Management of proximity detection sensors on battery-electric vehicles

Abstract

Techniques are provided to enable a controller in a mining vehicle to manage proximity detection sensors associated with removable battery assemblies. In some aspects, the controller determines that a current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, removes the at least one proximity detection sensor mounted to the current battery assembly from a set of proximity detection sensors associated with the mining vehicle, thereby generating an updated set of proximity detection sensors associated with the mining vehicle, determines that a new battery assembly is connected to the mining vehicle, and adds the at least one proximity detection sensor mounted to the new battery assembly to the updated set of proximity detection sensors associated with the mining vehicle, thereby generating a further updated set of proximity detection sensors associated with the mining vehicle.

Description

MANAGEMENT OF PROXIMITY DETECTION SENSORS ON BATTERYELECTRIC VEHICLES TECHNICAL FIELD

[0001] The present description generally relates to battery-electric vehicles used in underground mines, and more particularly relates to the management of proximity detection sensors on batteryelectric vehicles used in underground mines.BACKGROUND

[0002] Modem underground mines are generally operated by means of several different mining vehicles and machines. Some of these vehicles can be quite large in order, for instance, to transport large amounts of ore. However, due to the environmental conditions of underground mines (e.g., confined spaces, low visibility, presence of pedestrians, etc.), it can be challenging for a vehicle operator to be aware of its surroundings. If the vehicle operator is unaware of the presence of another vehicle (e.g., a utility vehicle) or of a pedestrian (e.g., a miner), there is a risk that the vehicle may hit the other vehicle or the pedestrian. Such collisions may have serious, and sometimes lethal, consequences.

[0003] To avoid collisions with other mining vehicles and / or with pedestrians, underground mining vehicles are increasingly provided with proximity warning systems (PWS), collision warning systems (CWS), and / or collision avoidance systems (CAS), commonly referred to as CxS, which are configured to detect objects of interest (e.g., other vehicles, pedestrians, obstacles, etc.) around the vehicle and to avoid collisions with them.

[0004] Many of these CxSs involve the provision of proximity detection sensors at various locations on the mining vehicle. Under the control of a controller (e.g., a CxS controller), these proximity detection sensors are configured to detect objects of interest (e.g., other vehicles, pedestrians, obstacles, etc.) around the vehicle. In that sense, the proximity detection sensors are often controlled, or otherwise operated, to create one or more proximity detection zones around the vehicle in which objects of interest can be detected.

[0005] Proximity detection sensors are usually fixedly mounted to the mining vehicle for the proximity detection sensors to consistently detect objects of interest around the mining vehicle.

[0006] A problem arises when one or more of the proximity detection sensors are mounted to components (e.g., accessories, implements, tools, etc.) of the vehicle which are configured to be replaced. In such scenarios, the proximity detection sensor (or sensors) mounted to the replaceable component needs to be removed and reinstalled on the replacement component. For components which need to be replaced only when the vehicle undergoes maintenance, removing andreinstalling the proximity detection sensor(s) mounted to the replaceable component will not negatively affect the productivity of the mine. However, when the proximity detection sensor(s) are mounted to components which need to be regularly replaced such as battery assemblies for battery-electric mining vehicles, having to remove and reinstall the proximity detection sensor(s) at every battery assembly change can significantly, and negatively, affect the time required for the battery assembly replacement.SUMMARY

[0007] Some embodiments provide methods, controllers, and mining vehicles which enable the seamless removal and addition of proximity detection sensors mounted to battery assemblies when these battery assemblies are replaced on battery-electric mining vehicles.

[0008] According to one aspect, some embodiments include a method performed by a controller of a mining vehicle. The method generally comprises determining that a current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, the current battery assembly comprising at least one proximity detection sensor mounted thereto, removing the at least one proximity detection sensor mounted to the current battery assembly from a set of proximity detection sensors associated with the mining vehicle, thereby generating an updated set of proximity detection sensors associated with the mining vehicle, determining that a new battery assembly is connected to the mining vehicle, the new battery assembly comprising at least one proximity detection sensor mounted thereto, and adding the at least one proximity detection sensor mounted to the new battery assembly to the updated set of proximity detection sensors associated with the mining vehicle, thereby generating a further updated set of proximity detection sensors associated with the mining vehicle.

[0009] In some embodiments, the method comprises, or further comprises, upon determining that the current battery assembly will be disconnected from the mining vehicle, releasing a connection between the controller and the at least one proximity detection sensor mounted to the current battery assembly. In some embodiments, releasing the connection between the controller and the at least one proximity detection sensor mounted to the current battery assembly comprises, or further comprises, instructing the at least one proximity detection sensor mounted to the current battery assembly to disconnect from the controller.

