Method and system for transmitting traffic instructions in a mine

Abstract

NOT VISIBLE DUE TO STATUS OF PATENT

Description

METHOD AND SYSTEM FOR TRANSMITTING TRAFFIC INSTRUCTIONS IN A MINETechnical field

[0001] The present disclosure relates generally to improvements in security within mines. Specifically, the present disclosure relates to a method for transmitting traffic instructions in a mine, a computer program comprising computer program code, the computer program code being adapted, if executed by a processor to perform the method for transmitting traffic instructions in a mine, and a system for transmitting traffic instructions within a mine.Background art

[0002] Mines typically comprise various areas directed to access and for operation of mining machines, mining equipment and persons alike. Furthermore, mines may comprise variations in layout. Differences in width and / or height, slope, ground stability and objects at a given location in the mine invariably will exist.

[0003] Mining machines, e.g., face drill rigs, production drill rigs, loaders, haulers, dumpers, rock bolting rigs, cable bolting rigs and concrete spraying machines, are all involved in different phases of the mining operation. Further, other machines, human personnel, other miscellaneous objects such as rocks or boulders all share the space within the mine with these mining machines.

[0004] It follows that the mining operation is complex in nature, leading to numerous situations involving risk to of damage to machines and potential injury to personnel.

[0005] The above risks need to be mitigated while at the same providing an efficient mining operation.Summary of invention

[0006] It is therefore an object of the present disclosure to mitigate, alleviate or eliminate one or more of the above-identified deficiencies and disadvantages.

[0007] This object is achieved by means of the subject matter of the independent claims of the present disclosure, wherein further aspects of the present disclosure are incorporated in the dependent claims.According to a first aspect of the present disclosure it is provided a method for transmitting traffic instructions in a mine comprising: receiving, by a central computing system, data indicative of at least one event within the mine from at least one sensing unit within the mine, the data comprising timing information data, position information data and observation information data, determining, by the central computing system, an impacted area on a model of the mine based on the timing information data, position information data and the observation information data, determining, by the central computing system, at least one traffic rule based on the impacted area, transmitting, by the central computing system, at least one traffic instruction based on the at least on traffic rule to at least one receiving unit .

[0008] The advantage of this embodiment is that the traffic within the mine is managed in a safe and efficient manner.

[0009] In various example embodiments of the present disclosure the observation information data may be data indicative of a proximity detection and / or avoidance of collision within the mine.

[0010] The advantage of these embodiments is that is that the traffic within the mine is managed with more precise information of events occurring within the mine.

[0011] In various example embodiments of the present disclosure the method may further comprise determining, by the central computing system, an impact level of the event based on the proximity detection and / or avoidance detection data based on a pre-determined model, weighting, by the central computing system, the impact level based on the timing information data, and wherein, determining the impacted area on the model of the mine is based on the position information data and the weighted impact level.

[0012] The advantage of these embodiments is that that traffic within the mine is managed in an in improved manner by account for the relevancy of events along further parameters.

[0013] In various example embodiments of the present disclosure the method may further comprise receiving a position of the at least one receiving unit and transmitting the at least one traffic instruction if the position of the at least one receiving unit is equal to or less than a pre-determined distance from the impacted area.

[0014] The advantage of these embodiments is that the traffic instruction is transmitted to a receiving unit based on the current need of the receiving unit.

[0015] In various example embodiments of the present disclosure wherein the method may further comprise controlling an alert unit of the receiving unit to inform of the at least one traffic instruction.

[0016] The advantage of these embodiments is that it is clear to the receiving unit and / or objects in the vicinity of the receiving unit that a traffic instruction has been transmitted.

[0017] In various example embodiments of the present disclosure the receiving unit may be at least a vehicle within the mine.

[0018] The advantage of these embodiments is that the traffic instruction is transmitted to a receiving unit in manner so that the safety and efficiency of the mining operation is further improved.

[0019] In various example embodiments of the present disclosure the receiving unit may be an at least partially autonomous vehicle and / or remotely controlled vehicle and the method may comprise controlling the at least partially autonomous vehicle and / or remotely controlled vehicle based on the traffic instruction.

[0020] The advantage of these embodiments is that the safety and efficiency of the mining operation is further improved.

