Collision detection and avoidance within a mine
By receiving and processing data in the mine, mapping collision events to a model and generating attention indicators, the problem of collision detection and avoidance of moving work machines in the mine is solved, improving operational safety and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SANDVIK MINING & CONSTR OY
- Filing Date
- 2021-06-30
- Publication Date
- 2026-06-05
Smart Images
Figure CN115769163B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the analysis, monitoring, and control of mine operations. Background Technology
[0002] Mines, such as hard rock or soft rock mines, typically comprise various operating areas designed to be accessed by different types of mobile work machines, such as loading and / or tractors and drilling rigs. Mobile work machines can be unmanned, for example, remotely controlled from a control room, or manned, i.e., operated by an operator seated in the machine's cab. Mobile work machines can also be autonomous, i.e., automated or semi-automated work machines that operate independently in their normal operating mode without external control, but may be operated under external control in certain operating areas or under certain conditions, such as during emergencies.
[0003] A mine may include numerous mobile and stationary sensors that continuously collect data related to or affecting mine operations. Such data can be referred to as mining operation data and may include, for example, data on the operating status of machine tools (e.g., speed, motor parameters, load, etc.) and / or tunnel environment data (e.g., temperature, air conditions, etc.). This data can be transmitted to a data processing system configured to provide a mine operation control system, which includes a user interface for the system's users (often referred to as operators). Mines can be very large and complex, with a large number of mobile machines operating simultaneously. It may be necessary to provide a very large amount of information simultaneously in the user interface, especially in problematic situations. Summary of the Invention
[0004] This invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims.
[0005] A collision detection and avoidance system for a mine is provided, comprising means configured to perform the following operations: receiving mine operation data from a set of data sources in the mine, the mine operation data including collision detection and avoidance data related to mining vehicles; processing the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; mapping the set of collision detection and avoidance events to a mine model based on location information associated with the collision detection and avoidance events in the set of collision detection and avoidance events; determining the affected location area of the set of collision detection and avoidance events mapped to the mine model; generating an operator attention indicator based on the set of collision detection and avoidance events and the affected location area, depending on the density of collision detection and avoidance events in the affected location area; and controlling the display of the operator attention indicator to an operator for the set of collision detection and avoidance events in the affected location area in the mine model to adjust the operation of one or more mine operation devices. The operator attention indicator may be arranged to be generated based on the degree of danger of the collision detection and avoidance events in the affected location area. The operator attention indicator may be arranged to be generated based on the proximity distance of the collision detection and avoidance events in the affected location area. The device can receive position data associated with the collision detection and avoidance unit, and in response to determining that the collision detection and avoidance unit is in an affected position area, can cause the display of at least one operator guidance element associated with at least some of the events in the group of events. The device can receive position data associated with the collision detection and avoidance unit, and in response to determining that the collision detection and avoidance unit is in an affected position area, can cause the output of at least one operator guidance element associated with at least some of the events in the group of events through the collision detection and avoidance unit.
[0006] An apparatus is provided, comprising means configured to perform the following operations: receiving mine operation data from a set of data sources in a mine, the mine operation data including sensor data; processing the mine operation data to detect a set of events that satisfy at least one operator attention trigger condition; mapping the set of events to a mine model based on location information associated with events in the set of events; determining affected location regions of the set of events mapped to the mine model; generating an operator attention indicator based on the set of events and the affected location regions, depending on the density of events in the affected location regions; and controlling the display of the operator attention indicator to an operator for the set of events in the affected location regions in the mine model to adjust the operation of one or more mine operation devices.
[0007] A collision detection and avoidance method is provided, comprising: receiving mine operation data from a set of data sources in a mine, the mine operation data including collision detection and avoidance data related to mining vehicles; processing the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; mapping the set of collision detection and avoidance events to a mine model based on location information associated with the collision detection and avoidance events in the set of collision detection and avoidance events; determining the affected location area of the set of collision detection and avoidance events mapped to the mine model; generating an operator attention indicator based on the set of collision detection and avoidance events and the affected location area, depending on the density of collision detection and avoidance events in the affected location area; and controlling the display of the operator attention indicator to an operator for the set of collision detection and avoidance events in the affected location area in the mine model to adjust the operation of one or more mine operation devices. The operator attention indicator may be arranged to be generated based on the degree of danger of the collision detection and avoidance events in the affected location area. The operator attention indicator may be arranged to be generated based on the proximity distance of the collision detection and avoidance events in the affected location area. The device can receive position data associated with the collision detection and avoidance unit, and in response to determining that the collision detection and avoidance unit is in an affected position area, can cause the display of at least one operator guidance element associated with at least some of the events in the group of events. The device can also receive position data associated with the collision detection and avoidance unit, and in response to determining that the collision detection and avoidance unit is in an affected position area, can cause the output of at least one operator guidance element associated with at least some of the events in the group of events, through the collision detection and avoidance unit.
[0008] A method for facilitating mine operation analysis and control is provided, comprising: receiving mine operation data from a set of data sources in the mine, the mine operation data including sensor data; processing the mine operation data to detect a set of events that satisfy at least one operator attention trigger condition; mapping the set of events to a mine model based on location information associated with events in the set of events; determining affected location regions of the set of events mapped to the mine model; generating an operator attention indicator based on the set of events and the affected location regions, depending on the density of events in the affected location regions; and controlling the display of the operator attention indicator to an operator for the set of events in the affected location regions in the mine model to adjust the operation of one or more mine operation devices. Embodiments of the method include various embodiments of the apparatus of the first aspect.
[0009] An apparatus is provided, comprising: at least one processing core; at least one memory including computer program code configured to cause the apparatus to perform at least the following operations via the at least one processing core: receiving mine operation data from a set of data sources in a mine, the mine operation data including sensor data; processing the mine operation data to detect a set of events that satisfy at least one operator attention trigger condition; mapping the set of events to a mine model based on location information associated with events in the set of events; determining an affected location region of the set of events mapped to the mine model; generating an operator attention indicator based on the set of events and the affected location region, depending on the density of events in the affected location region; and controlling the display of the operator attention indicator to an operator for the set of events in the affected location region in the mine model to adjust the operation of one or more mine operation devices.
