vehicle 100. The presence of spare wheels on the mining vehicle 100 may ensure that maintenance personnel may swiftly replace a damaged wheel, thereby minimizing downtime and allowing the mining vehicle 100 to resume tasks without significant delay. The spare wheels may be mounted in a designated storage area on the mining vehicle 100, such as a rack or compartment, where the spare wheels may be securely held yet easily accessible when needed. An arrangement in which the spare wheels are mounted in the designated storage area on the mining vehicle 100 may enable quick and efficient wheel replacement, as the necessary spare wheel may already be on site and may not require transport from an external location.

[0144] In certain embodiments, the mining vehicle 100 may be equipped with a navigation antenna 810, wherewith navigation commands may be received. The navigation antenna 810 may serve as a component for facilitating communication between the mining vehicle 100 and external navigation systems or control centers. The navigation antenna 810 may be used to receive signals and data necessary for determining the position, direction, and route of the mining vehicle 100 within the mining site. The signals received by the navigation antenna 810 may originate from a variety of sources, such as GPS satellites, local positioning systems, or remote operators, thereby allowing the mining vehicle 100 to navigate complex environments accurately. By receiving navigation commands, the navigation antenna 810 may enable the mining vehicle 100 to perform tasks such as autonomous navigation, route optimization, and precise maneuvering within confined or challenging spaces.

[0145] In certain embodiments, the mining vehicle 100 may be equipped with a camera 820 designed to capture a comprehensive view of the surrounding environment. The camera 820 may provide visual data that may be used for various purposes, such as navigation, monitoring, and situational awareness. The captured images or video by the camera 820 may help operators and automated systems understand the immediate environment of the mining vehicle 100, identify obstacles, and make informed decisions about movement and positioning within the mining site. Optionally, the mining vehicle 100 may also include a video feed antenna 830. The video feed antenna 830 may be used to transmit a video feed captured by the camera 820 to remote locations, such as control centers or operators situated outside of the mining vehicle 100. A transmission capability of the video feed antenna 830 may allow for real-time monitoring and assessment of the surroundings of the mining vehicle 100 from a distance, thereby enabling remote operation, supervision, and coordination with other equipment and personnel.

[0146] In certain embodiments, the sensors 140 of the mining vehicle 100 may include range sensors 840, which may be designed to detect the presence of objects in proximity to the mining vehicle 100. The range sensors 840 may function by emitting signals and measuring the time required for the emitted signals to return after reflecting off nearby objects. The capability of the range sensors 840 to measure the time of return of the emitted signals may allow the mining vehicle 100 to identify and monitor obstacles or other features within the immediate environment of the mining vehicle 100, thereby enhancing navigational safety and operational awareness of the mining vehicle 100. Optionally, the range sensors 840 may be utilized to map the surroundings of the mining vehicle 100. By continuously scanning the environment and collecting data on the position and distance of surrounding objects, the range sensors 840 may generate a detailed representation or map of the area surrounding the mining vehicle 100. The mapping capability of the range sensors 840 may support advanced navigational tasks of the mining vehicle 100, such as route planning, obstacle avoidance, and spatial analysis, which may be critical for efficient operation of the mining vehicle 100 in complex and dynamic mining environments.

[0147] The range sensors 840 may include at least one of several technologies, such as lidar, sonar, stereo cameras (including a thermal or non-thermal), and radar. Lidar may use laser light to measure distances with high precision, sonar may employ sound waves for detection, and radar may utilize radio waves to determine the location and movement of objects. Each technology may offer distinct advantages, and the choice of range sensors 840 may depend on specific operational requirements, environmental conditions, and desired accuracy.

[0148] In certain embodiments, the mining vehicle 100 may be equipped with systems to detect an overload condition, which may occur when the mining vehicle 100 is subjected to aload exceeding a designed capacity or operational limits of the mining vehicle 100. Detecting an overload condition may be necessary for maintaining safety, performance, and longevity of the mining vehicle 100, as operating under an overload condition may lead to mechanical failure or inefficient operation of the mining vehicle 100. Optionally, detection of an overload condition may be facilitated through various indicators. An increase in current draw may signal an overload condition, as the motors 128 may require more power than usual to manage an excessive load. Monitoring electrical current of the motors 128 may thus provide a real-time indication of potential overload conditions of the mining vehicle 100. Motor temperature may be another parameter that may indicate an overload condition. When the mining vehicle 100 may be overloaded, the motors 128 may work harder, generating excess heat. Temperature sensors may monitor the motors 128 for unusual temperature rises, signaling that the mining vehicle 100 may be under excessive strain.

[0149] A torque sensor may also be used to detect overload conditions by measuring the torque output of the motors 128. If the torque exceeds normal operational parameters, the torque sensor may indicate that the mining vehicle 100 may be handling more weight than a designed capacity of the mining vehicle 100 to manage.

[0150] Reference is now made to the drawings in which Figure 13 depicts a close up view of an exemplary mining vehicle with a stop switch, in accordance with the teachings of the present invention. In certain embodiments, the mining vehicle 100 may be equipped with one or more emergency stop switches 190. The emergency stop switches 190 may be strategically installed to provide personnel with an ability to quickly halt the operation of the mining vehicle 100 in the event of an emergency. By activation of an emergency stop switch 190, systems of the mining vehicle 100 may be rapidly shut down, thereby preventing potential accidents or damage of the mining vehicle 100. The emergency stop switch 190 may serve as a safety feature, allowing for immediate intervention if unexpected hazards or malfunctions of the mining vehicle 100 occur. The emergency stop switch 190 may ensure that personnel have direct control over operation of the mining vehicle 100, even in automated or remote-controlled settings of the mining vehicle 100, thereby enhancing overall safety of the mining vehicle 100.

[0151] The placement of the emergency stop switches 190 may be designed for easy accessibility, thereby ensuring that the emergency stop switches 190 may be quickly reached by operators or nearby personnel. For example, the emergency stop switches 190 may be placed on the exterior of the mining vehicle 100, such as on the front panel 150 or the back panel 151 , as well as on the sides or rear of the mining vehicle 100, so that personnel working around the mining vehicle 100 may quickly engage the emergency stop switches 190 in case of an emergency.

