Vehicle and method for correcting distance in non-line-of-sight sensing of a remote object in underground mining

Abstract

A method in a controller of a mining vehicle entails detecting a remote object, determining a distance between the mining vehicle and the remote object and determining that the remote object is not in a direct line of sight with respect to the mining vehicle. The method entails adjusting the determined distance using a compensation factor, thereby obtaining a compensated distance between the mining vehicle and the remote object. The method entails performing a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.

Description

VEHICLE AND METHOD FOR CORRECTING DISTANCE IN NON- LINE-OF-SIGHT SENSING OF A REMOTE OBJECT IN UNDERGROUND MININGRELATED APPLICATIONS

[0001] The present application claims the benefits of priority of U.S. Provisional Patent Application No. 63 / 746,350; entitled “VEHICLE AND METHOD FOR CORRECTING DISTANCE IN NON-LINE-OF-SIGHT SENSING OF A REMOTE OBJECT IN UNDERGROUND MINING”; and filed at the United States Patent and Trademark Office on January 17, 2025; the content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates generally to mining vehicles and more particularly to collision avoidance techniques for mining vehicles.BACKGROUND

[0003] Some mining vehicles include collision-avoidance subsystems having one or more types of sensors for detecting other mining vehicles or for detecting pedestrian miners. A collision-avoidance subsystem enables the mining vehicle to avoid colliding with nearby vehicles or pedestrian miners either by providing a collision warning to a driver of the mining vehicle or by automatically performing an action like braking. Sensing other mining vehicles or pedestrian miners is challenging in an underground mine due to factors like darkness, dust, and tunnel-induced signal multipath effects. Furthermore, due to the very large weight of most mining vehicles, the stopping time for these mining vehicles is significant. Early detection of other mining vehicles or pedestrian miners is thus very important to provide sufficient time to slow or stop the mining vehicle to avoid a collision. Early detection can be particularly challenging in a non-line-of-sight situation such as at a tunnel intersection.

[0004] A technical solution to address one or more of these issues is thus highly desirable.SUMMARY

[0005] In general, the specification discloses various embodiments relating to a vehicle and a method in a controller of the vehicle to correct a sensed distance to a remote object in an underground mine.

[0006] One aspect of the disclosure relates to a method in a controller of a mining vehicle that entails detecting a remote object, determining a distance between the mining vehicle and the remote object, and determining that the remote object is not in a direct line of sight with respect to the mining vehicle. The method further entails adjusting the determined distance using a compensation factor, thereby obtaining a compensated distance between the mining vehicle and the remote object. The method may further entail performing a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.

[0007] Another aspect of the disclosure relates to a mining vehicle having a vehicle body and a plurality of collision-avoidance sensors mounted to the vehicle body configured to detect a remote object. The plurality of collision-avoidance sensors includes one or more first sensors of a first type and one or more second sensors of a second type. The mining vehicle includes a controller configured to determine a distance between the mining vehicle and the remote object based on a first signal received by the one or more first sensors. The controller is further configured to determine that the remote object is not in a direct line of sight with respect to the mining vehicle when a second signal received by the one or more second sensors is below a predetermined received signal strength indicator (RSSI). The controller is further configured to determine a compensated distance between the mining vehicle and the remote object by applying a compensation factor to the distance, thereby obtaining a compensated distance between the mining vehicle and the remote object. The controller is further configured to perform a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.

[0008] This summary is not an extensive overview of all contemplated embodiments and is not intended to identify key or critical aspects or features of any embodiments or to delineate any embodiments. Other aspects and features will become apparent tothose of ordinary skill in the art upon review of the following description in view of the accompanying figures.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Example embodiments will be described in more detail referring to the following figures, in which:

[0010] FIG. 1 depicts a mining vehicle in accordance with some embodiments;

[0011] FIG. 2 is a schematic depiction of a collision-avoidance subsystem of a mining vehicle;

[0012] FIG. 3 depicts a mining vehicle near another mining vehicle;

[0013] FIG. 4 depicts a mining vehicle near a pedestrian miner;

[0014] FIG. 5 depicts a mining vehicle detecting the presence of another mining vehicle in a line-of-sight situation;

[0015] FIG. 6 depicts a mining vehicle detecting the presence of another mining vehicle in a non-line-of-sight situation;

[0016] FIG. 7 presents a flowchart depicting a method in accordance with some embodiments.