[0021] In various example embodiments of the present disclosure controlling the at least partially autonomous vehicle and / or remotely controlled vehicle may comprise at least one of a group of performing a speed limitation, performing a speed reduction, enabling a minimum distance to at least one object, performing a route redirection, performing a deceleration, performing a stop.

[0022] The advantage of these embodiments is that the remote the at least partially autonomous vehicle and / or remotely controlled vehicle may be controlled with an action that increases safety and / or efficiency of the mining operation based on the given situation.

[0023] In various example embodiments the at least one traffic instruction may be at least one of a group of: setting a safety level, a speed limit, a speed reduction, a minimum distance to at least one objects, an activation of at least one safety system, a route redirection, a deceleration, a stop.

[0024] The advantage of these embodiments is that the traffic instruction may be adapted to increase safety and / or efficiency of the mining operation based on the given situation.

[0025] In various example embodiments the sensing unit may be at least one of a group of: a time-of flight sensor, RADAR, a low frequency magnetic field sensor, a ultra-high frequency radio transceiver, an ultrasonic sensor, an infrared sensor, an imaging unit, a braking sensor, an accelerometer, and a gyroscope.

[0026] The advantage of these embodiments is that an effective means for receiving data from events within the mine is utilized.

[0027] In various example embodiments the pre-determined model may be based on historic data indicative of proximity detection and / or avoidance detection within the mine.

[0028] The advantage of these embodiments as that events are further weighted based on their relevancy.

[0029] In various example embodiments the method the position information may be provided by at least one of a group of: a GPS unit, a mesh network, dead reckoning, pattern matching, detecting at least one device with at least one sensor at a known location in the mine.

[0030] The advantage of these embodiments as that the position information is provided by an effective means.

[0031] In various example embodiments the sensing unit may be part of a vehicle and / or attached to a surface of the mine.

[0032] The advantages of these embodiments is that the sensing unit is located in a suitable location within the mine to receive data indicative of at least one event within the mine effectively.

[0033] According to a second aspect of the present disclosure it is provided a computer program, comprising computer program code, the computer program code being adapted, if executed by a processor to perform the method according to any previous aspect of the present disclosure.

[0034] According to a third aspect of the present disclosure it is provided a system for transmitting traffic instructions within a mine, the system comprising at least one central computing system comprising a comprising a processor and the computer program according to the second aspect of the present disclosure, at least one sensing unit located within the mine, and at least one receiving unit located within the mine.

[0035] Further advantages with and features of the invention will be apparent from the following detailed description of preferred embodiments.Brief description of drawings

[0036] The invention is now described, by way of example, with reference to the accompanying drawings, in which:Fig. 1 depicts a schematic illustration of a mine according to various example embodiments of the present disclosure.Fig. 2 depicts a schematic illustration of a mine according to various example embodiments of the present disclosure.Fig. 3 depicts a schematic illustration of a mine according to various example embodiments of the present disclosure.Fig. 4 depicts a block diagram of the method according to various example embodiments of the present disclosure.Fig. 5 depicts a schematic illustration of a system according to various example embodiments of the present disclosure.Description of embodiments

[0037] The invention is not limited only to the embodiments described above and shown in the drawings, which primarily have an illustrative and exemplifying purpose. This patent application is intended to cover all adjustments and variants of the preferred embodiments described herein; thus, the present invention is defined by the wording of the appended claims and the equivalents thereof.

[0038] Figure 1 depicts a schematic illustration of a mine 1 or at least a segment of the mine 1 . It should be appreciated that the illustration is simplified and that the mine 1 may be more or less complex in reality. As seen in figure 1 , a receiving unit 2 may receive traffic instructions based on an impacted area 3 as determined by a sensing unit 11 within in mine. While figure 1 depicts that the sensing unit 11 is located within the impacted area 3. The specific location of the sensing unit 11 is not so important as long as the sensing unit 11 is able to determine the impacted area 3 in accordance with various methods disclosed herein. The sensing unit 11 is depicted as within the impacted area 3 in figures 1-6, but it should be appreciated that the sensing unit 11 may be located outside the impacted area 3 in various example embodiments.