[0152] In one embodiment using electric motors 128, at least one of the two or more electric motors 128 on the mining vehicle 100 may be configured to provide regenerative powerto the one or more batteries 310 during braking. A regenerative braking system may work by capturing and converting kinetic energy typically lost as heat during braking into electrical energy, which may then be stored in the batteries 310. When the brakes are applied, the motor 128 may operate in reverse, functioning as a generator, wherewith the operation of the motor 128 in reverse may slow down the mining vehicle 100 while simultaneously generating electricity. The regenerated electrical energy may be transferred back to the batteries 310, thereby enhancing overall energy efficiency of the mining vehicle 100 and extending an operational range of the mining vehicle 100 by replenishing battery charge of the batteries 310. Regenerative power capability of the motor 128 may improve energy efficiency of the mining vehicle 100 and may reduce wear on traditional braking components of the mining vehicle 100 by utilizing the motor 128 for deceleration.

[0153] In certain embodiments, the mining vehicle 100 may be equipped with a wireless charging receiver designed to recharge the one or more batteries 310 when the mining vehicle 100 may be properly aligned with a magnetic wireless charging station. A wireless charging system may allow for convenient and efficient energy transfer without a need for physical connectors or cables. The wireless charging receiver on the mining vehicle 100 may interact with the magnetic wireless charging station using electromagnetic fields to transfer energy. When the mining vehicle 100 may be positioned correctly over or near the magnetic wireless charging station, magnetic fields generated by the magnetic wireless charging station may induce an electrical current in the wireless charging receiver, wherewith the induced electrical current may then be used to recharge the one or more batteries 310. The wireless charging system may offer several advantages in mining environments where traditional charging methods may be cumbersome or impractical. Wireless charging may reduce wear and tear associated with plug-in connectors and may minimize downtime, as the mining vehicle 100 may be charged during brief stops or while parked. Additionally, elimination of exposed electrical contacts and cables through use of the wireless charging system may enhance safety in harsh or wet conditions typical of mining operations.

[0154] In certain embodiments, the drivetrain 120 of the mining vehicle 100 may be designed to be suspension-less, meaning that traditional suspension components typically used to absorb shocks and vibrations from terrain may not be included in the drivetrain 120 of the mining vehicle 100. A suspension-less design of the drivetrain 120 may involve a direct connection between wheels or tracks and the frame 110 of the mining vehicle 100. A suspension-less design of the drivetrain 120 may be advantageous in specific mining environments where terrain may be relatively consistent or where the mining vehicle 100 may operate at lower speeds, thereby reducing the need for suspension components to handle dynamic loads. By eliminating suspension components from the drivetrain 120, the mining vehicle 100 may benefit from a simpler mechanical structure of the drivetrain 120, therebypotentially reducing maintenance requirements and improving durability due to fewer moving parts in the drivetrain 120 that may wear out or fail. Additionally, a suspension-less drivetrain 120 may allow for a lower center of gravity of the mining vehicle 100, thereby enhancing stability of the mining vehicle 100 when carrying heavy loads. A suspension-less design of the drivetrain 120 may also lead to increased payload capacity of the mining vehicle 100, as weight and space typically allocated for suspension systems may be repurposed for carrying materials or equipment on the mining vehicle 100.

[0155] In certain embodiments, the mining vehicle 100 may be equipped with a positioning module 700 designed to measure and track the location of the mining vehicle 100 within a mining environment. The positioning module 700 may provide spatial information that may assist in navigation, operational planning, and coordination within the mining environment. The positioning module 700 may incorporate a variety of technologies to determine the position of the mining vehicle 100. The positioning module 700 may include a Global Positioning System (GPS) for basic location tracking, which may be useful when the mining vehicle 100 may be operating in areas with clear access to satellite signals. For enhanced precision of the location tracking, a Real-Time Kinematic (RTK) GPS may be used, providing centimeter-level accuracy by correcting GPS data with signals from a local base station. In environments where GPS signals may be unreliable or unavailable, such as underground mines, the positioning module 700 may utilize an inertial navigation system (INS). The inertial navigation system may calculate the position of the mining vehicle 100 based on accelerometer data and gyroscope data, thereby allowing for continuous tracking of the position of the mining vehicle 100 without external signals. Additionally, the positioning module 700 may employ a Radio Frequency Identification (RFID) system, which may use tags and readers placed at known locations within the mining environment to determine the position of the mining vehicle 100. A Wi-Fi positioning system of the positioning module 700 may leverage wireless network signals to triangulate the location of the mining vehicle 100, while an ultrasonic positioning system of the positioning module 700 may use sound waves to measure distances and identify the position of the mining vehicle 100 relative to fixed points within the mining environment.

[0156] In certain embodiments, the one or more processors 510 within the mining vehicle 100 may be configured to facilitate autonomous navigation by executing several functions related to navigation of the mining vehicle 100. The one or more processors 510 may receive a navigation objective, where the navigation objective may specify a desired destination or path for the mining vehicle 100 within a mining environment. Upon receiving the navigation objective, the one or more processors 510 may process sensor data obtained from the high-level sensor module 500, where the sensor data may provide real-time information about surroundings of the mining vehicle 100, including detection of obstacles, terrain features, and environmental conditions within the mining environment. Additionally, the one or more processors 510 mayprocess location data provided by the positioning module 700, where the location data may offer information about a current position of the mining vehicle 100 within the mining environment. By integrating the location data with the real-time sensor data, the one or more processors 510 may develop a representation of the mining environment and spatial orientation of the mining vehicle 100. Using the processed sensor data and the processed location data, the one or more processors 510 may compute navigation commands that may dictate movements of the mining vehicle 100. The navigation commands may guide the mining vehicle 100 along a path to achieve the navigation objective, accounting for obstacles or dynamic changes in the mining environment. The capability of the one or more processors 510 to compute the navigation commands based on the navigation objective, the sensor data, and the location data may enable the mining vehicle 100 to navigate autonomously, thereby reducing a need for direct human control of the mining vehicle 100 and thereby enhancing operational efficiency and safety of operation of the mining vehicle 100 in complex mining settings.

[0157] Reference is now made to the drawings in which Figure 25A, Figure 25B, Figure 25C, Figure 25D and Figure 25E depict an exemplary sequence of operations for depositing a platform 160 of a mining vehicle 100 onto a support structure in accordance with a method 2000, Figure 27 depicts a flow diagram of an exemplary method 2000 for depositing a platform 160 onto a support structure with a mining vehicle 100, and Figure 28 depicts a flow diagram of an exemplary method 2100 for picking up a platform 160 supported on a support structure by a mining vehicle 100.