[0017] It will be noted that throughout the appended figures, like features are identified by like reference numerals.DETAILED DESCRIPTION

[0018] Disclosed herein are embodiments relating to a mining vehicle and a method performed by a controller of a mining vehicle for avoiding a collision with a remote object such as, for example, another mining vehicle or a pedestrian miner.

[0019] FIG. 1 depicts a loader as an example of a mining vehicle that has a collisionavoidance subsystem in accordance with some embodiments. The loader shown in FIG. 1 is also known as a load-haul-dump (LHD) vehicle. The mining vehicle depicted in FIG. 1 is generally denoted by reference 100. In this example, in which the mining vehicle is a loader, the mining vehicle 100 includes a body, frame or chassis 115, frontwheels 125, rear wheels 130, a bucket 120, a power plant 135 and a cab 140 for a driver. The mining vehicle may be any other type of vehicle, such as, for example, a truck, drilling rig, rock bolter, excavator, or other mining machine. The mining vehicle may be human-driven, autonomous or semi-autonomous. The mining vehicle may be electrically powered or powered by an internal combustion engine. In the embodiments depicted by way of example in FIG. 1, the mining vehicle 100 includes a collisionavoidance subsystem 150.

[0020] In the embodiments depicted schematically in FIG. 2, the collision-avoidance subsystem has a plurality of collision-avoidance sensors configured to detect a remote object 200 such as another mining vehicle or a pedestrian miner. The plurality of collision-avoidance sensors includes one or more first sensors 154 of a first type and one or more second sensors of a second type 158. As depicted in FIG. 2, the collisionavoidance subsystem 150 includes a collision-avoidance controller 160 (or processor) that receives signals from the sensors and then performs one or more collisionavoidance actions to avoid a collision with the remote object 200, e.g. avoid a collision with another vehicle or with a pedestrian miner. The collision-avoidance controller 160 (also referred to herein as the “controller”) is configured to determine a distance between the mining vehicle 100 and the remote object 200 (e.g., using first signals received via the one or more first sensors 154). The collision-avoidance controller 160 is further configured to determine that the remote object 200 is not in a direct line of sight with respect to the mining vehicle when a second signal received by the one or more second sensors is below a predetermined received signal strength indicator. It will be understood that if the second sensors receive or otherwise detect no signal at all, this is also considered to be below the predetermined received signal strength indicator (RSSI) in which case the remote object is considered to be not in a line of sight. The controller 160 is further configured to determine a compensated distance between the mining vehicle 100 and the remote object 200 by applying a compensation factor to the determined distance to thereby obtain a compensated distance between the mining vehicle 100 and the remote object 200. The controller 160 may be configured to perform a collision-avoidance action (or collision-avoidance procedure) based on the compensated distance between the mining vehicle 100 and the remote object 200. The collision-avoidance action may be braking, steering or a combination of both or any other evasive maneuver to avoid a collision. To performthe collision-avoidance action, the controller 160 may be configured to send a brake control signal to a braking system 170 of the vehicle. Alternatively, or additionally, the controller 160 may perform the collision avoidance action by sending a steering control signal to a steering system 180 of the vehicle. In other words, the controller 160 may automatically cause the vehicle 100 to slow down, to stop, and / or to turn to avoid a collision. The controller 160 may alternatively or additionally cause the vehicle to present an alert or notification, e.g. a visual, audible or tactile alert, to the driver of the vehicle to warn the driver to avoid a collision.

[0021] In some embodiments, the one or more first sensors of the first type are lower-frequency RF sensors (or receivers) and the one or more second sensors of the second type are higher-frequency RF sensors (or receivers). Optionally, the one or more first and second receivers may be one or more first and second transceivers capable of both receiving and transmitting RF signals. In other embodiments, one type of sensor may be an RF receiver whereas the other type of sensors may be non-RF sensors, such as LiDAR (Light Detection and Ranging), camera, or electro-magnetic sensor.