[0010] In some embodiments, the method comprises, or further comprises, upon detecting that the new battery assembly is connected to the mining vehicle, establishing a connection between the controller and the at least one proximity detection sensor mounted to the new battery assembly. In some embodiments, establishing the connection between the controller and the at least oneproximity detection sensor mounted to the new battery assembly comprises, or further comprises, instructing the at least one proximity detection sensor mounted to the new battery assembly to connect to the controller. In some embodiments, establishing the connection between the controller and the at least one proximity detection sensor mounted to the new battery assembly comprises, or further comprises, configuring the at least one proximity detection sensor mounted to the new battery assembly with configuration parameters. In some embodiments, the configuration parameters comprise positional parameters and / or operational parameters.

[0011] In some embodiments, the method comprises, or further comprises, prior to determining that the current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, generating at least one proximity detection zone based, at least in part, on the set of proximity detection sensors associated with the mining vehicle.

[0012] In some embodiments, the method comprises, or further comprises, generating at least one updated proximity detection zone based, at least in part, on the updated set of proximity detection sensors associated with the mining vehicle.

[0013] In some embodiments, the method comprises, or further comprises, generating at least one further updated proximity detection zone based, at least in part, on the further updated set of proximity detection sensors associated with the mining vehicle.

[0014] According to another aspect, some embodiments include a controller for a mining vehicle, the controller being adapted, configured, enabled, or otherwise operable to perform one or more of the described controller functionalities (e.g., actions, operations, steps, etc.).

[0015] According to another aspect, some embodiments include a mining vehicle comprising a controller, the controller being adapted, configured, enabled, or otherwise operable to perform one or more of the described controller functionalities (e.g., actions, operations, steps, etc.).

[0016] In some embodiments, the mining vehicle is a battery-electric load-haul-dump mining vehicle. In some embodiments, the mining vehicle is a battery-electric dump truck.

[0017] Some embodiments may enable the seamless removal and addition of proximity detection sensors mounted to battery assemblies when these battery assemblies are exchanged or swapped on battery-electric mining vehicles.

[0018] 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 to those of ordinary skill in the art upon review of the following description in view of the accompanying figures.BRIEF DESCRIPTION OF THE FIGURES

[0019] Example embodiments will be described in more detail referring to the following figures, in which:

[0020] Figure 1 is a front perspective view of an example underground mining vehicle.

[0021] Figure 2 is a rear perspective view of the example underground mining vehicle.

[0022] Figure 3 is a top view of the example underground mining vehicle.

[0023] Figure 4 is a top schematic view of the example underground mining vehicle.

[0024] Figures 5A-5H illustrate a sequence of a battery assembly replacement procedure.

[0025] Figure 6 illustrates a signaling and operating diagram according to some embodiments.

[0026] Figure 7 illustrates a flow chart of operations of a controller according to some embodiments.

[0027] Figure 8 illustrates a block diagram of the controller according to some embodiments.DETAILED DESCRIPTION

[0028] The embodiments set forth below represent information to enable those skilled in the art to practice the embodiments. Upon reading the following description, in view of the accompanying figures, those skilled in the art will understand the concepts of the description and will recognize applications of these concepts not necessarily addressed herein. These concepts and applications fall within the scope of the description.

[0029] In the following description, numerous specific details are set forth. However, it is understood that embodiments may be practiced without these specific details. In other instances, well-known circuits, structures, and techniques have not been shown in order not to obscure the understanding of the description. Those of ordinary skill in the art, with the included description, can implement appropriate functionality without undue experimentation.

[0030] Referring first to Figures 1-3, a front perspective view, a rear perspective view, and a top view of an example underground mining vehicle 100 are respectively illustrated. The example underground mining vehicle 100 illustrated in Figures 1-3 is a load-haul-dump (LHD) mining vehicle 100. An LHD mining vehicle (or simply LHD) 100 is commonly used in underground mines to transport ore between different locations (e.g., between a muck pile and a dump truck). Notably, mining vehicle 100 could be another type of vehicles or machines configured for use in underground mines. One such type of vehicles which is also commonly used is a dump truck.

[0031] As shown in Figures 1-3, mining vehicle 100 may include a frame 115 defining a front end 105 and a rear end 110 of mining vehicle 100. In some embodiments, frame 115 may comprise two articulated sections, a front section 120, and a rear section 125. In addition, mining vehicle100 may include a set of wheels, including a pair of front wheels 130 mounted to the front section 120, and a pair of rear wheels 135 mounted to the rear section 125. Mining vehicle 100 may also include an operator cockpit 140. Mining vehicle 100 may also include a work implement such as a bucket 145 mounted to the front section 120 of the frame 115 at the front end 105 of the mining vehicle 100 via a boom assembly 150. The bucket 145 is configured to pick up and transport a payload (e.g., ore).