[0158] The mining vehicle 100 provided 2010 may be the mining vehicle 100 of the first aspect and may therefore comprise the frame 110, the platform 160 and a mechanical lifting mechanism operatively coupled between the frame 110 and the platform 160 and configured to raise and lower the platform 160 relative to the frame 110. The platform 160 may initially rest on and be engaged with the frame 110 while carrying a payload. The mining vehicle 100 carrying the platform 160 may be driven toward a support structure comprising at least two spaced-apart, generally parallel support rails. The support rails may be mounted on, or may form part of, a rack, stand, pallet or other frame configured to receive the platform 160. The spacing between the support rails may be selected such that the frame 110 of the mining vehicle 100 may be positioned between the support rails while the platform 160, when lowered, may rest on upper surfaces of the support rails.

[0159] The platform 160 may be raised 2020 by the lifting mechanism of the mining vehicle 100 relative to the frame 110, thereby creating a vertical clearance between an underside of the platform 160 and an upper surface of the frame 110 sufficient to allow the frame 110 to pass beneath the platform 160 and between the support rails without interference. While the platform 160 may be in the raised position, the platform 160 may remain engaged with theframe 110 by mechanical latches, fastening mechanisms 174 or other engagement features so that the platform 160 may be carried by the frame 110 as the mining vehicle 100 moves.

[0160] With the platform 160 raised, the mining vehicle 100 may be driven 2030 into the support structure such that the frame 110 may be positioned between the support rails and such that the support rails may be located beneath the platform 160. In some embodiments, the support structure may include alignment guides, stops or markers to assist an operator or an autonomous control system in positioning the mining vehicle 100 so that the platform 160 may be substantially centered above the support rails. Sensors 140 of the mining vehicle 100, such as range sensors 840 or cameras 820, may optionally be used to assist in alignment of the mining vehicle 100 relative to the support structure.

[0161] The platform 160 may then be lowered 2040 relative to the frame 110 by actuating the lifting mechanism of the mining vehicle 100 until one or more underside portions of the platform 160, such as longitudinal beams of the platform 160 or brackets of the platform 160, come into supporting contact with upper surfaces of the support rails. In the lowered position of the platform 160, at least a substantial portion of the weight of the platform 160 and any payload on the platform 160 may be transferred from the frame 110 of the mining vehicle 100 to the support structure. While the platform 160 is supported by the support rails, the platform 160 may be disengaged 2050 from the frame 110 by releasing engagement features of the platform 160 and the frame 110, such as by actuating quick-release latches, pins, hooks, fastening mechanisms 174 or other toolless mechanisms that previously secured the platform 160 to the frame 110.

[0162] After the platform 160 has been lowered onto and disengaged from the support rails, the mining vehicle 100 may be driven 2060 away from beneath the platform 160. The frame 110 may pass between the support rails while the platform 160 remains supported by the support structure. The sequence of operations may result in the platform 160, along with any payload carried on the platform 160, being left on the support structure, thereby allowing the mining vehicle 100 to be used with another platform 160 or for other tasks. In some embodiments, the operations illustrated in Figure 25A to Figure 25E may be performed under manual control, remote control or autonomous control, with the positioning module 700 and the high-level sensor module 500 assisting in accurately locating and maneuvering the mining vehicle 100 relative to the support structure.

[0163] Reference is made to the drawings in which Figure 26 depicts an exemplary embodiment of a method 1000 for mapping a mine using a mining vehicle 100. A second aspect of the techniques described herein may relate to the method 1000 for mapping a mine using the mining vehicle 100. The method 1000 may comprise driving 1100 the mining vehicle 100 in different areas of the mine, collecting 1200 sensor data from the sensors 140 of the mining vehicle 100, and computing 1300 a geometric representation of the mine from the sensor data.

[0164] The method 1000 may begin with driving 1100 the mining vehicle 100 through various areas of the mine. Navigating the mining vehicle 100 through the mine may allow the mining vehicle 100 to cover extensive portions of the mining site, thereby ensuring that data collected by the mining vehicle 100 may encompass diverse environments and spatial features present within the mine.

[0165] As the mining vehicle 100 traverses these areas, the mining vehicle 100 may engage in collecting 1200 sensor data. The sensor data may be gathered from the various sensors 140 equipped on the mining vehicle 100, which may include range sensors, cameras, and other environmental or positional sensors. The range sensors, cameras, and other environmental or positional sensors may capture detailed information about the contours of the mine, the dimensions of the mine, and the presence of obstacles or other significant features within the mine.

[0166] Once the data collection may be complete, the method 1000 may involve computing 1300 a geometric representation of the mine utilizing the collected sensor data. The computation 1300 may involve processing the sensor inputs to create a detailed and accurate three-dimensional model of the interior of the mine. The geometric representation may provide a visual and spatial framework that may be used for various applications, including navigation, planning, and analysis. The method 1000 may enhance understanding of the structure of the mine, thereby supporting safer and more efficient mining operations.

[0167] The geometric representation may include geometry and sensor samples. As the mining vehicle 100 navigates the mine, both the structural outline of the mine and data from various sensors 140 may be collected 1200 and may be integrated into a comprehensive model. The structural outline may refer to the spatial structure or framework of the mine and may include, for example, the three-dimensional shapes, contours, and dimensions of the tunnels of the mine, the shafts of the mine, and the chambers of the mine. The geometry may be constructed using data from sensors 140 like LIDAR, where LIDAR may accurately map the physical features of the environment. The geometric model may provide a visual and spatial representation of the layout of the mine, where the visual and spatial representation of the layout of the mine may be used for navigation, planning, and operational safety. Sensor samples may be data points collected 1200 from various sensors 140 attached to the mining vehicle 100. Sensor samples may include information about environmental conditions, geotechnical data, and operational data. Environmental conditions may include temperature, humidity, air quality, and gas concentrations, where the temperature, the humidity, the air quality, and the gas concentrations may be used for assessing the safety of the mine environment. Geotechnical data may include seismic activity and surface integrity, where the seismic activity and the surface integrity may be used to evaluate the stability and structural health of the mine. Operational data may include traffic patterns, personnel movement, andequipment identification, where the traffic patterns, the personnel movement, and the equipment identification may be used to optimize mine operations and logistics. By computing 1300 geometry with sensor samples, the geometric representation may provide a detailed, multifaceted view of the mine.

[0168] In certain embodiments, the process of computing 1300 the geometric representation of the mine may involve additional collaborative steps with a second mining vehicle 100. The enhanced method 1000 may include establishing 1310 a communication channel with the second mining vehicle 100. Through the communication link, data may be exchanged between the mining vehicle 100 and the second mining vehicle 100, thereby enabling cooperation in mapping the mine.