[0022] In some particular embodiments, as depicted by way of example in FIG. 2, the one or more first sensors of the first type are Chirp Spread Spectrum (CSS) sensors (or receivers) and the one or more second sensors of the second type are Ultra Wideband (UWB) sensors (or receivers). In other words, in the specific embodiments depicted by way of example in FIG. 2, the collision-avoidance subsystem 150 of the mining vehicle 100 includes at least one CSS transmitter 152, at least one CSS receiver 154, at least one UWB transmitter 156, and at least one UWB receiver 158. The vehicle 100 may include multiple CSS receivers and multiple UWB receivers. CSS operates in the 2.45 GHz band whereas UWB operates in the band from 3.1 GHz to 10.6 GHz. In certain circumstances in an underground mine, such as in a non-line-of-sight situation, the lower frequency CSS signal is detected by the vehicle 100 but not the higher-frequency UWB signal. The distance computed from the CSS signal, i.e. the determined distance, has been found to be inaccurate due to the multipath effect caused by the walls of the tunnel in which the vehicle is located. The controller is configured to compensate for the determined distance by applying a compensation (or correction) factor. In some embodiments, the collision-avoidance controller thusreceives one or more signals from the one or more CSS receivers 154 and receives one or more signals from the one or more UWB receivers 158. Accordingly, the collision-avoidance controller 160 is configured to detect the remote object 200 in a non-line-of-sight situation, determine a distance between the mining vehicle 100 and the remote object 200, and determine that the remote object is not in a direct line of sight with respect to the mining vehicle. The controller 160 is further configured to adjust the determined distance using a compensation factor to thereby obtain a compensated distance between the mining vehicle 100 and the remote object 200. The controller 160 may be configured to perform a collision avoidance action based on the compensated distance between the mining vehicle 100 and the remote object 200. To perform the collision avoidance action, the controller may be configured to send a brake control signal to the braking system 170 of the vehicle 100 and / or send a steering control signal to the steering system 180 of the vehicle 100.

[0023] The remote object 200 may be another mining vehicle as shown by way of example in FIG. 3. In one specific example, the mining vehicle 100 receives CSS and UWB signals in a line-of-sight situation and receives only the CSS signal in a non-line-of-sight (NLOS) situation. In other words, in a NLOS situation, the vehicle 100 either receives no UWB signal at all or only a very weak UWB signal that is below the predetermined RSSI. As depicted in FIG. 3, the mining vehicle 100 has a CSS receiver 154 to receive (sense) a CSS signal transmitted by the CSS transmitter 152 on the remote object (i.e. the other mining vehicle 200). The mining vehicle 100 also has a UWB receiver 158 to receive (sense) a UWB signal transmitted by the UWB transmitter 156 on the remote object 200 (i.e. on the other mining vehicle 200). In the example of FIG. 3, the CSS and UWB receivers are mounted to the body of the mining vehicle 100 at different locations. Similarly, the CSS and UWB transmitters may be mounted to the body of the remote object at different locations on the remote object. It will be appreciated that the mining vehicle 100 could also include its own CSS and UWB transmitters and the remote object 200 (i.e. the other mining vehicle) could also include CSS and UWB receivers so that the remote object 200 could also be able to detect the mining vehicle 100.

[0024] The remote object 200 may be a pedestrian miner wearing detectable personal equipment as shown by way of example in FIG. 4. In the example presented in FIG.4, the pedestrian miner is wearing RF-broadcasting equipment such as, for example, a cap lamp system that broadcasts RF beacons. In one particular example, the cap lamp system has a CSS transmitter 152 and a UWB transmitter 156 to broadcast the CSS and UWB signals to be sensed by the CSS receivers 154 and the UWB receivers 158 of the mining vehicle 100. In this particular example, the mining vehicle 100 has four sensor subassemblies. Each sensor subassembly in this example has a CSS receiver 154 and a UWB receiver 158 that are mounted together on the body of the vehicle. Accordingly, in this particular example, there are four CSS receivers and four UWB receivers. The placement and number of receivers may be varied on other vehicles. If there are multiple sensors, the distance can be determined by averaging the distances determined by each of the receivers or by performing any other suitable signal processing, weighting, filtering or mathematical operations on the distances determined by each of the multiple sensors. As noted above, once the signals are received, the controller 160 of the mining vehicle uses the signals to determine, compute or calculate a distance between the mining vehicle 100 and the remote object 200. If the controller 160 determines that the remote object is not in a direct line of sight with respect to the mining vehicle, the controller 160 adjusts, modifies or varies the determined distance using a compensation factor. Accordingly, the controller 160 determines a compensated distance between the mining vehicle 100 and the remote object 200. This compensated distance can be used by the controller 160 for collision avoidance. In a variant, one or more of the first and second sensors 154, 158 may include their own local microprocessors for computing the compensation factor and / or the compensated distance. Thus, in this variant, the compensation factor and / or compensated distance may be computed directly by one or more of the sensors 154, 158 instead of by the controller 160.