[0032] The illustrated mining vehicle 100 is a battery-electric mining vehicle 100 and, as such, comprises a removable battery assembly 155 which can be mounted to and dismounted from the mining vehicle 100 using, for instance, an onboard mounting and dismounting system (not shown). Examples of onboard mounting and dismounting systems are shown in U.S. Patent Application Publication Nos. US 2015 / 0071747 and US 2020 / 0384869. In the illustrated mining vehicle 100, the battery assembly 155 is mounted to the rear section 125 of the frame 115 at the rear end 110 of the mining vehicle 100.

[0033] The battery assembly 155 generally comprises a battery housing 160 into which are located one or more battery packs 165 which are configured to power the mining vehicle 100 via an electric propulsion system (not shown).

[0034] In order to enable the mining vehicle 100 to detect objects of interest (e.g., other vehicles, pedestrians, obstacles, etc.) in its surrounding, the mining vehicle 100 is provided with proximity detection sensors 170 connected to a controller 180 (see Figure 4). Under the control of the controller 180, the proximity detection sensors 170 enable the creation of one or more proximity detection zones around the mining vehicle 100 in which objects of interest can be detected.

[0035] As can be seen in Figures 1-3, some of the proximity detection sensors 170 are mounted to the frame 115 of the mining vehicle 100 while other proximity detection sensors 170 are mounted to the battery assembly 155. In some embodiments, two proximity detection sensors 170 are mounted to the front section 120 of the frame 115 of the mining vehicle 100, one on the right side 185 of the mining vehicle 100 and one on the left side 190 of the mining vehicle 100, and two proximity detection sensors 170 are mounted to the rear section 125 of the frame 115 of the mining vehicle 100, one on the right side 185 of the mining vehicle 100 and one on the left side 190 of the mining vehicle 100. In some embodiments, two proximity detection sensors 170 are mounted to the battery assembly 155, one on the right side 185 of the mining vehicle 100 and one on the left side 190 of the mining vehicle 100.

[0036] Understandably, depending on the configuration of the mining vehicle 100 and on the required detection capabilities, the mining vehicle 100, including the battery assembly 155, could comprise fewer or more proximity detection sensors 170. Furthermore, depending on theconfiguration of the mining vehicle 100 and of the battery assembly 155, the exact location of the proximity detection sensors 170 on the mining vehicle 100 and on the battery assembly 155 could differ from the one illustrated in Figures 1 to 3 which is given for illustration purposes only.

[0037] Referring now to Figure 4, a schematic top view of the mining vehicle 100 is illustrated. In addition to the proximity detection sensors 170, mining vehicle 100 also comprises the controller 180 responsible for the operations of the CxS of the mining vehicle 100. In that sense, the controller 180 may be a distinct controller (e.g., a distinct CxS controller) or may be integrated with another controller (e.g., the vehicle controller). The controller 180 is in communication with all the proximity detection sensors 170 associated with the mining vehicle 100, that is with the proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100 and with the proximity detection sensors 170 mounted to the battery assembly 155. In some embodiments, the controller 180 is in communication with the proximity detection sensors 170 mounted the frame 115 of the mining vehicle 100 via an onboard communication network 195 (e.g., a controller area network (CAN)). In some embodiments, the controller 180 is in communication with the proximity detection sensors 170 mounted to battery assembly 155 via the onboard communication network 195 and further via a connection interface 200 between the mining vehicle 100 and the battery assembly 155. In some embodiments, the connection interface 200 between the mining vehicle 100 and the battery assembly 155 may extend the onboard communication network 195 (e.g., the CAN) to the battery assembly 155.

[0038] In operations, the controller 180 works in collaboration with the proximity detection sensors 170 to generate at least one proximity detection zone 205 around the mining vehicle 100 in order to detect objects of interest (e.g., vehicles, pedestrians, etc.) and, if needed, avoid collisions with them. When an object of interest is detected in the at least one proximity detection zone 205, the controller 180 may be configured to take actions, directly and / or via interaction with other systems of the mining vehicle 100 to avoid a collision with the detected object of interest. Examples of actions include, but are not limited to, generate an alarm to the operator of the mining vehicle 100, cause the mining vehicle 100 to reduce its speed (via interaction with the vehicle controller), cause the mining vehicle 100 to stop (via interaction with the vehicle controller), etc.