[0010] An apparatus is provided, comprising: at least one processing core; at least one memory including computer program code configured to, through the at least one processing core, cause the apparatus to perform at least the following operations: receiving mine operation data from a set of data sources in a mine, the mine operation data including collision detection and avoidance data related to mining vehicles; processing the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; mapping the set of collision detection and avoidance events to a mine model based on location information associated with the collision detection and avoidance events in the set of collision detection and avoidance events; determining the affected location area of the set of collision detection and avoidance events mapped to the mine model; generating an operator attention indicator based on the set of collision detection and avoidance events and the affected location area, depending on the density of collision detection and avoidance events in the affected location area; and controlling the display of the operator attention indicator to an operator for the set of collision detection and avoidance events in the affected location area in the mine model to adjust the operation of one or more mine operation devices. The operator attention indicator may be arranged to be generated based on the degree of danger of the collision detection and avoidance events in the affected location area. An operator attention indicator can be configured to be generated based on the proximity distance of collision detection and avoidance events in the affected location area. Position data associated with the collision detection and avoidance unit can be received, and in response to determining that the collision detection and avoidance unit is in the affected location area, a display of at least one operator guidance element associated with at least some of the events in the group of events can be triggered. Position data associated with the collision detection and avoidance unit can be received, and in response to determining that the collision detection and avoidance unit is in the affected location area, an output of at least one operator guidance element associated with at least some of the events in the group of events can be triggered via the collision detection and avoidance unit.
[0011] A computer program, a computer program product, or a computer-readable medium is provided, comprising computer program code, which, when executed in a data processing device, causes the device to perform the method described above or an embodiment of the method described above.
[0012] An apparatus, method, system, and / or computer program may further include: processing at least some of the events in the set of events via a corrective action module to detect at least one corrective action, thereby resolving at least some of the events in the set of events; determining one or more mine operating devices and one or more control commands associated with the corrective action; and, in response to detecting a mandatory condition of automated control, inducing the transmission of control signals associated with the one or more control commands to the determined one or more mine operating devices, or generating operator guidance elements instructing the determined one or more mine operating devices and the one or more control commands.
[0013] The coloring in the affected location region can be controlled based on the density of the set of data events in the affected location region and / or a set of parameter values for the set of events.
[0014] An apparatus, method, system, and / or computer program may further include: determining the calorific value of the tunnel point for each of the set of events within a second radius from the tunnel point; determining the calorific sum of the tunnel points by summing the calorific values; defining a color for the tunnel point based on the calorific sum; and coloring the tunnel point by color control defined in a three-dimensional representation.
[0015] The affected location area can depend on the number of events in that group of events.
[0016] An apparatus, method, system, and / or computer program may further include: receiving an indication of a time instant or time range selected by an operator; and processing timestamps of event data to detect the set of events that match the time instant or time range selected by the operator.
[0017] An apparatus, method, system, and / or computer program may further include: defining parameter values for a data source or a set of data sources; and assigning colors associated with a range of parameter values, the range of parameter values including the parameter values, for visualizing the parameter values of the one data source or the set of data sources.
[0018] An apparatus, method, system, and / or computer program may further include: defining the number of events and / or data sources within an affected area or a sub-area of the affected area; and adjusting the brightness of the visualization of the area based on the number of events and / or data sources.
[0019] The device may be part of a server or control system configured to visualize at least one of the monitored features described above on at least one display device. Attached Figure Description
[0020] Figures 1a and 1b show examples of underground mines including mine operation analysis and monitoring systems with collision detection and avoidance systems;
[0021] Figure 2a and Figure 2b A mine operation analysis and monitoring system with collision detection and avoidance is shown;
[0022] Figure 3 Figure 5 illustrates the method used for mine operations;
[0023] Figure 6 a and Figure 6 b shows a simplified example of displaying parameters based on a density definition;
[0024] Figure 7a and Figure 7b An example display view is shown.
[0025] Figure 8 An example system for mine operations is shown; and
[0026] Figure 9 An example device capable of supporting mine operations is shown. Detailed Implementation
[0027] Figure 1a shows a simplified example of a mine 1, which in this example is an underground mine including a network of underground tunnels 2. Multiple moving objects, such as people or pedestrians 3 and / or mobile work machines 4, 5, 6, 7, may exist in different areas or operating areas of the workplace 1 and move between them.
[0028] The term "mine" as used herein is intended to encompass all types of underground or surface excavation workplaces. The term "mobile working machine" as used herein generally refers to mobile working machines suitable for use in mine operations, such as trucks, dump trucks, vans, mobile rock drills or cutters, mobile reinforcement machines, and bucket loaders. Mobile working machines can be autonomously operated, and in this context, they refer to automated or semi-automated mobile working machines.
[0029] Workplace 1 includes a communication system, such as a wireless access system including a wireless local area network (WLAN), comprising multiple wireless access nodes 8. Access nodes 8 can communicate with wireless communication units included in work machines or carried by pedestrians, as well as with additional communication devices (not shown), such as network devices configured to facilitate communication with on-site (underground or above-ground) and / or remote control systems 9.
[0030] Workplace 1 may further include various other types of mine operating equipment 10, which, for example, can be connected to control system 9 via access node 8, not further shown in Figure 1. Examples of such additional mine operating equipment 10 include various devices for power supply, ventilation, air condition analysis, safety, communication, and other automation. For example, the workplace may include a passage control system including passage control units (PCUs) that separate operating areas, some of which may be configured for autonomously operating work machines. The passage control system and associated PCUs may be configured to allow or prevent movement of one or more work machines and / or pedestrians between multiple areas. Mine operating equipment may be autonomous, controlled by a human operator, or remotely controlled. Mine operating equipment may be part of or connected to a mine operation analysis and control system (such as a system for collision detection and avoidance), and this system may operate automatically without human intervention or may be monitored or controlled by a human operator. In this way, the operator can be understood as the operator of the mine operation analysis and control system. An operator can also be understood as the operator of equipment, working machines and vehicles, as well as any unit connected to or part of a control system.
[0031] Mine operating equipment, such as automated equipment, collision detection and avoidance units for vehicles and personnel, and mine working machines, may include elements and modules for determining the location of equipment, units, or vehicles. The location of mobile equipment can be determined using positioning techniques based on reading the nearest location marker, which could be a nearby Wi-Fi hotspot, EPC tag, BLE tag, or a LiDAR-based positioning system. Personnel locations can be determined within personnel units using similar techniques. Positioning based on mine network base station identification, signal strength, and time-of-flight measurements, as well as positioning systems such as GPS for surface mines and various indoor positioning technologies, can also be used. Such locations determined by any positioning technology can be mapped to a mine model and thus used as described herein.