[0025] The distance compensation technique performed by the mining vehicle 100 is particularly useful for collision avoidance in underground mines where there are intersecting tunnels or curving tunnels that inhibit direct line of sight sensing. In other words, the distance compensation technique described above is particularly useful in a non-line-of-sight (NLOS) situation.

[0026] FIG. 5 depicts a line-of-sight (LOS) situation in which the mining vehicle 100 travelling in a tunnel 300 of an underground mine detects the presence of the remoteobject 200 (e.g. another vehicle) by receiving signals transmitted by the remote object 200. In one specific implementation, the remote object 200 broadcasts CSS and UWB signals which are sensed or received by the mining vehicle 100 as described above. In this LOS situation, the mining vehicle 100 is able to determine the distance to the remote object accurately, so no distance compensation is required.

[0027] FIG. 6 depicts a non-line-of-sight (NLOS) situation in which the remote object 200 is outside the line of sight of the mining vehicle 100. For example, as depicted in FIG. 6, the mining vehicle 100 is traveling in a tunnel 300 of an underground mine while the remote object 200 is located in an intersecting tunnel 310. In one implementation, as described above, the remote object 200 broadcasts CSS and UWB signals and the mining vehicle 100 is equipped with CSS and UWB receivers to sense the CSS and UWB signals. In this NLOS situation, the CSS signal broadcast by the remote object 200 is sensed by the mining vehicle 100 but the UWB signal broadcast by remote object 200 is not sensed by the mining vehicle 100. Alternatively, only a very weak UWB signal which is below the predetermined RSSI is sensed by the mining vehicle. The mining vehicle 100 determines a distance to the remote object 200 using the CSS signal and then applies a compensation factor to the determined distance to thereby obtain a compensated distance. The compensated distance may then be used by the controller of the mining vehicle 100 to perform a collision-avoidance action like braking or steering.

[0028] In some embodiments, the controller 160 adjusts the determined distance by adding the compensation factor to the determined distance. Alternatively, the controller 160 adjusts the determined distance by subtracting the compensation factor from the determined distance. In some embodiments, the controller 160 adjusts the compensated distance by multiplying the determined distance by the compensation factor. Alternatively, the controller 160 adjusts the compensated distance by dividing the determined distance by the compensation factor.

[0029] In some embodiments, the compensation factor is based, at least in part, on an average tunnel width of an underground mine in which the mining vehicle 100 is disposed. The average tunnel width, which is denoted WT in FIGS. 5 and 6, can be determined by the mining vehicle 100 or it can be obtained from mine map datatransmitted to the mining vehicle 100. The tunnel width is understood to be measured in a horizontal plane from one tunnel wall to an opposing tunnel wall. Due to the often craggy and rough-hewn nature of tunnel walls, an average tunnel width usually provides a more reliable compensation factor than a single tunnel width determined by a single measurement. The mining vehicle 100 can determine the average tunnel width using a tunnel width sensing device such as a LIDAR, RADAR, camera, ultrasonic sensor, etc. The mining vehicle 100 may receive a mine map transmitted from a mine map server. The mine map may include tunnel width data. The mining vehicle 100 may have an underground positioning system to determine its position in the mine so that the tunnel width corresponding to its position can be obtained from the mine map. The average tunnel width may also be determined using one or more fixed environmental beacons placed in areas where tunnel width is significantly different than the static fixed tunnel width across the mine. In such cases, the fixed environmental beacons can be configured to broadcast the tunnel width in respective areas where the beacons are placed.

[0030] In some particular embodiments, the compensation factor is equal to twice the average tunnel width. For example, the determined distance in a NLOS situation from the mining vehicle 100 to a remote object 200 is determined based on the CSS signal to be 35 m. In this example, if the average tunnel width is measured to be 5 m, then the compensation factor is 2 x 5 m = 10 m. The compensated distance is then determined by subtracting the compensation factor of 10 m from the determined distance of 35 m. The compensated distance is thus 25 m. This example shows how the compensated distance (which more closely represents the actual distance from the mining vehicle to the remote object) is much lower than what was determined using only the CSS signal.