[0169] Once communication may be established, the method 1000 may involve obtaining 1320 a partial geometric from the second mining vehicle 100. The partial geometric may represent the areas of the mine that the second mining vehicle 100 may have surveyed and mapped using sensors 140 of the second mining vehicle 100 and data collection capabilities of the second mining vehicle 100. By gathering the partial geometric, the first mining vehicle 100 may access detailed information about sections of the mine that the first mining vehicle 100 may not have directly surveyed.

[0170] Cooperation may involve combining 1330 the partial geometric obtained 1320 from the second mining vehicle 100 with the data already collected 1200 by the first mining vehicle 100. The integration of the partial geometric obtained 1320 from the second mining vehicle 100 with the data already collected 1200 by the first mining vehicle 100 may result in a more comprehensive and complete geometric representation of the mine.

[0171] In embodiments, collecting 1200 sensor data may include collecting one or more of a seismic activity, a moisture level, a dust and particulate matter, an air quality, a gas concentration, a temperature, a humidity level, a traffic and personnel movement, a communication signal strength, a device and equipment identification, and a surface integrity. Seismic activity may, for example, involve a sensor detecting low-frequency vibrations indicating minor shifts in the rock layers, where the low-frequency vibrations indicating the minor shifts in the rock layers may suggest an early onset of a potential rockfall. Moisture level may, for example, involve sensors measuring the moisture content in the air and on the mine walls, where the moisture content in the air and on the mine walls may indicate areas prone to water ingress. Dust and particulate matter may, for example, involve air quality sensors detecting elevated levels of dust particles in a particular section of the mine, where the elevated levels of the dust particles in the particular section of the mine may be recorded as part of the sensor data. Air quality may, for example, involve sensors measuring oxygen levels and detecting harmful gases like carbon monoxide, where the oxygen levels and the harmful gases like the carbon monoxide may be stored as part of the sensor data. Gas concentration may, forexample, involve methane detectors identifying a spike in gas concentration in a coal mine, where the spike in the gas concentration in the coal mine may be used as part of the sensor data. Temperature may, for example, involve temperature sensors recording differences in ambient temperature in different areas, where the differences in the ambient temperature in the different areas may be logged as part of the sensor data. Humidity level may, for example, involve humidity sensors providing readings in certain mine sections, where the readings in the certain mine sections may be indicative of necessary adjustments in ventilation systems to prevent equipment corrosion and to ensure comfort and safety for mine workers. Traffic and personnel movement may, for example, involve the use of cameras and LIDARs to detect a presence and to track a movement of vehicles and personnel through the mine, where the detection of the presence and the tracking of the movement of the vehicles and the personnel through the mine may identify bottlenecks or high-traffic areas. Communication signal strength may, for example, involve monitoring the communication signal strength to ensure that remote- controlled operations may remain reliable, where the monitored communication signal strength may be stored as part of the sensor data. Device and equipment identification may, for example, involve sensors such as WiFi, Bluetooth, and RFIDs identifying and logging a location and an operational status of machinery, where the location and the operational status of the machinery may be incorporated into the sensor data. Surface integrity may, for example, involve groundpenetrating radar or other sensors such as LIDARs or other range sensors detecting changes in the surface integrity of mine walls, such as a development of cracks or voids, where the development of the cracks or the voids may indicate areas that may require reinforcement. The sensor data collected 1200 in the forms of the seismic activity, the moisture level, the dust and particulate matter, the air quality, the gas concentration, the temperature, the humidity level, the traffic and personnel movement, the communication signal strength, the device and equipment identification, and the surface integrity may be used to monitor and to improve safety, operational efficiency, and maintenance planning in a mining environment as the mining vehicle 100 navigates with or without a payload.

[0172] In a fourth aspect, a technique described herein may relate to a method 2100 for picking up a platform 160 supported on a support structure by a mining vehicle 100, as depicted in Figure 28, which depicts a flow diagram of an exemplary method 2100.

[0173] The mining vehicle 100 provided 2110 may be the mining vehicle 100 of the first aspect and may therefore comprise the frame 110, the platform 160 and a mechanical lifting mechanism operatively coupled between the frame 110 and the platform 160 and configured to raise and lower the platform 160 relative to the frame 110. The platform 160 may initially be supported on the support structure, for example on at least two spaced-apart, generally parallel support rails of the support structure, and may be disengaged from the frame 110 of the miningvehicle 100. The support rails of the support structure may be mounted on, or may form part of, a rack, stand, pallet or other frame configured to receive and support the platform 160.

[0174] The mining vehicle 100 may be driven 2120 into the support structure on which the platform 160 is supported by the at least two spaced-apart, generally parallel support rails, such that the frame 110 is positioned between the support rails and beneath the platform 160. In some embodiments, the support structure may include alignment guides, stops or markers to assist an operator or an autonomous control system in positioning the mining vehicle 100 so that the frame 110 may be substantially centered between the support rails and the platform 160 may be substantially aligned with the frame 110. Sensors 140 of the mining vehicle 100, such as range sensors 840 or cameras 820, may optionally be used to assist in alignment of the mining vehicle 100 relative to the support structure.

[0175] Once the frame 110 is positioned between the support rails and beneath the platform 160, the platform 160 may be raised 2130 by the lifting mechanism of the mining vehicle 100 from the support rails until the platform 160 is supported by the frame 110. Raising the platform 160 may involve actuating one or more hydraulic actuators and / or an endless screw arranged between the frame 110 and the platform 160, thereby lifting the platform 160 off upper surfaces of the support rails. As the platform 160 is raised, weight of the platform 160 and any payload on the platform 160 may be transferred from the support structure to the frame 110 of the mining vehicle 100.

[0176] With the platform 160 lifted clear of the support rails and supported by the frame 110, the platform 160 may be engaged 2140 with the frame 110 using engagement features of the platform 160 and the frame 110, such as mechanical latches, pins, hooks, fastening mechanisms 174 or other toolless mechanisms configured to secure the platform 160 to the frame 110, as described hereinabove in connection with the disengagement 2050 of the platform 160.

