Autonomous truck loading for mining and construction applications
The present invention encodes this knowledge into a database of preferred loading conditions and creates a set of automated maneuvers that accomplish the loading actions. The invention assumes that the truck has a drive-by-wire kit and that it is capable of moving under computer control. This invention provides a set of tools that allows for the automation of the loading process. The invention is relevant to situations where the truck is autonomous and the excavator is not, or when both are automated.
1. A system comprising:
an autonomous truck with a drive-by-wire kit;
one or more sensors configured to detect features in an environment surrounding the autonomous truck and/or one or more loaders;
a database storing a plurality of elementary behaviors for various phases of a process of loading the autonomous truck by the one or more loaders, the stored elementary behaviors comprising (i) a plurality of predetermined maneuvers for the autonomous truck, (ii) a plurality of sensing behaviors; and (iii) a plurality of logic behaviors; and
a controller operatively coupled to the drive-by-wire kit, the database, and the one or more sensors,
wherein the controller is operable to execute stored instructions to:
receive, via a user interface, a selection by an operator of a first one of the stored elementary behaviors from the database;
receive, via the user interface, a selection by the operator of a second one of the stored elementary behaviors from the database;
assemble together at least the first selected elementary behavior and the second selected elementary behavior to form an operation script for loading of the autonomous truck by the one or more loaders; and
control, via the drive-by-wire kit, the autonomous truck to perform the operation script for loading,
wherein the first selected elementary behavior comprises a sensing behavior that causes the controller to: determine a status of loading or of the surrounding environment, or to detect movement of the autonomous truck and/or the one or more loaders, based on signals from the one or more sensors.
2. The system of claim 1 , wherein at least one of the predetermined maneuvers comprises a trajectory recorded during previous manual operation of the autonomous truck.
3. The system of claim 1 , wherein the stored elementary maneuvers are classified based on type of load or wetness of the load.
4. The system of claim 1 , wherein at least one of the one or more sensors is mounted on the autonomous truck.
5. The system of claim 1 , wherein the one or more sensors comprises a laser detection and ranging (LADAR) system, stereo pair, cameras, radio frequency (RF) beacons, a differential global positioning system (DGPS), acoustic sensor, radio detection and ranging (RADAR), or any combination of the foregoing.
6. The system of claim 1 , wherein the controller is further operable to execute stored instructions to, during the control of the autonomous truck to perform the operation script:
receive, from the one or more sensors, a signal indicating detection of an obstacle;
determine, in response to the received signal, one or more variations to the operation script that avoids a collision with the detected obstacle, the one or more variations comprising a trajectory deviation, a velocity change, or a stoppage of the autonomous truck; and
control, via the drive-by-wire kit, the autonomous truck to perform the operation script with the one or more variations.
7. The system of claim 1 , wherein:
the autonomous truck comprises one or more weight measuring sensors;
the controller is operatively coupled to the one or more weight measuring sensors; and
the controller is further operable to execute stored instructions to:
determine, based on signals from the one or more weight measuring sensors, a current weight loaded onto the autonomous truck by the one or more loaders; and
send a signal to the one or more loaders indicating the current weight loaded onto the autonomous truck.
8. The system of claim 1 , wherein:
the autonomous truck comprises a weight measuring sensor for each wheel;
the controller is operatively coupled to each weight measuring sensor; and
the controller is further operable to execute stored instructions to:
determine, based on one or more signals from each weight measuring sensor, a current distribution of weight loaded onto the autonomous truck by the one or more loaders; and
send a signal to the one or more loaders indicating the current distribution of weight loaded onto the autonomous truck.
9. The system of claim 1 , wherein at least one of the predetermined maneuvers comprises a predetermined trajectory between two locations.
10. The system of claim 1 , wherein the controller is further operable to execute stored instructions to, after assembling the first and second selected elementary behaviors and prior to controlling the autonomous truck to perform the operation script:
simulate performance of the operation script by the autonomous truck; and
display, via the user interface, the simulated performance to the operator.
11. The system of claim 1 , wherein:
the sensing behavior of the first selected elementary behavior causes the controller to determine the status of loading of the autonomous truck based on signals from the one or more sensors; and
the second selected elementary behavior comprises a logic behavior that causes the controller to maintain a state of the autonomous truck until the controller determines that loading of the autonomous truck is complete.
12. The system of claim 1 , wherein at least one of the one or more sensors is mounted on the one or more loaders or disposed in the environment surrounding the autonomous truck and/or the one or more loaders.
13. The system of claim 1 , wherein:
the sensing behavior of the first selected elementary behavior causes the controller to determine the status of a loading area based on signals from the one or more sensors; and
the second selected elementary behavior comprises a logic behavior that causes the controller to maintain a location of the autonomous truck outside of the loading area until the loading area is clear.
14. The system of claim 1 , wherein:
the sensing behavior of the first selected elementary behavior causes the controller to detect movement of a loading mechanism of the one or more loaders based on signals from the one or more sensors; and
the second selected elementary behavior comprises a maneuver that causes the controller to coordinate movement of the autonomous truck with the detected movement of the loading mechanism.
15. A system comprising:
an autonomous truck with a drive-by-wire kit;
one or more sensors configured to detect features in an environment surrounding the autonomous truck and/or one or more loaders;
a database storing a plurality of elementary behaviors for various phases of a process of loading the autonomous truck by the one or more loaders, the stored elementary behaviors comprising (i) a plurality of predetermined maneuvers for the autonomous truck, (ii) a plurality of sensing behaviors; and (iii) a plurality of logic behaviors; and
a controller operatively coupled to the drive-by-wire kit, the database, and the one or more sensors,
wherein the controller is operable to execute stored instructions to:
receive, via a user interface, a selection by an operator of a first one of the stored elementary behaviors from the database;
receive, via the user interface, a selection by the operator of a second one of the stored elementary behaviors from the database;
assemble together at least the first selected elementary behavior and the second selected elementary behavior to form an operation script for loading of the autonomous truck by the one or more loaders; and
control, via the drive-by-wire kit, the autonomous truck to perform the operation script for loading, and
wherein:
the autonomous truck comprises one or more weight measuring sensors;
the controller is operatively coupled to the one or more weight measuring sensors; and
the controller is further operable to execute stored instructions to:
determine a weight loaded onto the autonomous truck by the one or more loaders based on signals from the one or more weight measuring sensors;
compare the determined weight to a maximum load capacity of the autonomous truck; and
send, in response to the comparison indicating that the maximum load capacity has been reached, a signal to the one or more loaders to stop loading of the autonomous truck.
16. The system of claim 15 , wherein at least one of the predetermined maneuvers comprises a trajectory recorded during previous manual operation of the autonomous truck.
17. The system of claim 15 , wherein the stored elementary maneuvers are classified based on type of load or wetness of the load.
18. The system of claim 15 , wherein the controller is further operable to execute stored instructions to, after assembling the first and second selected elementary behaviors and prior to controlling the autonomous truck to perform the operation script:
simulate performance of the operation script by the autonomous truck; and
display, via the user interface, the simulated performance to the operator.