[0031] In some embodiments, the compensation factor is a static value (e.g., based on an average tunnel width within the entire underground mine). Alternatively, in some embodiments, the compensation factor is a dynamic value (e.g., based on the local average tunnel width where the mining vehicle 100 is disposed).

[0032] In embodiments in which the compensation factor is a dynamic value, the compensation factor may be based, or further based, on the traveling speed of themining vehicle 100. In some implementations, the compensation factor may scale substantially linearly between a minimum speed and a maximum speed. In other implementations, the compensation factor may depend on a comparison between the traveling speed of the mining vehicle 100 and two or more speed ranges. For instance, if the traveling speed of the mining vehicle 100 is within a first speed range (e.g. a lower speed range), the compensation factor would be a first value (or would be adjusted using a first scaling factor) and if the traveling speed of the mining vehicle 100 is within a second speed range (e.g., a higher speed range), the compensation factor would be a second value (or would be adjusted using a second scaling factor).

[0033] In another implementation, the NLOS distance compensation technique described above may be used by the controller 160 during vehicle start-up or when moving after a long period of being stationary. In this implementation, the mining vehicle uses the NLOS distance compensation technique to protect a pedestrian miner when a mining vehicle is activated and ready to move after a long period of being stationary or inactive. In other words, if the mining vehicle has been stationary for a long time (i.e. more than a predetermined time threshold), then the controller 160 may apply the NLOS distance compensation technique as a precaution to avoid colliding with a pedestrian miner who is in very close proximity to the mining vehicle. For example, if a pedestrian miner is so close to the vehicle that the pedestrian miner’s RF beacons are obstructed, or partially obstructed, by the body of the mining vehicle, then the mining vehicle will not properly detect the pedestrian miner and may begin to move, risking collision with the pedestrian miner. In other words, if the pedestrian miner is very close to the mining vehicle, the pedestrian might not be in a direct line of sight from the UWB transmitter of the pedestrian miner’s cap lamp system to the UWB receiver on the vehicle. In such a scenario, only the CSS signal is received by the CSS receiver of the mining vehicle, e.g. after reflecting off a tunnel wall. The determined distance to the pedestrian miner is inaccurately computed by the controller. The pedestrian miner appears to be further away from the mining vehicle than he actually is. By applying the distance correction using the compensation factor, as described above, the controller 160 can determine a much more accurate and realistic distance to the pedestrian miner. The controller 160 can then perform a collision-avoidance action for the stationary vehicle such as preventing any acceleration of the stationary vehicle.

[0034] Another aspect of the disclosure is a method in a controller of a mining vehicle. The method 400 is depicted in FIG. 7. The method 400 entails a step, act or operation 410 of detecting a remote object, a step, act or operation 420 of determining a distance between the mining vehicle and the remote object, and a step, act or operation 430 of determining that the remote object is not in a direct line of sight with respect to the mining vehicle. The method 400 further entails a step, act or operation 440 of adjusting the determined distance using a compensation factor, thereby obtaining a compensated distance between the mining vehicle and the remote object. The method 400 may involve a step, act or operation 450 of performing a collision avoidance action based on the compensated distance between the mining vehicle and the remote object. The compensation factor may be a static value or a dynamic value. The remote object may be another mining vehicle, a mining machine or other equipment. The remote object may be a pedestrian miner wearing beacon-emitting personal equipment.

[0035] In some embodiments, adjusting the determined distance using the compensation factor comprises adding or subtracting the compensation factor to or from the determined distance.

[0036] In some embodiments, adjusting the determined distance using the compensation factor comprises multiplying or dividing the determined distance by the compensation factor.

[0037] In some embodiments, the compensation factor is based, at least in part, on an average tunnel width of an underground mine in which the mining vehicle is disposed.

[0038] In some embodiments, the compensation factor is based, or further based, at least in part, on a travelling speed of the mining vehicle. In some variants, the compensation factor is further based, at least in part, on at least two speed ranges. In some variants, the compensation factor may be further based, at least in part, on three or more speed ranges.