[0177] After the platform 160 has been raised 2130 from the support rails and engaged 2140 with the frame 110, the mining vehicle 100 may be driven 2150 away from the support structure with the platform 160 carried by the frame 110. The frame 110 may pass between the support rails while the platform 160 remains supported on the frame 110, thereby removing the platform 160 and any payload carried on the platform 160 from the support structure so that the mining vehicle 100 may transport the platform 160 to another location. In some embodiments, the method 2100 for picking up a platform 160 supported on a support structure by a mining vehicle 100 may be performed under manual control, remote control or autonomous control, with the positioning module 700 and the high-level sensor module 500 assisting in accurately locating and maneuvering the mining vehicle 100 relative to the support structure

[0178] In a fifth aspect, the technique described herein may relate to a mining vehicle system 5000 comprising a first mining vehicle 100 and a second mining vehicle 100. Each mining vehicle 100 may include a sensor module 500, a positioning module 700, a network interface module 770, and a processor module 510. The sensor module 500 may collect sensor data from sensors 140 of the respective mining vehicle 100, the sensor data may comprise range measurements and environmental measurements. The positioning module 700 may determine a location of the respective mining vehicle 100 within a mine. The network interface module 770 may establish a communication channel over a network 900 with the other mining vehicle 100 and may transmit and receive data over the communication channel. The processor module 510 may compute, from the sensor data, a geometric representation of at least a portion of the mine, the geometric representation may comprise points, a geometric model of the mine and, for mesh elements of the geometric model of the mine, stored sensor samples representing one or more of the environmental measurements, and may receive, via the network interface module 770, a partial geometric representation computed by the other mining vehicle 100 and may combine the partial geometric representation with the geometric representation computed from the sensor data of the respective mining vehicle 100.

[0179] Reference is now made to the drawings in which Figure 29 shows a logical modular representation of an exemplary system 5000 comprising a mining vehicle 100. The mining vehicle 100 may comprise a memory module 760, a processor module 510, a positioning module 700, a sensor module 500 and a network interface module 770.

[0180] The system 5000 may comprise a storage system 790A, 790B and 790C, referred together as the storage system 790, for storing and accessing long-term (i.e., non-transitory) data and the system 5000 may further log data while the mining vehicle 100 is being used. Figure 29 shows examples of the storage system 790 as a distinct database system 790A, a distinct module 790C of the mining vehicle 100 or a sub-module 790B of the memory module 760 of the mining vehicle 100. The storage system 790 may be distributed over the different systems 790A, 790B and 790C. The storage system 790 may comprise one or more logical or physical as well as local or remote hard disk drive (HDD) (or an array thereof). The storage system 790 may further comprise a local or remote database made accessible to the mining vehicle 100 by a standardized or proprietary interface or via the network interface module 770.

[0181] The network interface module 770 may represent at least one physical interface that may be used to communicate with other network nodes. The network interface module 770 may be made visible to other modules of the mining vehicle 100 through one or more logical interfaces. The actual stacks of protocols used by a physical network interface 772, 774, 776 or 778 of the network interface module 770 and / or by a logical network interface 772, 774, 776 or 778 of the network interface module 770 do not affect teachings of the present invention.

[0182] The processor module 510 may represent a single processor with one or more processor cores or an array of processors, each processor of the array of processors comprising one or more processor cores. The memory module 760 may comprise various types of memory, including different standardized or kinds of Random Access Memory (RAM) modules, memory cards, Read-Only Memory (ROM) modules, programmable ROM, and other types of memory.

[0183] A bus 780 is depicted as an example of means for exchanging data between the different modules of the mining vehicle 100. The teachings presented herein are not affected by a way the different modules of the mining vehicle 100 may exchange information. For instance, the memory module 760 and the processor module 510 may be connected by a parallel bus, but may also be connected by a serial connection or may involve an intermediate module, not shown, without affecting the teachings of the present invention.

[0184] The mining vehicle system 5000 may include a first mining vehicle 100 and a second mining vehicle 100 that may cooperate to map and monitor a mine environment. Each mining vehicle 100 may be a mining vehicle as described in any of the embodiments above, for example comprising the frame 110, the platform 160, the drivetrain 120, the operational modules 130, the sensors 140 and the positioning module 700. In the context of the system 5000, each mining vehicle 100 may further be equipped with the sensor module 500, the positioning module 700, the network interface module 770 and the processor module 510 configured to exchange data and to compute geometric representations of the mine environment.

[0185] In one embodiment, each mining vehicle 100 of the system 5000 may include a sensor module 500 configured to collect sensor data from the sensors 140 of the respective mining vehicle 100. As discussed above, the sensors 140 may comprise range sensors 840, cameras 820, environmental sensors, load sensors, inertial measurement units and / or other sensing devices. The sensor module 500 may comprise one or more interface circuits, data acquisition units or communication interfaces adapted to receive raw sensor signals or pre-processed sensor data from the sensors 140 distributed around the mining vehicle 100. The sensor module 500 may be configured to aggregate, time-stamp and optionally pre-process the sensor data, for example by filtering, decimating, compressing or organizing the sensor data into packets suitable for downstream processing. The sensor module 500 may therefore provide to the processor module 510 sensor data comprising at least range measurements and environmental measurements, as described in connection with method 1000, thereby enabling the computation 1300 of a geometric model of the mine together with associated environmental information.

[0186] In some embodiments, the sensor module 500 may be or may comprise the high-level sensor module 500 described hereinabove, which includes the processors 510, mass storage devices and communication interfaces, and may be configured to interface with the range sensors 840, the cameras 820, the positioning module 700 and other sensors 140. In other embodiments, the term “sensor module 500” as used in the context of the system 5000 may refer more generally to a functional grouping of hardware and software components responsible for acquiring, buffering and forwarding sensor data, irrespective of whether the hardware and software components are physically co-located in a single enclosure or distributed across multiple enclosures of the mining vehicle 100.

[0187] Each mining vehicle 100 of the system 5000 may further comprise a positioning module 700 configured to determine a location of the respective mining vehicle 100 within a mine. As described above, the positioning module 700 may include at least one of a GPS, an RTK GPS, an inertial navigation system, an RFID system, a Wi-Fi positioning system, an ultrasonic positioning system, a lidar-based SLAM system and a visual-based SLAM system. The positioning module 700 may provide to the processor module 510 position estimates, orientation information and, optionally, velocity and acceleration data of the respective mining vehicle 100, referenced for example to a global or local coordinate frame associated with the mine. The positioning module 700 may operate continuously as the mining vehicle 100 travels through the mine, thereby providing a sequence of location samples that may be correlated with sensor data collected by the sensor module 500. In further embodiments, the positioning module 700 may use other wireless communication technologies, such as Bluetooth, LTE, 5G or dedicated radio beacons, to estimate or refine the position of the mining vehicle 100 within the mine.

[0188] In certain embodiments, the positioning module 700 of each mining vehicle 100 may fuse data from multiple positioning technologies, for example combining inertial navigation with lidar-based SLAM, visual-based SLAM and / or RFID-based localization. Such sensor fusion may provide robust and accurate position estimates even in areas where one or more positioning modalities may be degraded, for example in underground tunnels where satellite-based GPS is not available. The position information generated by the positioning module 700 may be used not only for navigation of the respective mining vehicle 100 but also for geo-referencing the points and mesh elements and environmental measurements computed as part of the mesh representation of the mine.

