Proximity detection

Abstract

An apparatus, method, and computer program product for: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of the moving object within a first proximity detection range based on first information received from the first proximity detection sensor; in response to detecting the presence of the collision detection device, determining a vehicle speed parameter corresponding to a second proximity detection range; controlling a speed of the autonomous mining vehicle based on the vehicle speed parameter; and in response to detecting the presence of the collision detection device within the second proximity detection range, controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from a second proximity detection sensor.

Description

Technical Field

[0001] This application generally relates to proximity detection. More specifically, this application relates to proximity detection for avoiding collisions between autonomous mining vehicles and moving objects. Background Technology

[0002] Mobile mining machines operate in diverse environments. Mining environments present challenging operating conditions due to the risk of collisions caused by limited space, limited light, and limited connectivity. Summary of the Invention

[0003] Various aspects are set forth in the claims. The scope of protection sought by the various embodiments of the invention is set forth in the independent claims. Examples and features described in this specification that do not fall within the scope of the independent claims, if any, should be interpreted as examples that help to understand the various embodiments of the invention.

[0004] According to a first aspect, an apparatus is provided, comprising means for performing the following operations: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controlling the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0005] According to a second aspect, a method is provided, comprising: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controlling the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0006] According to a third aspect, a computer program is provided, the computer program including instructions for causing a device to perform at least the following operations: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controlling the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0007] According to a fourth aspect, an apparatus is provided, comprising at least one processor and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured to utilize the at least one processor such that the apparatus at least: communicates with a first proximity detection sensor and a second proximity detection sensor; detects the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determines a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controls the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controls the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0008] According to a fifth aspect, a non-transitory computer-readable medium is provided, comprising program instructions for causing a device to perform at least the following operations: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controlling the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0009] According to a sixth aspect, a computer-readable medium is provided, comprising program instructions for causing a device to perform at least the following operations: communicating with a first proximity detection sensor and a second proximity detection sensor; detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; controlling the speed of an autonomous mining vehicle based on the vehicle speed parameter; and controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range. Attached Figure Description

[0010] Some exemplary embodiments will now be described with reference to the accompanying drawings:

[0011] Figure 1 A block diagram of an example apparatus to which the disclosed embodiments can be applied is shown;

[0012] Figure 2 A block diagram of another example device to which examples of the disclosed embodiments can be applied is shown;

[0013] Figure 3 Examples of autonomous mining vehicles operating in a mine are shown; and

[0014] Figure 4 Example methods are shown that incorporate aspects of the disclosed embodiments. Detailed Implementation

[0015] The following embodiments are exemplary. Although the specification may refer to "a," "an," or "some" embodiments in various places in the text, this does not necessarily mean that the same embodiment is referred to each time, or that a particular feature applies only to a single embodiment. Individual features of different embodiments may also be combined to provide other embodiments.

[0016] The example embodiments relate to controlling an autonomous mining vehicle. More specifically, the example embodiments relate to controlling the speed of the autonomous mining vehicle in response to the detection of the presence of a collision detection device of a moving object.

[0017] Proximity detection in underground mines is challenging due to the demanding operating environment. Different types of proximity sensors can be used to perform proximity detection for autonomous mining vehicles, each with its own operating envelope, such as varying detection ranges.

[0018] When operating in underground mines, different types of proximity detection sensors are required because, for example, some sensors can detect the presence of an object at a long distance but cannot determine the distance and / or direction of the object, while some sensors can detect the distance and / or direction of the object but have insufficient detection range for safe operation in mines at high vehicle speeds (such as 30 km / h).

[0019] One example embodiment relates to a proximity detection device for an autonomous mining vehicle, the autonomous mining vehicle being associated with at least a first proximity detection sensor having a first proximity detection range and a second proximity detection sensor having a second proximity detection range. The device is configured to: communicate with the first and second proximity detection sensors; detect the presence of a collision detection device of a moving object within the first proximity detection range based on first information received from the first proximity detection sensor; determine a vehicle speed parameter corresponding to the second proximity detection range in response to detecting the presence of the collision detection device; control the speed of the autonomous mining vehicle based on the vehicle speed parameter; and control the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0020] Figure 1 This is a block diagram depicting an apparatus 100 operating according to an exemplary embodiment of the present invention. Apparatus 100 may be, for example, an electronic device, such as a module comprising an automation or control system, a chip, or a chipset. Apparatus 100 includes one or more control circuitry, such as at least one processor 110 and at least one memory 160, which includes one or more algorithms, such as computer program instructions 120, wherein the at least one memory 160 and the computer program instructions are configured to utilize the at least one processor 110 to cause the apparatus to perform any of the example functions described below.

