Abstract:
This disclosure is generally drawn to methods, systems, devices and/or apparatus related to aligning a mining truck with a shovel. Specifically, some of the disclosed example methods, systems, devices and/or apparatus relate to semi-automatic and/or automatic alignment of mining trucks relative to shovel during mining loading operations.

Description:
TECHNICAL FIELD 
       [0001]    The present disclosure generally relates to alignment of mining trucks under a shovel. More specifically, the present disclosure relates to automatic and/or semi-automatic alignment of large mining trucks under a shovel used in mining operations. 
       BACKGROUND 
       [0002]    The present disclosure contemplates that mining operations involve large vehicles, including mining trucks and shovels. Moving such large vehicles is conventionally a time-consuming process due to safety concerns and difficulties in navigating while driving and/or parking. 
         [0003]    One use of large vehicles in mining operations includes transporting excavated materials (e.g., soil, rock, ore, coal, sand) around and/or away from a mining site. Conventional mining trucks include a cab for the vehicle&#39;s operator and a truck body for receiving and hauling material. Many vehicle operations, including aligning a vehicle under a shovel to receive material from a shovel (i.e., spotting), involve difficult and/or dangerous maneuvers. 
         [0004]    When spotting a large vehicle such as a mining truck near a shovel, an operator must align the mining truck substantially near and under the shovel to reduce spillage of material during transfer from the shovel to the mining truck&#39;s truck body. At the same time, the mining truck operator must be cautious to avoid backing into the shovel during the spotting process. Accidents may occur or respotting may be necessary due to limited visibility and/or lack of operator skill. If an operator requires multiple attempts to properly spot the mining truck under the shovel, time and fuel may be wasted during the respotting process. Repositioning the shovel relative to the mining truck is slow, impractical, and dangerous. 
         [0005]    There are several existing methods for vehicle-assisted manuvearing for trucks. International Publication No, WO 2010/064989 to Hilliges, et al., for example, relates to backing up a truck to a loading dock for loading and/or unloading cargo. Hillegas relates to a moving truck operating in a reversing direction to a fixed loading dock. Hillegas system and method attempts to avoid unwanted contact between truck and the loading dock. The problem addressed by Hillegas is less complex than that posed in mining environments. In mining environments, the location of excavation loading zones may vary based on the progress and speed of mining activities, the requirements of the mining shovel, and/or considerations of the mining environment. Additionally, Hillegas does not address operator interaction associated with manuvearing a truck. 
         [0006]    In an effort to increase efficiency of truck operation to avoid wasting time to avoid respotting a mining truck to receive a load from a shovel, and to avoid truck accidents, a semi-automatic or automatic system and/or process may be beneficial. 
       SUMMARY 
       [0007]    In a first aspect, an example system for aligning a mining vehicle under a shovel is provided. The vehicle may include a transmission, a throttle, and a steering mechanism. The example system may include a communication interface, distance sensor(s), steering sensor(s), and an electronic control module. An example communication interface may be configured to direct an operator of the mining vehicle to perform vehicle operation(s). Example distance sensor(s) may be configured to measure a distance between the mining vehicle and the shovel. Example steering sensor(s) may be configured to determine a steering angle associated with the steering mechanism. An example electronic control module may be configured to cause the mining vehicle to accelerate, decelerate, and/or turn. An example electronic control module may also be configured to repeatedly receive the distance from the distance sensor(s), repeatedly receive the steering angle from the steering sensor(s); and adjust the throttle and/or the steering mechanism based on the distance and/or the steering angle. 
         [0008]    In a second aspect, an example method of aligning a mining vehicle with a shovel is provided. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include prompting an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear; measuring the distance between the rear of the mining vehicle and the front of the shovel; measuring the distance between a side portion of the mining vehicle and a side portion of the shovel; measuring a steering angle of the steering mechanism; controlling the mining vehicle steering mechanism and the mining vehicle throttle to reduce the distance between the rear of the mining vehicle and the front of the shovel; and controlling the mining vehicle steering mechanism and the mining vehicle throttle to reduce the distance between a side portion of the mining vehicle and a side portion of the shovel. 