[0039] In some embodiments, determining the distance between the mining vehicle and the remote object comprises receiving a first signal by a first receiver of a first type. In some embodiments, determining that the remote object is not in a direct lineof sight with respect to the mining vehicle comprises sensing the remote object by receiving the first signal while sensing that a second signal received by a second receiver of a second type is below a predetermined received signal strength indicator. In some embodiments, the first signal is a Chirp Spread Spectrum (CSS) signal and the first receiver of the first type is a CSS receiver of the mining vehicle. In some embodiments, the second signal is an Ultra Wideband (UWB) signal and the second receiver of the second type is an UWB receiver. Accordingly, in some embodiments, determining the distance between the mining vehicle and the remote object comprises receiving a Chirp Spread Spectrum (CSS) signal by a CSS receiver of the mining vehicle. In some embodiments, determining that the remote object is not in a direct line of sight with respect to the mining vehicle comprises sensing the remote object by receiving the CSS signal while sensing that an Ultra Wideband (UWB) signal received by an UWB receiver is below a predetermined received signal strength indicator.

[0040] These methods, or portions or aspects of the methods, can be implemented in hardware, software, firmware or as any suitable combination thereof. That is, if implemented as software, a computer-readable medium comprises instructions in code which when loaded into memory and executed on a processor of a computing device (e.g., controller 160) causes the computing device to perform any of the foregoing method steps. The computing device may be part of the mining vehicle for example.

[0041] These method steps may be implemented as software, i.e. as coded instructions stored on a computer readable medium which performs the foregoing steps when the computer readable medium is loaded into memory and executed by the processor of the computing device. A computer readable medium can be any means that contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device. The computer-readable medium may be electronic, magnetic, optical, electromagnetic, infrared or any semiconductor system or device. For example, computer executable code to perform the methods disclosed herein may be tangibly recorded on a computer-readable medium including, but not limited to, a floppy-disk, a CD-ROM, a DVD, RAM, ROM, EPROM, Flash Memory or any suitable memory card, etc. The method may also be implemented in hardware. A hardware implementation mightemploy discrete logic circuits having logic gates for implementing logic functions on data signals, an application-specific integrated circuit (ASIC) having appropriate combinational logic gates, a programmable gate array (PGA), a field programmable gate array (FPGA), etc. For the purposes of this specification, the expression “module” is used expansively to mean any software, hardware, firmware, or combination thereof that performs a particular task, operation, function or a plurality of related tasks, operations or functions. When used in the context of software, the module may be a complete (standalone) piece of software, a software component, or a part of software having one or more routines or a subset of code that performs a discrete task, operation or function or a plurality or related tasks, operations or functions. Software modules have program code (machine-readable code) that may be stored in one or more memories on one or more discrete computing devices. The software modules may be executed by the same processor or by discrete processors of the same or different computing devices.

[0042] Computer readable program instructions can be downloaded to respective computing devices from a computer readable storage medium or to an external computer or external storage device via a data network, for example, the Internet, a local area network, a wide area network or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface controller (NIC) in each computing device receives computer readable program instructions from the network and transmits the computer readable program instructions for storage in a computer readable storage medium within the respective computing device.

[0043] Computer readable program instructions are computer-executable instructions in machine-readable code for carrying out operations of the described embodiments and may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language and procedural programming languages. The computer-executable instructions executed by a computing device carry out programprocesses such as routines, programs, objects, components, logic, data structures that perform particular tasks or implement particular abstract data types.

[0044] Various aspects of the disclosure are described with reference to flowcharts and / or block diagrams of methods, systems, and computer program products. Each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions. These computer readable program instructions may be provided to a processor of a general-purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified by a block of the flowchart and / or block diagram.

[0045] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process or computer-implemented method, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram.

[0046] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. Each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified function. In some alternativeimplementations, the functions noted in the blocks may occur out of the order shown in the figures. For example, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and / or flowcharts, and combinations of these blocks, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0047] For the purposes of interpreting this specification, when referring to elements of various embodiments of the present disclosure, the articles “a”, “an”, “the” and “said” are intended to mean that there are one or more of the elements. The terms “comprising”, “including”, “having”, “entailing” and “involving”, and verb tense variants thereof, are intended to be inclusive and open-ended by which it is meant that there may be additional elements other than the listed elements.

[0048] This technology has been described in terms of specific implementations and configurations which are intended to be exemplary only. Persons of ordinary skill in the art will appreciate that many obvious variations, refinements and modifications may be made without departing from the concepts presented in this application. The scope of the exclusive right sought is therefore intended to be limited solely by the appended claims.