[0039] Turning now to figure 2, where various example embodiments are depicted wherein the method step of transmitting S7 the at least one traffic instruction may be done if the position of the at least one receiving unit 2 is equal to or less than a pre-determined distance D from the impacted area 3. For illustrative purposes, figure 2 depicts a second impacted area 4 which has been determined based on data from the sensing unit 1 T in accordance with methods disclosed herein. However, the distance D’ to the depicted receiving unit 2 in figure 2 is larger than that of the pre-determined distance D. A traffic instruction may in this case not be transmitted to the receiving unit 2. It should be appreciated that the presence of a second impacted area 4 does not influence the pre-determined distance D. Further impacted areas and sensing units throughout the mine 1 are possible in accordance with the present disclosure.

[0040] Turning now to figure 3, where various example embodiments are depicted wherein the at least one traffic instruction is at least a route redirection. As seen, multiple routes (pathways) P1 , P2 may be present in order to reach a given location within the mine. E.g., route P2 may be chosen over P1 to avoid the impacted area 3 altogether.

[0041] Furthermore, if the impacted area 3 is deemed suitable to travel through but with caution, a safety level based on conventional safety protocols and / or speed limit and / or may be set. If the receiving unit 2 is already within the impacted area 3 (not depicted) then a speed reduction, deceleration, or full stop may be a suitable traffic instruction. If the impacted area 3 contains objects to be treated with caution a minimum distance to at least one object may be the suitable traffic instruction. In various example embodiments a safety system, e.g. by the receiving unit 2 or a safety system within the mine 1. It is appreciated that a plurality of traffic instructions from the above may be used in conjunction.

[0042] Moving to figure 4, a block diagram of the various methods for transmitting traffic instructions in a mine disclosed herein is depicted. It should be appreciated that the skilled person understands which of theses steps may or may not be performed in order such that the method achieves its intended purpose.

[0043] The method comprises receiving S1 , by a central computing system 10, data indicative of at least one event within the mine from at least one sensing unit 11 within the mine, the data comprising timing information data, position information data and observation information data.

[0044] In various example embodiments, the sensing unit 11 may be at least one of a group of: a time-of flight ToF sensor, LIDAR, a GPS unit, RADAR, a low frequency magnetic field LF sensor, an ultra-high frequency UHF radio transceiver, an ultrasonic sensor, an infrared sensor, an imaging unit, a braking sensor, an accelerometer, and a gyroscope.

[0045] In various example embodiments, the sensing unit 11 may part of a machine and / or attached to a surface of the mine. The machine may e.g. be a mining machine and / or vehicle.

[0046] The data indicative of at least one event within the mine may comprise at least timing information data, position information data and observation information data. Timing information data may for example be a timestamp of an event having occurred and / or currently occurring within the mine. Position information data may in various example embodiments be provided by various technical means and / or methods. For example, position information data may be provided by at least one of a group of a GPS unit, a mesh network, dead reckoning, pattern matching, detecting at least one device with at least one sensor at a known location in the mine. Position information data to be received by the central computing system 10 may be determined in accordance with a method for determining a position of an object via the steps of broadcasting, by a transmitter arranged on the stationary object, a signal, detecting, by a receiver provided in a first moving object, the presence of the stationary object by receiving the signal, determining a position of the first moving object at a time at which the object was detected, recording a position of the stationary object based on the determined position of the first moving object together with a time stamp indicating the time at which the stationary object was detected, and assigning a position to the stationary object based on the recorded position. However, other methods of determining the position of an object are possible. According to various example embodiments, theobservation information data may be data indicative of a proximity detection and / or avoidance of collision within the mine.

[0047] Data indicative of a proximity detection may be a detected proximity of at least one sensing unit 11 in relation to another object within the mine based on pre-determined threshold value. For example, a mining vehicle equipped with a sensing unit 11 may provide data indicative of a proximity detection when below the pre-determined threshold field strength or a pre-determined threshold proximity threshold value. The object may for example be a wall of the mine, a rock, various mining equipment, a mining vehicle, and / or a human person. Optionally, the other object may comprise a sensing unit itself. Data may therefore be provided from various sensing units 11 at various objects within the mine. Data indicative of an avoidance of collision may involve at least one parameter from the group of a direction, velocity, and acceleration / deceleration measured by the sensing unit 11. Combinations of various data within the definition of observation information data may be possible.