         [0009]    In a third aspect, an example system for aligning a mining vehicle with a shovel is provided. An example mining vehicle may include a transmission, a throttle and a steering mechanism. The example system may include sensor(s), a communication interface, and an electronic control module. The sensor(s) may be coupled to a mining vehicle, and they may be configured to measure a distance between the mining vehicle and a shovel, a location of the shovel relative to the mining truck, an orientation of the shovel relative to the mining truck, and/or a steering angle of the steering mechanism. The communication interface may be configured to instruct a mining vehicle operator to perform vehicle operations. The electronic control module may be configured to receive the distance, the location, the orientation, and/or the steering angle from the sensor(s). The electronic control module may also be configured to control the throttle based on the distance, the location, the orientation, and/or the steering angle. The electronic control module may further be configured to adjust the steering mechanism based on the distance, the location, the orientation, and/or the steering angle. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]    The foregoing and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings depict only several embodiments in accordance with the disclosure and are, therefore, not to be considered limiting of its scope, the disclosure will be described with additional specificity and detail through use of the accompanying drawings. 
           [0011]    In the drawings: 
           [0012]      FIG. 1  depicts a schematic view of an example spotting system; 
           [0013]      FIG. 2  depicts an example mining truck including example spotting systems; 
           [0014]      FIG. 3  depicts an example method of aligning a mining truck and a shovel; 
           [0015]      FIG. 4  depicts an example method of aligning a mining truck and a shovel; 
           [0016]      FIG. 5  depicts an overhead schematic view of example alignment of mining truck and a shovel in an example mining loading operation; and 
           [0017]      FIG. 6  depicts an overhead schematic view of example alignment of mining truck and a shovel in an example mining loading operation, all arranged in accordance with at least some embodiments of the present disclosure. 
       
    
    
     DETAILED DESCRIPTION 
       [0018]      FIG. 1  depicts a schematic view of an example system  100  for aligning a mining vehicle  102  under a shovel. The vehicle  102  may include a transmission (or drive system)  110 , a throttle  112 , and a steering mechanism  114 . The example system  100  may include a communication interface  106 , distance sensor(s)  104 , steering angle sensor(s)  105 , and an electronic control module  108 . An example communication interface  106  may be configured to direct an operator of the mining vehicle  102  to perform vehicle operation(s). Example distance sensor(s)  104  may be configured to measure a distance between the mining vehicle  102  and the shovel. Example steering sensor(s)  105  may be configured to determine a steering angle associated with the steering mechanism  114 . An example electronic control module  108  may be configured to cause the mining vehicle  102  to accelerate, decelerate, and/or turn. An example electronic control module  108  may also be configured to repeatedly receive the distance from the distance sensor(s)  104  and adjust the throttle  112  and/or the steering mechanism  114  based on the distance. An example electronic control module  108  may also be configured to repeatedly receive the distance from the steering sensor(s)  105  and adjust the throttle  112  and/or the steering mechanism  114  based on the steering angle. An example electronic control module  108  may also be configured to adjust the throttle  112  and/or the steering mechanism  114  based on the distance and/or the steering angle. Example transmissions (or drive systems)  110  may include mechanical transmissions, electrical transmissions and/or electro-mechanical transmissions. Example vehicle operations that the communication interface  106  may instruct may include stopping the mining vehicle  102 , reversing the mining vehicle  102 , decelerating the mining vehicle  102 , accelerating the mining vehicle  102 , and/or steering the mining vehicle  102 . Example steering sensors  105  may be integrated within the control system of the mining vehicle  102  and/or may be placed near one or more wheels of the mining vehicle  102 . 
         [0019]    Sensors  204  (e.g., distance sensors, location sensors and/or orientation sensors) may be located at one or more locations on and/or around a mining vehicle  202 . Several examples of such locations are depicted in  FIG. 2 . While  FIG. 2  depicts example placement locations for sensors  204 , sensors  204  may be located at any location in which the sensor  204  may operate to determine the distance, location and/or orientation of a shovel. Some sensors  204  may measure or determine a lateral distance between the mining vehicle  202  and the shovel. Some sensors  204  may measure or determine a distance between the side of the mining vehicle  202  and the side of the shovel. Some sensors  204  may be laser-based sensors (e.g., laser sensor), light-based sensors (e.g., Light Detection And Ranging (LIDAR) sensor), radio-based sensors (e.g., Radio Detection And Ranging (RADAR) sensor), sound-based (e.g., Sound Navigation And Ranging (SONAR) sensor, ultrasonic sensor) and/or satellite-based sensors e.g., global positioning system sensor). Example steering sensors  205  (e.g., cylinder position sensors) may be integrated within the control system of the mining vehicle  202  and/or may be placed near one or more wheels of the mining vehicle  202 . 