[0189] Each mining vehicle 100 ofthe system 5000 may also comprise a network interface module 770 configured to establish a communication channel with the other mining vehicle 100 and, optionally, with external infrastructure such as a base station, a control center or a storage system 790. The network interface module 770 may include one or more physical and logical network interfaces, for example wireless interfaces based on Wi-Fi, cellular, mesh networking,or proprietary radio technologies, and / or wired interfaces such as Ethernet, optical fiber or fieldbus connections. The network interface module 770 may be adapted to transmit and receive data packets carrying, by way of non-limiting example, sensor data, position data, partial geometric representations, control commands, status information and diagnostics.

[0190] In one embodiment, a communication channel between a first mining vehicle 100 and a second mining vehicle 100 may be established 1310 as a peer-to-peer communication link directly between network interface modules 770 of the two mining vehicles 100. In other embodiments, a network interface module 770 of each mining vehicle 100 may communicate via one or more intermediate network nodes, such as access points, routers or repeaters, without departing from teachings of the present invention. The network interface module 770 may further comprise security mechanisms, such as encryption and authentication, and quality-of-service features to ensure that time-sensitive data such as navigation commands and partial geometric updates may be transmitted reliably.

[0191] Each mining vehicle 100 of the system 5000 may additionally comprise a processor module 510 configured to execute the mapping and collaboration functions described in connection with the method 1000. The processor module 510 may include one or more processors 510 as described above in relation to the high-level sensor module 500, for example implemented as an industrial computer having one or more processor cores, optional hardware accelerators such as GPUs and associated memory. The processor module 510 may be operatively coupled to the sensor module 500, the positioning module 700 and the network interface module 770 via one or more internal communication buses or harnesses, thereby enabling the processor module 510 to receive sensor data, location data and network data and to transmit control and mapping data.

[0192] In operation, a geometric representation of at least a portion of the mine may be computed 1300 by the processor module 510 from the sensor data collected by the sensor module 500 and the location data provided by the positioning module 700. The processor module 510 may process range measurements from the range sensors 840 to generate a geometric model of the mine, for example by constructing a three-dimensional geometry representing tunnels, chambers and other structures. For points and mesh elements of the geometric model of the mine, the processor module 510 may further store sensor samples representing one or more of the environmental measurements, such as seismic activity, moisture level, dust and particulate matter level, air quality, gas concentration, temperature, humidity level, traffic and personnel movement, communication signal strength, device and equipment identification and / or surface integrity. The result of the computation 1300 may be a rich geometric representation of the mine that may combine geometric and environmental information for use in planning, safety and operational analysis.

[0193] In certain embodiments, a communication channel between the first mining vehicle 100 and the second mining vehicle 100 may be established 1310 via the network interface module 770 under control of the processor module 510 of at least the first mining vehicle 100. Through the communication channel between the first mining vehicle 100 and the second mining vehicle 100, the processor module 510 of the first mining vehicle 100 may receive, from the processor module 510 of the second mining vehicle 100, a partial geometric representation computed 1300 by the second mining vehicle 100 from sensor data and location data of the second mining vehicle 100, the partial geometric representation corresponding for example to areas of the mine that the second mining vehicle 100 has traversed. The processor module 510 of the first mining vehicle 100 may then combine 1330 the partial geometric representation received from the second mining vehicle 100 with the geometric representation computed 1300 locally by the first mining vehicle 100, thereby obtaining a more complete and up-to-date geometric representation of the mine.

[0194] In other embodiments, the processor modules 510 of both the first mining vehicle 100 and the second mining vehicle 100 may be configured symmetrically such that each processor module 510 may compute 1300 a partial geometric representation from sensor data of a respective mining vehicle 100, may exchange the partial geometric representation via the network interface modules 770 and the communication channel, and may combine 1330 the partial geometric representations to obtain synchronized or substantially identical geometric representations of the mine on both mining vehicles 100. Such a configuration may allow each mining vehicle 100 to operate with a local copy of the combined geometric representation, even if the communication channel is temporarily disrupted.

[0195] The system 5000 may further be configured such that the processor modules 510 of the mining vehicles 100 may use the combined geometric representation, together with current sensor data and position data, to support additional functions such as autonomous navigation, path planning, hazard detection and coordination between the mining vehicles 100. For example, the processor module 510 of a given mining vehicle 100 may receive a navigation objective, may process sensor data from the sensor module 500 and may process the location from the positioning module 700, as described above, and may additionally consult the combined geometric representation to select routes that may avoid congested or hazardous areas identified by the environmental measurements stored in the combined geometric representation.

[0196] In one embodiment, the mining vehicle system 5000 may further comprise a remote system, such as a control center or a storage system 790 as described hereinabove, communicatively coupled to the network interface modules 770 of one or both mining vehicles 100. In such embodiments, the partial or combined geometric representations generated by the processor modules 510 may be transmitted to the remote system for long-term storage,visualization, analysis or further processing. Conversely, the remote system may transmit configuration data, updated navigation objectives or software updates to the processor modules 510 of the mining vehicles 100 via the network interface modules 770, thereby enabling centralized coordination and management of the mining vehicle system 5000.

[0197] The foregoing description of the mining vehicle system 5000 may be intended to illustrate how the sensor module 500, the positioning module 700, the network interface module 770 and the processor module 510 of each mining vehicle 100 may cooperate such that the mining vehicle 100 may be driven 1100 through different areas of the mine, sensor data may be collected 1200, a geometric representation may be computed 1300, a communication channel may be established 1310, a partial geometric representation may be received 1320 and the partial geometric representations may be combined 1330. Variations in the physical arrangement of the sensor module 500, the positioning module 700, the network interface module 770 and the processor module 510, variations in the particular communication technologies used by the network interface module 770, and variations in the specific mapping and fusion algorithms executed by the processor module 510 may be made while still falling within the scope of the appended claims.

[0198] The invention described herein is not to be limited to the particular embodiments described hereinabove, as variations of these embodiments may be made and still fall within the scope of the appended claims. It is also to be understood that the terminology employed is for the purpose of describing particular embodiments; and is not intended to be limiting. Instead, the scope of the present invention will be established by the appended claims.

[0199] In order to provide a clear and consistent understanding of the terms used in the present specification, a number of definitions are provided below. Moreover, unless defined otherwise, all technical and scientific terms as used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this disclosure pertains.