[0032] Figure 1b illustrates a mine with a collision detection and avoidance system. Workplace 1 may include a system 1109 for collision detection or avoidance, either as an isolated system connected to other systems in the mine, or as a subsystem of one or more other systems in the mine, such as a dispatching system or mine operation control system 9. The collision detection system 1109 may include collision detection and avoidance units 1110, 1111 (for personnel), 1112, 1113 (for vehicles), and 1114 (for objects). In other words, the mine operating system 9 may include the collision detection and avoidance system 1109, and the mine operating equipment 10 may include collision detection and avoidance devices 1110, 1111, 1112, 1113, and 1114. Collision avoidance detection and avoidance systems should be understood as systems and devices capable of detecting proximity between vehicles, people and / or objects, and may include a variety of functions, such as warning people of a possible collision, or detecting and analyzing the distance between vehicles and between vehicles and people, or providing information and / or control commands to control the vehicle to avoid a collision, for example, by controlling the vehicle's acceleration or braking functions to slow down or stop the vehicle.
[0033] A collision detection and avoidance system can be implemented as a server, vehicle collision detection and avoidance units, and occupant collision detection and avoidance units, all connected to a communication system. The vehicle and occupant collision detection and avoidance units can communicate directly with each other to determine the distance between units. For example, the vehicle collision detection and avoidance unit can communicate with the occupant collision detection and avoidance unit and use a time-of-flight method or another method for measuring distance to determine the distance to the occupant collision detection and avoidance unit. Multiple collision detection and avoidance sensors can be present on the vehicle, enabling the determination of the orientation of other collision detection and avoidance units relative to the vehicle collision detection and avoidance unit. The collision detection and avoidance unit can have predetermined proximity distance thresholds to determine the degree of danger of approach, such as a safe distance threshold, a danger distance threshold, and a critical danger distance threshold. The occupant collision detection and avoidance unit can be integrated into other occupant safety equipment, such as a helmet light. The occupant collision detection and avoidance unit can have a button or other device to trigger a collision detection and avoidance alarm.
[0034] Figure 2a and Figure 2bA block diagram of some logical components of a mine operation analysis and monitoring system or device 20 according to an example is shown. A data processing unit (DPU) 21 receives mine operation data 26 from a set of data sources in the mine, such as moving objects 3-7 or other types of mine operation equipment 10 shown in Figure 1. Mine operation data may include sensor data, but it should be understood that mine operation data may include various other types of data, such as operation parameter data. For example, mine operation data may indicate mine operation performance, working machine parameters, performance and / or analysis data. Mine operation data may include alarm data from one or more of connectivity alarms, safety equipment alarms, and vehicle alarms. For example, the data source is a sensor, a set of sensors, or a control unit or system configured to receive input from a set of sensors included in an underground vehicle. Mine operation data may include data 1126 related to collision detection and avoidance. For example, mine operation data may include collision detection sensor data, analysis results from collision detection and avoidance, and collision alarms and events created or received by various collision detection and avoidance units. Collision detection and avoidance data may include distance data relative to another collision avoidance unit, such as indicating the approach distance between two vehicles or between a vehicle and a person. Collision detection and avoidance data may include information about any collision avoidance alarms, such as automatically created alarms and manually created alarms. Collision detection and avoidance data may include information about emergency stop events caused by collision avoidance, or deceleration or braking data. Collision detection and avoidance data may include information about approach events relative to another collision avoidance unit, such as information if the approach has become closer than a predetermined approach distance. Collision detection and avoidance data may include position coordinates, such as relative to a mine model, and be associated with any such events and data. This collision detection and avoidance data 1126 may be transmitted from the respective collision detection and avoidance units 1110, 1111, 1112, 1113, and 1114.
[0035] DPU 21 also receives location data 27 from at least some of these data sources. It should be noted that location data 27 may be received together with associated mine operation data 26. DPU 21 or a positioning module (not shown) connected to DPU 21 determines the location of the data source based on identification data and / or positioning data from the corresponding data source. Collision detection and avoidance system 1109 and collision detection and avoidance units 1110, 1111, 1112, 1113, 1114 may include positioning hardware and software for determining their locations and transmitting them as location data 27. This location data 27 may be formed and transmitted individually, simultaneously, or as part of collision detection and avoidance data 1126.
[0036] DPU 21 can also be configured to receive mine model 29 and control parameters 30 stored in data storage device 22 (such as one or more internal or external memories or databases). The control parameters can control at least some operations of DPU 21 as shown below, and include, for example, threshold and other parameter values. DPU 21 can be configured to execute event processing module 31, which can generate and / or detect events based on mine operation data 26, and further process said events as further shown below. Model processing module 32 can process mine model 29 and map events and / or objects to the model based on location data associated with the corresponding events and moving objects. GUI processing module 32 can generate or at least control the GUI displayed to the operator by display 23 via GUI interface 25. DPU 21 can further receive operator input from input device 24 via GUI IF 25.
[0037] DPU 21 may further include a Corrective Action Processing Module (CAPM) 33, which is configured to define corrective actions based on events. DPM 21 may include control command functionality for generating and / or inducing control commands 28 to the mine operating equipment 4-8, 10, which may be part of CAPM 33 or a specific module. It should be understood that system or device 20 may include various other units or devices not shown in FIG. 2, such as one or more communication devices, for transmitting and receiving data 26, 27 and commands 28.
[0038] Multiple mine operations analysis devices can be connected to the mine operations analysis system and / or provide data or events to the system. For example, personnel working in the mine may carry collision avoidance devices. Such personnel collision detection and avoidance devices can be integrated into clothing or other safety equipment, such as helmet lights. Mine vehicles can also include collision detection and avoidance devices. Such collision detection devices can be integrated into or operatively connected to the mine vehicles.
[0039] Figure 3 A method for mine operation is illustrated. This method can be executed in a mine control system, such as by a DPU21, or by at least one of its processing units, or by personnel or vehicle equipment.
