Abstract: A system and method for localizing software having resource references and a resource library. A record of all resource calls performed by the software is generated. New resources are added to the resource library, and instructions are included, that map individual resource calls to resources in the resource library.

Abstract: A distributed mine management system contains a central computer having a first database controlled by a first controller. At least one mobile computer is in communication with a piece of mobile equipment. Each of the mobile computers has a second database controlled by a second controller. The mobile computers store high, medium and low priority data about the status of the mobile equipment in the second database according to the priority of the information. The mine management system includes a remote worksite computer and an intermittent communication path between the remote worksite computer and the central computer. A wireless communication network enables communication between the first controller and the second controller, wherein said mobile computer is operable independent of the first logic unit.

Abstract: A system and method for GPS based navigation and hazard avoidance in a mining environment are described. The system includes a central application that has a dynamic roadmap definition module adapted to at least allow a user to arbitrarily define features in a geographical information systems database and import overhead imaging data corresponding to a geographical area in which said features are defined. The central application includes a remote position and attitude reception module adapted to at least receive data concerning the position of at least one remote vehicle, a transceiver module adapted for exchanging data with at least one remote vehicle; and a logging and tracking module adapted for at least logging said position of at least one remote vehicle over time. The system also has a remote application; and a communications link adapted for exchanging data between the central application and the remote application.

Abstract: A mast that includes an omnidirectional antenna disposed therein and a GPS antenna coupled with the mast. Both the omnidirectional antenna and the GPS antenna preferably are protected from the environment, with the omnidirectional antenna being located above the GPS antenna when the mast is positioned vertically.

Abstract: A Dynamically Reconfigurable Dynamic Wireless Network for connecting a local area network (“LAN”) to wireless Mobile Stations. Backbone Access Points (“Backbone APs”) are physically connected to the LAN. Levels of Wireless Access Points (“Wireless APs”) are daisy-chained together and connected to the Backbone AP, providing an extended area of network coverage. Mobile stations are connected to either Backbone APs or Wireless APs. Dynamic Reconfiguration prevents single point failures. Each AP contains a router, Address Resolution Protocol (“ARP”) cache, and Distributed Routing Table (“DR Table”). The DR Table maintains the Media Access Control (“MAC”) address and the Internet Protocol (“IP”) address of each AP below it in the Distributed Routing Tree. Additionally, each DR Table also maintains the IP address for the device each AP is connected. The Distributed Routing Tree is dynamically reconfigured to minimize transmission hops or to maximize signal strength between Mobile Stations and the LAN.

Abstract: A three-dimensional and a two-dimensional GPS unit periodically provide coordinate positions of points on the work machine and are combined with a Kalman filter to produce a point of reference on a work machine. The point of reference is improved by combining the position with an inertial position derived from accelerometer data in another Kalman filter. Additionally, the two-dimensional GPS unit provides a heading that is combined with an inertial orientation derived by the angular rate from a gyroscope in another Kalman filter to produce a precise orientation estimate. Inclinometers provide pitch and roll of the work machine. With the point of reference, orientation estimate, pitch, roll and known geometry of the work machine, the GPS unit calculates the location and orientation of machine components and continuously tracks its movement throughout the mine. Additionally, the accelerometers and gyroscope provide position and orientation when the GPS units are inoperable.

Abstract: A group of wireless APs, including an active primary AP and one or more inactive backup APs, responds to the failure of the active AP. Backup APs passively detect the absence of the primary AP from a coverage area and become active. If more than one Backup AP attempts to assume the role of the primary AP, contention is resolved by applying a conflict resolution algorithm.

Abstract: An Interactive Maintenance Management System (“IMMS”) (10) is an alarm handling system (FIG. 2) for handling alarms (102) that indicate present or imminent equipment failure. The IMMS (10) may be utilized in industrial situations, such as strip-mines (14), to reduce equipment (12) downtime and reduce or prevent equipment failure. The IMMS (10) utilizes a flexible response system to track, analyze, and improve performance of the alarm handling system.

Abstract: A bi-directional autonomous truck. The truck includes a drive-train including one or more drive wheels, the drive-train having drive characteristics that are substantially the same whether the drive wheels rotate clockwise or counterclockwise. The drive characteristics may consist of the ability to reach a maximum rotational speed of the drive wheels, but may include other characteristics, such as the ability to steer corresponding pairs of drive wheels that are situated at opposite ends of the truck. Preferably, the truck includes a dump bed that is adapted for dumping in either of two opposite directions.

Abstract: A supervisory safety-control system is implemented by dividing a mine's territory into zones of free operation (“permission zones”) wherein a vehicle is allowed to move according to predetermined permission parameters but unhindered by other system constraints. Traffic of autonomous vehicles in each permission zone is controlled by the supervisory system in conjunction with and in addition to conventional safety constraints associated with the guidance system that effects the vehicle's tracking of predetermined trajectories. Permission zones are assigned and activated using criteria that ensure the vehicle will remain entirely within active zones so long as the vehicle acts within such predetermined permission parameters. Each permission zone is also associated with a maximum velocity profile that overrides guidance-system safety controls, if necessary, and ensures stoppage of the vehicle at the end of the permission zone.