[0048] The method further comprises determining S4, by the central computing system 10, an impacted area on a model of the mine 1 based on the timing information data, position information data and the observation information data. The model itself may comprise a 3D representation of the mine 1 , e.g. using technologies such as point cloud data. Alternatively, a 2D model may be used. In other words, the model of the mine 1 may be used to identify one or more impacted areas, e.g. areas where operational problems are currently occurring and / or have occurred. The central computing system 10 may also display the impacted areas on a map of the mine 1 via a graphical user interface. This presentation may be based on active detection events. The presentation may also be based on historical events to create a heat map, thereby identifying possible safety hazards and / or inefficiencies in the mining environment.

[0049] The method further comprises determining S5, by the central computing system 10, at least one traffic rule based on the impacted area. The method further comprises transmitting S7, by the central computing system 10, at least one traffic instruction based on the at least on traffic rule to at least one receivingunit 2. In various example embodiments the at least one traffic instruction may be at least one of a group of: setting a safety level, a speed limit, a speed reduction, a minimum distance to at least one objects, an activation of at least one safety system, a route redirection, a deceleration, a stop. A plurality of traffic instructions from the above may be used in conjunction.

[0050] In various example embodiments the method may further comprise the step of determining S2, by the central computing system 10, an impact level of the event based on the proximity detection data based on a pre-determined model. In various example embodiments, the impact level may be determined from the avoidance detection data based on pre-determined model. In various example embodiments, a combination of the proximity detection data and the avoidance detection data may determine the impact level based on a pre-determined model. In various example embodiments, additional types of data may be used to determine the impact level based on a pre-determined model.

[0051] In various example embodiments the method may further comprise the step of weighting S3, by the central computing system 10, the impact level based on the timing information data. In such embodiments, the step of determining S4 the impacted area on the model of the mine may be based on the position information data and the weighted impact level. Timing information data may be data indicative of a past events in the mine.

[0052] In various example embodiments the method may further comprise the steps of receiving S6 a position of the at least one receiving unit 2 transmitting S7 the at least one traffic instruction if the position of the at least one receiving unit 2 is equal to or less than a pre-determined distance D from the impacted area.

[0053] In various example embodiments the method may further comprise controlling S8 an alert unit of the receiving unit 2 to inform of the at least one traffic instruction. The alert unit may be a vehicle horn, a turn signal, hazard lights and the like. An external display unit on the receiving unit 2 may be used as an alert unit. Combinations of a various alert units from multiple receiving units 2 may be used.

[0054] In various example embodiments the receiving unit 2 is at least a vehicle within the mine. In various example embodiments the receiving unit 2 may be an at least partially autonomous vehicle and / or remotely controlled vehicle. In such embodiments, controlling S9 the at least partially autonomous vehicle and / or remotely controlled vehicle may be based on the traffic instruction. For example, if there are multiple routes to reach a designated area within the mine, where one route is an impacted area, controlling S9 of the at least partially autonomous vehicle and / or remotely controlled vehicle may be done such that a different route is chosen.

[0055] In various example embodiments controlling S9 the at least partially autonomous vehicle and / or remotely controlled vehicle by at least one of a group of: performing a speed limitation, performing a speed reduction, enabling a minimum distance to at least one object, performing a route redirection, performing a deceleration, performing a stop. The method according to any one of the preceding claims, wherein the pre-determined model is based on historic data indicative of proximity detection and / or avoidance detection within the mine.

[0056] Figure 3 depicts system 100 for transmitting traffic instructions within a mine. A conventional central computing system 10 comprising a processor 1001 and the computer program 1000 as disclosed herein adapted to perform various methods disclosed herein. The computer program 1000 comprises at least computer program code, such as when executed by the processor 1001 to receive data indicative of at least one event within the mine from at least one sensing unit 11 within the mine, the data comprising timing information data, position information data and observation information data, determine an impacted area on a model of the mine based on the timing information data, position information data and the observation information data, determine at least one traffic rule based on the impacted area, and transmit at least one traffic instruction based on the at least on traffic rule to at least one receiving unit 2. However, it should be appreciated that the computer program 1000, when executed by the processor may perform various combination of method steps described previously.

[0057] The system 100 depicted in figure 3 further comprises at least one sensing unit 11 located within the mine, and at least one receiving unit 2 located within the mining. The sensing unit 11 and receiving unit 2 have been previously described in context of the methods discussed above. The same features and functionality of the sensing unit 11 and receiving unit 2 are present in the context of the system 100.