[0040] The method includes receiving 300 mining operation data points from a set of data sources in the mine, including sensor data such as collision detection and avoidance data. The mining operation data may include sensor data from moving work machines and / or from personnel equipment. The mining operation data, such as collision detection and avoidance data, is processed 310 to detect a set of events that satisfy at least one operator attention trigger condition. For example, there may be a set of thresholds associated with the mining operation data and / or event data types that trigger operator attention. For example, collision detection and avoidance data may indicate that two mining vehicles have come closer to each other than a first threshold distance or a second threshold distance. The mining operation data or resulting event includes values that satisfy at least one of these thresholds, causing events to be generated or selected against the set of thresholds. These values may be modified and filtered automatically or based on user input, for example, to allow the operator to switch between different event and alarm attention views.
[0041] Based on the location information associated with each event in this group, the collision detection and avoidance events are mapped 320 to the mine model. Therefore, the events can be located in the model based on the associated 2D or 3D coordinates.
[0042] Determine the affected location region for the set of events mapped to the mine model at box 330. For example, box 330 may include determining an affected event location region for each event in the set of events, and this affected event location region defines or is used to define the affected location region for the set of events. For example, the affected location region in the mine and the mine model may be defined based on a predetermined radius surrounding the collision detection and avoidance event. The size of the affected location may vary, for example, based on the event's identifier and / or severity level. For example, a collision detection and avoidance event indicating the distance a vehicle approaches another vehicle within a first threshold distance may cause an affected location of a different size than a collision detection and avoidance event indicating the distance a vehicle approaches another vehicle within a second threshold distance. For example, a collision detection and avoidance event indicating the distance a vehicle approaches another vehicle within a first threshold distance may cause an affected location of a larger or smaller size than a collision detection and avoidance event indicating the distance a vehicle approaches another vehicle within a second threshold distance. As another example, an emergency collision avoidance event may cause an affected location of a predetermined size. In other words, the size of the affected location may depend on the severity of the collision avoidance and detection event, for example, on the approach distance. For example, an emergency indicated by a miner on his / her personnel collision detection and avoidance unit can cause an affected location of a predetermined size.
[0043] Based on the set of events and the affected location area, and depending on the density of events in the affected location area, 340 operator attention indicators are generated. This can refer to either creating all operator attention indicators based on event density or selecting operator attention indicators from a set of available indicators. 350 controls the display of these operator attention indicators to the operator for the affected location area in the mine model, adjusting the operation of one or more mine operating devices. Operator attention indicators can also be referred to as event density indicators.
[0044] In response to receiving control input from the operator after block 350, control commands are sent to one or more mine operating devices to address events, such as overcoming alarms or performance issues. The DPU 21 and its modules, such as CAPM33, can be configured to receive user input from input device 24 and GUI IF 25 and generate control commands 28 to associated mine operating devices 4-8, 10. After the control commands are executed in the associated mine operating devices, new mine operating data 26 is received by the DPU 21 and can be repeated. Figure 3 The method involves displaying an updated mining operation status view to the operator. Based on the new mine operation data 26, the previously displayed operator attention indicator is updated, and it can even be removed if no operator attention triggering event exists.
[0045] Therefore, the operator can immediately recognize whether their corrective actions are sufficient and provide further control inputs as appropriate. The currently disclosed features assist operators in controlling mine equipment in mine areas, which can be very complex and extensive. Operators can quickly detect major problem areas from less problematic production areas and prioritize multiple actions. The current features also enable improved operator assistance to detect existing or potential bottlenecks and provide immediate reactive or proactive action control inputs.
[0046] In addition to visualizing event clusters that require operator attention based on corresponding event density, various further actions can be invoked to assist mine operation control based on the processing of mine operation data and event density. DPU 21 can be configured to perform at least some of the additional features described below, and one or more additional modules for such features may exist in the DPU.
[0047] At least some of the events in this group are processed. At least one operator guidance element is defined to be associated with at least some of the events in this group, to adjust the operation of one or more mine operating devices (as associated with the events). Then, operator guidance elements for the affected location area are displayed. The associated operator guidance element may be displayed in response to detecting user input for the affected location area, the mine operating device, or at least one event associated with the mine operating device.
[0048] refer to Figure 4 The method involves at least some of the events in the group being processed, for example via CAPM33 400, to detect at least one corrective action for operation of the mine equipment, thereby resolving the situation caused by the group of events detected in block 310. This could include, for example, defining control actions for one or more working machines 4-6 and / or other mine operating equipment 10. One or more mine operating equipment and one or more control commands are determined to be associated with the corrective action at 410. Control information used to map event cause information to one or more operator guidance elements and / or corrective actions can be stored in data memory 22. Thus, control signals and / or content of operator guidance elements can be generated or selected based on the control information. For example, control commands, guidance information records, or data elements matching the mine operating equipment type and alarm identifier or other event characteristic information are selected.
[0049] In response to the detection that a mandatory condition for automated control is met based on the processing of at least some of the events in block 420, control signals associated with the determined control commands and mine operating equipment are sent at 430. Alternatively, corrective actions, and the associated mine operating equipment and control commands, can be indicated to the operator via an operator guidance element at 440. The operator can be provided with input options through which the operator can directly trigger the transmission of the determined control signals.
[0050] The system can be configured to monitor collision detection and avoidance in mines. Allowable distance ranges can be set for the distance between two mine vehicles or between a vehicle and a person. Events can be generated when the distance between a vehicle and a person at the affected location is less than a first threshold distance, and / or another event can be generated when the distance is less than a second threshold distance but greater than the first threshold distance. User guidance elements can be displayed to allow operators to take actions to adapt to vehicle speed, for example, by setting speed limits or by displaying information to personnel in or near the affected location in the mine.
[0051] The system can be configured to monitor the bucket weight of loading and hauling equipment (LHDs) in a mine. For example, if the average bucket weight of a mine (or a given LHD) is 10, and the bucket weight of an LHD filling its bucket in a given loading area is approximately 6, below a threshold of 7 (or 30% lower than the average), an event is generated for these LHDs and the associated loading area. User-guided information elements can be displayed to allow operators to take action to manually control bucket loading or adapt to the automatic loading control parameters of the LHD, or control commands adapted to the automatic loading control parameters can be defined and sent to the LHD.