[0039] As already mentioned above, mining vehicle 100 is a battery-electric mining vehicle 100 which is powered by the one or more battery packs 165 comprised in the battery assembly 155. When the one or more battery packs 165 comprised in the battery assembly 155 are depleted (e.g., have a state of charge (SoC) below a predetermined threshold), the mining vehicle 100 must replace the battery assembly 155 currently mounted to the mining vehicle 100 with a new battery assembly 155 comprising charged battery packs 165. When it is necessary to replace the currentbattery assembly 155 with a new battery assembly 155, the mining vehicle 100 usually travels to a battery charging area (e.g., a battery service bay) where the current battery assembly 155 comprising the depleted battery packs 165 can be dismounted and where the new battery assembly 155 comprising charged battery packs 165 can be mounted.

[0040] Turning now to Figures 5A-5H, there is shown schematically an example sequence of operations when the mining vehicle 100 replaces its current battery assembly 155 with a new battery assembly 155.

[0041] Starting with Figure 5 A, the mining vehicle 100, which carries the current battery assembly 155, drives towards an area of the underground mine where the current battery assembly 155 can be dismounted. As illustrated in Figure 5 A, the mining vehicle 100 comprises four proximity detection sensors 170 and the current battery assembly 155 comprises two proximity detection sensors 170. Together, the six proximity detection sensors 170 forms a set of proximity detection sensors 170 associated with the mining vehicle 100. Under the control of the controller 180, the proximity detection sensors 170 part of the set of proximity detection sensors 170 associated with the mining vehicle 100 are controlled or otherwise operated to generate at least one proximity detection zone 210 around the mining vehicle 100. Understandably, the shape of the proximity detection zones 210, 215, and 220 illustrated in Figures 5A-5H is for illustrate purposes only. Furthermore, though not shown in Figures 5A-5H for clarity, the controller 180 could create more than one proximity detection zone around the mining vehicle 100.

[0042] In Figure 5B, the mining vehicle 100 has reached the area of the underground mine where the current battery assembly 155 can be dismounted. Prior to the current battery assembly 155 being dismounted and disconnected, the controller 180 of the mining vehicle 100 releases the connection with each of the proximity detection sensors 170 mounted to the current battery assembly 155. In that sense, the controller 180 may instruct the proximity detection sensors 170 mounted to the current battery assembly 155 to disconnect from the controller 180. An example of the connection release procedure will be described in more detail below. Still, following the disconnection of the proximity detection sensors 170 mounted to the current battery assembly 155, the controller 180 removes the proximity detection sensors 170 mounted to the current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100. In the example shown in Figure 5C, following the disconnection of the two proximity detection sensors 170 mounted to the current battery assembly 155, the set of proximity detection sensors 170 associated with the mining vehicle 100 is reduced to the four proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100. As illustrated, given that the set of proximity detection sensors 170 associated with the mining vehicle 100 now comprises onlythe four proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100, the remaining four proximity detection sensors 170 are controlled or operated to generate an updated proximity detection zone 215. In some embodiments, as shown in Figure 5C, given that the overall dimensions of the mining vehicle 100 have changed (the mining vehicle 100 without a battery assembly 155 is smaller (e.g., shorter) than the mining vehicle 100 with a battery assembly 155 mounted thereto), the generated proximity detection zone 215 is smaller (e.g., covers a smaller area) than the previously generated proximity detection zone 210. In other embodiments, usually depending on the geometry of the mining vehicle with and without a battery assembly mounted thereto, the updated proximity detection zone may be similar in size and shape to the previously generated proximity detection zone.

[0043] In Figures 5D-5F, the mining vehicle 100 travels to the new battery assembly 155 comprising charged battery packs 165 (not shown). Though not shown in the figures, the mining vehicle 100 usually comprises an onboard auxiliary battery pack which is configured to power the mining vehicle 100 when the battery assembly 155 is dismounted and disconnected from the mining vehicle 100.

[0044] In Figure 5G, once the new battery assembly 155 is mounted and connected to the mining vehicle 100, the controller 180 establishes a connection with each of the proximity detection sensors 170 mounted to the new battery assembly 155. In that sense, the controller 180 may instruct the proximity detection sensors 170 mounted to the new battery assembly 155 to connect to the controller 180. An example of the connection establishment procedure will be described in more detail below. Still, following the connection of the proximity detection sensors 170 mounted to the new battery assembly 155 to the controller 180, the controller 180 adds the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100. In the example shown in Figure 5G, following the connection of the two proximity detection sensors 170 mounted to the new battery assembly 155, the set of proximity detection sensors 170 associated with the mining vehicle 100 includes six proximity detection sensors 170, that is the four proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100 and the two newly connected proximity detection sensors 170 mounted to the new battery assembly 155. As illustrated, given that the set of proximity detection sensors 170 associated with the mining vehicle 100 now comprises six proximity detection sensors 170, the proximity detection sensors 170 are controlled or operated to generate a further updated proximity detection zone 220. In some embodiment, as shown in Figure 5G, the further updated proximity detection zone 220 is larger (e.g., covers a larger area) than the proximity detection zone 215 shown in Figures 5C-5F since the mining vehicle 100 in now longer due to the addition of thenew battery assembly 155. In other embodiments, usually depending on the geometry of the mining vehicle with and without a battery assembly mounted thereto, the further updated proximity detection zone may be similar in size and shape to the previously generated proximity detection zone.