[0058] The person skilled in the art realized that the present disclosure by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims. It should further be noted that the drawings not necessarily are to scale, and dimensions of certain features may have been exaggerated for the sake of clarity. Emphasis is instead placed upon illustrating the principle of the embodiments herein. Additionally, in the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality.

[0059] Various examples have been described. These and other examples are within the scope of the following claims.

Claims

CLAIMS1 . A method for transmitting traffic instructions in a mine (1 ) comprising:- receiving (S1 ), by a central computing system (10), data indicative of at least one event within the mine (1 ) from at least one sensing unit (11 ) within the mine, the data comprising timing information data, position information data and observation information data,- determining (S4), by the central computing system (10), an impacted area (3) on a model of the mine based on the timing information data, position information data and the observation information data,- determining (S5), by the central computing system (10), at least one traffic rule based on the impacted area (3),- transmitting (S7), by the central computing system (10), at least one traffic instruction based on the at least on traffic rule to at least one receiving unit (2).

2. The method according to claim 1 , wherein the observation information data is data indicative of a proximity detection and / or avoidance of collision within the mine (1 ).

3. The method according to any one of claims 1 or 2, further comprising: determining (S2), by the central computing system (10), an impact level of the event based on the proximity detection and / or avoidance detection data based on a pre-determined model,- weighting (S3), by the central computing system (10), the impact level based on the timing information data, and wherein, determining (S4) the impacted area on the model of the mine is based on the position information data and the weighted impact level.

4. The method according to any one of the preceding claims, further comprising:- receiving (S6) a position of the at least one receiving unit (2), and- transmitting (S7) the at least one traffic instruction if the position of the at least one receiving unit (2) is equal to or less than a pre-determined distance (D) from the impacted area (3).

5. The method according to any one of the preceding claims, wherein method further comprising:- controlling (S8) an alert unit of the receiving unit (2) to inform of the at least one traffic instruction.

6. The method according to any one of the preceding claims, wherein the receiving unit (2) is at least a vehicle within the mine (1 ).

7. The method according to any one of claims 4-6, wherein the receiving unit (2) is an at least partially autonomous vehicle and / or remotely controlled vehicle, the method further comprising:- controlling (S9) the at least partially autonomous vehicle and / or remotely controlled vehicle based on the traffic instruction.

8. The method according to claim 7, wherein controlling (S9) the at least partially autonomous vehicle and / or remotely controlled vehicle by at least one of a group of: performing a speed limitation, performing a speed reduction, enabling a minimum distance to at least one object, performing a route redirection, performing a deceleration, performing a stop.

9. The method according to any one of the preceding claims, wherein the at least one traffic instruction is at least one of a group of: setting a safety level, a speed limit, a speed reduction, a minimum distance to at least one objects, an activation of at least one safety system, a route redirection, a deceleration, a stop.

10. The method according to any one of the preceding claims, wherein the sensing unit (11 ) is at least one of a group of: a time-of flight, ToF, sensor, RADAR, LIDAR, a GPS unit, a low frequency magnetic field, LF, sensor, an ultra- high frequency, UHF, radio transceiver, an ultrasonic sensor, an infrared sensor, an imaging unit, a braking sensor, an accelerometer, and a gyroscope.11 . The method according to any one of the preceding claims, wherein the pre-determined model is based on historic data indicative of proximity detection and / or avoidance detection within the mine (1 ).

12. The method according to any one of the preceding claims, wherein the position information is provided by at least one of a group of: a GPS unit, a mesh network, dead reckoning, pattern matching, detecting at least one device with at least one sensor at a known location in the mine.

13. The method according to any one of the preceding claims, wherein the sensing unit (11 ) is part of a machine and / or attached to a surface of the mine (1 ).

14. A computer program (1000), comprising computer program code, the computer program code being adapted, if executed by a processor (1001 ) to perform the method according to any one of claims 1-13.

15. A system (100) for transmitting traffic instructions within a mine comprising:- at least one central computing system (10) comprising a comprising a processor (1001 ) and the computer program (1000) according to claim 14,- at least one sensing unit (11 ) located within the mine, and- at least one receiving unit (2) located within the mine.