[0052] At least some events in the event group can be processed to determine whether at least one area alarm condition is met. In response to the detection that the at least one area alarm condition is met, an area alarm and / or safety control actions associated with at least the affected area are controlled. For example, automated drive operations may thus be interrupted in the operating area that includes the affected area.
[0053] The control system, such as DPU 21, can be further configured to perform... Figure 5a The method involves, for example, detecting the position of 500 mobile work machines based on received position data 27. Box 500 can be executed for some or all of the work machines 4-6 in mine 1. The positions of the mobile work machines are mapped 510 onto the mine model. Based on the mapped positions, mobile work machine indicators 520 are displayed in the mine model.
[0054] After displaying the mobile work machine indicator and the operator attention indicator, user input 530 is received for controlling the operation of at least some of the mobile work machines. Based on the user input, control signals 540 are sent to the mobile work machines. For example, based on collision detection and avoidance events, speed limit, deceleration, or stop commands can be generated and sent to work machines in or near the affected area.
[0055] The control system and equipment can be further configured to perform Figure 5bThe method involves, for example, detecting the position of a moving machine and / or personnel with a collision detection and avoidance unit based on position data 27. Block 500 can be performed by some or all (acting individually or together) of the machine and personnel collision detection and avoidance unit and / or control system. The position of the moving machine and personnel unit is mapped 560 to the mine model. The position of the machine and personnel collision avoidance unit in the affected area of the mine model is determined 570. Information about being in or near the affected area is sent to the corresponding machine and personnel collision avoidance unit and output, for example, displayed to the operator of device 580. The moving machine can then be controlled based on user input, and / or the user can thus select a path or location in the mine 590. For example, the machine can be stopped, or a person can be moved to a safe location. The output occurs via audible output or other means that can be observed by the operator, using the display of the collision detection and avoidance unit or the machine.
[0056] The set of events detected in box 310 can be mapped to the location of the moving machine based on machine identification information received from mine operation data associated with the event.
[0057] Alternatively or concurrently, the set of events detected in block 310 can be mapped to a moving machine or vehicle collision detection and avoidance unit, or to a personnel collision detection and avoidance unit. Subsequently, events mapped to a vehicle or vehicle collision detection and avoidance unit or personnel collision detection and avoidance unit can be mapped to the mine model. If a vehicle or vehicle collision detection and avoidance unit or personnel collision detection and avoidance unit moves to a new location, the event mapping from the vehicle or vehicle collision detection and avoidance unit or personnel collision detection and avoidance unit to the mine model can be performed again. In other words, the event-to-mine-model mapping can change over time.
[0058] Mapping to the mine model can occur using the location of vehicle or vehicle collision detection and avoidance units or personnel collision detection and avoidance units. Alternatively, or additionally, the co-location of two or more units can be used for mapping, and / or the co-location of units within a communication base station range, RFID tag range, or otherwise known area can be used for mapping.
[0059] Based on the density of the set of data events in the affected location area and / or a set of parameter values for the set of events, one or more visualization parameters are defined for the operator attention indicator in the affected location area. The display of the operator attention indicator is controlled based on the at least one visualization parameter defined in the production status display based on the mine model.
[0060] Coloring in the affected location area can be controlled based on the density of the set of data events in the affected location area and / or a set of parameter values for the set of events. One or more parameter values of at least one event requiring operator attention are used as input parameter sets for generating an operator attention indicator 340. According to a method, parameter values for a data source or a set of data sources are defined. Colors are defined associated with a series of values containing said parameter values to visualize the data from said data source or the set of data sources.
[0061] One or more additional visualization parameters can be defined based on parameter values within the affected area or sub-regions of the affected area and / or the number of detected events and / or data sources. The brightness of the operator attention indicator and / or the visualization of the affected area can be adjusted based on the number of events and / or data sources.
[0062] Coloring can be controlled using a first magnitude value within a first radius of the location of an event in the group of events and a second magnitude value within a second radius of the location of the event, where the second radius is larger than the first radius, and the first magnitude value is larger than the second magnitude value. The first radius can define the size of the associated data source. Within this radius, color or heat can be applied at full magnitude, and the first radius can also be considered as a full-magnitude radius or distance. The second radius can define the affected area of the data source. Outside the second radius, also known as the attenuation distance, data points have no effect on the mine model. Thus, the operator attention indicator can be generated such that no coloring is applied to indicate operator attention in the affected location area outside the second radius. The affected location area can depend on the number of events in the group of events. For example, the first and / or second radii increase with the number of events. The affected location area can also depend on the severity of the events. For example, the first and / or second radii increase with a greater severity of events. A collision detection and avoidance event indicating that a vehicle approaches another vehicle within a first threshold may cause an affected location of a larger size than a collision detection and avoidance event indicating that a vehicle approaches another vehicle within a second threshold, and / or an emergency collision avoidance event may cause an affected location of a larger predetermined size.
[0063] Each data source can be defined and described as a heat source or light source having at least two radius values. For example, the first radius can be in the range of 2 to 15 meters, such as 10 meters, while the second radius is in the range of 10 to 30 meters, such as 15 meters. It should be understood that additional distances can also be applied to control the generation of the operator attention indicator, such as one or more intermediate distances between the first and second radii.
[0064] The mine model may include three-dimensional (3D) point cloud data for a three-dimensional representation of the underground mine, and the operator attention indicator covers at least a portion of the 3D representation of the tunnel section associated with the affected area. However, it should be understood that, alternatively, a two-dimensional model may be applied.
[0065] In an example embodiment, an operator attention indicator for 3D tunnel representation is generated using the following method:
[0066] - Determine the heat value of the tunnel point for each event in this group of events within a second radius from the tunnel point.
[0067] -The heat at the tunnel point is determined by summing the calorific values.
[0068] -Based on heat and to define the color used for tunnel points, and
[0069] - The coloring of tunnel points is controlled by the colors defined in the three-dimensional representation.
[0070] exist Figure 6 In the simplified example shown, two events 60 and 61 have occurred inside the tunnel. Calculate the distances of events 60 and 61 to a nearby tunnel point 62 (at the other endpoints of the arrows). If this distance is greater than the selected attenuation value (16 meters in this example), they have no effect on the heat of the tunnel point. If the distance is less than the selected full-scale distance (8 meters in this example), one unit of heat is added to the tunnel point. For example, tunnel point 62 is closer to both events than 8 meters, so it is assigned 1+1=2, which is mapped to yellow. The distance between the full-scale and attenuation distances can be increased by 0-1 units of heat using the following formula:
[0071] Heat = (distance - m) / (fm)
[0072] m refers to the full-scale distance, and f refers to the attenuation distance.