[0021] exist Figure 1 In the example, processor 110 is a control unit operatively connected to memory 160 to read from and write to memory 160. Processor 110 may also be configured to receive control signals received via an input interface, and / or processor 110 may be configured to output control signals via an output interface. In one example embodiment, processor 110 may be configured to translate received control signals into appropriate commands for controlling the functions of the device.

[0022] The at least one memory 160 stores computer program instructions 120, which, when loaded into the processor 110, control the operation of the device 100, as described below. In other examples, the device 100 may include more than one memory 160 or different types of storage devices.

[0023] The computer program instructions 120, or a portion thereof, used to implement the exemplary embodiments of the present invention may be loaded onto the device 100 by the manufacturer of the device 100, by the user of the device 100, or by the device 100 itself based on a download program, or the instructions may be pushed to the device 100 by an external device. The computer program instructions may reach the device 100 via an electromagnetic carrier signal, or be copied from a physical entity (such as a computer program product), a memory device, or a recording medium (such as a USB stick, optical disc (CD), optical disc read-only memory (CD-ROM), digital versatile disc (DVD), or Blu-ray disc).

[0024] Figure 2 This is a block diagram depicting an apparatus 200 according to an exemplary embodiment of the present invention. Apparatus 200 may be an electronic device such as a proximity or collision detection device, including a personal computer (PC), laptop computer, desktop computer, wireless terminal, communication terminal, control device, computing device, portable computing device, collision detection sensor, etc. In the following examples, it is assumed that apparatus 200 is a computing device such as a proximity detection device.

[0025] exist Figure 2 In an example embodiment, device 200 is shown to include device 100, display 210, user interface 220 for interacting with computing device 200, and communication module 230.

[0026] Display 210 can also be configured to function as a user interface. For example, the display may be a touchscreen display. In an example embodiment, display 210 and / or user interface 220 may be external to device 200 but in communication with device 200.

[0027] Additionally or alternatively, the user interface may also include manually operable controls such as buttons, keypads, touchpads, joysticks, styluses, pens, scroll wheels, joysticks, keypads, keyboards, or any suitable input mechanism for inputting and / or accessing information.

[0028] The communication module 230 can be configured to establish radio communication with another device using, for example, cellular networks, Bluetooth connections, Wi-Fi connections, ultra-wideband (UWB) connections, linear frequency modulation (CSS) connections, etc.

[0029] The communication module 230 can also be configured to process the received information. For example, the communication module 230 can be configured to receive information from one or more collision detection sensors and / or determine the distance between the device 200 and the object of interest based on the information received from the one or more collision detection sensors. The communication module 230 may include a single communication unit or multiple communication units for communicating with the object of interest.

[0030] According to one example embodiment, device 200 includes a proximity detection device. Device 200 may be associated with an object of interest (such as a mobile mining vehicle, a miner's helmet lamp), a fixed location (such as a void in the ground or other objects of interest).

[0031] According to one example embodiment, mobile mining vehicles include rock drills, loaders, dump trucks, load transport dump (LHD) vehicles, ground support drills, underground transport vehicles, light vehicles, or any other vehicles or machines capable of operating in underground mines.

[0032] Mobile mining vehicles can include, for example, autonomous mining vehicles. Autonomous mining vehicles include mining vehicles configured to independently perform at least one task without external control. For example, an autonomous mining vehicle can be configured to load and / or transport excavated materials, such as ore, rock, or sand, from one location to another. However, it should be noted that autonomous mining vehicles can operate under external control, for example, in specific operating areas or under specific operating conditions, such as in emergency situations.

[0033] The autonomous mining vehicle is configured to monitor its operating environment using at least one proximity detection sensor associated with it. The proximity detection sensor is configured to detect the object using, for example, one or more wireless communication technologies, without requiring physical contact with the object.

[0034] The proximity detection sensor associated with the autonomous mining vehicle may include a sensor mounted on the autonomous mining vehicle and operatively connected to the device 200.

[0035] According to one example embodiment, the autonomous mining vehicle is associated with at least a first proximity detection sensor and a second proximity detection sensor. The first proximity detection sensor may be configured to monitor the environment of the autonomous mining vehicle using a first radio frequency (RF) technology, and the second proximity detection sensor may be configured to monitor the environment of the autonomous mining vehicle using a second RF technology. The first RF technology may differ from the second RF technology. Alternatively, the first proximity detection sensor and / or the second proximity detection sensor may be configured to use multiple RF technologies to monitor the environment of the autonomous mining vehicle.

[0036] Different types of proximity detection sensors have different capabilities. These capabilities may include, for example, different radio protocols, different operating frequencies, and different detection ranges for detecting remote objects.

