Abstract: A system for monitoring electrical contacts for an overhead trolley line may include a wear sensor arranged such that an electrical contact on a vehicle or work machine for contacting the overhead trolley line is continually or periodically in its line of sight. The wear sensor may be configured to capture spatial data defining the surface profile of the electrical contact. The system may also include a data processing module configured to receive the spatial data and identify a defect in the electrical contact based on the spatial data.

Abstract: A system for monitoring electrical contacts for an overhead trolley line may include a wear sensor arranged such that an electrical contact on a vehicle or work machine for contacting the overhead trolley line is continually or periodically in its line of sight. The wear sensor may be configured to capture spatial data defining the surface profile of the electrical contact. The system may also include a data processing module configured to receive the spatial data and identify a defect in the electrical contact based on the spatial data.

Abstract: A system for monitoring electrical contacts for an overhead trolley line may include a wear sensor arranged such that an electrical contact on a vehicle or work machine for contacting the overhead trolley line is continually or periodically in its line of sight. The wear sensor may be configured to capture spatial data defining the surface profile of the electrical contact. The system may also include a data processing module configured to receive the spatial data and identify a defect in the electrical contact based on the spatial data.

Abstract: A system for monitoring electrical contacts for an overhead trolley line may include a wear sensor arranged such that an electrical contact on a vehicle or work machine for contacting the overhead trolley line is continually or periodically in its line of sight. The wear sensor may be configured to capture spatial data defining the surface profile of the electrical contact. The system may also include a data processing module configured to receive the spatial data and identify a defect in the electrical contact based on the spatial data.

Abstract: A system may comprise a load sensor; a camera; and an electronic control module. The load sensor may configured to detect a load placed on a vehicle that is to travel along a path. The camera may be associated with the vehicle and may be configured to capture an image of the load placed on the vehicle. The electronic control module may configured to receive, from the load sensor, information indicating that the load has been placed on the vehicle, cause the camera to capture the image of the load based on receiving the information indicating that the load has been placed on the vehicle, determine whether the height of the load exceeds a height of a trolley line included in the path, and provide, for display by a display of the vehicle, information indicating whether the height of the load exceeds the height of the trolley line.

Abstract: A method for monitoring and controlling a plurality of mining trucks, while the mining trucks operate on a worksite, is disclosed. The plurality of mining trucks includes, at least, a first truck and a second truck. The method includes monitoring a first speed of the first truck and determining a second speed of the second truck based on, at least, the first speed. The method further includes modulating the second speed based on changes to the first speed and controlling propulsion of the second truck based on the second speed.

Abstract: A pantograph assembly configured to transfer electrical power from an overhead conductor to a machine. The pantograph assembly includes a pantograph support detachably connected to the machine, an articulated assembly, a pan rail and a carbon brush. The pantograph support includes a first link, and a second link hingedly connected to the first link. The first link is connected to the pantograph support. The pan rail is supported by the second link of the articulated assembly. The carbon brush is supported by the pan rail along a longitudinal axis of the pan rail. The pantograph assembly further includes an end horn having a bridge portion connected to the carbon brush. The bridge portion is configured to transfer the overhead conductor between the end horn and the carbon brush.

Abstract: Controlling a power system in a mining truck includes receiving data indicative of an expected change in suitability of the mining truck for on-trolley operation, and outputting a control command to an actuating mechanism for a pantograph responsive to the data and prior to occurrence of the expected suitability change. A mining truck and power system are further provided, wherein a pantograph having an electrical contactor is adjusted between a first configuration contacting an overhead trolley line, and a rest configuration, responsive to data indicative of the expected suitability change.

Abstract: A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Abstract: A system and method for automatically guiding an off-highway truck having a pantograph over a route having at least one trolley-powered section. While the off-highway truck is operated over the route by a human operator, its position and the state of the pantograph at each position are recorded to produce a recorded sequence. The recorded sequence is retrieved and the off-highway truck is automatically controlled to sequentially match each position and each pantograph state at the associated position.