[0200] Use of the word “a” or “an” when used in conjunction with the term “comprising” in the claims and / or the specification may mean “one”, but it is also consistent with the meaning of “one or more”, “at least one”, and “one or more than one”. Similarly, the word “another” may mean at least a second or more.

[0201] As used in this specification and claim(s), the expression “at least one of’ followed by a set of elements suggests that any combination of the elements from the set is being considered, including a single element from the set, and all elements from the set. For clarity, “at least one of’ followed by a set does not strictly refer to having at least the whole set once, and possibly multiple times.

[0202] As used in this specification and claim(s), the words “comprising” (and any form of comprising, such as “comprise” and “comprises”), “having” (and any form of having, such as“have” and “has”), “including” (and any form of including, such as “include” and “includes”) or “containing” (and any form of containing, such as “contain” and “contains”), are inclusive or open-ended and do not exclude additional, unrecited elements or process steps.

[0203] As will be understood by a skilled person, other variations and combinations may be made to the various embodiments of the invention as described herein above. The scope of the claims should not be limited by the preferred embodiments set forth; but should be given the broadest interpretation consistent with the description as a whole.

Claims

CLAIMS1 . A mining vehicle (100) comprising:- a frame (110);- traction wheels (122), comprising:- two or more left wheels (124) on a left side of the mining vehicle (100); and- two or more right wheels (126) on a right side of the mining vehicle (100); and- two or more motors (128) for driving the two or more left wheels (124) and the two or more right wheels (126);- a platform (160) resting on the frame (110) and extending over at least 80 % of a plan-view area of the mining vehicle (100); and wherein the mining vehicle (100) is cabinless.

2. The mining vehicle (100) of claim 1 , further comprising:- a plurality of operational modules (130), comprising:- a power distribution unit (200) comprising:- one or more relays (210) for distributing a power to the mining vehicle (100); and- a power distribution unit interface (220) for connecting the power distribution unit (200) to the mining vehicle (100);- a power module (300) comprising:- one or more batteries (310) for providing a power to the power distribution unit (200); and- a power module interface (320) for connecting the power module (300) to the mining vehicle (100);- a low-level controller module (400) comprising:- one or more motor controllers (410) for controlling the two or more motors (128); and- a low-level controller module interface (420) for connecting the low-level controller module (400) to the mining vehicle (100); and- a high-level sensor module (500) comprising:- one or more processors (510), for processing sensor data from sensors (140) of the mining vehicle (100); and- a high-level sensor module interface (520) for connecting the high-level sensor module (500) to the mining vehicle (100).

3. The mining vehicle (100) of claim 2, wherein the power distribution unit (200) is attachably- detachable from the mining vehicle (100) and connectably-disconnectable from the mining vehicle (100) by disconnecting the power distribution unit interface (220) therefrom.

4. The mining vehicle (100) of claim 2 or claim 3, wherein the power module (300) is attachably-detachable from the mining vehicle (100) and connectably-disconnectable from the mining vehicle (100) by disconnecting the power module interface (320) therefrom.

5. The mining vehicle (100) of any one of claims 2 to 4, wherein the low-level controller module (400) is attachably-detachable from the mining vehicle (100) and connectably- disconnectable from the mining vehicle (100) by disconnecting the low-level controller module interface (420) therefrom.

6. The mining vehicle (100) of any one of claims 2 to 5, wherein the high-level sensor module (500) is attachably-detachable from the mining vehicle (100) and connectably- disconnectable from the mining vehicle (100) by disconnecting the high-level sensor module interface (520) therefrom.

7. The mining vehicle (100) of any one of claims 2 to 6 further comprising a plurality of interconnectors (172) for interconnecting the plurality of operational modules (130), and wherein the plurality of interconnectors (172) is configured to withstand immersion in water and high-pressure waterjets.

8. The mining vehicle (100) of any one of claims 2 to 7, wherein each of the operational modules (130) is replaceable by a corresponding replacement module in less than 15 minutes.

9. The mining vehicle (100) of any one of claims 2 to 8, wherein the two or more motors (128) comprise an electric motor configured to provide a regenerative electrical power to the one or more batteries (310) during braking of the mining vehicle (100).

10. The mining vehicle (100) of any one of claims 2 to 9, further comprising a wireless charging receiver configured to recharge the one or more batteries (310) when the mining vehicle (100) is aligned with a wireless charging station.11 . The mining vehicle (100) of any one of claims 2 to 10, wherein the sensors (140) further comprise range sensors (840) for detecting a presence of objects proximate to the mining vehicle (100).

12. The mining vehicle (100) of claim 11 , wherein the range sensors (840) are configured to provide data for mapping a surrounding of the mining vehicle (100).

13. The mining vehicle (100) of claim 11 or claim 12, wherein the range sensors (840) comprise at least one of a lidar, a sonar, a stereo camera and a radar.

14. The mining vehicle (100) of any one of claims 2 to 13, further comprising a positioning module (700) configured to determine a location of the mining vehicle (100) within a mine.

15. The mining vehicle (100) of claim 14, wherein the positioning module (700) comprises at least one of: a GPS, a RTK GPS, an inertial navigation system, an RFID system, a Wi-Fi positioning system, an ultrasonic positioning system, a lidar-based SLAM system, and a visual-based SLAM system.

16. The mining vehicle (100) of claim 14 or claim 15, wherein the one or more processors (510) are configured to:- receive a navigation objective;- process sensor data from the high-level sensor module (500);- process the location from the positioning module (700);- compute navigation commands; and thereby providing autonomous navigation to the mining vehicle (100).

17. The mining vehicle (100) of any one of claims 1 to 16, wherein the platform (160) comprises one or more tie-down strap anchors (164) for fastening a tie-down strap (162) when extended across the platform (160), thereby securing material onto the platform (160).

18. The mining vehicle (100) of claim 17, wherein the tie-down strap (162) is a retractable tiedown strap.

19. The mining vehicle (100) of any one of claims 1 to 18, configured to carry at least 2000 kg on a 20% upward incline.

20. The mining vehicle (100) of any one of claims 1 to 19, wherein the frame (110) provides at least 30 cm of ground clearance.

21. The mining vehicle (100) of any one of claims 1 to 20, wherein the platform (160) further comprises a left-side rail (166) and a right-side rail (168), extending upward from the platform (160) and running from a back of the platform (160) to a front of the platform (160).