[0073] If the model has surfaces, the surfaces are colored according to the defined colors. In a wireframe model, vertices are colored. In a point cloud model, each individual point is colored.
[0074] Color definitions can be based on a monochrome coloring model. This uses a color range that is either uniform or a subset of the rainbow colors from violet to red. This model can be used when the data value of an event is not significant, but the event density is shown as, for example, an alarm location or a region where the signal value has exceeded a given operator attention trigger threshold. Regions with no events can have a default color, such as dark gray. Regions with low event density can be defined as violet or blue, and regions with high event density can be defined as, for example, red. Various rainbow colors, including cyan, green, yellow, and orange, can be used to describe different levels of density.
[0075] Color definitions can be based on the Red-Green-Blue (RGB) coloring model. This model can be particularly useful when the density of events is uncorrelated, but the event data values are more important. In this model, each event or data point can be configured to emit light of a fixed intensity, coloring the surrounding mine model. The light can be monochromatic or any color from the RGB color space. Compared to heatmap coloring, the RGB color model can be applied to visualize the variance and balance of event data values. The RGB color model also allows for efficient methods of filtering events based on values. Each color channel (red, green, and blue) can be limited to include only values from a certain range. For example, by disabling the blue and green channels, the visualization can show only the affected areas of high values (red channel). Filtering can be controlled in response to user input, for example, to further quickly detect where specific types of events occur. Filtering can also be controlled based on some other trigger. For example, the display can be automatically switched between views of different filtered events.
[0076] Color definitions can be based on an RGB model with variable brightness, where additive brightness calculations describe the density of events. The model combines density visualization with value information visualization. High-density areas can be assigned bright colors, while low-density areas can be assigned darker colors, and the hue of the color is influenced only by the data values.
[0077] It should be understood that, in addition to or instead of the examples above, other visualization parameters can be adjusted based on the density of data events and / or parameter values in the affected location area. For example, reflection or transparency and / or luminescence can be controlled.
[0078] Figure 7a and Figure 7b An example view of a 3D tunnel is shown. Different colors, or, as in the example, darker areas, indicate affected areas within the tunnel system. Further information and / or indicators can be provided in operator guidance elements and / or other view elements. For example, Figure 7bThe columns in the display can indicate individual events and can show further information windows (one shown) including event information and / or guidance information. Such further windows can be displayed automatically or in response to user input on the associated event.
[0079] Event information processed in box 310 can be stored for later processing, such as for subsequent production efficiency or accident review analysis of mine operations. Event status can be reviewed at desired time instants or time ranges. Operator attention indicators or other indicators based on event density in the affected location area are updated based on event information within the corresponding time instant or range. Event information can be retrieved from or generated from data storage 22 to review occurring production against mine operation data.
[0080] It can receive an indication of a time instant or time range selected by the operator. The timestamps of events are processed to detect a set of events that match the user-selected time instant or time range, and then an operator attention indicator is generated based on that set of events. Thus, the time instant or range information can be input into box 310 and the processing of timestamps can be part of box 310.
[0081] Box 310 may also include predictions of collision detection and avoidance events from sparse data, mine models, information about vehicles, vehicle travel paths and personnel trajectories within the mine, and other information. Such predictions can be generated from existing collision detection and avoidance data and other mine operation data using machine learning and / or artificial intelligence. That is, collision detection and avoidance events can be generated from machine learning or artificial intelligence models, and therefore, the density can be based partly or entirely on the predicted collision detection and avoidance event information.
[0082] It should be understood that various further features may supplement or differentiate at least some of the examples shown above. For example, additional user interaction and / or automation functionality may exist to further assist operators in controlling various mine equipment and their operation / settings.
[0083] It should also be understood that features can be implemented at the control system, the working machine or the working machine collision detection and avoidance unit and / or the personnel collision detection and avoidance unit. For example, information can be displayed or otherwise output (e.g., by sound) to the operator of the mine system, output to the miner through their personal unit, and / or output to the working machine operator through the working machine user interface or the working machine collision detection and avoidance unit.
[0084] Figure 8The diagram illustrates an operation module for a mine operation control equipment or system, such as server 81. Object tracking module 83 can be configured to track the position of moving objects and provide 3D position indicators to another module, location service module 82.
[0085] Server 81 may include a task manager or management module 84 configured to manage at least some operations at the workplace. For example, the task manager may be configured to assign work tasks to queues of work machines and update control signals, send control signals to work machines, and / or monitor the task performance and status of work machines, as indicated at a task management graphical user interface (GUI).
[0086] Server 81 may include a model processing module 85, which can maintain one or more models of the underground workplace, such as a 3D mine model. The model processing module 85 can be configured to map events to the mine model.
[0087] Server 81 may include a GUI module 86 configured to generate at least some display views for an operator (local and / or remote). The GUI module 86 may be configured to generate 3D (and / or 2D) views, including the current position of the moving object and an operator attention indicator, based on a 3D model or pit bottom model, by applying at least some of the examples shown above.
[0088] Server 81 may include additional modules 88, such as a remote monitoring process and UI, an event processing module configured to process mine operation data to perform at least some of the functions shown above, and / or a cloud scheduler component configured to provide selected workplace information (such as location information of moving objects) to the cloud service.
[0089] The system and server 81 can be connected to other systems 90 and / or networks 89, such as workplace management systems, cloud services, intermediary communication networks, such as the Internet. The system may further include or be connected to other devices or control units, such as user units like collision detection and avoidance units, vehicle units like collision detection and avoidance units, workplace management equipment / systems, remote control and / or monitoring equipment / systems, data analysis equipment / systems, sensor systems / devices, etc.
[0090] Object tracking 83 can be implemented as part of another module, such as location service module 82. Location service 82 is configured to provide mobile object location information via one or more networks 89, on request or by push transmission, which is obtained from or generated based on information from object tracking 83 used for related other modules or functions (such as database 87, visual graphical user interface 86, and / or remote unit or system 70). Figure 8 In the example, modules are shown as interconnected, but it should be understood that not all modules need to be interconnected.
