초록 ▼

Methods and systems are described for effecting autonomous operations within a defined geographical region (1110). A plurality of localized zones (1102, 1104, 1106, 1108) having operation-defined geographical boundaries are specified within the region. A plurality of control modules are established

Methods and systems are described for effecting autonomous operations within a defined geographical region (1110). A plurality of localized zones (1102, 1104, 1106, 1108) having operation-defined geographical boundaries are specified within the region. A plurality of control modules are established associated with respective ones of the localized zones and autonomous operations are effected under the supervisory control of the control module associated with the localized zone in which the autonomous operation occurs. The geographical disposition of the boundary of at least one of the localized zones is varied within the defined geographical region.

대표청구항 ▼

1. A computer-implemented method for operating autonomous entities within a defined geographical region, the computer comprising a processing unit, the method comprising: a) specifying a description of a plurality of localized zones having operation-defined geographical boundaries within the region;

1. A computer-implemented method for operating autonomous entities within a defined geographical region, the computer comprising a processing unit, the method comprising: a) specifying a description of a plurality of localized zones having operation-defined geographical boundaries within the region;b) using the description to determine, in the processing unit, a control hierarchy, wherein the control hierarchy is determined by the spatial location of the localized zones;c) establishing, using parameters of the plurality of localized zones, a plurality of control modules, such that each one of the plurality of control modules is associated with a respective one of the localized zones, the control modules being configured in a hierarchy determined by the control hierarchy;d) varying a geographical disposition of a boundary of at least one of the localized zones within the defined geographical region, wherein the boundary comprises a virtual barrier;e) registering the autonomous entities with respective corresponding control modules of the localized zones so as to associate supervisory control of the autonomous entities with the respective corresponding control modules; andf) issuing commands from the associated control modules of the respective localized zones to registered autonomous entities in order to direct the operations of the registered autonomous entities within the localized zone in which the operation occurs, wherein said directing comprises operations in the at least one localized zone having the varied boundary. 2. The method of claim 1 wherein the boundary comprises a physical barrier. 3. The method of claim 1 comprising: specifying the virtual barrier with a positioning system. 4. The method of claim 1 comprising: specifying a hierarchy of localized zones having operation-defined geographical boundaries within the region, wherein at least one localized zone is located within another localized zone. 5. The method of claim 1 comprising: controlling movement of one or more mobile entities between localized zones. 6. The method of claim 5 comprising: defining a transition zone between a first localized zone and an adjacent localized zone wherein controlling movement of the mobile entity comprises directing the mobile entity to pass through the transition zone if moving between the first zone and the adjacent zone. 7. The method of claim 1 wherein the defined geographical region comprises an open pit mine site. 8. The method of claim 7 wherein the localized zones comprise distinct mine operation areas selected from drilling, blasting, loading, haulage and plant areas of the mine. 9. The method of claim 1 wherein the defined geographical region is selected from the group consisting of an agricultural region, a forestry region and a marine region containing at least one resource for extraction. 10. A mine automation system comprising: a system of hierarchical automation control modules that are each associated with a respective zone of a plurality of localized zones having operation-defined geographical boundaries within a mine site, wherein the hierarchical control modules are determined by the spatial location of the localized zones; anda processing system that redefines the geographical disposition of at least one boundary and registers a plurality of autonomous entities with respective ones of the control modules; andan interface for issuing commands from the associated controllers of the respective localized zones to the registered autonomous entities, wherein the commands direct operations of the registered autonomous entities within the localized zone in which the operation occurs, wherein said directing comprises operations in the at least one localized zone having the varied boundary. 11. A computer-implemented method of controlling an operation of autonomous entities within a defined geographical region, the computer comprising a processing unit, the method comprising: defining a localized zone having an operation-defined geographical boundary within the region,using the definition of the localized zone to determine, using the processing unit, a control hierarchy, wherein a position of the localized zone the control hierarchy is determined by the spatial location of the localized zone;establishing, using parameters of the localized zone, a control module associated with the localized zone, the control module being configured in a hierarchy of control modules determined by the control hierarchy;at incremental periods of time, varying the geographical disposition of the boundary of the localized zone within the defined geographical region;registering a plurality of autonomous entities with the control module of the localized zone; andissuing commands from the control module to the autonomous entities to direct operation of the autonomous entities within the localized zone having the varied boundary. 12. An apparatus for operating autonomous entities within a defined geographical region, the apparatus comprising: a) means for specifying a plurality of localized zones having operation-defined geographical boundaries within the region;b) means for determining a control hierarchy, wherein the control hierarchy is determined by the spatial location of the localized zones;c) means for establishing, using parameters of the plurality of localized zones, a plurality of hierarchical control modules such that each one of the plurality of control modules is associated with a respective one of the localized zones, wherein the hierarchical control modules are configured in a hierarchy determined by the control hierarchy;d) means for varying the geographical disposition of the boundary of at least one of the localized zones within the defined geographical region, wherein at least one of the boundaries comprises a virtual barrier;e) means for registering the autonomous entities with respective corresponding control modules of the localized zones so as to associate supervisory control of the autonomous entities with the respective corresponding control modules; andf) means for issuing commands from the associated controllers of the respective localized zones to the registered autonomous entities in order to direct operations of the registered autonomous entities within the localized zone in which the operation occurs, wherein said directing comprises operations in the at least one localized zone having the varied boundary. 13. A computer program product comprising machine-readable code recorded on a non-transitory machine-readable recording medium for controlling the operation of a data processing system on which the code executes to perform a method of operating autonomous entities within a defined geographical region, the method comprising: a) specifying a description of a plurality of localized zones having operation-defined geographical boundaries within the region;b) using the description to determine, in the data processing system, a control hierarchy, wherein the control hierarchy is determined by the spatial location of the localized zones;c) establishing, using parameters of the plurality of localized zones, a plurality of control modules such that each one of the plurality of control modules is associated with a respective one of the localized zones, the control modules being configured in a hierarchy determined by the control hierarchy;d) varying the geographical disposition of a boundary of at least one of the localized zones within the defined geographical region, wherein the boundary comprises a virtual barrier;e) registering the autonomous entities with respective corresponding control modules of the localized zones so as to associate supervisory control of the autonomous entities with the respective corresponding control modules; andf) issuing commands from the associated control modules of the respective localized zones to the registered autonomous entities in order to direct the operations of the registered autonomous entities within the localized zone in which the operation occurs, wherein said directing comprises operations in the at least one localized zone having the varied boundary.