Abstract: A system and method for automatically guiding an off-highway truck having a pantograph over a route having at least one trolley-powered section. While the off-highway truck is operated over the route by a human operator, its position and the state of the pantograph at each position are recorded to produce a recorded sequence. The recorded sequence is retrieved and the off-highway truck is automatically controlled to sequentially match each position and each pantograph state at the associated position.

Abstract: A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Abstract: A trolley capable mining truck includes a pantograph supported on a machine frame for electrically connecting the truck with an overhead trolley line. A power system includes an onboard electrical power source providing electrical power to electric drive propulsion motors along a first electrical path in a first configuration of the power system. The pantograph provides electrical power from the overhead trolley line to the electric drive propulsion motors along a second electrical path, which includes a transient damping reactor, in a second configuration of the power system. The power system also includes a third configuration in which, during a braking mode of the trolley capable mining truck, the electric drive propulsion motors provide regenerative electrical power to the overhead trolley line through the pantograph along a third electrical path including a regenerative power converter, wherein the regenerative power converter includes the transient damping reactor.

Abstract: A trolley capable mining truck includes a pantograph supported on a machine frame for electrically connecting the truck with an overhead trolley line. A power system includes an onboard electrical power source providing electrical power to electric drive propulsion motors along a first electrical path in a first configuration of the power system. The pantograph provides electrical power from the overhead trolley line to the electric drive propulsion motors along a second electrical path, which includes a transient damping reactor, in a second configuration of the power system. The power system also includes a third configuration in which, during a braking mode of the trolley capable mining truck, the electric drive propulsion motors provide regenerative electrical power to the overhead trolley line through the pantograph along a third electrical path including a regenerative power converter, wherein the regenerative power converter includes the transient damping reactor.

Abstract: Operating a mining truck includes receiving data indicative of a prospective directional change in an on-trolley availability corridor, and outputting a control command to a steering mechanism of the mining truck responsive to the data. The mining truck is steered responsive to the control command from a first heading accordant with a first part of the corridor toward a second heading accordant with a succeeding part of the corridor. A related mining truck and steering system are disclosed.

Abstract: Controlling a power system in a mining truck includes receiving data indicative of an expected change in suitability of the mining truck for on-trolley operation, and outputting a control command to an actuating mechanism for a pantograph responsive to the data and prior to occurrence of the expected suitability change. A mining truck and power system are further provided, wherein a pantograph having an electrical contactor is adjusted between a first configuration contacting an overhead trolley line, and a rest configuration, responsive to data indicative of the expected suitability change.

Abstract: Controlling a power system in a mining truck includes receiving data indicative of expected procession of the mining truck to a part of a travel path coinciding with an unavailable segment of a trolley line. Responsive to the data, the power system is commanded to transition from an on-trolley mode to an off-trolley mode, such that an electric propulsion motor of the mining truck is transitioned from receiving electrical power from the trolley line to receiving electrical power from an on-board electrical generator. Related apparatus and control strategies are disclosed.

Abstract: A pantograph assembly configured to transfer electrical power from an overhead conductor to a machine. The pantograph assembly includes a pantograph support detachably connected to the machine, an articulated assembly, a pan rail and a carbon brush. The pantograph support includes a first link, and a second link hingedly connected to the first link. The first link is connected to the pantograph support. The pan rail is supported by the second link of the articulated assembly. The carbon brush is supported by the pan rail along a longitudinal axis of the pan rail. The pantograph assembly further includes an end horn having a bridge portion connected to the carbon brush. The bridge portion is configured to transfer the overhead conductor between the end horn and the carbon brush.

Abstract: A pantograph assembly configured to transfer electrical power from an overhead conductor to a machine. The pantograph assembly includes a pantograph support detachably connected to the machine, an articulated assembly having a first end connected to the pantograph support, and a collector rail supported by a second end of the articulated assembly along a longitudinal axis. The pantograph assembly further includes an end horn connected to the collector rail. The end horn is configured to be tilted with respect to the longitudinal axis of the collector rail.