Note: Descriptions are shown in the official language in which they were submitted.
CA 02568229 2006-12-04
1
BI-DIRECTIONAL AUTONOMOUS TRUCK
Background of the Invention
[0001] The present invention relates to a bi-directional
autonomous truck, particularly a dump truck for use in
surface mining operations that is adapted for being driven
in two opposite directions with substantially equal
facility.
[0002] Mining operations typically employ very large dump
trucks, e.g., having a capacity of hundreds of tons, for
receiving excavated earth at a mining face or loading
point, transporting the earth to a point of processing or
deposit, dumping the earth, and returning to the loading
point. As the technology has advanced, these trucks have
more frequently been provided in so-called "autonomous,"
form, meaning that they are remotely controlled; however,
where such a truck would include a cabin for housing an
operator, the cabin is typically biased toward one end of
the truck, with the dump bed of the truck being biased
toward the other end of the truck.
[0003] The trucks may be powered directly by a diesel or
other combustion engine through a gear train, or by such
an engine driving a generator for powering one or more
electric motors located at respective wheels. For a
truck powered directly by a combustion engine, a plurality
of forward gears are provided in order to permit the
engine to remain within an efficient range of engine
speeds over a wide range of road speeds. On the other
hand, backing-up is typically done at low speed, so that
only a single reverse gear is provided for this purpose.
[0004] Where one or more wheels of the truck are powered
by respective electric motors, the motors may be AC or DC.
Analogous to the combustion engine, motor speed is. varied
CA 02568229 2006-12-04
2
in the forward directions by varying the current to or
voltage across the motors, with a plurality of voltage or
current settings which may be discrete or continuous, but
motor speed is intentionally limited by a governing device
in reverse.
[0005] In use, the truck is driven from point A to point
B, where point A may be a loading point or source of earth
that has been excavated and point B may be a location for
depositing the excavated earth that is some distance away
from point A. For traveling between points A and B, it
is desirable to use the forward gears of the truck, so
that the distance is traversed most efficiently.
Accordingly, the truck must be turned around at each
point. This may be done with the forward gears only, but
at the expense of utilizing a relatively large amount of
space corresponding to the turning circle of the truck.
Typically, however, it is done by using the reverse gear,
though this takes additional time and effort as well, and
either option complicates the logistics of the mining
operation where there are multiple instances of the truck
operating in the same area.
[0006] Accordingly, there is a need for a bi-directional
autonomous truck that provides substantially the same
drive-characteristics in two opposite directions, to
minimize or eliminate the need to turn the truck around.
Summary of the Inveption
[0007] The bi-directional autonomous truck of the present
invention meets the aforementioned need by providing, in
an autonomous dump truck, 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
CA 02568229 2006-12-04
3
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.
[0008] Preferably, the truck includes a dump bed that is
adapted for dumping in either of two opposite directions.
[0009] More preferably, the dump bed of the truck is
arranged to be substantially symmetric about a plane
perpendicular to the direction of forward and reverse
travel of the truck.
[0010] Still more preferably, the truck is substantially
symmetric about a plane perpendicular to the direction of
forward and reverse travel of the truck.
[0011] Therefore, it is a principal object of the present
invention to provide a bi-directional autonomous truck.
[0012] It is a further object of the present invention to
provide such a truck that provides substantially the same
drive-characteristics in two opposite directions, to
minimize or eliminate the need to turn the truck around.
[0013] The foregoing and other objects, features and
advantages of the present invention will be more readily
understood upon consideration of the following detailed
description of the invention, taken in conjunction with
3o the following drawings.
Brief Descr~ptio~ o~ the Drawings
[0014] Figure 1 is a pictorial view of a bi-directional
autonomous truck according to the present invention.
CA 02568229 2006-12-04
4
[0015] Figure 2 is a pictorial view of the truck of Figure
1 being loaded with excavated earth.
[0016] Figure 3 is a plan view of a chassis of the truck
of Figure 1 according to the present invention.
[0017] Figure 4A is a side elevation of the truck of
Figure 1, showing a dump bed in a position for dumping in
one direction according to the present invention.
[0018] Figure 4B is a side elevation corresponding to
Figure 4A, wherein the dump bed is shown in a position for
dumping in the other direction according to the present
invention.