[0045] Finally, in Figure 5H, the mining vehicle 100, now with the new battery assembly 155 comprising charged battery packs 165, travels back to the production area of the underground mine.

[0046] Referring to Figure 6, a high-level signaling and operating diagram according to some embodiments is illustrated.

[0047] As illustrated, the controller 180 determines that the battery assembly 155 currently mounted and connected to the mining vehicle 100 will be disconnected (action S105). The controller 180 can determine that the current battery assembly 155 will be disconnected following the reception of a disconnection signal from the mining vehicle operator.

[0048] Prior to the actual disconnection of the current battery assembly 155 from the mining vehicle 100, the controller 180 executes a connection release procedure with each of the proximity detection sensors 170 mounted to the current battery assembly 155 (action SI 10).

[0049] In some embodiments, during the connection release procedure, the controller 180 may instruct each of the proximity detection sensors 170 mounted to the current battery assembly 155 to disconnect from the controller 180. In that sense, in some embodiments, when instructing each of the proximity detection sensors 170 mounted to the current battery assembly 155 to disconnect from the controller 180, the controller 180 may instruct, or further instruct, each of the proximity detection sensors 170 mounted to the current battery assembly 155 to power down, to go in idle mode, to go in sleep mode, and / or to delete its current configuration (e.g., its current configuration parameters).

[0050] Following the release of the connections between the controller 180 and the proximity detection sensors 170 mounted to the current battery assembly 155, the controller 180 removes the proximity detection sensors 170 mounted to the now disconnected current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100 (action SI 15). Upon removing the proximity detection sensors 170 mounted to the now disconnected current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 updates the set of proximity detection sensors 170 associated with the mining vehicle 100.

[0051] At some later point (e.g., after the mining vehicle 100 travels to the new battery assembly 155), the controller 180 determines that the new battery assembly 155 (e.g., the battery assembly 155 with charged battery packs 165) is now connected to the mining vehicle 100 (action S120). Insome embodiments, the controller 180 can determine that the new battery assembly 155 is connected to the mining vehicle 100 by receiving an indication that the new battery assembly 155 is connected to the mining vehicle 100. Such indication may be triggered by the detection of battery voltage at the connection interface between the mining vehicle 100 and the new battery assembly 155, by the detection of anew battery identification, etc.

[0052] Following the determination by the controller 180 that the new battery assembly 155 is connected to the mining vehicle 100, the controller 180 executes a connection establishment procedure with each of the proximity detection sensors 170 mounted to the new battery assembly 155 (action SI 25).

[0053] In some embodiments, during the connection establishment procedure, the controller 180 may instruct each of the proximity detection sensors 170 mounted to the new battery assembly 155 to connect to the controller 180. Additionally, the controller 180 may configure each of the proximity detection sensors 170 mounted to the new battery assembly 155 with configuration parameters. In some embodiments, the configuration parameters may comprise positional parameters. For instance, the positional parameters may comprise relative position parameters of the proximity detection sensor 170 with respect to the mining vehicle 100 (e.g., rear right comer, rear left comer, front right comer, etc.) and / or spatial position parameters of the proximity detection sensor 170 with respect to the mining vehicle 100 (e.g., two-dimensional coordinates or three-dimensional coordinates of proximity detection sensor 170). The configuration information may comprise, or further comprise, operational parameters. For instance, the operational parameters may comprise transmission power parameters (e.g., transmission power range, maximum transmission power, etc.), operating frequency parameters (e.g., transmission frequency band, transmission frequencies, reception frequency band, reception frequencies, etc.), etc. In some embodiments, the configuration parameters provided to a proximity detection sensor 170 mounted to the new battery assembly 155 may be based on the version of the proximity detection sensor 170.

[0054] Following the establishment of the connections between the controller 180 and the proximity detection sensors 170 mounted to the new battery assembly 155, the controller 180 adds the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100 (action S130). Upon adding the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 again updates the set of proximity detection sensors 170 associated with the mining vehicle 100.