22. The mining vehicle (100) of any one of claims 1 to 21 , wherein the mining vehicle (100) is configured for skid steering such that the mining vehicle (100) can rotate about asubstantially vertical axis by driving the two or more left wheels (124) in a direction opposite to the two or more right wheels (126).

23. The mining vehicle (100) of claim 22, wherein the mining vehicle (100) is configured to complete a 360-degree rotation within a turning radius of at most 4 metres.

24. The mining vehicle (100) of any one of claims 1 to 23, wherein the traction wheels (122) directly engage a ground surface.

25. The mining vehicle (100) of any one of claims 1 to 23, further comprising:- a left endless track (184) engaging a ground surface and driven by the left wheels (124); and- a right endless track (186) engaging the ground surface and driven by the right wheels (126).

26. The mining vehicle (100) of any one of claims 1 to 25, wherein at least one traction wheel ofthe traction wheels (122) is replaceable by a replacement wheel in less than 15 minutes.

27. The mining vehicle (100) of any one of claims 1 to 26, further comprising a servicing cabinet (600) comprising a plurality of tools for servicing the mining vehicle (100).

28. The mining vehicle (100) of any one of claims 1 to 27, further comprising one or more spare wheel.

29. The mining vehicle (100) of any one of claims 1 to 28, further comprising a navigation antenna (810) for receiving navigation commands.

30. The mining vehicle (100) of any one of claims 1 to 29, further comprising a camera (820) for capturing a surrounding view of the mining vehicle (100).

31. The mining vehicle (100) of claim 30, further comprising a video feed antenna (830) for transmitting a video feed of the surrounding view of the mining vehicle (100).

32. The mining vehicle (100) of any one of claims 1 to 31 , configured to detect an overload thereof.

33. The mining vehicle (100) of claim 32, wherein the overload is detected based on at least one of an increase in electrical current draw, an increase in motor temperature, and a torque sensor output.

34. The mining vehicle (100) of any one of claims 1 to 33, further comprising one or more emergency stop switch (190) disposed on an exterior of the mining vehicle (100) and configured to allow personnel to quickly stop the mining vehicle (100) in case of emergency.

35. The mining vehicle (100) of any one of claims 1 to 34, wherein a mounting of the traction wheels (122) to the frame (110) is suspension-less.

36. The mining vehicle (100) of any one of claim 1 to 35, configured to be fully operational in a forward and a reverse direction.

37. The mining vehicle (100) of any one of claims 1 to 36, wherein the platform (160) is toollessly disengageably-engageable with the frame (110).

38. The mining vehicle (100) of claim 37, wherein the platform (160) comprises one or more fastening mechanism (174) for disengaging and lifting the platform (160).

39. The mining vehicle (100) of claim 37 or claim 38, further comprising a mechanical lifting mechanism operatively coupled between the frame (110) and the platform (160) and configured to raise and lower the platform (160) relative to the frame (110).

40. The mining vehicle (100) of claim 39, wherein the mechanical lifting mechanism comprises a hydraulic actuator.41 . The mining vehicle (100) of claim 39, wherein the mechanical lifting mechanism comprises an endless screw arranged between the frame (110) and the platform (160) and configured such that a rotation thereof raises or lowers the platform (160).

42. A method (1000) for mapping a mine using a mining vehicle (100) according to any one of claims 1 to 41 , the method comprising:- driving (1100) the mining vehicle (100) through different areas of the mine;- collecting (1200) sensor data from sensors (140) of the mining vehicle (100), the sensor data comprising range measurements and environmental measurements; and- computing (1300), from the sensor data, a geometric representation of the mine, the geometric representation comprising:- a geometric model of the mine; and- for elements of the geometric model:- stored sensor samples representing one or more of the environmental measurements.

43. The method (1000) of claim 42, further comprising:- establishing (1310) a communication channel with at least one second mining vehicle (100);- receiving (1320) from the at least one second mining vehicle a partial geometric representation computed by the at least one second mining vehicle; and- combining (1330) the partial geometric representation with the geometric representation of the mine.

44. The method of claim 42 or claim 43, wherein the environmental measurements comprise one or more of: seismic activity, moisture level, dust and particulate matter level, air quality, gas concentration, temperature, humidity level, traffic and personnel movement, communication signal strength, device and equipment identification, and surface integrity.

45. A method (2000) for depositing a platform (160) of a mining vehicle (100) onto a support structure, the method comprising:- providing (2010) the mining vehicle (100) according to any one of claims 39 to 41 ;- raising (2020), by a lifting mechanism of the mining vehicle (100), the platform (160) relative to the frame (110) thereby creating a clearance between the platform (160) and the frame (110);- driving (2030) the mining vehicle (100) into a support structure comprising at least two spaced-apart, generally parallel support rails, such that the frame (110) is positioned between the support rails and the support rails are located beneath the platform (160);- lowering (2040) the platform (160) relative to the frame (110) until the platform (160) is supported by the support rails;- disengaging (2050) the platform (160) from the frame (110); and- driving (2060) the mining vehicle (100) away from beneath the platform (160), thereby leaving the platform (160) supported by the support structure.

46. A method (2100) for picking up a platform (160) supported on a support structure by a mining vehicle (100), the method comprising:- providing (2110) the mining vehicle (100) according to any one of claims 39 to 41 ;- driving (2120) the mining vehicle (100) into a support structure on which the platform (160) is supported by at least two spaced-apart, generally parallel support rails, such that the frame (110) is positioned between the support rails and beneath the platform (160);- raising (2130), by a lifting mechanism of the mining vehicle (100), the platform (160) from the support rails until the platform (160) is supported by the frame (110);- engaging (2140) the platform (160) with the frame (110); and- driving (2150) the mining vehicle (100) away from the support structure with the platform (160) carried by the frame (110).

7. A mining vehicle system (5000) comprising:- a first mining vehicle (100) and a second mining vehicle (100), each comprising:- a sensor module (500) configured to collect sensor data from sensors (140) of the respective mining vehicle (100), the sensor data comprising range measurements and environmental measurements;- a positioning module (700) configured to determine a location of the respective mining vehicle (100) within a mine;- a network interface module (770) configured to establish a communication channel with the other mining vehicle (100) and to transmit and receive data over the communication channel; and- a processor module (510) configured to:- compute, from the sensor data, a geometric representation of at least a portion of the mine, the geometric representation comprising a geometric model of the mine and, for elements of the geometric model, stored sensor samples representing one or more of the environmental measurements; and- receive, via the network interface module (770), a partial geometric representation computed by the other mining vehicle (100) and combine the partial geometric representation with the geometric representation computed from the sensor data of the respective mining vehicle (100).

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