Claims

CLAIMS1. A method in a controller of a mining vehicle, the method comprising:detecting a remote object;determining a distance between the mining vehicle and the remote object;determining that the remote object is not in a direct line of sight with respect to the mining vehicle;adjusting the determined distance using a compensation factor, thereby obtaining a compensated distance between the mining vehicle and the remote object;performing a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.

2. The method of claim 1 , wherein adjusting the determined distance using the compensation factor comprises adding or subtracting the compensation factor to or from the determined distance.

3. The method of claim 1 , wherein adjusting the determined distance using the compensation factor comprises multiplying or dividing the determined distance by the compensation factor.

4. The method of any one of claims 1 to 3, wherein the compensation factor is a static value.

5. The method of any one of claims 1 to 3, wherein the compensation factor is a dynamic value.

6. The method of any one of claims 1 to 5, wherein the compensation factor is based, at least in part, on an average tunnel width of an underground mine in which the mining vehicle is disposed.

7. The method of claim 6, further comprising obtaining the average tunnel width.

8. The method of claim 7, wherein obtaining the average tunnel width comprises receiving the average tunnel width from:a tunnel width sensing device;a mine map server; orat least one environmental beacon disposed in the underground mine.

9. The method of any one of claims 5 to 8, wherein the compensation factor is based, at least in part, on a travelling speed of the mining vehicle.

10. The method of any one of claims 5 to 9, wherein the compensation factor is further based, at least in part, on at least two speed ranges.

11. The method of any one of claim 1 to 10, wherein determining the distance between the mining vehicle and the remote object comprises receiving a first signal by a first receiver of a first type of the mining vehicle.

12. The method of claim 11 , wherein the first signal is a Chirp Spread Spectrum (CSS) signal, and the first receiver of the first type is a CSS receiver.

13. The method of claim 11 , wherein determining that the remote object is not in a direct line of sight with respect to the mining vehicle comprises sensing the remote object by receiving the first signal while sensing that a second signal received by a second receiver of a second type is below a predetermined received signal strength indicator.

14. The method of claim of 13, wherein the second signal is an Ultra Wideband (UWB) signal, and the second receiver of the second type is an UWB receiver.

15. The method of any one of claims 1 to 14, wherein the remote object is a mining machine.

16. The method of any one of claims 1 to 14, wherein the remote object is a pedestrian miner.

17. A controller configured to perform the method as claimed in any one of claims 1 to 16.

18. A mining vehicle comprising the controller of claim 17.

19. A mining vehicle comprising:a vehicle body;a plurality of collision-avoidance sensors mounted to the vehicle body and configured to detect a remote object, wherein the plurality of collision-avoidance sensors includes one or more first sensors of a first type and one or more second sensors of a second type;a controller configured to:determine a distance between the mining vehicle and the remote object based on a first signal received by the one or more first sensors;determine that the remote object is not in a direct line of sight with respect to the mining vehicle when a second signal received by the one or more second sensors is below a predetermined received signal strength indicator;determine a compensated distance between the mining vehicle and the remote object by applying a compensation factor to the determined distance, thereby obtaining the compensated distance between the mining vehicle and the remote object;perform a collision avoidance action based on the compensated distance between the mining vehicle and the remote object.

20. The mining vehicle of claim 19, wherein the one or more first sensors are CSS receivers.

21. The mining vehicle of claim 19 or 20, wherein the one or more second sensors are UWB receivers.

22. The mining vehicle of any one of claims 19 to 21 , wherein the compensation factor is based, at least in part, on an average tunnel width of an underground mine in which the mining vehicle is disposed.

23. The mining vehicle of any one of claims 19 to 22, wherein the compensation factor is based, at least in part, on a travelling speed of the mining vehicle.

24. The mining vehicle of any one of claims 19 to 23, wherein the collision avoidance action comprises stopping the vehicle.

25. The mining vehicle of any one of claims 19 to 23, wherein the collision avoidance action comprises slowing the vehicle.

26. The mining vehicle of any one of claims 19 to 23, wherein the collision avoidance action comprises steering the vehicle.

27. The mining vehicle of any one of claims 19 to 26, wherein the remote object is a mining machine.

28. The mining vehicle of any one of claims 19 to 26, wherein the remote object is a pedestrian miner.

Images