[0055] It is to be understood that unless the description clearly indicates a particular relationship (e.g., causal, conditional, temporal, etc.) between two or more actions, the described actions may be performed in a sequence different than the one illustrated. For examples, two actions shown performed in succession may be performed substantially concurrently, or even in the reverse order. Hence, the illustrated sequence of actions is only indicative of one sequence of actions and does not suggest that this is the only possible sequence. Furthermore, blocks in dashed lines may be considered optional, at least in some embodiments.

[0056] Figure 7 is a flow chart illustrating a sequence of operations performed by the controller 180 according to some embodiments. Optional operations, if any, are indicated in dashed lines. As illustrated, the controller 180 generates at least one proximity detection zone (e.g., proximity detection zone 210 shown in Figures 5 A and 5B) around the mining vehicle 100 based, at least in part, on the set of proximity detection sensors 170 associated with the mining vehicle 100 (action S205). The set of proximity detection sensors 170 associated with the mining vehicle 100 comprises the proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100 and the proximity detection sensors 170 mounted to the battery assembly 155 currently mounted to the mining vehicle 100 (i.e., the current battery assembly 155).

[0057] At some point, the controller 180 determines that the current battery assembly 155 will be disconnected (and dismounted) from the mining vehicle 100 (action S210). In some embodiments, the controller 180 can determine that the current battery assembly 155 will be disconnected upon receiving a disconnection signal from the mining vehicle operator.

[0058] After determining that the current battery assembly 155 will be disconnected, but prior to the current battery assembly 155 being effectively disconnected, the controller 180 releases the connection between itself and each of the proximity detection sensors 170 mounted to the current battery assembly 155 (action S215).

[0059] In some embodiments, during the connection release, the controller 180 may instruct each of the proximity detection sensors 170 mounted to the current battery assembly 155 to disconnect from the controller 180.

[0060] Following the release of the connections with each of the proximity detection sensors 170 mounted to the current battery assembly 155, the controller 180 removes the proximity detection sensors 170 mounted to the current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100 (action S220). Following the removal of the proximity detection sensors 170 mounted to the current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 generates an updated set of proximity detection sensors 170 associated with the mining vehicle100. In some embodiments, the updated set of proximity detection sensors 170 associated with the mining vehicle 100 comprises only the proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100.

[0061] After the removal of the proximity detection sensors 170 mounted to the current battery assembly 155 from the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 generates at least one updated proximity detection zone around the mining vehicle 100 based, at least in part, on the updated set of proximity detection sensors 170 associated with the mining vehicle 100 (action S225).

[0062] In some embodiments, the at least one updated proximity detection zone may have a different shape and / or different dimensions when compared to the at least one previous proximity detection zone. For instance, when the current battery assembly 155 is disconnected and dismounted from the mining vehicle 100, the overall dimensions of the mining vehicle 100 may change (e.g., the mining vehicle 100 without a battery assembly 155 is shorter than the mining vehicle 100 with the battery assembly 155 mounted thereto). Consequently, the at least one updated proximity detection zone may be smaller (e.g., may cover a smaller area) compared to the previous at least one proximity detection zone. Such a change in the size and shape of the at least one proximity detection zone before and after the disconnection and dismounting of the current battery assembly 155 from the mining vehicle 100 is schematically illustrated in Figures 5B and 5C.

[0063] At some later point, the controller 180 determines that anew battery assembly 155 is now connected (and mounted) to the mining vehicle 100 (action S230). In some embodiments, the controller 180 determines that the new battery assembly 155 is connected to the mining vehicle 100 following the reception of an indication that the new battery assembly 155 is connected to the mining vehicle 100. Such indication may be triggered by the detection of battery voltage at the connection interface between the mining vehicle 100 and the new battery assembly 155, by the detection of a new battery identification, etc.

[0064] After determining that the new battery assembly 155 has been connected to the mining vehicle 100, the controller 180 establishes a connection with each of the proximity detection sensors 170 mounted to the new battery assembly 155 now connected to the mining vehicle 100 (action S235).

[0065] In some embodiments, during the connection establishment, the controller 180 may instruct each of the proximity detection sensors 170 mounted to the new battery assembly 155 to connect to the controller 180. Additionally, the controller 180 may configure each of the proximity detection sensors 170 mounted to the new battery assembly 155 with configuration parameters. Insome embodiments, the configuration parameters may comprise positional parameters. For instance, the positional parameters may comprise relative position parameters of the proximity detection sensor 170 with respect to the mining vehicle 100 (e.g., rear right comer, rear left comer, front right comer, etc.) and / or spatial position parameters of the proximity detection sensor 170 with respect to the mining vehicle 100 (e.g., two-dimensional coordinates or three-dimensional coordinates of proximity detection sensor 170). The configuration information may comprise, or further comprise, operational parameters. For instance, the operational parameters may comprise transmission power parameters (e.g., transmission power range, maximum transmission power, etc.), operating frequency parameters (e.g., transmission frequency band, transmission frequencies, reception frequency band, reception frequencies, etc.), etc. Following the establishment of a connection with each of the proximity detection sensors 170 mounted to the new battery assembly 155, the controller 180 adds the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100 (action S240). Following the addition of the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 generates a further updated set of proximity detection sensors 170 associated with the mining vehicle 100. In some embodiments, the further updated set of proximity detection sensors 170 associated with the mining vehicle 100 comprises the proximity detection sensors 170 mounted to the frame 115 of the mining vehicle 100 and the proximity detection sensors 170 mounted to the new battery assembly 155.