[0037] According to one example embodiment, a first proximity detection sensor has a first proximity detection range, and a second proximity detection sensor has a second proximity detection range. The first proximity detection range may be different from the second proximity detection range.

[0038] The proximity detection range can include the maximum detection distance for detecting remote objects.

[0039] According to one example embodiment, the first proximity detection sensor includes a received signal strength indicator (RSSI) sensor.

[0040] The RSSI sensor indicates an estimated measurement of the power level received by device 200. A high RSSI indicates that a remote object is approaching the proximity sensor, while a low RSSI indicates that the remote object is moving further away from the proximity sensor. A low RSSI could also be due to an obstacle between the remote object and the proximity sensor.

[0041] RSSI sensors may be able to detect the presence of a remote object based on the signal strength detected at a distance of more than 100 meters, such as in a mining environment, but may not be able to determine the distance between the RSSI sensor and the remote object and / or the direction in which the remote object is located relative to the sensor.

[0042] According to one example embodiment, the second proximity detection sensor includes an ultra-wideband (UWB) transceiver. According to another example embodiment, the second proximity detection sensor includes a linear spread spectrum (CSS) transceiver.

[0043] UWB transceivers and CSS transceivers can be configured to detect the presence of remote objects based on the measured time-of-flight (ToF) between the transceiver and the remote object. UWB sensors can detect the presence of remote objects in a mining environment at distances from 1 to 50 meters (e.g., within 10 to 20 or 35 meters). CSS transceivers can detect the presence of remote objects in a mining environment at distances from 1 to 100 meters (e.g., 20 meters, 50 meters, or 80 meters).

[0044] According to one example embodiment, device 200 is configured to communicate with one or more devices. For example, device 200 may be configured to communicate with cloud servers, local servers, edge computing servers, mobile computing devices and / or different kinds of machines, mobile objects (such as mobile mining vehicles carrying proximity detection devices or miners), etc.

[0045] Communication with the device may include, for example, receiving and / or transmitting information using a wireless or wired connection. According to an example embodiment, device 200 is configured to receive information from a plurality of proximity detection sensors. According to another example embodiment, device 200 is configured to communicate with one or more collision detection devices associated with an object of interest. Device 200 may be configured to communicate with at least one sensor and / or collision device associated with an object using, for example, a communication module 230.

[0046] According to one example embodiment, the device 200 is configured to communicate with a first proximity detection sensor and a second proximity detection sensor.

[0047] Communication with the first proximity sensor may include, for example, receiving and / or transmitting information using a wireless or wired connection. Communication with the second proximity sensor may include, for example, receiving and / or transmitting information using a wireless or wired connection.

[0048] According to one example embodiment, device 200 is configured to receive first information from a first proximity detection sensor. The first information may include, for example, an RF broadcast message emitted by a collision detection device included in a moving object (such as a mobile mining vehicle in an underground mine) or a collision detection device included in a miner's helmet lamp.

[0049] Without limiting the scope of the claims, the advantage of receiving radio frequency messages from a collision detection device is that the device 200 knows the presence of the collision detection device.

[0050] The first information may further include information about the detected remote object, such as information about an autonomous mining vehicle operating within the mine. The first information may include, for example, measurement data or measurement parameters processed by a first proximity detection sensor.

[0051] According to one example embodiment, the device 200 is configured to detect the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from a first proximity detection device.

[0052] Detecting the presence of a collision detection device may include detecting the presence of an RF signal transmitted by the collision detection device. Additionally or alternatively, detecting the presence of a collision detection device may include determining the strength of the RF signal transmitted by the collision detection device.

[0053] According to one example embodiment, the first information includes information about the received signal strength indicator (RSSI). The RSSI corresponds to a measurement of the power level received by the device 200 from the collision detection device of the moving object.

[0054] According to one example embodiment, device 200 is configured to initiate communication with the collision detection device when the presence of the collision detection device is detected within a first proximity detection range.

[0055] Initiating communication with a collision detection device may include, for example, sending one or more messages to the collision detection device to initiate ranging.

[0056] Ranging includes the process of measuring the distance between two nodes, such as the distance between device 200 and a collision detection device. Device 200 can be configured to determine the distance between device 200 and the collision detection device by performing ranging based on RF time of flight (ToF) (such as, for example, two-way ranging (TWR)).

[0057] Ranging involves exchanging messages and measuring parameters between nodes (such as device 200 and collision detection equipment) to estimate distance. Ranging messages can include different types of messages, such as ranging requests, ranging responses, and / or ranging results.

[0058] According to one example embodiment, device 200 is configured to receive second information from a second proximity detection sensor.