Detailed ~es~,ription of a Preferred Embodiment
[0019] "Autonomous" vehicles are controlled by remotely
tracking the position and status of the vehicles and
issuing commands by wireless communication with one or
more of the vehicle's on-board computers. Examples of
relevant vehicle status information are the steering angle
of the steering wheels of the vehicle, the amount of
throttle, voltage or current provided to the engine or
motor, and the amount of brake being applied to the
wheels.
[0020] Prior art autonomous vehicles have retained many of
the characteristics of manned vehicles, and in particular,
they have retained the characteristics of their drive'
trains. For a combustion engine driven vehicle, the
engine drives the driving wheels through a transmission
that makes available a range of engine speeds for a
selected rotational speed of the wheels that corresponds
to forward movement of the vehicle. These speeds are be
provided by a plurality of gears. For an electric motor
driven vehicle, the motor is driven by electrical current
CA 02568229 2006-12-04
supplied by a generator that is typically powered by a
combustion engine. A control system prevents the motor
from achieving the same maximum rotational speeds in
forward or reverse directions of the vehicle;
5 particularly, the maximum motor and therefore vehicle
speed in reverse is limited by the control system since
the vehicle is typically not used to back up at high
speed.
[0021] Either way, a wider range of engine,or motor speeds
is made available for driving the driving wheels in the
direction of wheel rotation corresponding to the forward
direction of the vehicle than has been provided for the
direction of wheel rotation corresponding to the opposite
direction. This distinction between forward and reverse
movement of the vehicle has historically been of practical
value because it is difficult for an on-board human driver
to see and therefore to drive the truck at high speed in
the reverse direction, and this is especially the case for
a loaded dump truck.
[0022] However, the present inventors have recognized that
where the vehicle is autonomous, there is no longer a need
to distinguish between the forward and reverse directions,
and in addition, there are benefits to discarding this
distinction. This insight has permitted the inventors to
arrive at the concept of a bi-directional autonomous truck
that is adapted to be driven in either forward or reverse
direction with substantially equal facility.
[0023] Referring to Figure 1, a bi-directional autonomous
truck 10 according to the present invention is shown.
Figure 2 shows the truck 10 being loaded with excavated
earth by an excavating machine 8. Figure 3 shows the
drive-train 6 for the truck 10 in plan. The drive-train
has a longitudinal axis "L" that defines front "F" and
rear "R" ends of the truck, corresponding to forward and
CA 02568229 2006-12-04
6
reverse directions of movement. The drive-train is
mounted to a truck chassis 11, which may comprise a number
of substantially identical frames 11a and 11b ganged
together as shown to provide the required weight-carrying
capability.
[0024] Figure 3 is generic in that it shows a drive-train.
structure that may correspond to either a truck driven
directly by a combustion engine 12, or a truck driven by
one or more electric motors 16 which are provided electric
power by a generator 14 that may be driven by the engine
12. Where the truck is driven directly by the engine 12,
it also includes a mechanical~transmission 18.
[0025] The transmission 18 conventionally includes a
plurality of distinct forward gears, providing a
corresponding plurality of ratios RFl RFZ, . . . R"N of
engine rotation speed to wheel rotation speed in one
direction. Typically, there are three such forward gears,
with distinct ratios RF that are larger than one, i.e., for
one revolution of the driving wheels, the engine turns
more than a single revolution. According to the
invention, the transmission 18 also includes a plurality
of distinct reverse gears, providing a corresponding
plurality of ratios RRl, RR2, . . . R~,, of engine rotation
speed to wheel rotation speed in the opposite direction.
Preferably, M = K, so that there are an equal number of
forward and reverse gears, and more preferably still, the
ratios corresponding to forward and reverse movement are
the same, i.e., Rgl _ RRl, RF2 _ RR2, etc. However, all that
is required to realize an advantage over the prior art in
this regard is that there are at least two discrete
reverse gears, wherein one of the reverse gears has a
lower ratio R than the reverse gear ratios currently being
provided in such trucks. Structural implementation of the
additional reverse gear or gears may be entirely
CA 02568229 2006-12-04
7
conventional so that further detail is omitted as not
being particularly pertinent to the invention.
[0026] In the case of a truck driven directly by one or
more electric motors, the truck includes a control system
19 (not shown) which conventionally includes a plurality
of forward voltage or current (upower") settings. The
power settings may form a continuous band or may be
discrete values, and may be implemented in a variety of
ways, such as by controlling the throttle position of the
generator, or a variable transformer, or by switching or
otherwise controlling a variable power supply, which may
be a simple voltage divider.
