Abstract: Drill hole sequence planning equipment 14 includes a position determining module 18 for determining an initial location of a mobile drill rig 12. A selection module 24 selects a destination location for the drill rig 12. A corridor establishment module 26 establishes a corridor between the initial location of the drill rig 12 and its destination location, the corridor having a selected width. A processing unit 28 is responsive to the modules 18, 24 and 26 for selecting a hole location of each hole within the corridor to be drilled by the drill rig 12 sequentially as it moves from its initial location to its destination location.

Abstract: Drill hole sequence planning equipment 14 includes a position determining module 18 for determining an initial location of a mobile drill rig 12. A selection module 24 selects a destination location for the drill rig 12. A corridor establishment module 26 establishes a corridor between the initial location of the drill rig 12 and its destination location, the corridor having a selected width. A processing unit 28 is responsive to the modules 18, 24 and 26 for selecting a hole location of each hole within the corridor to be drilled by the drill rig 12 sequentially as it moves from its initial location to its destination location.

Abstract: Drill hole sequence planning equipment 14 includes a position determining module 18 for determining an initial location of a mobile drill rig 12. A selection module 24 selects a destination location for the drill rig 12. A corridor establishment module 26 establishes a corridor between the initial location of the drill rig 12 and its destination location, the corridor having a selected width. A processing unit 28 is responsive to the modules 18, 24 and 26 for selecting a hole location of each hole within the corridor to be drilled by the drill rig 12 sequentially as it moves from its initial location to its destination location.

Abstract: Drill hole sequence planning equipment (14) includes a position determining module (18) for determining an initial location of a mobile drill rig (12). A selection module (24) selects a destination location for the drill rig (12). A corridor establishment module (26) establishes a corridor between the initial location of the drill rig (12) and its destination location, the corridor having a selected width. A processing unit (28) is responsive to the modules (18, 24 and 26) for selecting a hole location of each hole within the corridor to be drilled by the drill rig (12) sequentially as it moves from its initial location to its destination location.

Abstract: A system 10 for controlling operation of a vehicle 12 in a defined area 14 includes a perimeter 16 defining a boundary of the defined area 14. A user interface 18 is provided for at least one of controlling and monitoring movement of the vehicle 12 as it traverses the area 14 and monitoring the location of the vehicle 12 relative to the perimeter 16. The system 10 further includes a controller 26 to which the vehicle 12 is responsive, the vehicle 12 having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode. The controller 26 is operative, when the vehicle 12 is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle 12 from crossing the perimeter 16 and, when the vehicle 12 is operating in the operator controlled mode or is converted from autonomous mode to operator controlled mode, to permit the vehicle 12 to cross the perimeter 16 under control of the operator.

Abstract: A vehicle operating system (10) for controlling operation of a vehicle (12) in an area (26) in which a safe working area (SWA) (30) is demarcated includes a periphery generator module (22) for generating a periphery of a zone of interest about the vehicle (12) and to output zone data. A scanning arrangement (36) is mountable to the vehicle (12) for scanning a region about the vehicle (12), including the zone of interest, for obstacles, the scanning arrangement (36) outputting obstacle data. A processing module (20) is responsive to the zone data, the obstacle data and SWA data relating to the SWA (30) to determine if a detected obstacle is within both the SWA (30) and the zone of interest. The processing module (20) causes action to be taken regarding further traversal of the area (26) by the vehicle (12) depending on whether or not both conditions are satisfied.

Abstract: A system 10 for controlling operation of a vehicle 12 in a defined area 14 includes a perimeter 16 defining a boundary of the defined area 14. A user interface 18 is provided for at least one of controlling and monitoring movement of the vehicle 12 as it traverses the area 14 and monitoring the location of the vehicle 12 relative to the perimeter 16. The system 10 further includes a controller 26 to which the vehicle 12 is responsive, the vehicle 12 having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode. The controller 26 is operative, when the vehicle 12 is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle 12 from crossing the perimeter 16 and, when the vehicle 12 is operating in the operator controlled mode or is converted from autonomous mode to operator controlled mode, to permit the vehicle 12 to cross the perimeter 16 under control of the operator.

Abstract: A vehicle operating system (10) for controlling operation of a vehicle (12) in an area (26) in which a safe working area (SWA) (30) is demarcated includes a periphery generator module (22) for generating a periphery of a zone of interest about the vehicle (12) and to output zone data. A scanning arrangement (36) is mountable to the vehicle (12) for scanning a region about the vehicle (12), including the zone of interest, for obstacles, the scanning arrangement (36) outputting obstacle data. A processing module (20) is responsive to the zone data, the obstacle data and SWA data relating to the SWA (30) to determine if a detected obstacle is within both the SWA (30) and the zone of interest. The processing module (20) causes action to be taken regarding further traversal of the area (26) by the vehicle (12) depending on whether or not both conditions are satisfied.

Abstract: A system 10 for controlling operation of a vehicle 12 in a defined area 14 includes a perimeter 16 defining a boundary of the defined area 14. A user interface 18 is provided for at least one of controlling and monitoring movement of the vehicle 12 as it traverses the area 14 and monitoring the location of the vehicle 12 relative to the perimeter 16. The system 10 further includes a controller 26 to which the vehicle 12 is responsive, the vehicle 12 having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode. The controller 26 is operative, when the vehicle 12 is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle 12 from crossing the perimeter 16 and, when the vehicle 12 is operating in the operator controlled mode or is converted from autonomous mode to operator controlled mode, to permit the vehicle 12 to cross the perimeter 16 under control of the operator.

Abstract: Drill hole sequence planning equipment (14) includes a position determining module (18) for determining an initial location of a mobile drill rig (12). A selection module (24) selects a destination location for the drill rig (12). A corridor establishment module (26) establishes a corridor between the initial location of the drill rig (12) and its destination location, the corridor having a selected width. A processing unit (28) is responsive to the modules (18, 24 and 26) for selecting a hole location of each hole within the corridor to be drilled by the drill rig (12) sequentially as it moves from its initial location to its destination location.

Abstract: A system 10 for controlling operation of a vehicle 12 in a defined area 14 includes a perimeter 16 defining a boundary of the defined area 14. A user interface 18 is provided for at least one of controlling and monitoring movement of the vehicle 12 as it traverses the area 14 and monitoring the location of the vehicle 12 relative to the perimeter 16. The system 10 further includes a controller 26 to which the vehicle 12 is responsive, the vehicle 12 having a plurality of modes of operation, one of which is an autonomous mode and another of which is an operator controlled mode. The controller 26 is operative, when the vehicle 12 is operating in the autonomous mode and the vehicle comes within a predetermined range of the perimeter, to inhibit the vehicle 12 from crossing the perimeter 16 and, when the vehicle 12 is operating in the operator controlled mode or is converted from autonomous mode to operator controlled mode, to permit the vehicle 12 to cross the perimeter 16 under control of the operator.

Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighbouring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.