         [0020]      FIG. 3  depicts an example method  300  of aligning a mining vehicle with a shovel. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include operations  310 ,  320 ,  330 ,  340 ,  350 , and  360 . Example operations may include prompting  310  an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear. The distance between the rear of the mining vehicle and the front of the shovel may be measured  320 . The distance between a side portion of the mining vehicle and a side portion of the shovel may also be measured  330 . The steering angle of the steering mechanism may be measured and/or obtained  340 . The mining vehicle steering mechanism and the mining vehicle throttle may be controlled  350  to reduce the distance between the rear of the mining vehicle and the front of the shovel. The mining vehicle steering mechanism and the mining vehicle throttle may be controlled  360  to reduce the distance between a side portion of the mining vehicle and a side portion of the shovel. In some examples, operations may be repeated continuously and/or periodically. 
         [0021]      FIG. 4  depicts an example method  400  of aligning a mining vehicle with a shovel. The mining vehicle may include a transmission, a throttle and a steering mechanism. The example method may include operations  410 ,  420 ,  430 ,  440 ,  450 ,  460 , and  470 . Example operations may include  410 , determining the shovel&#39;s location relative to the mining vehicle, storing the shovel&#39;s location relative to the mining vehicle, determining the mining vehicle&#39;s location, and comparing the mining vehicle&#39;s location to the stored shovel&#39;s location relative to the mining vehicle to determine if the mining vehicle&#39;s location satisfies predetermined safety parameters. Example operations may also include prompting  420  an operator of the mining vehicle to shift the mining vehicle transmission in a reversing gear. The distance between the rear of the mining vehicle and the front of the shovel may be measured  430 . The distance between a side portion of the mining vehicle and a side portion of the shovel may also be measured  440 . The steering angle of the steering mechanism may be measured and/or obtained  450 . The mining vehicle steering mechanism and the mining vehicle throttle may be controlled.  460  to reduce the distance between the rear of the mining vehicle and the front of the shovel. The mining vehicle steering mechanism and the mining vehicle throttle may be controlled  470  to reduce the distance between a side portion of the mining vehicle and a side portion of the shovel. In some examples, operations may be repeated continuously and/or periodically. 
         [0022]    Some example systems for aligning a mining vehicle  102  with a shovel may include sensor(s)  104 ,  105 , a communication interface  106 , and an electronic control module  108 . The sensor(s)  104 ,  105  may be coupled to a mining vehicle  102 , and they may be configured to measure a distance between the mining vehicle  102  and a shovel, a location of the shovel relative to the mining vehicle  102 , and/or an orientation of the shovel relative to the mining vehicle  102 . The communication interface  106  may be configured to instruct a mining vehicle  102  operator to perform vehicle operations. The electronic control module  108  may be configured to receive the distance, the location, and/or the orientation from the sensor(s)  104 ,  105 . The electronic control module  108  may also be configured to control the throttle  112  based on the distance, the location, and/or the orientation. The electronic control module  108  may further be configured to adjust the steering mechanism  114  based on the distance, the location, and/or the orientation. 
         [0023]    Example vehicle operations that the communication interface  106  may instruct may include applying the mining vehicle&#39;s  102  brake, engaging gears of the transmission  110 , disengaging gears of the transmission  110 , and/or adjusting the throttle  112 . Example communication interfaces  106  may be integrated into the mining vehicle&#39;s  102  instrument panel and/or may be standalone devices. In some examples, visual and/or audible instructions may be provided to the operator. In some examples, visual instructions may be provided via one or more of the mining vehicle&#39;s  102  mirrors ors (e.g., side mirror). 