[0027] The power settings conventionally provide for motor
speeds from zero to a maximum forward amount in a
direction of motor rotation corresponding to forward
movement of the vehicle. In addition, according to the
invention, the power settings provide for motor speeds in
substantially or, preferably, identically the same range
in a direction of motor rotation corresponding to reverse
movement of the vehicle. Structural implementation of the
additional range of reverse motor speeds may be entirely
conventional so that further detail is omitted as not
being particularly pertinent to the invention.
[0028] The preferred embodiment of the truck employs
electric motors 16 at each wheel. Differential action
required for turning may be accomplished by appropriately
varying the rotational speed of inner and outer wheels,
this variation being provided as an adjustment to the
voltage or current provided to the respective motors.
[0029] Turning to Figures 4A and 4B, the truck 10 is
preferably provided with a dump bed 20 that may be raised
from either end 22a, 22b of the truck. This is
accomplished by providing extendable rams 24a, 24b,
CA 02568229 2006-12-04
8
anchored to the truck chassis 11 at each end 22 of the
truck, the rams being operably connected to~respective
ends 20a, 20b of the dump bed 20, for raising and lowering
the ends 20a, 20b. A control device (not shown) ensures
that only one of the rams corresponding to one of the ends
20a, 20b of the dump bed is extended at a time, the
opposite ram being retracted during this extension so that
the dump bed is pivoted about the opposite end of the
truck.
[0030] To provide for this pivoting, the truck chassis Z1
at each end 22 of the truck are provided with a bearing
28a~having a concave circular arc, while each end 20a, 20b
of the dump bed includes a corresponding bearing 28b
having a convex circular arc for receipt by the bearing
28a. The arc lengths and dispositions of the bearings 28
are such as to permit the dump bed to rise out of the
bearing when the dump bed is being lifted by the
corresponding ram, while the bearing is suitable to
pivotally retain the dump bed when the dump bed is being
lifted by the opposite ram.
[0031] With respect to the longitudinal dimension of the
dump bed, the rams 24 may be connected to a shaft 29
extending between the bearings 28b corresponding to each
side thereof as shown in Figures 4A and 4B; however, other
locations for attachment may be employed with equal
facility. With respect to the lateral dimension of the
dump bed and where a single ram is employed at each end
thereof, the rams should be connected to the,dump bed so
that they are centered on the dump bed to maintain lateral
stability of the dump bed when it is fully loaded.
Preferably, there are at least four sets of the bearings
28, whereas only two sets are visible in Figures 4A and
4B; however, the number of bearings may be adjusted as
desired or needed for bearing the design weight of. the
loaded dump bed.
CA 02568229 2006-12-04
9
[0032] The bi-directional dumping feature provides an
additional degree of freedom to facilitate dumping: for
example, the truck may travel from point A where it has
been loaded either forwardly to a point B for dumping, or
backwardly to a point C for dumping, and dump the load
without turning around. Otherwise, the truck would have
to be turned around each time a decision to move to a
different one of the points A and C was made, and this is
true even with the bi-directional movement provided by the
transmission 18. Where the truck only moves between
points A and B, or only moves between points A and C, the
bi-directional dumping feature may still be advantageous
to prevent having to turn the truck around more than once.
l5 [0033] Other features of an autonomous truck may be
symmetric to provide additional advantages in controlling
the vehicle to move forwardly or reversedly with
substantially equal facility or to provide substantially
the same drive characteristics. One example of this is to
use the electrical transmission 18 for driving an electric
motor at an equal number of front and rear wheels, and
another would be to form the dump bed symmetrically about
the center of the wheelbase "w" (Figure 4) and also to
center it over this wheelbase to provide substantially
equal weight distribution over the front and rear wheels
of the truck.
[0034] It is to be recognized that, while a particular bi-
directional autonomous truck has been shown and described
as preferred, other configurations and methods could be
utilized, in addition to those already mentioned, without
'departing from the principles of the invention.
[0035] The terms and expressions which have been employed
in the foregoing specification are used therein as terms
of description and not of limitation, and there is no
intention in the use of such terms and expressions. to
CA 02568229 2006-12-04
exclude equivalents of the features shown and described or
portions thereof, it being recognized that the scope of
the invention is defined and limited only by the claims
which follow.