[0059] Similar to the first information, the second information may include information about detected remote objects, such as vehicles in a mine where autonomous mining vehicles are operating. The second information may include, for example, measurement data or measurement information processed by a second proximity detection sensor.

[0060] According to one example embodiment, the second information includes information about the time-of-flight measurement between the second proximity detection sensor and the collision detection device.

[0061] Information regarding time-of-flight measurements between the second proximity sensor and the collision detection device may include, for example, the RF time of flight of a message traveling from the second proximity sensor to the collision detection device associated with the object of interest.

[0062] According to one example embodiment, device 200 is configured to perform ranging using second information.

[0063] As described above, ranging includes the process of measuring the distance between two nodes (such as the distance between device 200 and the collision detection device of the object).

[0064] According to one example embodiment, the device 200 is configured to determine the distance between the second proximity detection sensor and the collision detection device based on second information.

[0065] According to one example embodiment, the device 200 is configured to determine vehicle speed parameters corresponding to a second proximity detection range in response to detecting the presence of the collision detection device.

[0066] The vehicle speed parameters corresponding to the proximity detection range of the proximity sensor include parameters indicating the vehicle speed that enable the proximity sensor to trigger control over the vehicle, allowing sufficient time for predefined vehicle deceleration or stopping control. Predefined deceleration of the vehicle may include a rate of deceleration considered safe in a mine.

[0067] For example, the vehicle speed parameters corresponding to the second proximity detection range include parameters indicating the speed of the autonomous mining vehicle, which enable the second proximity detection sensor to trigger control of the vehicle, allowing sufficient time for controlled deceleration or stopping of the autonomous mining vehicle.

[0068] According to one example embodiment, the vehicle speed parameter includes the maximum speed allowed for the autonomous mining vehicle.

[0069] The maximum speed allowed for the autonomous mining vehicle can include, for example, 5-20 km / h, such as 7, 10 or 15 km / h.

[0070] Determining the vehicle speed parameters corresponding to the second proximity detection range may include, for example, selecting or calculating the vehicle speed parameters.

[0071] Selecting a vehicle speed parameter can include, for example, selecting the vehicle speed parameter based on a lookup table, selecting a predefined vehicle speed parameter, or selecting a previously used vehicle speed parameter.

[0072] Calculating vehicle speed parameters can include, for example, calculating the vehicle speed parameters based on the current speed of the autonomous mining vehicle, the speed of the collision detection device approaching the autonomous mining vehicle, the proximity detection range of the autonomous mining vehicle's proximity sensor, and information about the autonomous mining vehicle's environment.

[0073] For example, assuming a first autonomous mining vehicle and a moving object (such as a second autonomous mining vehicle) are traveling towards each other at 25 km / h in a long, straight tunnel, the approach speed of the first and second autonomous mining vehicles would be 50 km / h, approximately 14 m / s. Assuming the proximity detection sensor in the first autonomous mining vehicle has a proximity detection range of 100 meters, the time period for controlling the first autonomous mining vehicle after detecting the moving object would be approximately 7 seconds before a collision occurs between the first autonomous mining vehicle and the moving object. On the other hand, assuming the proximity detection sensor has a proximity detection range of 35 meters, the time period for controlling the first autonomous mining vehicle after detecting the moving object would be approximately 2.5 seconds before a collision occurs between the first autonomous mining vehicle and the moving object.

[0074] Therefore, the device 200 can be configured to calculate the vehicle speed parameters based on the proximity detection range of the second proximity detection sensor, the current speed of the autonomous mining vehicle, and the speed of the collision detection device approaching the autonomous mining vehicle.

[0075] Without limiting the scope of the claims, the advantage of determining the vehicle speed parameters corresponding to the second proximity detection range is that the capabilities of the second proximity detection sensor can be taken into account when switching from using the first proximity detection sensor to using the second proximity detection sensor, thereby enabling the autonomous mining vehicle to operate continuously in a safe manner.

[0076] According to one example embodiment, the device 200 is configured to control the speed of the autonomous mining vehicle based on the vehicle speed parameters.

[0077] The device 200 can be configured to control the speed of an autonomous mining vehicle until at least one criterion is met. The at least one criterion may relate to, for example, the presence of a moving object within a first proximity detection range or communication between the autonomous mining vehicle and the moving object. For example, the device 200 can be configured to control the speed of the autonomous mining vehicle as soon as the presence of a collision detection device for a moving object is detected within the first proximity detection range, or until the speed of the autonomous mining vehicle is controlled based on communication between the autonomous mining vehicle and the moving object.

[0078] Controlling the speed of the autonomous mining vehicle may include, for example, decreasing the speed of the autonomous mining vehicle or increasing the speed of the autonomous mining vehicle.