         [0024]      FIGS. 5-6  depict overhead schematic views of example alignment of mining vehicle  520 ,  620 ,  630  and a shovel  510 ,  610  in an example mining loading operation.  FIG. 5  depicts an overhead schematic view of a single side loading environment.  FIG. 6  depicts an overhead schematic view of a double side loading environment. 
         [0025]    In the example of  FIG. 5 , a shovel  510  is performing mining operations. In doing so, the shovel&#39;s  510  bucket  512  may be at least partially filled with excavated materials (e.g., soil, rock, ore, coal, sand). To empty bucket  512 , the shovel  510  operator may maneuver the bucket  512  along the example bucket path  514  to truck loading zone  516 . The bucket  512  operator may expect a mining vehicle  520  to be located in truck loading zone  516  to transfer the contents of the bucket  512  to the mining vehicle  520 . In some examples, the mining vehicle  520  may be oriented such that the rear of the mining vehicle  520  faces the truck loading zone  516 . The mining vehicle  520  may operate in a reversing direction to approach the truck loading zone  516  to receive the contents of the bucket  512 . Example systems (as described herein) may be implemented to at least semi-automatically align the mining vehicle  520  into the truck loading zone  516 . 
         [0026]    In  FIG. 6 , a shovel  610  is performing mining operations. In doing so, the shovel&#39;s  610  bucket  612  may be at least partially filled with excavated materials (e.g., soil, rock, ore, coal, sand). To empty bucket  612 , the shovel  610  operator may maneuver the bucket  612  along the first example bucket path  614  to first truck loading zone  616 . The bucket  612  operator may expect a first mining vehicle  620  to be located in first truck loading zone  616  to transfer the contents of the bucket  612  to the first mining vehicle  620 . In some examples, the first mining vehicle  620  may be oriented such that the rear of the first mining vehicle  620  faces the first truck loading zone  616 . The first mining vehicle  620  may operate in a reversing direction to approach the first truck loading zone  616  to receive the contents of the bucket  612 . Example systems (as described herein) may be implemented to at least semi-automatically align the first mining vehicle  620  into the first truck loading zone  616 . After the bucket  612  transfers its contents to first mining vehicle  620 , it may resume mining operations. When the bucket  612  is again at least partially filled with excavated materials, the shovel  610  operator may maneuver the bucket  612  along the second example bucket path  615  to second truck loading zone  617 . The bucket  612  operator may expect a second mining vehicle  630  to be located in second truck loading zone  617  to transfer the contents of the bucket  612  to the second mining vehicle  630 . In some examples, the second mining vehicle  630  may be oriented such that the rear of the second mining vehicle  630  faces the second truck loading zone  617 . The second mining vehicle  630  may operate in a reversing direction to approach the second truck loading zone  617  to receive the contents of the bucket  612 . Example systems (as described herein) may be implemented to at least semi-automatically align the second mining vehicle  630  into the second truck loading zone  617 . This alternating process may then continue. 
       INDUSTRIAL APPLICABILITY 
       [0027]    In mining operations, example systems and methods in accordance with the descriptions herein may be employed so that mining trucks may quickly and efficiently maneuver into a position suitable to receive excavated materials from mining shovels. 
         [0028]    In an example, the mining truck operator may operate the mining truck near an excavation loading zone such that the mining truck&#39;s rear substantially faces the excavation loading zone. A communication interface may instruct the operator to engage the mining truck&#39;s transmission or drive control in a reversing direction. An example system may continuously or periodically monitor the relative location of the shovel and one or more distances between the mining truck and the shovel. An example system may also continuously or periodically monitor a steering angle of the mining truck to determine and make steering angle adjustments needed to maneuver the mining truck into the excavation loading zone. An electronic control module may be located on the mining truck to cause the mining truck to accelerate, decelerate, and adjust the steering angle. The throttle and steering mechanism may be engaged and/or adjusted to effectuate actions to minimize the distance between the mining truck and the shovel within predetermined safety parameters. 
         [0029]    In some examples, multiple mining trucks may employ the example systems and methods described herein. This may allow mining trucks to simultaneously maneuver into respective excavation loading zones adjacent a shovel when an excavation site is so configured. 
         [0030]    While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.