[0091] The system may include or be connected to a control unit or module of the working machine or another mine operating equipment, for example, control commands may be sent to the control unit or module. The control unit may be located in each autonomous vehicle and configured to control at least some autonomous operations of the vehicle based on received control commands.
[0092] An electronic device including electronic circuitry can be a device for implementing at least some embodiments of the present invention, such as combining... Figure 3 The method is illustrated. The device can be included in at least one computing device connected to or integrated into a mine control system.
[0093] Figure 9 An example device is shown. Device 100 is shown, which can be configured to perform the mine operation analysis and control shown above. Device 100 may include or implement server 81 and / or DPU 21.
[0094] Device 100 includes a processor 91, which may include, for example, a single-core or multi-core processor. Processor 91 may include more than one processor. The processor may include at least one application-specific integrated circuit (ASIC). The processor may include at least one field-programmable gate array (FPGA). The processor may be configured to perform actions, at least in part, via computer instructions.
[0095] Device 100 may include memory 92. This memory may include random access memory and / or permanent memory. This memory may be at least partially accessible to processor 91. This memory may be at least partially contained within processor 91. This memory may be at least partially external to device 100, but accessible by the device. Memory 92 may be a means for storing information, such as parameters 94 that affect device operation. Parameter information may in particular include parameter information that affects, for example, the generation and application of pit bottom models, such as thresholds.
[0096] Memory 92 may include computer program code 93, which includes computer instructions, and processor 91 is configured to execute these computer instructions. When computer instructions configured to cause the processor to perform certain actions are stored in the memory, and the device is generally configured to operate using the computer instructions from the memory under the direction of the processor, the processor and / or at least one of its processing cores may be considered configured to perform said certain actions. The processor, together with the memory and computer program code, may form means for performing at least some of the method steps shown above within the device. The computer instructions may be implemented as an executable program or source code. The computer instructions may form a program capable of running on an operating system. The computer instructions may form an installation package for installing programs on a computer. The computer instructions may form a virtualization package, such as a so-called Docker package, for execution on a computer. The computer program may be stored on a non-transitory computer-readable medium, such as a data disk or portable storage device, or stored in the cloud, or, as described above, stored in the computer's memory.
[0097] Device 100 may include a communication unit 95, which includes a transmitter and / or a receiver. The transmitter and receiver may be configured to transmit and receive mine operation data and control commands according to at least one cellular or non-cellular standard. For example, the transmitter and / or receiver may be configured to operate according to GSM, WCDMA, LTE, 3GPP New Radio Access Technology (N-RAT), WLAN, Ethernet, and / or WiMAX standards. Device 100 may include a Near Field Communication (NFC) transceiver. The NFC transceiver may support at least one NFC technology, such as NFC, Bluetooth, or similar technologies.
[0098] Device 100 may include or be connected to a UI. The UI may include at least one of a display 96, speakers, and input devices 97 (such as a keyboard, joystick, touchscreen, and / or microphone). The UI can be configured to display views based on a workplace model and moving object position indicators. Users can operate the device and interact with control systems (such as…) Figure 6 The system (shown in the diagram) can be controlled using at least some of its features. Users can control vehicles 4-7 and / or the server via the UI in response to user authentication and the full rights associated with the user, thereby, for example, changing operating modes, changing display views, and modifying parameters 94.
[0099] Device 100 may further include and / or be connected to other units, devices, and systems, such as one or more sensor devices 98 that sense the environment of device 90. The sensor device may include an IMU or another type of sensor device configured to determine the movement of a moving object.
[0100] The processor 91, memory 92, communication unit 95, and UI can be interconnected in various ways via electrical leads within the device 100. For example, each of the aforementioned devices can be individually connected to the main bus within the device to allow the devices to exchange information. However, those skilled in the art will understand that this is merely an example, and various ways of interconnecting at least two of the aforementioned devices can be chosen without departing from the scope of the invention.
[0101] It should be understood that the embodiments are not limited to the specific structures, process steps, or materials disclosed herein, but are extended to their equivalents as commonly recognized by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting.
[0102] As used herein, multiple entries, structural elements, constituent elements, and / or materials may be presented in a common list for convenience. However, these lists should be interpreted as each member of the list being individually identified as a separate and unique member. Therefore, without indication to the contrary, no individual member of such a list should be construed as a de facto equivalent to any other member of the same list solely based on their presentation in the common set. Furthermore, various examples and alternatives to their various components may be mentioned herein. It should be understood that such examples and alternatives should not be construed as de facto equivalents to each other, but should be regarded as separate and autonomous representations of this disclosure.
[0103] Furthermore, the features, structures, or characteristics described can be combined in any suitable manner. Numerous specific details, such as examples of length, width, shape, etc., have been provided in the foregoing description to provide a thorough understanding of this disclosure. However, those skilled in the art will recognize that the invention can be practiced without one or more specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring aspects of the invention.
[0104] While the examples above illustrate principles in one or more specific applications, those skilled in the art will understand that many modifications can be made to the details of form, usage, and implementation without departing from the principles and concept of this disclosure, without requiring inventive effort. Therefore, this disclosure is not intended to be limiting, except as defined by the claims set forth below.
[0105] The verbs “comprising…” and “including…” are used in this document as open-ended restrictions, neither excluding nor requiring the presence of undescribed features. Features described in the dependent claims may be freely combined with each other unless expressly stated otherwise. Furthermore, it should be understood that the use of “a” or “an,” i.e., the singular form, throughout this document does not exclude a plurality.
[0106] Industrial applicability
[0107] This disclosure has industrial applicability, at least in mine operation and control systems.
Claims
1. A collision detection and avoidance system for mines, the system comprising means configured to perform the following operations: - Receive mine operation data from a set of data sources in the mine, the mine operation data including collision detection and avoidance data related to mining vehicles; - Process the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; - Based on the location information associated with the collision detection and avoidance events in the set of collision detection and avoidance events, map the set of collision detection and avoidance events to the mine model; - Determine the affected location regions of the set of collision detection and avoidance events mapped to the mine model, the affected location regions of the set of collision detection and avoidance events being defined based on a predetermined radius around each of the collision detection and avoidance events in the set of collision detection and avoidance events, wherein the size of the affected location regions depends on the degree of danger of the collision detection and avoidance events; - Based on the set of collision detection and avoidance events and the affected location area, an operator attention indicator is generated depending on the density of collision detection and avoidance events in the affected location area; - Based on the density of the set of collision detection and avoidance events, control the coloring in the affected location region; as well as - Control the display of the operator attention indicator to the operator for the set of collision detection and avoidance events in the affected location area in the mine model, so as to adjust the operation of one or more mine operating devices.