[0079] According to one example embodiment, controlling the speed of the autonomous mining vehicle includes reducing the speed of the autonomous mining vehicle.

[0080] Reducing the speed of the autonomous mining vehicle can, for example, reduce the speed based on the vehicle speed parameters or derive the speed of the autonomous mining vehicle from the vehicle speed parameters.

[0081] According to one example embodiment, controlling the speed of the autonomous mining vehicle includes limiting the maximum permissible speed of the autonomous mining vehicle and restricting the speed of the autonomous mining vehicle to the limited maximum speed.

[0082] According to one example embodiment, the device 200 is configured to control the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection device in response to detecting the presence of the collision detection device within a second proximity detection range.

[0083] Collision avoidance operations may include actions that enable the autonomous mining vehicle to avoid a collision with the moving object. Collision avoidance operations may include active or passive operations. Active operations may include actions designed to prevent hazardous situations from occurring, while passive operations may include actions for responding to hazardous situations.

[0084] Active operations may include, for example, communicating with a moving object, while passive operations may include, for example, controlling the movement of an autonomous mining vehicle.

[0085] According to one example embodiment, the at least one collision avoidance operation includes slowing down or stopping the autonomous mining vehicle.

[0086] Without limiting the scope of the claims, the advantage of slowing down or stopping the autonomous mining vehicle is that it can reduce the risk of a collision between the autonomous mining vehicle and the moving object.

[0087] According to one example embodiment, the at least one collision avoidance operation includes sending a message to the moving object.

[0088] Without limiting the scope of the claims, the advantage of transmitting messages to the moving object is that the moving object will be aware of the autonomous mining vehicle, thereby reducing the risk of collision.

[0089] As described above, the device 200 can be configured to communicate with one or more collision detection devices associated with the object of interest.

[0090] According to one example embodiment, device 200 is configured to communicate with a collision detection device for the moving object. For example, device 200 may be configured to receive information from and / or transmit information to the collision detection device for the moving object. Transmitting information may include, for example, transmitting information about the autonomous mining vehicle and / or transmitting one or more instructions to the collision detection device for the moving object. The one or more instructions may include, for example, controlling the operation of the moving object.

[0091] According to one example embodiment, the at least one collision avoidance operation includes instructing the moving object to decelerate.

[0092] Without limiting the scope of the claims, the advantage of instructing the moving object to slow down is that interaction with the autonomous mining vehicle and the moving object enables more flexible and safer operation in a mining environment.

[0093] According to one example embodiment, the apparatus 200 includes means for performing features of the apparatus 200, wherein the means for performing includes at least one processor 110 and at least one memory 160 including computer code 120 configured to use the at least one processor 110 to cause the aforementioned performance of the apparatus 200.

[0094] According to one example embodiment, the apparatus 200 includes: means for communicating with a first proximity detection sensor and a second proximity detection sensor; means for detecting the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from the first proximity detection sensor; means for determining a vehicle speed parameter corresponding to a second proximity detection range in response to detecting the presence of the collision detection device; means for controlling the speed of the autonomous mining vehicle based on the vehicle speed parameter; and means for controlling the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0095] According to one example embodiment, the apparatus 200 further includes: means for determining the distance between the second proximity detection sensor and the collision detection device based on second information; means for initiating communication with the collision detection device when the presence of the collision detection device is detected within the first proximity detection range; and / or means for performing distance measurement using the second information.

[0096] Figure 3 An example of an autonomous mining vehicle operating in a mine is shown. The autonomous mining vehicle 350 may include, for example, a rock drill, loader, dump truck, load transport dump (LHD) truck, surface support drill, or underground transport vehicle. The autonomous mining vehicle 350 travels in the mine 380 in the direction indicated by arrow 390.

[0097] The autonomous mining vehicle 350 includes a proximity detection device 355. Figure 3 In the example, proximity detection device 355 includes device 200.

[0098] A proximity detection device 355 is configured to communicate with a first proximity detection sensor 351 and a second proximity detection sensor 352. The first proximity detection sensor 351 and the second proximity detection sensor 352 are associated with an autonomous mining vehicle 350. The first proximity detection sensor 351 has a first proximity detection range 341, indicated by arrow 340, and the second proximity detection sensor 352 has a second proximity detection range 342.

[0099] exist Figure 3 In the example, the first proximity detection range 341 and the second proximity detection range 342 are different from each other, and the second proximity detection range 342 is shorter than the first proximity detection range 341. Furthermore, in Figure 3 In the example, the first proximity detection sensor 351 can provide information about the presence of a collision detection device for a moving object, but this information cannot determine the distance between the first proximity detection sensor and the collision detection device for the moving object. On the other hand, the second proximity detection sensor 352 can provide information that enables the determination of the distance between the second proximity detection sensor and the collision detection device for the moving object, but as mentioned above, the second proximity detection range 342 is shorter than the first proximity detection range 341.

