Abstract: An apparatus and method for a control unit which allows for autonomous, manual and tele-operation of mining vehicles. The control unit has a robust system design to withstand the harsh environment of underground mines. The control unit allows a tele-operator, in a remote tele-operator station, to use image and operational data, joysticks and foot pedals to remotely control the mining vehicle. In another aspect, the control unit provides safety features such as supervising its operation for operational errors and providing status, warning and error information to the tele-operator station.

Abstract: The vehicle guidance system is provided for guiding a vehicle, such as a load haul dump vehicle in an underground mine. An elongate element, for example in the form of a rope or the like is aligned with the path of the vehicle and is suspended above the path. The element includes a fluorescent material which absorbs radiation at one frequency and radiates radiation at a second, lower frequency. The vehicle includes a lamp for illuminating the element at the first frequency, e.g. ultraviolet light, and a camera or other detector to detect the second frequency, which may be in the visible spectrum, radiated from the elongate element. The relative position of the elongate element and the image provided by the detector is used to steer the vehicle to keep it on the desired path. The elongate element can be provided with portions that radiate different frequencies in response to the first frequency, which different frequencies are used to provide additional information, e.g. an indication of branch paths.