[0066] After the addition of the proximity detection sensors 170 mounted to the new battery assembly 155 to the set of proximity detection sensors 170 associated with the mining vehicle 100, the controller 180 generates at least one further updated proximity detection zone around the mining vehicle 100 based, at least in part, on the further updated set of proximity detection sensors 170 associated with the mining vehicle 100 (action S245).

[0067] In some embodiments, the at least one further updated proximity detection zone may have a different shape and / or different dimensions when compared to the at least one previous proximity detection zone (i.e., the updated proximity detection zone). For instance, when the new battery assembly 155 is connected and mounted to the mining vehicle 100, the overall dimensions of the mining vehicle 100 may change (e.g., the mining vehicle 100 with a battery assembly 155 is longer than the mining vehicle 100 without the battery assembly 155 mounted thereto). Consequently, the at least one further updated proximity detection zone may be larger (e.g., may cover a larger area) compared to the previous at least one proximity detection zone. Such a change in the size and the shape of the proximity detection zone before and after the connection and mounting of thenew battery assembly 155 to the mining vehicle 100 is schematically illustrated in Figures 5F and 5G.

[0068] It is to be understood that unless the description clearly indicates a particular relationship (e.g., causal, conditional, temporal, etc.) between two or more actions, the described actions may be performed in a sequence different than the one illustrated. For examples, two actions shown performed in succession may be performed substantially concurrently, or even in the reverse order. Hence, the illustrated sequence of actions is only indicative of one sequence of actions and does not suggest that this is the only possible sequence. Furthermore, blocks in dashed lines may be considered optional, at least in some embodiments.

[0069] Figure 8 is a block diagram of a controller 180 according to some embodiments. The controller 180 generally comprises processing circuitry 810 and one or more communication interfaces 820.

[0070] Processing circuitry 810 generally provides overall control of the controller 180. Hence, the processing circuitry 810 is generally responsible for the various functions of the controller 180, either alone or in cooperation with one or more other components of the controller 180 (e.g., sending or receiving messages via the communication interface 820). Notably, the processing circuitry 810 may include any suitable combination of hardware to enable the controller 180 to perform the functions of the controller 180 described above.

[0071] In some embodiments, the processing circuitry 810 may comprise at least one processor 830 and at least one memory 840. Examples of processor 830 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), and other forms of processing unit. Examples of memory 840 include, but are not limited to, Random Access Memory (RAM) and Read Only Memory (ROM). When processing circuitry 810 comprises memory 840, memory 840 is generally configured to store instructions (i.e., computer-readable instructions) executable by the processor 830, and possibly operational data (e.g., data used or generated by processor 830 during execution of the instructions). Processor 830 is then configured by the executed instructions to perform the functions of the controller 180 described above.

[0072] Additionally, or alternatively, in some embodiments, processing circuitry 810 may comprise one or more application-specific integrated circuits (ASICs), one or more complex programmable logic devices (CPLDs), one or more field-programmable gate arrays (FPGAs), and / or other forms of application-specific and / or programmable circuitry. When the processing circuitry 810 comprises application-specific and / or programmable circuitry (e.g., ASICs, FPGAs), the controller 180 may perform the functions of the controller 180 described above without the need for instructions as the necessary instructions may already be hardwired or programmed in theprocessing circuitry 810. Understandably, the processing circuitry 810 may comprise a combination of processor(s), memory(ies), and other application-specific and / or programmable circuitry.

[0073] The communication interface(s) 820 enable the controller 180 to send messages to and receive messages from other entities (e.g., proximity detection sensor(s) 170, other controllers of the mining vehicle 100, etc.). In that sense, the communication interface 820 generally comprises the necessary hardware and software to process messages received from the processing circuitry 810 to be sent by the controller 180 into a format appropriate for the underlying communication network (e.g., onboard communication network 195) and, conversely, to process messages received from other entities over the underlying communication network into a format appropriate for the processing circuitry 810. Hence, communication interface 820 may comprise appropriate hardware (e.g., modem, network interface card (NIC), port, etc.) and software, including protocol conversion and data processing capabilities, to communicate with other entities.