[0100] The objects of interest are also operating in mine 380. Figure 3 In the example, the object of interest is the moving object 360 associated with the collision detection device 365. The moving object 360 is traveling in the mine 380 in the direction indicated by arrow 370. In other words, the autonomous mining vehicle 350 and the moving object 360 are approaching each other.

[0101] exist Figure 3 In the example, the proximity detection device 355 detects the presence of the collision detection device 365 of the moving object 360 within the first proximity detection range 341 based on the first information received from the first proximity detection sensor 351.

[0102] The first information may include, for example, an RF broadcast message transmitted by a collision detection device 365 associated with the moving object 360.

[0103] In response to the detection of the collision detection device, the proximity detection device 355 determines the vehicle speed parameters corresponding to the second proximity detection range 342. Figure 3 In the example, the vehicle speed parameter includes the maximum speed allowed for the autonomous mining vehicle 350 in mine 380.

[0104] The proximity detection device 355 then controls the speed of the autonomous mining vehicle based on the vehicle speed parameters. The proximity detection device 355 further initiates communication 395 with the moving object 360. Initiating communication may include, for example, sending one or more messages to the collision detection device 365 to initiate distance measurement.

[0105] exist Figure 3 In the example, the moving object 360 moves toward the autonomous mining vehicle, and the proximity detection device 355 detects the presence of the moving object 360 within the second proximity detection range 342 based on the second information received from the second proximity detection sensor 352.

[0106] The second information may include, for example, information about the time-of-flight measurement between the second proximity detection sensor 352 and the collision detection device 365.

[0107] exist Figure 3 In the example, the proximity detection device 355 controls the autonomous mining vehicle 350 to perform at least one collision avoidance operation based on second information received from the second proximity detection sensor 352.

[0108] The at least one collision avoidance operation may include, for example, slowing down or stopping the autonomous mining vehicle, or sending a message to the moving object.

[0109] Figure 4 An example method 400 incorporating aspects of previously disclosed embodiments is illustrated. More specifically, example method 400 illustrates controlling an autonomous mining vehicle associated with at least a first proximity detection sensor having a first proximity detection range and a second proximity detection sensor having a second proximity detection range. The method may include a computer-implemented method executed by device 200.

[0110] The method begins with communication 405 with the first proximity detection sensor and the second proximity detection sensor.

[0111] As described above, communicating with the first proximity sensor and the second proximity sensor may include, for example, using a wireless or wired connection to receive and / or transmit information.

[0112] The method continues to detect the presence of a collision detection device of a moving object within a first proximity detection range based on first information received from a first proximity detection sensor.

[0113] As described above, detecting the presence of a collision detection device may include detecting the presence of an RF signal transmitted by the collision detection device. Additionally or alternatively, detecting the presence of a collision detection device may include determining the strength of the RF signal transmitted by the collision detection device.

[0114] The first information may include, for example, an RF broadcast message emitted by a collision detection device included in a moving object (such as a moving mining vehicle in an underground mine), or the collision detection device included in a miner's helmet light. Figure 4 In the example, the first piece of information includes information about the received signal strength indicator (RSSI).

[0115] The method continues by determining, in response to the detection of the presence of a collision detection device, the vehicle speed parameter corresponding to the second proximity detection range at 415.

[0116] As described above, determining the vehicle speed parameters corresponding to the second proximity detection range may include, for example, selecting or calculating the vehicle speed parameters.

[0117] Selecting vehicle speed parameters can include, for example, selecting the vehicle speed parameter based on a lookup table, selecting a predefined vehicle speed parameter, or selecting a previously used vehicle speed parameter. Calculating vehicle speed parameters can include, for example, calculating the vehicle speed parameters based on the current speed of the autonomous mining vehicle, the speed of collision detection equipment approaching the autonomous mining vehicle, and information about the environment of the autonomous mining vehicle.

[0118] exist Figure 4 In the example, the vehicle speed parameter includes the maximum speed allowed for the autonomous mining vehicle.

[0119] The method further extends to controlling the speed of the 420 autonomous mining vehicles based on vehicle speed parameters. Controlling the speed of the autonomous mining vehicles may include, for example, decreasing or increasing the speed of the autonomous mining vehicles.

[0120] exist Figure 4 In the example, controlling the speed of the autonomous mining vehicle includes reducing the speed of the autonomous mining vehicle. As described above, reducing the speed of the autonomous mining vehicle can include, for example, reducing the speed based on the vehicle speed parameters or deriving the speed of the autonomous mining vehicle from the vehicle speed parameters.