2. The system according to claim 1, wherein, The operator attention indicator is configured to be generated based on the degree of danger of collision detection and avoidance events in the affected location area.
3. The system according to claim 1 or 2, wherein, The operator attention indicator is configured to be generated based on the proximity distance of collision detection and avoidance events in the affected location area.
4. The system according to claim 1 or 2, wherein, The device is further configured to perform the following operations: - Process at least some of the collision detection and avoidance events in the set to define at least one associated operator guidance element, thereby adjusting the operation of the one or more mine operating devices; as well as - Control the display of at least one associated operator guidance element for the affected location area.
5. The system according to any one of claims 1-2, wherein, The device is further configured to perform the following operations: - Receive position data related to the collision detection and avoidance unit; and - In response to determining that the collision detection and avoidance unit is in the affected location area, at least one operator guidance element associated with at least some of the set of collision detection and avoidance events is displayed.
6. The system according to any one of claims 1-2, wherein, The device is further configured to perform the following operations: - Receive position data related to the collision detection and avoidance unit; and - In response to determining that the collision detection and avoidance unit is in the affected location region, an output of the collision detection and avoidance unit is caused by at least one operator-guided element associated with at least some of the events in the set of collision detection and avoidance events.
7. The system according to any one of claims 1-2, wherein, The device is further configured to perform the following operations: - By processing at least some of the events in the set of collision detection and avoidance events through the corrective action module, at least one corrective action is detected, thereby resolving at least some of the events in the set of collision detection and avoidance events; - Receive location data associated with one or more mine operating equipment; - Determine the one or more mine operating devices and one or more control commands associated with the corrective action; as well as - In response to the detection of a mandatory condition for automated control, a control signal associated with the one or more control commands is transmitted to the determined one or more mine operating devices; or - Generate operator guidance elements for the one or more mine operating devices and the one or more control commands determined by the instructions.
8. The system according to any one of claims 1-2, wherein, The mine operation data includes sensor data from the mobile work machine, and the device is further configured to perform the following operations: - Detect the position of the moving work machine; - Map the location of the mobile work machine to the mine model; - Display moving work machine indicators in the mine model based on the mapped location; - After displaying the mobile work machine indicator and the operator attention indicator, receive operator input to control the operation of at least some of the mobile work machines; and - Based on the operator input, one or more control signals are generated for at least some of the mobile work machines.
9. The system according to claim 8, wherein, The device is further configured to perform the following operations: - Control the mobile work machine by one or more of the following actions: setting a speed limit, causing the mobile work machine to decelerate and stop.
10. The system according to any one of claims 1-2, wherein, The device is further configured to perform the following operations: - Based on the identification of the working machine received through mine operation data associated with one or more of the set of collision detection and avoidance events, the one or more of the set of collision detection and avoidance events are mapped to the moving working machine and subsequently mapped to the location in the mine model.
11. The system according to any one of claims 1-2, wherein, The device is further configured to perform the following operations: - Define at least one visualization parameter for the operator attention indicator in the affected location area based on the density of the set of collision detection and avoidance events in the affected location area and / or a set of parameter values for the set of collision detection and avoidance events; as well as - Control the display of the operator attention indicator based on at least one visualization parameter defined in the production status display based on the mine model.
12. The system according to any one of claims 1-2, wherein, The mine model includes 3D point cloud data for a 3D representation of the underground mine, and the operator attention indicator covers at least a portion of the 3D representation of the tunnel section associated with the affected location area.
13. A collision detection and avoidance method, comprising: - Receive mine operation data from a set of data sources in the mine, the mine operation data including collision detection and avoidance data related to mining vehicles; - Process the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; - Based on the location information associated with the events in the set of collision detection and avoidance events, map the set of collision detection and avoidance events to the mine model; - Determine the affected location regions of the set of collision detection and avoidance events mapped to the mine model, the affected location regions of the set of collision detection and avoidance events being defined based on a predetermined radius around each of the collision detection and avoidance events in the set of collision detection and avoidance events, wherein the size of the affected location regions depends on the degree of danger of the collision detection and avoidance events; - Based on the set of collision detection and avoidance events and the affected location area, an operator attention indicator is generated depending on the density of collision detection and avoidance events in the affected location area; - Based on the density of the set of collision detection and avoidance events, control the coloring in the affected location region; as well as - Control the display of the operator attention indicator to the operator for the set of collision detection and avoidance events in the affected location area in the mine model, so as to adjust the operation of one or more mine operating devices.
14. The method of claim 13, further comprising: - Generate the operator attention indicator based on the proximity or danger level of collision detection and avoidance events in the affected location area.
15. A computer-readable medium comprising computer program code that, when executed in a data processing apparatus, causes the apparatus to perform the following operations: - Receive mine operation data from a set of data sources in the mine, the mine operation data including collision detection and avoidance data related to mining vehicles; - Process the mine operation data to detect a set of collision detection and avoidance events that satisfy at least one operator attention trigger condition; - Based on the location information associated with the events in the set of collision detection and avoidance events, map the set of collision detection and avoidance events to the mine model; - Determine the affected location regions of the set of collision detection and avoidance events mapped to the mine model, the affected location regions of the set of collision detection and avoidance events being defined based on a predetermined radius around each of the collision detection and avoidance events in the set of collision detection and avoidance events, wherein the size of the affected location regions depends on the degree of danger of the collision detection and avoidance events; - Based on the set of collision detection and avoidance events and the affected location area, an operator attention indicator is generated depending on the density of collision detection and avoidance events in the affected location area; - Based on the density of the set of collision detection and avoidance events, control the coloring in the affected location region; as well as - Control the display of the operator attention indicator to the operator for the set of collision detection and avoidance events in the affected location area in the mine model, so as to adjust the operation of one or more mine operating devices.