Abstract: A railroad traffic control system that links each locomotive to a control center for communicating data and control signals. Using on-board computers, GPS and two-way communication hardware, rolling stock continuously communicate position, vital sign data, and other information for recording in a data base and for integration in a comprehensive computerized control system. The data base includes train schedules for real time display on train monitors. The current position of each train is compared to its planned schedule online to provide immediate information to the dispatcher to determine whether a corrective action is necessary. When a train's deviation from its planned schedule exceeds a predetermined parameter, the system automatically calculates alternative schedules for all trains in the system according to preselected operational constraints as necessary to minimize the effect of the deviation.

Abstract: A bi-directional autonomous truck. The truck includes a drive-train including one or more drive wheels, the drive-train having drive characteristics that are substantially the same whether the drive wheels rotate clockwise or counterclockwise. The drive characteristics may consist of the ability to reach a maximum rotational speed of the drive wheels, but may include other characteristics, such as the ability to steer corresponding pairs of drive wheels that are situated at opposite ends of the truck. Preferably, the truck includes a dump bed that is adapted for dumping in either of two opposite directions.

Abstract: An intra-vehicle communications system in a mining vehicle monitoring system. A status sensor, status radio transmitter and power source are located adjacent to a portion or component of the vehicle to be monitored and a status radio receiver is located adjacent to a vehicle-to-base transmitter that receives a status radio signal from the status radio transmitter and forwards that signal to a base station at a central monitoring location. Preferably a plurality of such sensors, status radio transmitters and respective power sources are distributed throughout the vehicle. The status radio transmitters are relatively low power devices which require relatively low power for operation. Preferably the vehicle-to-base radio operates at a different frequency from the intra-vehicle status radios so as to avoid mutual interference. In many cases the power sources obtain their power from the motion of the vehicle itself.

Abstract: In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor's boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility.

Abstract: The function of each autonomous vehicle in a surface mine is performed according to a predetermined trajectory related to its particular task and implemented by a guidance system through on-board GPS and two-way communication hardware. The current position of the vehicle is continuously monitored and correlated to the position of potential hazards along its path, so that corrective action can be taken by implementing appropriate, predetermined control strategies. Each vehicle is assigned a safety envelope that accounts for the vehicle's physical presence and operating tolerances. The safety envelope is characteristic of each vehicle and is defined by a variable space surrounding the vehicle wherein it may be physically present as it travels along its intended trajectory. The shape and size of the safety envelope is dynamically varied to meet safety requirements for current trajectory conditions facing the vehicle as it performs its autonomous function along its predetermined path.

Abstract: An autonomous dispatch system links positioning-system units mounted on mining and haulage equipment to a computerized mine development plan for ascertaining the origin of mined material and directing its disposition according to a predetermined downstream-processing plan. A destination signal is automatically communicated to the haulage vehicle, which is then autonomously guided to the correct destination and tracked until the load is released after arrival. If the haulage vehicle is manually operated, the destination signal and the vehicle's progress toward it are preferably also displayed on a monitor for the operator's information and use. The system may further include hardware for blocking the release of a load from the haulage vehicle until and unless the vehicle has reached the prescribed destination.

Abstract: Two GPS units are mounted at two separate points on the body of a work machine to periodically measure their three-dimensional coordinates with respect to a chosen reference system. As soon as two sets of measurements are recorded, a plane is fitted through the four points so collected and it is used to determined the current orientation of the machine. As each additional set of position data is collected at predetermined intervals for the two points on the machine, a new plane equation is calculated to update the orientation of the machine based on a predetermined number of prior measurements. Standard-deviation analysis is used to check the validity of each plane calculation and the process is restarted when the deviation is found to be greater than an acceptable parameter.

Abstract: Weight sensors coupled to the bed of a conventional haulage truck measure the weight applied to each tire strut as the truck is being loaded. Based on the weight applied to each strut, the exact position of the center of gravity of the load in the truck's bed is calculated and displayed on a monitor relative to a target position deemed optimal for uniform weight distribution. Based on this information, the operator of the loading machine can complete the loading operation in such a way as to shift the center of gravity toward the chosen target position. In another embodiment of the invention, an automated algorithm calculates and displays where the next bucket load should be dropped, based on its approximate weight, in order to shift the center of gravity toward the target location.

Abstract: A slope monitoring device includes a cable anchored at one end to the sloped wall of an open pit mine, dump, or the like. The cable extends over an idler pulley at the top of the sloped wall and passes around a further pulley coupled to an optical shaft encoder which generates a digital signal corresponding to the angular position of the pulley. The cable is engaged by a clutch and is wound about a play-off reel, each secured to a weighted sleeve slidingly extending about a vertical post. The weighted sleeve maintains tension upon the cable, while the clutch allows additional cable to be played off of the reel when tension is increased due to movement of the wall. The shaft encoder information, along with the temperature, battery condition, and cable condition, are transmitted by radio to a remote location for processing.