[0121] The method further continues by controlling 425 the autonomous mining vehicle to perform at least one collision avoidance operation based on second information received from the second proximity sensor in response to detecting the presence of the collision detection device within the second proximity detection range.

[0122] The second information may include, for example, information about the time-of-flight measurement between the second proximity detection sensor and the collision detection device.

[0123] Collision avoidance operations may include actions that enable the autonomous mining vehicle to avoid a collision with the moving object. Collision avoidance operations may include active or passive operations. Active operations may include actions designed to prevent hazardous situations from occurring, while passive operations may include actions for responding to hazardous situations.

[0124] Active operations may include, for example, communicating with the moving object, and passive operations may include, for example, controlling the movement of the autonomous mining vehicle.

[0125] exist Figure 4 In one example, the at least one collision avoidance operation includes slowing down the autonomous mining vehicle, stopping the autonomous mining vehicle, and / or sending a message to the moving object.

[0126] Without limiting the scope of the claims, the advantage of determining a vehicle speed parameter corresponding to a second proximity detection range and controlling the autonomous mining vehicle based on the vehicle speed parameter in response to detecting the presence of the collision detection device within a first proximity detection range is that the autonomous mining vehicle can travel at a higher speed when there is no moving object within the first proximity detection range, and on the other hand, when there is at least one moving object within the first proximity detection range, there is sufficient time to achieve controlled slowing down or stopping based on information from the second proximity sensor.

[0127] Another advantage is that different types of proximity sensors with different capabilities can be used to detect moving objects, thus enabling flexible control of the autonomous mining vehicle.

[0128] Without limiting the scope, interpretation, or application of the claims that appear below in any way, the technical effect of one or more exemplary embodiments disclosed herein is that the efficiency of autonomous mining vehicles can be improved while maintaining safety.

[0129] As used in this application, the term "circuit" may refer to one or more of the following: (a) a hardware circuit implementation only (such as an implementation in analog and / or digital circuits only) and (b) a combination of hardware circuits and software, such as (where applicable): (i) a combination of analog and / or digital hardware circuits with software / firmware and (ii) any part of a hardware processor with software (including digital signal processors), software and memory, which work together to enable a device such as a mobile phone or server to perform various functions; and (c) hardware circuits and / or processors that require software (e.g., firmware) to operate, such as a microprocessor or a portion thereof, but where software is not required to operate, the software may be absent.

[0130] This definition of "circuit" applies to all uses of the term in this application (including any claim). As another example, as used in this application, the term "circuit" also covers embodiments of hardware circuitry or processors (or processors in general) or portions thereof and their accompanying software and / or firmware. The term "circuit" also covers (for example, and if applicable to a particular claim element) baseband integrated circuits or processor integrated circuits for mobile devices or similar integrated circuits in servers, cellular network devices or other computing or networking devices.

[0131] Embodiments of the present invention can be implemented as software, hardware, application logic, or a combination of software, hardware, and application logic. The software, application logic, and / or hardware may reside on the device, a single device, or multiple devices. If desired, a portion of the software, application logic, and / or hardware may reside on the device, a portion of the software, application logic, and / or hardware may reside on a single device, and a portion of the software, application logic, and / or hardware may reside on multiple devices. In one example embodiment, the application logic, software, or instruction set is maintained on any of a variety of conventional computer-readable media. In the context of this document, 'computer-readable media' can be any medium or device capable of containing, storing, communicating, propagating, or transmitting instructions for use by or in connection with an instruction execution system, device, or apparatus (such as a computer), wherein an example of a computer is... Figure 2 The computer-readable medium may include a computer-readable storage medium, which may be any medium or device capable of containing or storing instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer.

[0132] If necessary, the different functions discussed herein may be executed in different orders and / or simultaneously with each other. Furthermore, if necessary, one or more of the functions described above may be optional or may be combined.

[0133] Although various aspects of the invention are set forth in the independent claims, other aspects of the invention include other combinations of features from the described embodiments and / or dependent claims with features of the independent claims, and not only those combinations expressly set forth in the claims.

[0134] It will be apparent to those skilled in the art that the inventive concept can be implemented in various ways as technology advances. The invention and its embodiments are not limited to the examples described above, but can be varied within the scope of the claims.