[0074] References in the description to “one embodiment,” “an embodiment,” “an example embodiment,” etc., indicate that the embodiment described may include a particular feature or a particular combination of features (e.g., component(s), element(s), integer(s), structure(s), operation(s), and / or step(s)), but every embodiment may not necessarily include the particular feature or the particular combination of features. Such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, or a particular combination of features, is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to implement such feature, or combination of features, in connection with other embodiments whether or not explicitly described.

[0075] As used herein, the singular form “a,” “an,” and “the” should include the plural forms, unless the context indicates otherwise. It will be further understood that the terms “comprise,” “comprises,” “comprising,” “include,” “includes,” and “including” when used, specify the presence of the stated feature or features but do not preclude the presence of addition of one or more other features.

[0076] The above-described embodiments are examples only. Alterations, modifications, and / or variations may be effected to the particular embodiments by those skilled in the art without departing from the scope of the description.ABBREVIATIONS AND ACRONYMS

[0077] The present description may use one or more of the following abbreviations and / or acronyms:

[0078] ASIC Application-Specific Integrated Circuit

[0079] CAN Controller Area Network

[0080] CAS Collision Avoidance System

[0081] CPLD Complex Programmable Logic Device

[0082] CPU Central Processing Unit

[0083] CWS Collision Warning System

[0084] FPGA Field-Programmable Gate Array

[0085] GPU Graphics Processing Unit

[0086] LHD Load-Haul-Dump

[0087] PWS Proximity Warning System

[0088] RAM Random Access Memory

[0089] ROM Read-Only Memory

Claims

1. CLAIMSWhat is claimed is:

1. A method in a controller of a mining vehicle, the method comprising:determining that a current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, the current battery assembly comprising at least one proximity detection sensor mounted thereto;removing the at least one proximity detection sensor mounted to the current battery assembly from a set of proximity detection sensors associated with the mining vehicle, thereby generating an updated set of proximity detection sensors associated with the mining vehicle;determining that a new battery assembly is connected to the mining vehicle, the new battery assembly comprising at least one proximity detection sensor mounted thereto; adding the at least one proximity detection sensor mounted to the new battery assembly to the updated set of proximity detection sensors associated with the mining vehicle, thereby generating a further updated set of proximity detection sensors associated with the mining vehicle.

2. The method as claimed in claim 1, further comprising, upon determining that the current battery assembly will be disconnected from the mining vehicle, releasing a connection between the controller and the at least one proximity detection sensor mounted to the current battery assembly.

3. The method as claimed in claim 2, wherein releasing the connection between the controller and the at least one proximity detection sensor mounted to the current battery assembly comprises instructing the at least one proximity detection sensor mounted to the current battery assembly to disconnect from the controller.

4. The method as claimed in any one of claims 1-3, further comprising, upon detecting that the new battery assembly is connected to the mining vehicle, establishing a connection between the controller and the at least one proximity detection sensor mounted to the new battery assembly.

5. The method as claimed in claim 4, wherein establishing the connection between the controller and the at least one proximity detection sensor mounted to the new batteryassembly comprises instructing the at least one proximity detection sensor mounted to the new battery assembly to connect to the controller.

6. The method as claimed in claim 4 or 5, wherein establishing the connection between the controller and the at least one proximity detection sensor mounted to the new battery assembly comprises configuring the at least one proximity detection sensor mounted to the new battery assembly with configuration parameters.

7. The method as claimed in claim 6, wherein the configuration parameters comprise positional parameters.

8. The method as claimed in claim 6 or 7, wherein the configuration parameters comprise operational parameters.

9. The method as claimed in any one of claims 1-8, further comprising, prior to determining that the current battery assembly currently connected to the mining vehicle will be disconnected from the mining vehicle, generating at least one proximity detection zone based, at least in part, on the set of proximity detection sensors associated with the mining vehicle.

10. The method as claimed in claim 9, further comprising generating at least one updated proximity detection zone based, at least in part, on the updated set of proximity detection sensors associated with the mining vehicle.

11. The method as claimed in claim 10, further comprising generating at least one further updated proximity detection zone based, at least in part, on the further updated set of proximity detection sensors associated with the mining vehicle.

12. A mining vehicle comprising a controller, the controller being configured to perform a method as claimed in any one of claims 1 to 11.

13. The mining vehicle as claimed in claim 12, wherein the mining vehicle is a battery-electric load-haul-dump (LHD) mining vehicle.

14. The mining vehicle as claimed in claim 12, wherein the mining vehicle is a battery-electric dump truck.

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