Claims

1. A proximity detection device for an autonomous mining vehicle, the autonomous mining vehicle being associated with at least a first proximity detection sensor having a first proximity detection range and a second proximity detection sensor having a second proximity detection range shorter than the first proximity detection range, the device comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to utilize the at least one processor to cause the device to at least: Communicating with the first proximity detection sensor and the second proximity detection sensor; Based on the first information received from the first proximity detection sensor, the presence of a collision detection device for a moving object is detected within the first proximity detection range; In response to detecting the presence of the collision detection device within the first proximity detection range, a vehicle speed parameter corresponding to the second proximity detection range is determined; The speed of the autonomous mining vehicle is controlled based on the vehicle speed parameters. The collision detection device detects the presence of the moving object within the second proximity detection range based on the second information received from the second proximity detection sensor. as well as In response to detecting the presence of the collision detection device within the second proximity detection range, the autonomous mining vehicle is controlled to perform at least one collision avoidance operation based on the second information received from the second proximity detection sensor.

2. The apparatus according to claim 1, wherein, The first information includes information about the received signal strength indicator, and the second information includes information about the time-of-flight measurement between the second proximity detection sensor and the collision detection device.

3. The device according to claim 1 or 2, wherein, Controlling the speed of the autonomous mining vehicle includes reducing the speed of the autonomous mining vehicle.

4. The apparatus according to any one of claims 1-3, wherein, The at least one memory and the computer program code are further configured to utilize the at least one processor to enable the device to determine the distance between the second proximity detection sensor and the collision detection device based on the second information.

5. The apparatus according to any one of claims 1-4, wherein, The at least one memory and the computer program code are further configured to utilize the at least one processor to enable the device to initiate communication with the collision detection device when the presence of the collision detection device is detected within the first proximity detection range.

6. The apparatus according to any one of claims 1-5, wherein, The vehicle speed parameters include the maximum speed allowed for the autonomous mining vehicle.

7. The apparatus according to any one of claims 1-6, wherein, The at least one collision avoidance operation includes slowing down or stopping the autonomous mining vehicle.

8. The apparatus according to any one of claims 1-7, wherein, The at least one collision avoidance operation includes sending a message to the moving object.

9. The apparatus according to any one of claims 1-8, wherein, The at least one collision avoidance operation includes instructing the moving object to slow down.

10. The apparatus according to any one of claims 1-9, wherein, The first proximity detection sensor includes a received signal strength indicator transceiver.

11. The apparatus according to any one of claims 1-10, wherein, The second proximity detection sensor includes an ultra-wideband transceiver or a linear spread spectrum transceiver.

12. The apparatus according to any one of claims 1-11, wherein, The at least one memory and the computer program code are further configured to enable the device to perform ranging using the second information.

13. The apparatus according to any one of claims 1-12, wherein, The autonomous mobile mining vehicles include rock drilling rigs, loaders, dump trucks, load transport dump trucks (LHD), ground support drilling rigs, underground transport vehicles, or light vehicles.

14. A method for controlling an autonomous mining vehicle, the autonomous mining vehicle being associated with at least a first proximity detection sensor having a first proximity detection range and a second proximity detection sensor having a second proximity detection range, the second proximity detection range being shorter than the first proximity detection range, the method comprising: Communicating with the first proximity detection sensor and the second proximity detection sensor; Based on the first information received from the first proximity detection sensor, the presence of a collision detection device for a moving object is detected within the first proximity detection range; In response to detecting the presence of the collision detection device within the first proximity detection range, a vehicle speed parameter corresponding to the second proximity detection range is determined; The speed of the autonomous mining vehicle is controlled based on the vehicle speed parameters. The collision detection device detects the presence of the moving object within the second proximity detection range based on the second information received from the second proximity detection sensor. as well as In response to detecting the presence of the collision detection device within the second proximity detection range, the autonomous mining vehicle is controlled to perform at least one collision avoidance operation based on the second information received from the second proximity detection sensor.

15. A computer program for controlling an autonomous mining vehicle, the autonomous mining vehicle being associated with at least a first proximity detection sensor having a first proximity detection range and a second proximity detection sensor having a second proximity detection range, the second proximity detection range being shorter than the first proximity detection range, the computer program comprising instructions for causing the device to perform at least the following operations: Communicating with the first proximity detection sensor and the second proximity detection sensor; Based on the first information received from the first proximity detection sensor, the presence of a collision detection device for a moving object is detected within the first proximity detection range; In response to detecting the presence of the collision detection device within the first proximity detection range, a vehicle speed parameter corresponding to the second proximity detection range is determined; The speed of the autonomous mining vehicle is controlled based on the vehicle speed parameters. Based on the second information received from the second proximity detection sensor, the presence of the collision detection device of the moving object is detected within the second proximity detection range; as well as In response to detecting the presence of the collision detection device within the second proximity detection range, the autonomous mining vehicle is controlled to perform at least one collision avoidance operation based on the second information received from the second proximity detection sensor.

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